WO2021081894A1 - Work planning method and system for movable platform, and control terminal - Google Patents

Work planning method and system for movable platform, and control terminal Download PDF

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Publication number
WO2021081894A1
WO2021081894A1 PCT/CN2019/114713 CN2019114713W WO2021081894A1 WO 2021081894 A1 WO2021081894 A1 WO 2021081894A1 CN 2019114713 W CN2019114713 W CN 2019114713W WO 2021081894 A1 WO2021081894 A1 WO 2021081894A1
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WIPO (PCT)
Prior art keywords
reference direction
reference point
movable platform
control terminal
setting operation
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Application number
PCT/CN2019/114713
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French (fr)
Chinese (zh)
Inventor
贾向华
王璐
闫光
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/114713 priority Critical patent/WO2021081894A1/en
Priority to CN201980040066.4A priority patent/CN112313595B/en
Publication of WO2021081894A1 publication Critical patent/WO2021081894A1/en

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

Definitions

  • the embodiments of the present application relate to the technical field of movable platforms, and in particular, to a method, system, and control terminal for operation planning of a movable platform.
  • agricultural drones occupies an important position as an industry-level application drone.
  • Plant protection operations such as spraying operations (spraying water, pesticides, seeds, etc.)
  • spraying operations spraying water, pesticides, seeds, etc.
  • have brought great convenience to the agricultural field such as saving users' time, improving operating efficiency, increasing operating income, and improving the utilization efficiency of agricultural machinery.
  • agricultural drones can automatically generate corresponding routes for rectangular operation areas based on specific waypoints, and complete tasks such as flying and spraying according to the routes.
  • users need to operate agricultural drones for manual work, which results in low work efficiency.
  • the embodiments of the present application provide a method, system and control terminal for operation planning of a movable platform, which are used to improve the operation efficiency of the movable platform.
  • an embodiment of the present application provides a method for planning operations of a movable platform, which is applied to a control terminal, and the method includes:
  • the second setting operation of the user is detected, and a second reference point and a second reference direction are determined according to the detected second setting operation, where the second reference direction is a reference direction corresponding to the second reference point, wherein the
  • the working area of the movable platform is the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the second reference point.
  • the reference point is an area defined by a reference line extending along the second reference direction.
  • an embodiment of the present application provides a control terminal, including:
  • An interactive device for detecting the user's first setting operation
  • a processor configured to determine a first reference point and a first reference direction according to a first setting operation detected by the interaction device, where the first reference direction is a reference direction corresponding to the first reference point;
  • the interaction device is also used to detect the second setting operation of the user
  • the processor is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device, where the second reference direction is a reference direction corresponding to the second reference point, wherein, the working area of the movable platform is a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the first reference point in the first reference direction.
  • the second reference point is an area defined by a reference line extending along the second reference direction.
  • an embodiment of the present application provides an operation planning system for a movable platform, including the movable platform and the control terminal as described in the embodiment of the present application in the second aspect.
  • an embodiment of the present application provides a readable storage medium with a computer program stored on the readable storage medium; when the computer program is executed, it realizes the readable storage medium as described in the embodiment of the present application in the first aspect. Operation planning method of mobile platform.
  • an embodiment of the present application provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of the control terminal can read from the readable storage medium Taking the computer program, the at least one processor executes the computer program so that the control terminal implements the operation planning method of the movable platform described in the embodiment of the present application in the first aspect.
  • the first setting operation of the user is detected, the first reference point and the first reference direction are determined according to the detected first setting operation, and the user is detected
  • the first setting operation, the second reference point and the second reference direction are determined according to the detected second setting operation
  • the working area of the movable platform is the reference line between the first reference point and the second reference point, from the first reference point
  • the working area is no longer limited to a rectangle, and the movable platform is improved. The efficiency of the operation.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial vehicle system according to an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application.
  • FIG. 3 is a flowchart of a method for planning operations on a movable platform provided by an embodiment of the application
  • FIG. 4 is a schematic diagram of a working area of a movable platform provided by an embodiment of the application.
  • Figure 5 is a schematic diagram of adjusting the position and heading of a movable platform provided by an embodiment of the application
  • Fig. 6 is a schematic diagram of generating a route in a work area of a movable platform provided by an embodiment of the application;
  • FIG. 7 is a flowchart of a method for planning operations on a movable platform according to another embodiment of the application.
  • FIG. 8 is a schematic structural diagram of a control terminal provided by an embodiment of this application.
  • FIG. 9 is a schematic structural diagram of a work planning system for a movable platform provided by an embodiment of the application.
  • a component when referred to as being "fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to the other component or there may be a centered component at the same time.
  • the embodiments of the present application provide a method, system and control terminal for operation planning of a movable platform.
  • the movable platform may be a drone, an unmanned ship, an unmanned car, a robot, etc.
  • the unmanned aerial vehicle may be, for example, a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through the air, and the embodiments of the present application are not limited thereto.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial vehicle system according to an embodiment of the present application.
  • a rotary wing drone is taken as an example for description.
  • the drone system 100 may include a drone 110, a display device 130, and a control terminal 140.
  • the unmanned aerial vehicle 110 is taken as an example of an unmanned aerial vehicle, which may include a power system 150, a control system 160, a frame, and a pan/tilt 120 carried on the frame.
  • the drone 110 can wirelessly communicate with the control terminal 140 and the display device 130.
  • the drone may also be an unmanned vehicle or an unmanned ship.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
  • the tripod is connected with the fuselage, and is used for supporting the UAV 110 when it is landed.
  • the power system 150 may include one or more electronic governors (referred to as ESCs for short) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153.
  • the motor 152 is connected between the ESC 151 and the propeller 153, and the motor 152 and the propeller 153 are arranged on the arm of the drone 110.
  • the ESC 151 is used to receive the driving signal generated by the control system 160 and provide a driving current to the motor 152 according to the driving signal to control the rotation speed of the motor 152. It should be noted that one ESC 151 may correspond to multiple motors, or multiple ESCs 151 may correspond to one motor 152 respectively.
  • the motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom of movement.
  • the drone 110 may rotate about one or more rotation axes.
  • the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the control system 160 may include a controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be the Global Positioning System (GPS).
  • the controller 161 is used to control the flight or operation of the drone 110, for example, it can control the flight or operation of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more control instructions from the control terminal 140.
  • the pan/tilt head 120 may include a pan/tilt motor 122.
  • the pan/tilt is used to carry the camera 123.
  • the controller 161 can control the movement of the pan-tilt 120 through the pan-tilt motor 122.
  • the pan/tilt head 120 may further include a pan/tilt controller for controlling the movement of the pan/tilt head 120 by controlling the pan/tilt motor 122.
  • the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110.
  • the pan/tilt motor 122 may be a DC motor or an AC motor.
  • the pan/tilt motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan-tilt can be located on the top of the drone, or on the bottom of the drone.
  • the photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller.
  • the imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed to the drone 110, so the pan/tilt 120 can be omitted.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the display device 130 is located on the ground, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110.
  • the image taken by the imaging device may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.
  • the control terminal 140 is located on the ground end of the UAV system 100, and can communicate with the UAV 110 in a wireless manner for remote control of the UAV 110.
  • a liquid storage tank 170 is also mounted between the legs of the UAV, and the liquid storage tank 170 is used to store liquid medicine or water; and the arm There is also a spray head 180 at the end of the, and the liquid in the liquid storage tank 170 is pumped into the spray head 180 by a pump, and is sprayed out by the spray head 180.
  • a continuous wave radar 190 can be mounted on the tripod.
  • the continuous wave radar 190 is a rotating continuous wave radar.
  • the continuous wave radar 190 can be used for ranging, but is not limited to ranging.
  • the agricultural drone may include two or more tripods, and the continuous wave radar 190 is mounted on one of the tripods.
  • FIG. 3 is a flowchart of a method for planning operations on a movable platform provided by an embodiment of the application. As shown in FIG. 3, the method of this embodiment is applied to a control terminal, and the method of this embodiment may include:
  • S301 Detect a first setting operation of the user, and determine a first reference point and a first reference direction according to the detected first setting operation, where the first reference direction is a reference direction corresponding to the first reference point.
  • the control terminal in this embodiment may be a control terminal of a movable platform.
  • the control terminal includes one or more of a remote control, a smart phone, a tablet computer, a laptop computer, and a wearable device, which will not be repeated here. .
  • the control terminal can detect the operation of the user through the interactive device.
  • the interactive device can be an important part of the control terminal and an interface for interacting with the user.
  • the user can control the movable platform by operating the interactive device; When the user wants to control the movable platform, the user operates the interactive device of the control terminal, and the control terminal detects the user's operation through the interactive device.
  • the interactive device can be, for example, one or more of the touch screen, keyboard, joystick, and wave wheel of the control terminal; at the same time, the touch screen can also display the operating parameters of the movable platform (such as position, route, heading, etc.) ), can display the screen shot by the movable platform.
  • the touch screen can also display the operating parameters of the movable platform (such as position, route, heading, etc.) ), can display the screen shot by the movable platform.
  • the user when the user wants to plan the work area of the movable platform in the area to be planned, the user needs to set two reference points and reference directions corresponding to the two reference points.
  • the two reference points are called the first A reference point and a second reference point, and the reference directions corresponding to the two reference points are called the reference direction corresponding to the first reference point and the reference direction corresponding to the second reference point.
  • the control terminal can The first setting operation of the user is detected through the interactive device. After detecting the first setting operation, the control terminal determines the first reference point and the reference direction corresponding to the first reference point according to the first setting operation, where the reference direction corresponding to the first reference point is called the first reference direction .
  • the first reference point is the reference point in the area to be planned, and the control terminal accordingly determines the first reference point from the area to be planned, that is, the user sets a reference point in the area to be planned.
  • the first setting operation may be one operation, and the control terminal simultaneously determines the first reference point and the first reference direction according to the first setting operation.
  • the first setting operation may be multiple operations.
  • the first setting operation includes a first reference point setting operation and a first direction setting operation. Accordingly, the control terminal detects the user's first reference point setting operation, and according to the detected first reference point setting operation A reference point setting operation determines the first reference point, then the user's first direction setting operation is detected, and the first reference direction is determined according to the detected first direction setting operation.
  • the working area is the area defined by the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the second reference point in the second reference direction .
  • the control terminal can The second setting operation of the user is detected through the interactive device. After detecting the second setting operation, the control terminal determines the second reference point and the reference direction corresponding to the second reference point according to the second setting operation, where the reference direction corresponding to the second reference point is called the second reference direction .
  • the second reference point is also the reference point in the area to be planned, and the terminal is controlled to determine the second reference point from the area to be planned accordingly, that is, the user sets another reference point in the area to be planned.
  • the operating area of the movable platform is also determined accordingly, that is, the reference between the first reference point and the second reference point
  • the second reference point is reference point B.
  • the operation area of the movable platform may be a part of the area to be planned. Therefore, through the solution of this embodiment, a plurality of the operation areas mentioned above can be determined from the planning area.
  • control terminal may also determine the operating area of the movable platform as the reference between the first reference point and the second reference point according to the first reference point, the second reference point, the first reference direction, and the second reference direction.
  • control terminal notifies the movable platform of the first reference point, the second reference point, the first reference direction, and the second reference direction, and accordingly, the movable platform according to the first reference point, the second reference point ,
  • the first reference direction and the second reference direction determine the working area of the movable platform as the reference line between the first reference point and the second reference point, the reference line extending from the first reference point along the first reference direction and
  • the second reference point is an area defined by a reference line extending along the second reference direction.
  • the second setting operation may be one operation, and the control terminal simultaneously determines the second reference point and the second reference direction according to the second setting operation.
  • the second setting operation may be multiple operations.
  • the second setting operation includes a second reference point setting operation and a second direction setting operation. Accordingly, the control terminal detects the user's second reference point setting operation, and according to the detected second reference point setting operation The second reference point setting operation determines the second reference point, and then the second direction setting operation of the user is detected, and the second reference direction is determined according to the detected second direction setting operation.
  • the first setting operation of the user is detected, the first reference point and the first reference direction are determined according to the first setting operation detected, the first setting operation of the user is detected, and the second setting operation is detected.
  • the working area of the movable platform is the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the first reference point in the first reference direction.
  • the working area is no longer limited to a rectangle, and the movable platform is improved. The efficiency of the operation.
  • At least one of the first reference direction and the second reference direction is the collected orientation of the movable platform.
  • the first reference direction is the orientation of the movable platform collected when the control terminal detects the first setting operation; or, the second reference direction is the orientation of the movable platform collected when the control terminal detects the second setting operation; or, The first reference direction is the orientation of the movable platform collected when the control terminal detects the first setting operation, and the second reference direction is the orientation of the movable platform collected when the control terminal detects the second setting operation.
  • At least one of the first reference point and the second reference point is a collected position of the movable platform.
  • the first reference point is the position of the movable platform collected when the control terminal detects the first setting operation; or, the second reference point is the position of the movable platform collected when the control terminal detects the second setting operation; or, The first reference point is the position of the movable platform collected when the control terminal detects the first setting operation, and the second reference point is the position of the movable platform collected when the control terminal detects the second setting operation.
  • a possible implementation manner of determining the first reference point and the first reference direction according to the detected first setting operation in S301 is: in response to the detected first setting operation, the collected The position of the movable platform is set as the first reference point, and the collected orientation of the movable platform is set as the first reference direction.
  • the control terminal detects the user's first setting operation, acquires the position of the movable platform and the orientation of the movable platform collected when the first setting operation is detected, and sets the collected position of the movable platform as the first reference Point, and set the collected orientation of the movable platform as the first reference direction.
  • a possible implementation manner of determining the second reference point and the second reference direction according to the detected second setting operation in S302 is: in response to the detected second setting operation, setting the collected position of the movable platform As the second reference point, the collected orientation of the movable platform is set as the second reference direction.
  • the control terminal detects the second setting operation of the user, acquires the position of the movable platform and the orientation of the movable platform collected when the second setting operation is detected, and sets the collected position of the movable platform as the second reference Point, and set the collected orientation of the movable platform as the second reference direction.
  • the working area of the movable platform can be determined by the position and orientation of the movable platform.
  • the control terminal before performing the above S301, the control terminal also detects the user's first movement control operation, and controls the movable platform to move to the first reference point according to the detected first movement control operation.
  • the control terminal detects the first movement control operation of the user and controls the operation according to the first movement Control the movable platform to move until it moves to the first position (ie the first reference point) desired by the user.
  • the first movement control operation is not limited to this.
  • the control terminal sets the position of the movable platform as the first reference point according to the first setting operation.
  • control terminal Before performing the above S302, the control terminal also detects the user's second movement control operation, and controls the movable platform to move to the second reference point according to the detected second movement control operation.
  • the control terminal detects the second movement control operation of the user and controls the operation according to the second movement Control the movable platform to move until it moves to the second position desired by the user (ie, the second reference point). Then, after detecting the second setting operation, the control terminal sets the position of the movable platform as the second reference point according to the second setting operation.
  • the user controls the movement of the movable platform by operating the control terminal, and can flexibly and accurately set the first reference point and the second reference point, so that the determined working area of the movable platform is more accurate.
  • the control terminal before performing S301, the control terminal also detects the user's first orientation control operation, and adjusts the orientation of the movable platform to the first reference direction according to the detected first orientation control operation.
  • the control terminal detects the user's first orientation control operation and controls according to the first orientation control operation
  • the movable platform rotates until the orientation of the movable platform rotates to the direction desired by the user (that is, the first reference direction), for example, as shown in FIG. 5, the user controls the movable by sliding on the touch screen of the control terminal
  • the first orientation control operation is not limited to this.
  • the control terminal sets the orientation of the movable platform as the first reference direction according to the first setting operation.
  • the control terminal Before performing the above S302, the control terminal also detects the second orientation control operation of the user, and adjusts the orientation of the movable platform to the second reference direction according to the detected second orientation control operation.
  • the control terminal detects the user's second orientation control operation and controls according to the second orientation control operation
  • the movable platform rotates until the orientation of the movable platform rotates toward the direction desired by the user (ie, the second reference direction).
  • the control terminal sets the orientation of the movable platform to the second reference direction according to the second setting operation.
  • the user controls the orientation of the movable platform by operating the control terminal, and can flexibly and accurately set the first reference direction and the second reference direction, so that the determined working area of the movable platform is more accurate.
  • the orientation of the above-mentioned movable platform includes the orientation of the fuselage of the movable platform or the orientation of the camera of the movable platform.
  • the heading of the fuselage of the movable platform is the heading of the nose of the movable platform.
  • control terminal also acquires and displays an image collected by the movable platform, and displays an indication mark indicating the heading of the movable platform on the image.
  • the movable platform can collect images, the movable platform sends the collected images to the control terminal, and the control terminal receives the images collected by the movable platform, and displays the images collected by the movable platform through the display device.
  • the control terminal can also obtain the heading of the movable platform, for example, the heading of the fuselage of the movable platform is the heading of the movable platform, or the heading of the camera of the movable platform is the heading of the movable platform; the control terminal will use The indication mark for indicating the heading of the movable platform is displayed on the image collected by the movable platform.
  • the user can determine whether the heading of the movable platform is the heading desired by the user through the displayed image and the indication mark displayed on the image. If not, the user can perform the first heading control operation and/or the second heading control operation on the control terminal.
  • the heading control operation is to adjust the heading of the movable platform to set the first reference direction and the second reference direction.
  • the user can observe the area to be planned around the movable platform through the image.
  • the user can know which direction the heading of the movable platform is pointing to the area to be planned by observing the indication mark.
  • the heading of the movable platform indicated by the indicator is determined as the first reference direction and/or the second reference direction.
  • the indicator may be an indicator such as an indicator line or an indicator arrow. Therefore, combining the images collected by the movable platform can accurately adjust the heading of the movable platform to the heading desired by the user, so as to ensure that the first reference direction and the second reference direction are accurately set.
  • control terminal also acquires and displays an image collected by the movable platform, and displays an indication mark indicating the position of the movable platform on the image.
  • the movable platform can collect images, the movable platform sends the collected images to the control terminal, and the control terminal receives the images collected by the movable platform, and displays the images collected by the movable platform through the display device.
  • the control terminal can also obtain the position of the movable platform, and the control terminal displays the indication mark for indicating the position of the movable platform on the image collected by the movable platform.
  • the user determines whether the position of the movable platform is the position desired by the user through the displayed image and the indication mark displayed on the image. If not, the user can perform the above-mentioned first movement control operation and/or second movement control operation on the control terminal.
  • the movement control operation adjusts the position of the movable platform to set the first reference point and the second reference point.
  • combining the images collected by the movable platform can accurately adjust the position of the movable platform to the position desired by the user, so as to ensure that the first reference point and the second reference point are accurately set.
  • At least one of the first reference direction and the second reference direction is the collected orientation of the control terminal.
  • the first reference direction is the orientation of the control terminal collected when the control terminal detects the first setting operation; or, the second reference direction is the orientation of the control terminal collected when the control terminal detects the second setting operation; or, The first reference direction is the orientation of the control terminal collected when the control terminal detects the first setting operation, and the second reference direction is the orientation of the control terminal collected when the control terminal detects the second setting operation.
  • At least one of the first reference point and the second reference point is a collected position of the control terminal.
  • the first reference direction is the position of the control terminal collected when the control terminal detects the first setting operation; or, the second reference point is the position of the control terminal collected when the control terminal detects the second setting operation; or, The first reference point is the position of the control terminal collected when the control terminal detects the first setting operation, and the second reference point is the position of the control terminal collected when the control terminal detects the second setting operation.
  • a possible implementation manner of determining the first reference point and the first reference direction according to the detected first setting operation in S301 is: in response to the detected first setting operation, the collected The position of the control terminal is set as the first reference point, and the collected orientation of the control terminal is set as the first reference direction.
  • the control terminal detects the user's first setting operation, obtains the position of the control terminal and the direction of the control terminal collected when the first setting operation is detected, and sets the collected position of the control terminal as the first reference Point, and set the collected orientation of the control terminal as the first reference direction.
  • a possible implementation manner of determining the second reference point and the second reference direction according to the detected second setting operation in S302 is: in response to the detected second setting operation, setting the collected position of the control terminal As the second reference point, the collected orientation of the movable platform is set as the second reference direction.
  • the control terminal detects the second setting operation of the user, acquires the position of the control terminal and the orientation of the control terminal collected when the second setting operation is detected, and sets the collected position of the control terminal as the second reference Point, and set the collected orientation of the control terminal as the second reference direction.
  • the working area of the movable platform can be determined by controlling the position and orientation of the terminal.
  • control terminal also acquires and displays a digital map.
  • the digital map is, for example, the above-mentioned digital map of the area to be planned.
  • a possible implementation manner of the above S301 is: detecting a user's first setting operation on the displayed digital map, and determining the first reference point and the first reference direction according to the detected first setting operation.
  • the user can set the first reference point and the first reference direction based on the displayed digital map.
  • the user performs the first setting operation on the displayed digital map through the interactive device of the control terminal, and accordingly, the control terminal detects the user through the interactive device.
  • a possible implementation of the above S302 is: detecting a second setting operation of the user on the displayed digital map, and determining the second reference point and the second reference direction according to the detected second setting operation.
  • the user can set the second reference point and the second reference direction based on the displayed digital map.
  • the user performs the second setting operation on the displayed digital map through the interactive device of the control terminal, and accordingly, the control terminal detects the user through the interactive device.
  • the first reference point, the first reference direction, the second reference point, and the second reference direction can be accurately set to ensure the accuracy of the work area of the movable platform.
  • control terminal also acquires and displays a digital map, and displays the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map. So that the user can determine the working area of the movable platform in time through the displayed digital map and the first reference point and the first reference direction, the second reference point and the second reference direction displayed on the digital map. If the determined operating area of the movable platform does not meet the user's expectations, the user can adjust it in time.
  • control terminal after performing the above S301 and S302, the control terminal further controls the control terminal according to the first reference point and the first reference direction, the second reference point and the second reference direction.
  • the mobile platform performs work tasks in the work area.
  • the control terminal After determining the first reference point, the first reference direction, the second reference point and the second reference direction, the control terminal controls the movable platform according to the first reference point, the first reference direction, the second reference point and the second reference direction
  • the work task is executed in the area (ie, the work area) defined by the reference line extending in the reference direction.
  • control terminal generates the route of the movable platform in the operation area according to the first reference point and the first reference direction, the second reference point and the second reference direction;
  • the movable platform performs work tasks in the work area, for example: the control terminal sends a work instruction to the movable platform, the work instruction includes the route, and accordingly, the movable platform receives the work instruction sent by the control terminal, and Perform work tasks according to the routes in the work instructions.
  • an optional implementation manner for generating the route of the movable platform in the operation area is: as shown in Fig. 6, the longitude and latitude of the determined first reference point A are (lon A , lat A ), and the first reference point A is (lon A, lat A ).
  • a reference direction (for example, the course of the movable platform at point A) is Yaw A
  • the longitude and latitude of the second reference point B are (lon B , lat B )
  • the second reference direction (for example, the movable platform at point B Heading) is Yaw B
  • the operating distance determined by the control terminal according to the detected user's operating distance setting operation is l
  • the heading of the movable platform moving along the extension of the reference line between point A and point B is Yaw AB
  • the distance to point A is l A
  • the control terminal determines the first reference point and the first reference direction, the second reference point and the second reference direction
  • the user can operate the control terminal at any time to control the The mobile platform performs work tasks in the work area.
  • the user wants to control the mobile platform to perform work tasks
  • the user performs the start operation operation on the control terminal through the interactive device. Accordingly, after the control terminal detects the user's start operation operation , And then according to the first reference point and the first reference direction, the second reference point and the second reference direction, the movable platform is controlled to perform work tasks in the work area, so as to improve the user's manipulation Sex.
  • the control terminal controls the movable to perform work tasks in the target area according to the first reference point and the first reference direction, the second reference point and the second reference direction Before, it is also determined whether the first reference direction and the second reference direction meet the preset pointing relationship. When the first reference direction and the second reference direction meet the preset pointing relationship, the control terminal controls the control terminal according to the first reference point and the first reference direction, the second reference point and the second reference direction
  • the movable platform performs work tasks in the work area to ensure that the movable platform can efficiently and smoothly perform work tasks in the work area.
  • the control terminal further determines whether the first reference direction and the second reference direction satisfy a preset pointing relationship.
  • a prompt message is displayed.
  • the prompt information may prompt that the first reference direction and the second reference direction do not satisfy the preset pointing relationship, and the movable platform cannot be controlled to perform work tasks in the work area; or, the prompt information may prompt that the work area planning is unsuccessful. This allows the user to readjust the first reference direction or the second reference direction through the prompt information.
  • a possible implementation manner of determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship may be: determining the first reference direction and the second reference direction. Whether the reference directions all point to the same side of the two sides of the reference line between the first reference point and the second reference point. If both the first reference direction and the second reference direction point to the same side of the two sides of the reference line between the first reference point and the second reference point, it means that the first reference direction and the second reference direction satisfy The preset pointing relationship. If the first reference direction and the second reference direction do not all point to the same side of the two sides of the reference line between the first reference point and the second reference point, it means that the first reference direction and the second reference direction are not Meet the preset directional relationship. If both the first reference direction and the second reference direction point to the same side of the two sides of the reference line between the first reference point and the second reference point, it means that the determined work area is favorable for the movable platform to perform work tasks.
  • agricultural drones are a drone platform that can be manipulated by users to perform tasks such as flying and spraying.
  • This type of drone usually has a GPS module, which is used to accurately locate the real-time position information of the drone. It is usually equipped with a compass, barometer and other modules to measure the aircraft’s heading angle and flight altitude.
  • the control terminal (such as a remote control) that communicates with the aircraft generally has buttons or an APP graphical interface to realize the interaction between the user and the aircraft.
  • the existing UAV operation methods for the same plot mainly include the following:
  • the same operation mode is generally used when the user performs the operation again.
  • manual mode and M+ mode the user needs to control the entire operation during the entire operation.
  • the operation area is large , Repeated operation is time-consuming and labor-intensive; for the operation mode of two reference points (point AB), the user still needs to re-arrange the plan when the operation is repeated. If the operation needs to be re-planned many times during the operation, it is also necessary for the operation again The same maneuver, therefore, the operation on the same plot in the non-airline mode often requires repeated work and the operation efficiency is very low. How to repeat operations on the same plot conveniently and efficiently is a long-standing problem in this field.
  • this embodiment of the application proposes an interactive method for uploading/saving/recalling operation routes.
  • the drone records the drone's flight information during the user's operation in real time and presents it to the APP interface of the control terminal. After that, the drone can automatically generate a three-dimensional route for drone operations, or after the user clicks to upload the three-dimensional route, the drone can automatically generate a three-dimensional route for drone operations.
  • the control terminal saves the three-dimensional route, or the control terminal uploads the three-dimensional route to the remote server for storage.
  • the user needs to perform repeated operations on the same plot, he can directly call the route information to quickly perform another operation to achieve fully autonomous flight operations.
  • the method is flexible and easy to operate, which greatly improves the user's operating efficiency.
  • users can also adjust the flight altitude, flight speed and spraying flow according to the growth and health of the crops. While ensuring operation efficiency, it also enhances the operation effect of autonomous operation, which can effectively improve the use value of plant protection drones. .
  • this embodiment may include the following steps: the user uses manual or semi-automatic operation modes such as manual, M+, AB point, etc.
  • the drone such as the flight controller
  • the drone will perform real-time operation at a certain frequency. Record the flight status information of the drone.
  • the drone (such as the flight controller) will automatically calculate a 3D flight route based on the operation information, and the control terminal will display the 3D flight route (that is, the drone will The flight route is sent to the control terminal, and the control terminal displays the 3D flight route through the corresponding APP interface).
  • the control terminal detects the user’s route upload operation, and according to the route upload operation, the 3D flight route of this mission
  • the flight route is automatically saved locally or uploaded to a remote server and other equipment for saving, otherwise, the control terminal will clear the route.
  • the three-dimensional flight route may also be calculated by the control terminal according to the flight status information of the drone.
  • this embodiment is not limited to performing the route upload operation by controlling the options in the APP interface of the terminal (for example, the remote control), and the route upload operation can also be performed by means of buttons on the remote control or the like.
  • the user can directly call the saved 3D flight route through the APP interface of the control terminal, and then control the drone to complete the fully automatic flight route.
  • the user can set the altitude, flight speed, and spraying flow of the three-dimensional flight route according to the crop's growth and health status.
  • the embodiments of the present application also provide a computer storage medium, the computer storage medium stores program instructions, and the program execution may include part or all of the steps of the methods in the foregoing embodiments.
  • FIG. 8 is a schematic structural diagram of a control terminal provided by an embodiment of this application.
  • the control terminal 800 of this embodiment may include: an interactive device 801 and a processor 802.
  • the interaction device 801 and the processor 802 may be connected in communication via a bus.
  • the above-mentioned processor 802 may be a central processing unit (CPU), and the processor 802 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), and application specific integrated circuits (Application Specific Integrated Circuits).
  • ASIC Field-Programmable Gate Array
  • FPGA Field-Programmable Gate Array
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the control terminal 800 of this embodiment may further include: a display device 803.
  • the display device 803 may be communicatively connected with the above-mentioned components through a bus.
  • the interaction device 801 is used to detect the first setting operation of the user.
  • the processor 802 is configured to determine a first reference point and a first reference direction according to a first setting operation detected by the interaction device 801, where the first reference direction is a reference direction corresponding to the first reference point.
  • the interaction device 801 is also used to detect the second setting operation of the user.
  • the processor 802 is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device 801, where the second reference direction is a reference corresponding to the second reference point Direction, wherein the working area of the movable platform is a reference line between the first reference point and the second reference point, and a reference line extending from the first reference point along the first reference direction And an area defined by a reference line extending from the second reference point in the second reference direction.
  • the processor 802 is further configured to determine the operating area of the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction.
  • At least one of the first reference direction and the second reference direction is the collected orientation of the movable platform.
  • the processor 802 determines the first reference point and the first reference direction according to the first setting operation detected by the interactive device 801, it is specifically configured to: respond to all the information detected by the interactive device 801. In the first setting operation, the collected position of the movable platform is set as the first reference point, and the collected orientation of the movable platform is set as the first reference direction;
  • the processor 802 determines the second reference point and the second reference direction according to the second setting operation detected by the interaction device 801, it is specifically configured to:
  • the collected position of the movable platform is set as a second reference point, and the collected orientation of the movable platform is set as the The second reference direction.
  • the interaction device 801 is also used to detect the user's first movement control operation
  • the processor 802 is further configured to control the movable platform to move to the first reference point according to the first movement control operation detected by the interaction device 801;
  • the interaction device 801 is also used to detect a second movement control operation of the user
  • the processor 802 is further configured to control the movable platform to move to the second reference point according to the second movement control operation detected by the interaction device 801.
  • the interaction device 801 is also used to detect the user's first orientation control operation
  • the processor 802 is further configured to adjust the orientation of the movable platform to the first reference direction according to the first orientation control operation detected by the interaction device 801;
  • the interaction device 801 is also used to detect the second orientation control operation of the user;
  • the processor 802 is further configured to adjust the orientation of the movable platform to the second reference direction according to the second orientation control operation detected by the interaction device 801.
  • the orientation of the movable platform includes the orientation of the fuselage of the movable platform or the orientation of the camera of the movable platform.
  • the heading of the fuselage of the movable platform is the heading of the nose of the movable platform.
  • the processor 802 is also used to obtain images collected by the movable platform;
  • the display device 803 is configured to display the image collected by the movable platform, and display an indication mark indicating the heading of the movable platform on the image.
  • At least one of the first reference direction and the second reference direction is the collected orientation of the control terminal.
  • the processor 802 determines the first reference point and the first reference direction according to the first setting operation detected by the interaction device 801, it is specifically configured to:
  • the collected position of the control terminal 800 is set as the first reference point, and the collected orientation of the control terminal 800 is set as the first reference direction ;
  • the processor 802 determines the second reference point and the second reference direction according to the second setting operation detected by the interaction device 801, it is specifically configured to:
  • the collected position of the control terminal 800 is set as the second reference point, and the collected orientation of the control terminal 800 is set as the second reference direction .
  • the processor 802 is also used to obtain a digital map
  • the display device 803 is used to display the digital map
  • the interaction device 801 detects the first setting operation of the user, it is specifically configured to: detect the first setting operation of the user on the displayed digital map;
  • the interaction device 801 detects the second setting operation of the user, it is specifically configured to detect the second setting operation of the display digital map by the user.
  • the processor 802 is also used to obtain a digital map
  • the display device 803 is configured to display the digital map, and display the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map.
  • the processor 802 is further configured to control the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction Perform work tasks in the work area.
  • the processor 802 is specifically configured to: generate information about the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction. Route; according to the route, the movable platform is controlled to perform work tasks in the operation area.
  • the processor 802 is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship
  • the processor 802 controls the movable to perform a work task in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction , Specifically used for:
  • the processor 802 is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship
  • the display device 803 is configured to display prompt information when the processor 802 determines that the preset pointing relationship is not satisfied.
  • the processor 802 is specifically configured to: when determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship:
  • first reference direction and the second reference direction both point to the same side of the two sides of the reference line between the first reference point and the second reference point.
  • control terminal 800 of this embodiment may further include a memory (not shown in the figure).
  • the memory is used to store program code.
  • the control terminal 800 may implement the techniques of the foregoing embodiments. Program.
  • control terminal of this embodiment can be used to implement the technical solutions of the control terminal in the foregoing method embodiments of the present application, and its implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 9 is a schematic structural diagram of a work planning system for a movable platform provided by an embodiment of this application.
  • the work planning system 900 for a movable platform in this embodiment may include: a movable platform 901 and a control Terminal 902.
  • the control terminal 902 can adopt the structure of the embodiment shown in FIG. 8, which can correspondingly execute the technical solutions of the control terminal in the foregoing method embodiments.
  • the implementation principles and technical effects are similar, and will not be repeated here.
  • a person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware.
  • the foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

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  • Physics & Mathematics (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A work planning method and system for a movable platform, and a control terminal. The method comprises: detecting a first setting operation of a user, and determining a first reference point and a first reference direction according to the detected first setting operation, wherein the first reference direction is a reference direction corresponding to the first reference point (S301); and detecting a second setting operation of the user, and determining a second reference point and a second reference direction according to the detected second setting operation, wherein the second reference direction is a reference direction corresponding to the second reference point, and a work area of a movable platform is an area defined by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction (S302). Therefore, a work area of a movable platform is no longer limited to a rectangular area, thereby improving the work efficiency of the movable platform.

Description

可移动平台的作业规划方法、***和控制终端Operation planning method, system and control terminal of movable platform 技术领域Technical field
本申请实施例涉及可移动平台技术领域，尤其涉及一种可移动平台的作业规划方法、***和控制终端。The embodiments of the present application relate to the technical field of movable platforms, and in particular, to a method, system, and control terminal for operation planning of a movable platform.
背景技术Background technique
随着消费级无人机日益普及，行业级应用无人机也开始崭露头角，对为农行业来说，农业无人机作为行业级应用无人机占据着重要的位置，其可以对农田地进行植保作业，例如喷洒作业(喷洒水分、农药、种子等等)，给农业领域带来了极大的便利，例如节省用户时间、提高作业效率、增加作业收益以及提高农业机械的利用效率等。目前，农业无人机可以根据特定的航点，对矩形作业区域自动生成相应的航线，并按照航线完成飞行和喷洒等作业任务。但是，对于非矩形的作业区域，需要由用户操作农业无人机进行手动作业，作业效率低下。With the increasing popularity of consumer-grade drones, industry-level application drones have also begun to emerge. For the agricultural industry, agricultural drones occupies an important position as an industry-level application drone. Plant protection operations, such as spraying operations (spraying water, pesticides, seeds, etc.), have brought great convenience to the agricultural field, such as saving users' time, improving operating efficiency, increasing operating income, and improving the utilization efficiency of agricultural machinery. At present, agricultural drones can automatically generate corresponding routes for rectangular operation areas based on specific waypoints, and complete tasks such as flying and spraying according to the routes. However, for non-rectangular work areas, users need to operate agricultural drones for manual work, which results in low work efficiency.
发明内容Summary of the invention
本申请实施例提供一种可移动平台的作业规划方法、***和控制终端，用于提高可移动平台的作业效率。The embodiments of the present application provide a method, system and control terminal for operation planning of a movable platform, which are used to improve the operation efficiency of the movable platform.
第一方面，本申请实施例提供一种可移动平台的作业规划方法，应用于控制终端，所述方法包括：In the first aspect, an embodiment of the present application provides a method for planning operations of a movable platform, which is applied to a control terminal, and the method includes:
检测用户的第一设置操作，根据检测到的第一设置操作确定第一参考点和第一参考方向，所述第一参考方向为与所述第一参考点对应的参考方向；Detecting a first setting operation of the user, and determining a first reference point and a first reference direction according to the detected first setting operation, where the first reference direction is a reference direction corresponding to the first reference point;
检测用户的第二设置操作，根据检测到的第二设置操作确定第二参考点和第二参考方向，所述第二参考方向为与所述第二参考点对应的参考方向，其中，所述可移动平台的作业区域为所述第一参考点和所述第二参考点之间的参考线、从所述第一参考点沿所述第一参考方向延伸的参考线和从所述第二参考点沿所述第二参考方向延伸的参考线限定的区域。The second setting operation of the user is detected, and a second reference point and a second reference direction are determined according to the detected second setting operation, where the second reference direction is a reference direction corresponding to the second reference point, wherein the The working area of the movable platform is the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the second reference point. The reference point is an area defined by a reference line extending along the second reference direction.
第二方面，本申请实施例提供一种控制终端，包括：In the second aspect, an embodiment of the present application provides a control terminal, including:
交互装置，用于检测用户的第一设置操作；An interactive device for detecting the user's first setting operation;
处理器，用于根据所述交互装置检测到的第一设置操作确定第一参考点和第一参考方向，所述第一参考方向为与所述第一参考点对应的参考方向；A processor, configured to determine a first reference point and a first reference direction according to a first setting operation detected by the interaction device, where the first reference direction is a reference direction corresponding to the first reference point;
所述交互装置，还用于检测用户的第二设置操作；The interaction device is also used to detect the second setting operation of the user;
所述处理器，还用于根据所述交互装置检测到的第二设置操作确定第二参考点和第二参考方向，所述第二参考方向为与所述第二参考点对应的参考方向，其中，所述可移动平台的作业区域为所述第一参考点和所述第二参考点之间的参考线、从所述第一参考点沿所述第一参考方向延伸的参考线和从所述第二参考点沿所述第二参考方向延伸的参考线限定的区域。The processor is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device, where the second reference direction is a reference direction corresponding to the second reference point, Wherein, the working area of the movable platform is a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the first reference point in the first reference direction. The second reference point is an area defined by a reference line extending along the second reference direction.
第三方面，本申请实施例提供一种可移动平台的作业规划***，包括可移动平台和如第二方面本申请实施例所述的控制终端。In the third aspect, an embodiment of the present application provides an operation planning system for a movable platform, including the movable platform and the control terminal as described in the embodiment of the present application in the second aspect.
第四方面，本申请实施例提供一种可读存储介质，所述可读存储介质上存储有计算机程序；所述计算机程序在被执行时，实现如第一方面本申请实施例所述的可移动平台的作业规划方法。In a fourth aspect, an embodiment of the present application provides a readable storage medium with a computer program stored on the readable storage medium; when the computer program is executed, it realizes the readable storage medium as described in the embodiment of the present application in the first aspect. Operation planning method of mobile platform.
第五方面，本申请实施例提供一种程序产品，所述程序产品包括计算机程序，所述计算机程序存储在可读存储介质中，控制终端的至少一个处理器可以从所述可读存储介质读取所述计算机程序，所述至少一个处理器执行所述计算机程序使得控制终端实施如第一方面本申请实施例所述的可移动平台的作业规划方法。In a fifth aspect, an embodiment of the present application provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of the control terminal can read from the readable storage medium Taking the computer program, the at least one processor executes the computer program so that the control terminal implements the operation planning method of the movable platform described in the embodiment of the present application in the first aspect.
本申请实施例提供的可移动平台的作业规划方法、***和控制终端，通过检测用户的第一设置操作，根据检测到的第一设置操作确定第一参考点和第一参考方向，以及检测用户的第一设置操作，根据检测到的第二设置操作确定第二参考点和第二参考方向，可移动平台的作业区域为第一参考点和第二参考点之间的参考线、从第一参考点沿第一参考方向延伸的参考线和从第二参考点沿第二参考方向延伸的参考线限定的区域。因此，用户通过对控制终端的操作来设置两个参考点和分别与两个参考点对应的参考方向，可灵活规划可移动平台的作业区域，作业区域不再局限于矩形，提高了可移动平台的作业效率。According to the method, system and control terminal of the mobile platform operation planning provided by the embodiments of the present application, the first setting operation of the user is detected, the first reference point and the first reference direction are determined according to the detected first setting operation, and the user is detected The first setting operation, the second reference point and the second reference direction are determined according to the detected second setting operation, the working area of the movable platform is the reference line between the first reference point and the second reference point, from the first reference point An area defined by a reference line extending from the reference point in the first reference direction and a reference line extending from the second reference point in the second reference direction. Therefore, the user sets two reference points and reference directions corresponding to the two reference points by operating the control terminal, and can flexibly plan the working area of the movable platform. The working area is no longer limited to a rectangle, and the movable platform is improved. The efficiency of the operation.
附图说明Description of the drawings
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.
图1是根据本申请的实施例的无人机***的示意性架构图；Fig. 1 is a schematic architecture diagram of an unmanned aerial vehicle system according to an embodiment of the present application;
图2为本申请实施例提供的一种无人机的结构示意图；FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application;
图3为本申请一实施例提供的可移动平台的作业规划方法的流程图；FIG. 3 is a flowchart of a method for planning operations on a movable platform provided by an embodiment of the application;
图4为本申请一实施例提供的可移动平台的作业区域的示意图；4 is a schematic diagram of a working area of a movable platform provided by an embodiment of the application;
图5为本申请一实施例提供的调整可移动平台的位置和航向的示意图；Figure 5 is a schematic diagram of adjusting the position and heading of a movable platform provided by an embodiment of the application;
图6为本申请一实施例提供的生成可移动平台的作业区域内航线的示意图；Fig. 6 is a schematic diagram of generating a route in a work area of a movable platform provided by an embodiment of the application;
图7为本申请另一实施例提供的可移动平台的作业规划方法的流程图；FIG. 7 is a flowchart of a method for planning operations on a movable platform according to another embodiment of the application;
图8为本申请一实施例提供的控制终端的结构示意图；FIG. 8 is a schematic structural diagram of a control terminal provided by an embodiment of this application;
图9为本申请一实施例提供的可移动平台的作业规划***的一种结构示意图。FIG. 9 is a schematic structural diagram of a work planning system for a movable platform provided by an embodiment of the application.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所 使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terminology used in the specification of the application herein is only for the purpose of describing specific embodiments, and is not intended to limit the application. As used herein, the term "and/or" includes any and all combinations of one or more of the related listed items.
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
本申请的实施例提供了可移动平台的作业规划方法、***和控制终端。该可移动平台例如可以是无人机、无人船、无人汽车、机器人等。其中无人机例如可以是旋翼飞行器(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼飞行器，本申请的实施例并不限于此。The embodiments of the present application provide a method, system and control terminal for operation planning of a movable platform. The movable platform may be a drone, an unmanned ship, an unmanned car, a robot, etc. The unmanned aerial vehicle may be, for example, a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through the air, and the embodiments of the present application are not limited thereto.
图1是根据本申请的实施例的无人机***的示意性架构图。本实施例以旋翼无人机为例进行说明。Fig. 1 is a schematic architecture diagram of an unmanned aerial vehicle system according to an embodiment of the present application. In this embodiment, a rotary wing drone is taken as an example for description.
无人机***100可以包括无人机110、显示设备130和控制终端140。其中，本实施例中，所述无人机110以无人飞行器为例，其可以包括动力***150、控制***160、机架和承载在机架上的云台120。无人机110可以与控制终端140和显示设备130进行无线通信。在其他实施例中，所述无人机也可以为无人车或无人船。The drone system 100 may include a drone 110, a display device 130, and a control terminal 140. In this embodiment, the unmanned aerial vehicle 110 is taken as an example of an unmanned aerial vehicle, which may include a power system 150, a control system 160, a frame, and a pan/tilt 120 carried on the frame. The drone 110 can wirelessly communicate with the control terminal 140 and the display device 130. In other embodiments, the drone may also be an unmanned vehicle or an unmanned ship.
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机110着陆时起支撑作用。The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected with the fuselage, and is used for supporting the UAV 110 when it is landed.
动力***150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152。其中电机152连接在电调151与螺旋桨153之间，电机152和螺旋桨153设置在无人机110的机臂上。电调151用于接收控制***160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。需要说明的是，一个电调151可以对应多个电机，也可以多个电调151分别对应一个电机152。电机152用于驱动螺旋桨旋转，从而为无人机110的飞行提供动力，该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中，无人机110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以是有刷电机。The power system 150 may include one or more electronic governors (referred to as ESCs for short) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153. The motor 152 is connected between the ESC 151 and the propeller 153, and the motor 152 and the propeller 153 are arranged on the arm of the drone 110. The ESC 151 is used to receive the driving signal generated by the control system 160 and provide a driving current to the motor 152 according to the driving signal to control the rotation speed of the motor 152. It should be noted that one ESC 151 may correspond to multiple motors, or multiple ESCs 151 may correspond to one motor 152 respectively. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom of movement. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.
控制***160可以包括控制器161和传感***162。传感***162用于测量无人机的姿态信息，即无人机110在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感***162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit，IMU)、视觉传感器、全球导航卫星***和气压计等传感器中的至少一种。例如，全球导航卫星***可以是全球定位***(Global Positioning System，GPS)。控制器161用于控制无人机110的飞行或运行，例如，可以根据传感***162测量的姿态信息控制无人机110的飞行或运行。应理解，控制器161可以按照预先编好的程序指令对无人机110进行控制，也可以通过响应来自控制终端140的一个或多个控制指令对无人机110进行控制。The control system 160 may include a controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The controller 161 is used to control the flight or operation of the drone 110, for example, it can control the flight or operation of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more control instructions from the control terminal 140.
云台120可以包括云台电机122。云台用于携带拍摄装置123。控制器161可以通过云台电机122控制云台120的运动。可选地，作为另一实施例，云台120还可以包括云台控制器，用于通过控制云台电机122来控制云台120的运动。应理解，云台120可以独立于无人机110，也可以为无人机110的一部分。应理解，云台电机122可以是直流电机，也可以是交流电机。另外，云台电机122可以是无刷电机，也可以是有刷电机。还应理解，云台可以位于无人机的顶部，也可以位于无人机的底部。The pan/tilt head 120 may include a pan/tilt motor 122. The pan/tilt is used to carry the camera 123. The controller 161 can control the movement of the pan-tilt 120 through the pan-tilt motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a pan/tilt controller for controlling the movement of the pan/tilt head 120 by controlling the pan/tilt motor 122. It should be understood that the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110. It should be understood that the pan/tilt motor 122 may be a DC motor or an AC motor. In addition, the pan/tilt motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan-tilt can be located on the top of the drone, or on the bottom of the drone.
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备，拍摄装置123可以与飞行控制器通信，并在飞行控制器的控制下进行拍摄。本实施例的拍摄装置123至少包括感光元件，该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器或电荷耦合元件(Charge-coupled Device，CCD)传感器。可以理解，拍摄装置123也可直接固定于无人机110上，从而云台120可以省略。The photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller. The imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed to the drone 110, so the pan/tilt 120 can be omitted.
显示设备130位于地面端，可以通过无线方式与无人机110进行通信，并且可以用于显示无人机110的姿态信息。另外，还可以在显示设备130上显示成像装置拍摄的图像。应理解，显示设备130可以是独立的设备，也可以集成在控制终端140中。The display device 130 is located on the ground, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. In addition, the image taken by the imaging device may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.
控制终端140位于无人机***100的地面端，可以通过无线方式与无人机110进行通信，用于对无人机110进行远程操纵。The control terminal 140 is located on the ground end of the UAV system 100, and can communicate with the UAV 110 in a wireless manner for remote control of the UAV 110.
以无人机为农业无人机为例，如图2所示，无人机的脚架之间还搭载有储液箱170，该储液箱170用于存储药液或者水；而且机臂的末端还搭载有喷头180，储液箱170中的液体通过泵泵入至喷头180，由喷头180喷散出去。Taking the UAV as an agricultural UAV as an example, as shown in Fig. 2, a liquid storage tank 170 is also mounted between the legs of the UAV, and the liquid storage tank 170 is used to store liquid medicine or water; and the arm There is also a spray head 180 at the end of the, and the liquid in the liquid storage tank 170 is pumped into the spray head 180 by a pump, and is sprayed out by the spray head 180.
另外，脚架上还可以搭载连续波雷达190，该连续波雷达190为旋转连续波雷达，该连续波雷达190可以用于测距，但不限于测距。其中，农业无人机可以包括两个或两个以上脚架，连续波雷达190搭载在其中一个脚架上。In addition, a continuous wave radar 190 can be mounted on the tripod. The continuous wave radar 190 is a rotating continuous wave radar. The continuous wave radar 190 can be used for ranging, but is not limited to ranging. Among them, the agricultural drone may include two or more tripods, and the continuous wave radar 190 is mounted on one of the tripods.
应理解，上述对于无人机***各组成部分的命名仅是出于标识的目的，并不应理解为对本申请的实施例的限制。下面以可移动平台为无人机为例对本申请的方案进行说明。It should be understood that the aforementioned naming of the components of the UAV system is only for identification purposes, and should not be understood as a limitation to the embodiments of the present application. Hereinafter, the solution of the application will be described by taking the movable platform as an unmanned aerial vehicle as an example.
图3为本申请一实施例提供的可移动平台的作业规划方法的流程图，如图3所示，本实施例的方法应用于控制终端，本实施例的方法可以包括：FIG. 3 is a flowchart of a method for planning operations on a movable platform provided by an embodiment of the application. As shown in FIG. 3, the method of this embodiment is applied to a control terminal, and the method of this embodiment may include:
S301、检测用户的第一设置操作，根据检测到的第一设置操作确定第一参考点和第一参考方向，第一参考方向为与第一参考点对应的参考方向。S301: Detect a first setting operation of the user, and determine a first reference point and a first reference direction according to the detected first setting operation, where the first reference direction is a reference direction corresponding to the first reference point.
本实施例中的控制终端可以为可移动平台的控制终端，该控制终端包括遥控器、智能手机、平板电脑、膝上型电脑、穿戴式设备中的一种或多种，此处不再赘述。控制终端可以通过交互装置检测用户的操作，其中，交互装置可以是控制终端的重要组成部分，是与用户进行交互的接口，用户可以通过对交互装置的操作，实现对可移动平台的控制；当用户想要控制可移动平台时，用户对控制终端的交互装置进行操作，控制终端通过该交互装置检测到用户的操作。该交互装置例如可以是控制终端的触控屏、键盘、摇杆、波轮中的一种或多种；同时触控屏还可以显示可移动平台运行时的参数(例如位置、航线、航向等)，可以显示可移动平台拍摄的画面。The control terminal in this embodiment may be a control terminal of a movable platform. The control terminal includes one or more of a remote control, a smart phone, a tablet computer, a laptop computer, and a wearable device, which will not be repeated here. . The control terminal can detect the operation of the user through the interactive device. The interactive device can be an important part of the control terminal and an interface for interacting with the user. The user can control the movable platform by operating the interactive device; When the user wants to control the movable platform, the user operates the interactive device of the control terminal, and the control terminal detects the user's operation through the interactive device. The interactive device can be, for example, one or more of the touch screen, keyboard, joystick, and wave wheel of the control terminal; at the same time, the touch screen can also display the operating parameters of the movable platform (such as position, route, heading, etc.) ), can display the screen shot by the movable platform.
本实施例中，当用户想要对待规划区域内可移动平台的作业区域进行规划时，用户需要设置两个参考点和分别与两个参考点对应的参考方向，两个参考点分别称为第一参考点和第二参考点，分别与两个参考点对应的参考方向称为与第一参考点对应的参考方向以及与第二参考点对应的参考方向。In this embodiment, when the user wants to plan the work area of the movable platform in the area to be planned, the user needs to set two reference points and reference directions corresponding to the two reference points. The two reference points are called the first A reference point and a second reference point, and the reference directions corresponding to the two reference points are called the reference direction corresponding to the first reference point and the reference direction corresponding to the second reference point.
当用户想要设置第一参考点和与第一参考点对应的参考方向时，用户便对交互装置进行第一设置操作，交互装置会对用户的第一设备操作进行检测，因此，控制终端可以通过交互装置检测到用户的第一设置操作。控制终端在检测到第一设置操作后，根据该第一设置操作确定第一参考点和与第一参考 点对应的参考方向，其中，与第一参考点对应的参考方向称为第一参考方向。该第一参考点为上述待规划区域内的参考点，相应地控制终端从待规划区域中确定第一参考点，即用户在待规划区域内设置了一个参考点。When the user wants to set the first reference point and the reference direction corresponding to the first reference point, the user performs the first setting operation on the interactive device, and the interactive device detects the user's first device operation. Therefore, the control terminal can The first setting operation of the user is detected through the interactive device. After detecting the first setting operation, the control terminal determines the first reference point and the reference direction corresponding to the first reference point according to the first setting operation, where the reference direction corresponding to the first reference point is called the first reference direction . The first reference point is the reference point in the area to be planned, and the control terminal accordingly determines the first reference point from the area to be planned, that is, the user sets a reference point in the area to be planned.
需要说明的是，第一设置操作可以是一个操作，控制终端根据第一设置操作同时确定第一参考点和第一参考方向。或者，第一设置操作可以是多个操作，第一设置操作包括第一参考点设置操作和第一方向设置操作，相应地，控制终端检测用户的第一参考点设置操作，根据检测到的第一参考点设置操作确定第一参考点，再检测用户的第一方向设置操作，根据检测到的第一方向设置操作确定第一参考方向。It should be noted that the first setting operation may be one operation, and the control terminal simultaneously determines the first reference point and the first reference direction according to the first setting operation. Alternatively, the first setting operation may be multiple operations. The first setting operation includes a first reference point setting operation and a first direction setting operation. Accordingly, the control terminal detects the user's first reference point setting operation, and according to the detected first reference point setting operation A reference point setting operation determines the first reference point, then the user's first direction setting operation is detected, and the first reference direction is determined according to the detected first direction setting operation.
S302、检测用户的第二设置操作，根据检测到的第二设置操作确定第二参考点和第二参考方向，第二参考方向为与第二参考点对应的参考方向，其中，可移动平台的作业区域为第一参考点和第二参考点之间的参考线、从第一参考点沿第一参考方向延伸的参考线和从第二参考点沿第二参考方向延伸的参考线限定的区域。S302. Detect a second setting operation of the user, and determine a second reference point and a second reference direction according to the detected second setting operation, where the second reference direction is a reference direction corresponding to the second reference point, where the movable platform The working area is the area defined by the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the second reference point in the second reference direction .
当用户想要设置第二参考点和与第二参考点对应的参考方向时，用户便对交互装置进行第二设置操作，交互装置会对用户的第二设备操作进行检测，因此，控制终端可以通过交互装置检测到用户的第二设置操作。控制终端在检测到第二设置操作后，根据该第二设置操作确定第二参考点和与第二参考点对应的参考方向，其中，与第二参考点对应的参考方向称为第二参考方向。该第二参考点也为上述待规划区域内的参考点，相应地控制终端从待规划区域中确定第二参考点，即用户从待规划区域中设置了另一个参考点。When the user wants to set the second reference point and the reference direction corresponding to the second reference point, the user performs a second setting operation on the interactive device, and the interactive device detects the user's second device operation. Therefore, the control terminal can The second setting operation of the user is detected through the interactive device. After detecting the second setting operation, the control terminal determines the second reference point and the reference direction corresponding to the second reference point according to the second setting operation, where the reference direction corresponding to the second reference point is called the second reference direction . The second reference point is also the reference point in the area to be planned, and the terminal is controlled to determine the second reference point from the area to be planned accordingly, that is, the user sets another reference point in the area to be planned.
在控制终端确定第一参考点、第二参考点、第一参考方向、第二参考方向之后，可移动平台的作业区域也相应确定，即为第一参考点和第二参考点之间的参考线、从第一参考点沿第一参考方向延伸的参考线和从第二参考点沿第二参考方向延伸的参考线限定的区域，如图4所示，第一参考点为参考点A，第二参考点为参考点B。其中，该可移动平台的作业区域可以上述待规划区域内的部分区域，因此，通过本实施例的方案，可以从规划区域内确定出多个上述作业区域。After the control terminal determines the first reference point, the second reference point, the first reference direction, and the second reference direction, the operating area of the movable platform is also determined accordingly, that is, the reference between the first reference point and the second reference point The area defined by the line, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the second reference point in the second reference direction, as shown in FIG. 4, the first reference point is reference point A, The second reference point is reference point B. Wherein, the operation area of the movable platform may be a part of the area to be planned. Therefore, through the solution of this embodiment, a plurality of the operation areas mentioned above can be determined from the planning area.
可选地，控制终端还可以根据第一参考点、第二参考点、第一参考方向、第二参考方向，确定可移动平台的作业区域为第一参考点和第二参考点之间 的参考线、从第一参考点沿第一参考方向延伸的参考线和从第二参考点沿第二参考方向延伸的参考线限定的区域。或者，可选地，控制终端将第一参考点、第二参考点、第一参考方向和第二参考方向通知给可移动平台，相应地，可移动平台根据第一参考点、第二参考点、第一参考方向和第二参考方向，确定可移动平台的作业区域为第一参考点和第二参考点之间的参考线、从第一参考点沿第一参考方向延伸的参考线和从第二参考点沿第二参考方向延伸的参考线限定的区域。Optionally, the control terminal may also determine the operating area of the movable platform as the reference between the first reference point and the second reference point according to the first reference point, the second reference point, the first reference direction, and the second reference direction. The area defined by the line, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the second reference point in the second reference direction. Or, optionally, the control terminal notifies the movable platform of the first reference point, the second reference point, the first reference direction, and the second reference direction, and accordingly, the movable platform according to the first reference point, the second reference point , The first reference direction and the second reference direction, determine the working area of the movable platform as the reference line between the first reference point and the second reference point, the reference line extending from the first reference point along the first reference direction and The second reference point is an area defined by a reference line extending along the second reference direction.
需要说明的是，第二设置操作可以是一个操作，控制终端根据第二设置操作同时确定第二参考点和第二参考方向。或者，第二设置操作可以是多个操作，第二设置操作包括第二参考点设置操作和第二方向设置操作，相应地，控制终端检测用户的第二参考点设置操作，根据检测到的第二参考点设置操作确定第二参考点，再检测用户的第二方向设置操作，根据检测到的第二方向设置操作确定第二参考方向。It should be noted that the second setting operation may be one operation, and the control terminal simultaneously determines the second reference point and the second reference direction according to the second setting operation. Alternatively, the second setting operation may be multiple operations. The second setting operation includes a second reference point setting operation and a second direction setting operation. Accordingly, the control terminal detects the user's second reference point setting operation, and according to the detected second reference point setting operation The second reference point setting operation determines the second reference point, and then the second direction setting operation of the user is detected, and the second reference direction is determined according to the detected second direction setting operation.
本实施例中，通过检测用户的第一设置操作，根据检测到的第一设置操作确定第一参考点和第一参考方向，以及检测用户的第一设置操作，根据检测到的第二设置操作确定第二参考点和第二参考方向，可移动平台的作业区域为第一参考点和第二参考点之间的参考线、从第一参考点沿第一参考方向延伸的参考线和从第二参考点沿第二参考方向延伸的参考线限定的区域。因此，用户通过对控制终端的操作来设置两个参考点和分别与两个参考点对应的参考方向，可灵活规划可移动平台的作业区域，作业区域不再局限于矩形，提高了可移动平台的作业效率。In this embodiment, the first setting operation of the user is detected, the first reference point and the first reference direction are determined according to the first setting operation detected, the first setting operation of the user is detected, and the second setting operation is detected. Determine the second reference point and the second reference direction. The working area of the movable platform is the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the first reference point in the first reference direction. The area defined by the reference line extending along the second reference direction of the two reference points. Therefore, the user sets two reference points and reference directions corresponding to the two reference points by operating the control terminal, and can flexibly plan the working area of the movable platform. The working area is no longer limited to a rectangle, and the movable platform is improved. The efficiency of the operation.
在一些实施例中，所述第一参考方向和所述第二参考方向中至少一个参考方向是采集到的可移动平台的朝向。In some embodiments, at least one of the first reference direction and the second reference direction is the collected orientation of the movable platform.
第一参考方向为控制终端检测到第一设置操作时采集到的可移动平台的朝向；或者，第二参考方向为控制终端检测到第二设置操作时采集到的可移动平台的朝向；或者，第一参考方向为控制终端检测到第一设置操作时采集到的可移动平台的朝向以及第二参考方向为控制终端检测到第二设置操作时采集到的可移动平台的朝向。The first reference direction is the orientation of the movable platform collected when the control terminal detects the first setting operation; or, the second reference direction is the orientation of the movable platform collected when the control terminal detects the second setting operation; or, The first reference direction is the orientation of the movable platform collected when the control terminal detects the first setting operation, and the second reference direction is the orientation of the movable platform collected when the control terminal detects the second setting operation.
在一些实施例中，所述第一参考点和所述第二参考点中至少一个参考点是采集到的可移动平台的位置。In some embodiments, at least one of the first reference point and the second reference point is a collected position of the movable platform.
第一参考点为控制终端检测到第一设置操作时采集到的可移动平台的位置；或者，第二参考点为控制终端检测到第二设置操作时采集到的可移动平台的位置；或者，第一参考点为控制终端检测到第一设置操作时采集到的可移动平台的位置以及第二参考点为控制终端检测到第二设置操作时采集到的可移动平台的位置。The first reference point is the position of the movable platform collected when the control terminal detects the first setting operation; or, the second reference point is the position of the movable platform collected when the control terminal detects the second setting operation; or, The first reference point is the position of the movable platform collected when the control terminal detects the first setting operation, and the second reference point is the position of the movable platform collected when the control terminal detects the second setting operation.
在一些实施例中，上述S301中根据检测到的第一设置操作确定第一参考点和第一参考方向的一种可能的实现方式为：响应于检测到的第一设置操作，将采集到的可移动平台的位置设置为第一参考点，将采集到的可移动平台的朝向设置为第一参考方向。控制终端检测到用户的第一设置操作，获取检测到第一设置操作时采集到的可移动平台的位置和可移动平台的朝向，并将该采集到的可移动平台的位置设置为第一参考点，以及将采集到的可移动平台的朝向设置为第一参考方向。In some embodiments, a possible implementation manner of determining the first reference point and the first reference direction according to the detected first setting operation in S301 is: in response to the detected first setting operation, the collected The position of the movable platform is set as the first reference point, and the collected orientation of the movable platform is set as the first reference direction. The control terminal detects the user's first setting operation, acquires the position of the movable platform and the orientation of the movable platform collected when the first setting operation is detected, and sets the collected position of the movable platform as the first reference Point, and set the collected orientation of the movable platform as the first reference direction.
上述S302中根据检测到的第二设置操作确定第二参考点和第二参考方向的一种可能的实现方式为：响应于检测到的第二设置操作，将采集到的可移动平台的位置设置为第二参考点，将采集到的可移动平台的朝向设置为第二参考方向。控制终端检测到用户的第二设置操作，获取检测到第二设置操作时采集到的可移动平台的位置和可移动平台的朝向，并将该采集到的可移动平台的位置设置为第二参考点，以及将采集到的可移动平台的朝向设置为第二参考方向。A possible implementation manner of determining the second reference point and the second reference direction according to the detected second setting operation in S302 is: in response to the detected second setting operation, setting the collected position of the movable platform As the second reference point, the collected orientation of the movable platform is set as the second reference direction. The control terminal detects the second setting operation of the user, acquires the position of the movable platform and the orientation of the movable platform collected when the second setting operation is detected, and sets the collected position of the movable platform as the second reference Point, and set the collected orientation of the movable platform as the second reference direction.
因此，本实施例可以通过可移动平台的位置和朝向来确定可移动平台的作业区域。Therefore, in this embodiment, the working area of the movable platform can be determined by the position and orientation of the movable platform.
在一些实施例中，控制终端在执行上述S301之前，还检测用户的第一移动控制操作，根据检测到的第一移动控制操作控制可移动平台移动至第一参考点。In some embodiments, before performing the above S301, the control terminal also detects the user's first movement control operation, and controls the movable platform to move to the first reference point according to the detected first movement control operation.
如果可移动平台当前的位置并未位于用户期望的位置，则用户可以对控制终端执行第一移动控制操作，相应地，控制终端检测到用户的第一移动控制操作，并根据第一移动控制操作控制可移动平台移动，直至移动至用户期望的第一位置(即第一参考点)，例如如图5所示，用户通过在控制终端的触控屏上进行向上滑动，来控制可移动平台的移动，需要说明的是，第一移动控制操作并不限于此。然后控制终端检测到第一设置操作后， 根据第一设置操作将可移动平台的位置设置为第一参考点。If the current position of the movable platform is not at the position desired by the user, the user can perform the first movement control operation on the control terminal. Accordingly, the control terminal detects the first movement control operation of the user and controls the operation according to the first movement Control the movable platform to move until it moves to the first position (ie the first reference point) desired by the user. For example, as shown in Figure 5, the user controls the movable platform by sliding upwards on the touch screen of the control terminal. Movement, it should be noted that the first movement control operation is not limited to this. Then, after detecting the first setting operation, the control terminal sets the position of the movable platform as the first reference point according to the first setting operation.
控制终端在执行上述S302之前，还检测用户的第二移动控制操作，根据检测到的第二移动控制操作控制可移动平台移动至第二参考点。Before performing the above S302, the control terminal also detects the user's second movement control operation, and controls the movable platform to move to the second reference point according to the detected second movement control operation.
如果可移动平台当前的位置并未位于用户期望的位置，则用户可以对控制终端执行第二移动控制操作，相应地，控制终端检测到用户的第二移动控制操作，并根据第二移动控制操作控制可移动平台移动，直至移动至用户期望的第二位置(即第二参考点)。然后控制终端检测到第二设置操作后，根据第二设置操作将可移动平台的位置设置为第二参考点。If the current position of the movable platform is not in the position desired by the user, the user can perform a second movement control operation on the control terminal. Accordingly, the control terminal detects the second movement control operation of the user and controls the operation according to the second movement Control the movable platform to move until it moves to the second position desired by the user (ie, the second reference point). Then, after detecting the second setting operation, the control terminal sets the position of the movable platform as the second reference point according to the second setting operation.
因此，用户通过操作控制终端来控制可移动平台的移动，可以灵活地并准确地设置第一参考点和第二参考点，使得确定的可移动平台的作业区域更加精确。Therefore, the user controls the movement of the movable platform by operating the control terminal, and can flexibly and accurately set the first reference point and the second reference point, so that the determined working area of the movable platform is more accurate.
在一些实施例中，控制终端在执行上述S301之前，还检测用户的第一朝向控制操作，根据检测到的第一朝向控制操作将可移动平台的朝向调节至第一参考方向。In some embodiments, before performing S301, the control terminal also detects the user's first orientation control operation, and adjusts the orientation of the movable platform to the first reference direction according to the detected first orientation control operation.
如果可移动平台当前的朝向并不是用户期望的朝向，则用户可以对控制终端执行第一朝向控制操作，相应地，控制终端检测到用户的第一朝向控制操作，并根据第一朝向控制操作控制可移动平台转动，直至可移动平台的朝向转动至朝向用户期望的方向(即第一参考方向)，例如如图5所示，用户通过在控制终端的触控屏上进行滑动，来控制可移动平台的转动，需要说明的是，第一朝向控制操作并不限于此。然后控制终端检测到第一设置操作后，根据第一设置操作将可移动平台的朝向设置为第一参考方向。If the current orientation of the movable platform is not the orientation that the user expects, the user can perform a first orientation control operation on the control terminal. Accordingly, the control terminal detects the user's first orientation control operation and controls according to the first orientation control operation The movable platform rotates until the orientation of the movable platform rotates to the direction desired by the user (that is, the first reference direction), for example, as shown in FIG. 5, the user controls the movable by sliding on the touch screen of the control terminal For the rotation of the platform, it should be noted that the first orientation control operation is not limited to this. Then, after detecting the first setting operation, the control terminal sets the orientation of the movable platform as the first reference direction according to the first setting operation.
控制终端在执行上述S302之前，还检测用户的第二朝向控制操作，根据检测到的第二朝向控制操作将可移动平台的朝向调节至第二参考方向。Before performing the above S302, the control terminal also detects the second orientation control operation of the user, and adjusts the orientation of the movable platform to the second reference direction according to the detected second orientation control operation.
如果可移动平台当前的朝向并不是用户期望的朝向，则用户可以对控制终端执行第二朝向控制操作，相应地，控制终端检测到用户的第二朝向控制操作，并根据第二朝向控制操作控制可移动平台转动，直至可移动平台的朝向转动至朝向用户期望的方向(即第二参考方向)。然后控制终端检测到第二设置操作后，根据第二设置操作将可移动平台的朝向设置为第二参考方向。If the current orientation of the movable platform is not the orientation that the user expects, the user can perform a second orientation control operation on the control terminal. Accordingly, the control terminal detects the user's second orientation control operation and controls according to the second orientation control operation The movable platform rotates until the orientation of the movable platform rotates toward the direction desired by the user (ie, the second reference direction). Then, after detecting the second setting operation, the control terminal sets the orientation of the movable platform to the second reference direction according to the second setting operation.
因此，用户通过操作控制终端来控制可移动平台的朝向，可以灵活地并准确地设置第一参考方向和第二参考方向，使得确定的可移动平台的作业区域更加精确。Therefore, the user controls the orientation of the movable platform by operating the control terminal, and can flexibly and accurately set the first reference direction and the second reference direction, so that the determined working area of the movable platform is more accurate.
可选地，上述可移动平台的朝向包括可移动平台机身的航向或可移动平台的拍摄装置的航向。Optionally, the orientation of the above-mentioned movable platform includes the orientation of the fuselage of the movable platform or the orientation of the camera of the movable platform.
可选地，所述可移动平台机身的航向为所述可移动平台的机头的航向。Optionally, the heading of the fuselage of the movable platform is the heading of the nose of the movable platform.
在一些实施例中，控制终端还获取并显示可移动平台采集的图像，以及在所述图像上显示指示所述可移动平台的航向的指示标识。In some embodiments, the control terminal also acquires and displays an image collected by the movable platform, and displays an indication mark indicating the heading of the movable platform on the image.
本实施例中，可移动平台可以采集图像，可移动平台将采集的图像发送给控制终端，控制终端接收可移动平台采集的图像，并通过显示装置显示可移动平台采集的图像。控制终端还可以获取可移动平台的航向，例如：获取可移动平台机身的航向为可移动平台的航向，或者，获取可移动平台的拍摄装置的航向为可移动平台的航向；控制终端将用于指示可移动平台的航向的指示标识显示在可移动平台采集的图像上。In this embodiment, the movable platform can collect images, the movable platform sends the collected images to the control terminal, and the control terminal receives the images collected by the movable platform, and displays the images collected by the movable platform through the display device. The control terminal can also obtain the heading of the movable platform, for example, the heading of the fuselage of the movable platform is the heading of the movable platform, or the heading of the camera of the movable platform is the heading of the movable platform; the control terminal will use The indication mark for indicating the heading of the movable platform is displayed on the image collected by the movable platform.
相应地，用户通过显示的图像以及显示在图像上的指示标识，确定可移动平台的航向是否为用户期望的航向，若不是，用户可以对控制终端执行上述第一航向控制操作和/或第二航向控制操作，对可移动平台的航向进行调整，以便设置第一参考方向和第二参考方向。Correspondingly, the user can determine whether the heading of the movable platform is the heading desired by the user through the displayed image and the indication mark displayed on the image. If not, the user can perform the first heading control operation and/or the second heading control operation on the control terminal. The heading control operation is to adjust the heading of the movable platform to set the first reference direction and the second reference direction.
用户可以通过所述图像观测到可移动平台周围的待规划区域，另外，用户通过观测所述指示标识就可以知道可移动平台的航向指向待规划区域的哪个方向，用户可以按照自己的需求将所述指示标识指示的可移动平台的航向确定为所述第一参考方向和/第二参考方向。其中，所述指示标识可以为指示线或指示箭头等标识。因此，结合可移动平台采集的图像可以准确地调整可移动平台的航向至用户期望的航向，以确保准确地设置第一参考方向和第二参考方向。The user can observe the area to be planned around the movable platform through the image. In addition, the user can know which direction the heading of the movable platform is pointing to the area to be planned by observing the indication mark. The heading of the movable platform indicated by the indicator is determined as the first reference direction and/or the second reference direction. Wherein, the indicator may be an indicator such as an indicator line or an indicator arrow. Therefore, combining the images collected by the movable platform can accurately adjust the heading of the movable platform to the heading desired by the user, so as to ensure that the first reference direction and the second reference direction are accurately set.
在一些实施例中，控制终端还获取并显示可移动平台采集的图像，以及在所述图像上显示指示所述可移动平台的位置的指示标识。In some embodiments, the control terminal also acquires and displays an image collected by the movable platform, and displays an indication mark indicating the position of the movable platform on the image.
本实施例中，可移动平台可以采集图像，可移动平台将采集的图像发送给控制终端，控制终端接收可移动平台采集的图像，并通过显示装置显示可移动平台采集的图像。控制终端还可以获取可移动平台的位置，控制 终端将用于指示可移动平台的位置的指示标识显示在可移动平台采集的图像上。In this embodiment, the movable platform can collect images, the movable platform sends the collected images to the control terminal, and the control terminal receives the images collected by the movable platform, and displays the images collected by the movable platform through the display device. The control terminal can also obtain the position of the movable platform, and the control terminal displays the indication mark for indicating the position of the movable platform on the image collected by the movable platform.
相应地，用户通过显示的图像以及显示在图像上的指示标识，确定可移动平台的位置是否为用户期望的位置，若不是，用户可以对控制终端执行上述第一移动控制操作和/或第二移动控制操作，对可移动平台的位置进行调整，以便设置第一参考点和第二参考点。Correspondingly, the user determines whether the position of the movable platform is the position desired by the user through the displayed image and the indication mark displayed on the image. If not, the user can perform the above-mentioned first movement control operation and/or second movement control operation on the control terminal. The movement control operation adjusts the position of the movable platform to set the first reference point and the second reference point.
因此，结合可移动平台采集的图像可以准确地调整可移动平台的位置至用户期望的位置，以确保准确地设置第一参考点和第二参考点。Therefore, combining the images collected by the movable platform can accurately adjust the position of the movable platform to the position desired by the user, so as to ensure that the first reference point and the second reference point are accurately set.
在一些实施例中，所述第一参考方向和所述第二参考方向中至少一个参考方向是采集到的控制终端的朝向。In some embodiments, at least one of the first reference direction and the second reference direction is the collected orientation of the control terminal.
第一参考方向为控制终端检测到第一设置操作时采集到的该控制终端的朝向；或者，第二参考方向为控制终端检测到第二设置操作时采集到的该控制终端的朝向；或者，第一参考方向为控制终端检测到第一设置操作时采集到的该控制终端的朝向以及第二参考方向为控制终端检测到第二设置操作时采集到的该控制终端的朝向。The first reference direction is the orientation of the control terminal collected when the control terminal detects the first setting operation; or, the second reference direction is the orientation of the control terminal collected when the control terminal detects the second setting operation; or, The first reference direction is the orientation of the control terminal collected when the control terminal detects the first setting operation, and the second reference direction is the orientation of the control terminal collected when the control terminal detects the second setting operation.
在一些实施例中，所述第一参考点和所述第二参考点中至少一个参考点是采集到的控制终端的位置。In some embodiments, at least one of the first reference point and the second reference point is a collected position of the control terminal.
第一参考方向为控制终端检测到第一设置操作时采集到的该控制终端的位置；或者，第二参考点为控制终端检测到第二设置操作时采集到的该控制终端的位置；或者，第一参考点为控制终端检测到第一设置操作时采集到的该控制终端的位置以及第二参考点为控制终端检测到第二设置操作时采集到的该控制终端的位置。The first reference direction is the position of the control terminal collected when the control terminal detects the first setting operation; or, the second reference point is the position of the control terminal collected when the control terminal detects the second setting operation; or, The first reference point is the position of the control terminal collected when the control terminal detects the first setting operation, and the second reference point is the position of the control terminal collected when the control terminal detects the second setting operation.
在一些实施例中，上述S301中根据检测到的第一设置操作确定第一参考点和第一参考方向的一种可能的实现方式为：响应于检测到的第一设置操作，将采集到的该控制终端的位置设置为第一参考点，将采集到的该控制终端的朝向设置为第一参考方向。控制终端检测到用户的第一设置操作，获取检测到第一设置操作时采集到的该控制终端的位置和该控制终端的朝向，并将该采集到的该控制终端的位置设置为第一参考点，以及将采集到的该控制终端的朝向设置为第一参考方向。In some embodiments, a possible implementation manner of determining the first reference point and the first reference direction according to the detected first setting operation in S301 is: in response to the detected first setting operation, the collected The position of the control terminal is set as the first reference point, and the collected orientation of the control terminal is set as the first reference direction. The control terminal detects the user's first setting operation, obtains the position of the control terminal and the direction of the control terminal collected when the first setting operation is detected, and sets the collected position of the control terminal as the first reference Point, and set the collected orientation of the control terminal as the first reference direction.
上述S302中根据检测到的第二设置操作确定第二参考点和第二参考 方向的一种可能的实现方式为：响应于检测到的第二设置操作，将采集到的该控制终端的位置设置为第二参考点，将采集到的可移动平台的朝向设置为第二参考方向。控制终端检测到用户的第二设置操作，获取检测到第二设置操作时采集到的该控制终端的位置和该控制终端的朝向，并将该采集到的该控制终端的位置设置为第二参考点，以及将采集到的该控制终端的朝向设置为第二参考方向。A possible implementation manner of determining the second reference point and the second reference direction according to the detected second setting operation in S302 is: in response to the detected second setting operation, setting the collected position of the control terminal As the second reference point, the collected orientation of the movable platform is set as the second reference direction. The control terminal detects the second setting operation of the user, acquires the position of the control terminal and the orientation of the control terminal collected when the second setting operation is detected, and sets the collected position of the control terminal as the second reference Point, and set the collected orientation of the control terminal as the second reference direction.
因此，本实施例可以通过控制终端的位置和朝向来确定可移动平台的作业区域。Therefore, in this embodiment, the working area of the movable platform can be determined by controlling the position and orientation of the terminal.
在一些实施例中，控制终端还获取并显示数字地图。该数字地图例如为上述提及的待规划区域的数字地图。In some embodiments, the control terminal also acquires and displays a digital map. The digital map is, for example, the above-mentioned digital map of the area to be planned.
相应地，上述S301的一种可能的实现方式为：检测用户对显示的数字地图的第一设置操作，根据检测到的第一设置操作确定所述第一参考点和所述第一参考方向。用户可以基于显示的数字地图设置第一参考点和第一参考方向，具体地，用户通过控制终端的交互装置对显示的数字地图执行第一设置操作，相应地，控制终端通过交互装置检测到用户对显示的数字地图的第一设置操作，然后根据检测到的第一设置操作和显示的数字地图，确定数字地图上的第一参考点和第一参考方向。Correspondingly, a possible implementation manner of the above S301 is: detecting a user's first setting operation on the displayed digital map, and determining the first reference point and the first reference direction according to the detected first setting operation. The user can set the first reference point and the first reference direction based on the displayed digital map. Specifically, the user performs the first setting operation on the displayed digital map through the interactive device of the control terminal, and accordingly, the control terminal detects the user through the interactive device. Perform a first setting operation on the displayed digital map, and then determine the first reference point and the first reference direction on the digital map according to the detected first setting operation and the displayed digital map.
相应地，上述S302的一种可能的实现方式为：检测用户对显示的数字地图的第二设置操作，根据检测到的第二设置操作确定所述第二参考点和所述第二参考方向。用户可以基于显示的数字地图设置第二参考点和第二参考方向，具体地，用户通过控制终端的交互装置对显示的数字地图执行第二设置操作，相应地，控制终端通过交互装置检测到用户对显示的数字地图的第二设置操作，然后根据检测到的第二设置操作和显示的数字地图，确定数字地图上的第二参考点和第二参考方向。Correspondingly, a possible implementation of the above S302 is: detecting a second setting operation of the user on the displayed digital map, and determining the second reference point and the second reference direction according to the detected second setting operation. The user can set the second reference point and the second reference direction based on the displayed digital map. Specifically, the user performs the second setting operation on the displayed digital map through the interactive device of the control terminal, and accordingly, the control terminal detects the user through the interactive device. Perform a second setting operation on the displayed digital map, and then determine the second reference point and the second reference direction on the digital map according to the detected second setting operation and the displayed digital map.
因此，结合数字地图可以准确地设置第一参考点、第一参考方向、第二参考点和第二参考方向，以确保可移动平台的作业区域的精确性。Therefore, in combination with the digital map, the first reference point, the first reference direction, the second reference point, and the second reference direction can be accurately set to ensure the accuracy of the work area of the movable platform.
在一些实施例中，控制终端还获取并显示数字地图，并在数字地图上显示第一参考点和第一参考方向、第二参考点和第二参考方向。以便用户及时通过显示的数字地图以及显示在数字地图上的第一参考点和第一参考方向、第二参考点和第二参考方向，确定可移动平台的作业区域。如果 确定的可移动平台的作业区域不符合用户的预期，用户可以及时调整。In some embodiments, the control terminal also acquires and displays a digital map, and displays the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map. So that the user can determine the working area of the movable platform in time through the displayed digital map and the first reference point and the first reference direction, the second reference point and the second reference direction displayed on the digital map. If the determined operating area of the movable platform does not meet the user's expectations, the user can adjust it in time.
在一些实施例中，控制终端在执行上述S301和S302之后，还根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动平台在作业区域内执行工作任务。In some embodiments, after performing the above S301 and S302, the control terminal further controls the control terminal according to the first reference point and the first reference direction, the second reference point and the second reference direction. The mobile platform performs work tasks in the work area.
控制终端在确定第一参考点、第一参考方向、第二参考点和第二参考方向后，根据第一参考点、第一参考方向、第二参考点和第二参考方向，控制可移动平台在所述第一参考点和所述第二参考点之间的参考线、从所述第一参考点沿所述第一参考方向延伸的参考线和从所述第二参考点沿所述第二参考方向延伸的参考线限定的区域(即作业区域)内执行工作任务。可选地，控制终端根据第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，生成可移动平台在作业区域内的航线；根据所述航线控制所述可移动平台在所述作业区域内执行工作任务，例如：控制终端向可移动平台发送作业指令，所述作业指令包括所述航线，相应地，可移动平台接收控制终端发送的作业指令，并根据作业指令中的航线执行工作任务。After determining the first reference point, the first reference direction, the second reference point and the second reference direction, the control terminal controls the movable platform according to the first reference point, the first reference direction, the second reference point and the second reference direction The reference line between the first reference point and the second reference point, the reference line extending from the first reference point along the first reference direction, and the reference line from the second reference point along the first reference point 2. The work task is executed in the area (ie, the work area) defined by the reference line extending in the reference direction. Optionally, the control terminal generates the route of the movable platform in the operation area according to the first reference point and the first reference direction, the second reference point and the second reference direction; The movable platform performs work tasks in the work area, for example: the control terminal sends a work instruction to the movable platform, the work instruction includes the route, and accordingly, the movable platform receives the work instruction sent by the control terminal, and Perform work tasks according to the routes in the work instructions.
其中，生成可移动平台在作业区域内的航线的一种可选的实现方式为：如图6所示，确定的第一参考点A点的经度和纬度为(lon A,lat A)，第一参考方向(例如可移动平台在A点的航向)为Yaw A，第二参考点B点的经度和纬度为(lon B,lat B)，第二参考方向(例如可移动平台在B点的航向)为Yaw B，控制终端根据检测到的用户的作业间距设置操作确定的作业间距为l，可移动平台沿A点与B点之间的参考线的延长线移动的航向为Yaw AB，进而可求出A点与B点之间的参考线的延长线的方向与第一参考方向的角度差为θ A＝(Yaw A-Yaw AB)，和A点与B点之间的参考线的延长线的方向与第二参考方向的角度差为θ B＝(Yaw B-Yaw AB)，再结合作业间距l，根据下式可求得沿第一参考方向A点的下一个航点A'与A点的距离为l A-A'，以及沿第二参考方向B点的下一个航点B'与B点的距离为l B-B'： Among them, an optional implementation manner for generating the route of the movable platform in the operation area is: as shown in Fig. 6, the longitude and latitude of the determined first reference point A are (lon A , lat A ), and the first reference point A is (lon A, lat A ). A reference direction (for example, the course of the movable platform at point A) is Yaw A , the longitude and latitude of the second reference point B are (lon B , lat B ), and the second reference direction (for example, the movable platform at point B Heading) is Yaw B , the operating distance determined by the control terminal according to the detected user's operating distance setting operation is l, the heading of the movable platform moving along the extension of the reference line between point A and point B is Yaw AB , and then The angle difference between the extension of the reference line between point A and point B and the first reference direction can be calculated as θ A = (Yaw A- Yaw AB ), and the reference line between point A and point B The angle difference between the direction of the extension line and the second reference direction is θ B = (Yaw B- Yaw AB ), combined with the operation distance l, the next waypoint A'along the first reference direction A can be obtained according to the following formula The distance to point A is l A-A' , and the distance between the next waypoint B'of point B in the second reference direction and point B is l B-B' :
l A-A'＝l/sinθ A l A-A' = l/sinθ A
l B-B'＝l/sinθ B l B-B' = l/sinθ B
然后根据经纬度转换公式和l A-A'，可以获得A'的经纬度坐标，以及根据经纬度转换公式和l B-B'，可以获得B'的经纬度坐标。相应地，其它航点 可由上述过程类推得出，此处不再赘述。 Then according to the latitude and longitude conversion formula and l A-A' , the latitude and longitude coordinates of A'can be obtained, and according to the latitude and longitude conversion formula and l B-B' , the latitude and longitude coordinates of B'can be obtained. Correspondingly, other waypoints can be derived by analogy from the above process and will not be repeated here.
在一些实施例中，控制终端在确定所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向之后，用户可以随时操作控制终端来控制所述可移动平台在所述作业区域内执行工作任务，当用户想要控制可移动平台执行工作任务时，用户通过交互装置对控制终端执行开始作业操作，相应地，控制终端检测到用户的开始作业操作后，再根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动平台在作业区域内执行工作任务，以提高用户的操控性。In some embodiments, after the control terminal determines the first reference point and the first reference direction, the second reference point and the second reference direction, the user can operate the control terminal at any time to control the The mobile platform performs work tasks in the work area. When the user wants to control the mobile platform to perform work tasks, the user performs the start operation operation on the control terminal through the interactive device. Accordingly, after the control terminal detects the user's start operation operation , And then according to the first reference point and the first reference direction, the second reference point and the second reference direction, the movable platform is controlled to perform work tasks in the work area, so as to improve the user's manipulation Sex.
在一些实施例中，控制终端在根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动在目标区域内执行工作任务之前，还确定第一参考方向和第二参考方向是否满足预设的指向关系。当第一参考方向和第二参考方向满足预设的指向关系时，控制终端根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动在作业区域内执行工作任务，以保证可移动平台可以高效且顺利地在作业区域内执行工作任务。In some embodiments, the control terminal controls the movable to perform work tasks in the target area according to the first reference point and the first reference direction, the second reference point and the second reference direction Before, it is also determined whether the first reference direction and the second reference direction meet the preset pointing relationship. When the first reference direction and the second reference direction meet the preset pointing relationship, the control terminal controls the control terminal according to the first reference point and the first reference direction, the second reference point and the second reference direction The movable platform performs work tasks in the work area to ensure that the movable platform can efficiently and smoothly perform work tasks in the work area.
在一些实施例中，控制终端还确定第一参考方向和第二参考方向是否满足预设的指向关系。当第一参考方向和第二参考方向不满足预设的指向关系时，显示提示信息。该提示信息可以提示第一参考方向和第二参考方向不满足预设的指向关系，无法控制可移动平台在作业区域内执行工作任务；或者，该提示信息可以提示作业区域规划不成功。以便用户通过提示信息重新调整第一参考方向或第二参考方向。In some embodiments, the control terminal further determines whether the first reference direction and the second reference direction satisfy a preset pointing relationship. When the first reference direction and the second reference direction do not satisfy the preset pointing relationship, a prompt message is displayed. The prompt information may prompt that the first reference direction and the second reference direction do not satisfy the preset pointing relationship, and the movable platform cannot be controlled to perform work tasks in the work area; or, the prompt information may prompt that the work area planning is unsuccessful. This allows the user to readjust the first reference direction or the second reference direction through the prompt information.
在一些实施例中，上述确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系的一种可能的实现方式可以为：确定所述第一参考方向与所述第二参考方向是否都指向第一参考点和第二参考点之间的参考线的两侧中的同一侧。如果第一参考方向与第二参考方向都指向第一参点和第二参考点之间的参考线的两侧中的同一侧，则表示所述第一参考方向和所述第二参考方向满足预设的指向关系。如果第一参考方向与第二参考方向不全指向第一参点和第二参考点之间的参考线的两侧中的同一侧，则表示所述第一参考方向和所述第二参考方向不满足预设的指向关系。如果第一参考方向与第二参考方向都指向第一参点和第二参考点之间的参 考线的两侧中的同一侧，表示上述确定的作业区域有利于可移动平台执行工作任务。In some embodiments, a possible implementation manner of determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship may be: determining the first reference direction and the second reference direction. Whether the reference directions all point to the same side of the two sides of the reference line between the first reference point and the second reference point. If both the first reference direction and the second reference direction point to the same side of the two sides of the reference line between the first reference point and the second reference point, it means that the first reference direction and the second reference direction satisfy The preset pointing relationship. If the first reference direction and the second reference direction do not all point to the same side of the two sides of the reference line between the first reference point and the second reference point, it means that the first reference direction and the second reference direction are not Meet the preset directional relationship. If both the first reference direction and the second reference direction point to the same side of the two sides of the reference line between the first reference point and the second reference point, it means that the determined work area is favorable for the movable platform to perform work tasks.
在一些情况下，农业无人机(如植保机)是一种可以由用户操纵执行飞行及喷洒等任务的无人机平台。这类无人机通常具有GPS模块，用于精确定位无人机的实时位置信息，一般都会装配有指南针、气压计等模块，用于测量飞机的航向角和飞行高度等信息，此外，与植保机进行通讯的控制终端(例如遥控器)一般会设置按键或APP图形界面，实现用户与飞机的交互。目前，现有的无人机针对相同地块的作业手段主要有以下几种：In some cases, agricultural drones (such as plant protection drones) are a drone platform that can be manipulated by users to perform tasks such as flying and spraying. This type of drone usually has a GPS module, which is used to accurately locate the real-time position information of the drone. It is usually equipped with a compass, barometer and other modules to measure the aircraft’s heading angle and flight altitude. In addition, with plant protection The control terminal (such as a remote control) that communicates with the aircraft generally has buttons or an APP graphical interface to realize the interaction between the user and the aircraft. At present, the existing UAV operation methods for the same plot mainly include the following:
一、是对于非航线模式作业的地块，当用户进行再次作业时一般都是采用相同的作业模式，对于手动模式和M+模式下，需要用户整个作业过程中全程操控，当作业面积较大时，重复作业即耗时又耗力；对于两个参考点(AB点)的作业模式，在重复作业时还是需要用户进行重新打点规划，若作业过程中需要多次重规划，再次作业时也需要相同的操纵，因此非航线模式下针对同一地块的作业往往需要进行重复劳作，作业效率很低。如何能便捷高效的对同一地块重复作业是本领域长期存在的问题。1. For the land parcels operated in non-airline mode, the same operation mode is generally used when the user performs the operation again. For manual mode and M+ mode, the user needs to control the entire operation during the entire operation. When the operation area is large , Repeated operation is time-consuming and labor-intensive; for the operation mode of two reference points (point AB), the user still needs to re-arrange the plan when the operation is repeated. If the operation needs to be re-planned many times during the operation, it is also necessary for the operation again The same maneuver, therefore, the operation on the same plot in the non-airline mode often requires repeated work and the operation efficiency is very low. How to repeat operations on the same plot conveniently and efficiently is a long-standing problem in this field.
二、利用专有的测绘无人机，先对地形进行准确测绘，生成航线后再进行自主作业，但是需要用户额外购买专门的测绘无人机设备，即需要进行作业前的测绘准备，又增加了用户的作业成本。2. Use a proprietary surveying and mapping drone to accurately survey and map the terrain first, and then perform autonomous operations after generating a route. However, users need to purchase additional special surveying and mapping drone equipment, which requires surveying and mapping preparation before the operation, and increase The user’s operating cost.
针对上述的不足，本申请实施例提出了一种作业航线上传/保存/调用的交互方法，无人机实时记录用户作业过程中无人机的飞行信息并呈现至控制终端的APP界面，作业完成后无人机可自动生成无人机作业的三维航线，或者，用户点击上传三维航线后无人机便可自动生成无人机作业的三维航线。同时控制终端保存三维航线，或者，控制终端将三维航线上传给远端服务器进行保存。当用户需要对同一地块进行重复作业时，可直接调用航线信息快速进行再次作业，实现全自主飞行作业，方式灵活，操作简易，极大提高了用户的作业效率。此外，用户还可根据作物的长势、健康状态来调节航线作业高度、飞行速度及喷洒流量，在保证作业效率的同时，又加强的自主作业的作业效果，能有效提高植保无人机的使用价值。In view of the above-mentioned shortcomings, this embodiment of the application proposes an interactive method for uploading/saving/recalling operation routes. The drone records the drone's flight information during the user's operation in real time and presents it to the APP interface of the control terminal. After that, the drone can automatically generate a three-dimensional route for drone operations, or after the user clicks to upload the three-dimensional route, the drone can automatically generate a three-dimensional route for drone operations. At the same time, the control terminal saves the three-dimensional route, or the control terminal uploads the three-dimensional route to the remote server for storage. When the user needs to perform repeated operations on the same plot, he can directly call the route information to quickly perform another operation to achieve fully autonomous flight operations. The method is flexible and easy to operate, which greatly improves the user's operating efficiency. In addition, users can also adjust the flight altitude, flight speed and spraying flow according to the growth and health of the crops. While ensuring operation efficiency, it also enhances the operation effect of autonomous operation, which can effectively improve the use value of plant protection drones. .
一种具体实施方式图7所示，本实施方式可以包括以下步骤：用户使用手动、M+、AB点等手动或半自动作业模式，作业过程中无人机(例如 飞行控制器)会以一定频率实时记录无人机的飞行状态信息，作业完成后无人机(例如飞行控制器)会依据作业信息自动解算出一条三维飞行航线，并由控制终端显示该三维飞行航线(也就是无人机将三维飞行航线发送给控制终端，控制终端通过相应的APP界面展示该三维飞行航线)，若用户选择上传本次航线，控制终端检测用户的航线上传操作，根据航线上传操作，将本次任务的该三维飞行航线自动保存至本地或者上传至远端服务器等设备进行保存，否则，控制终端清除航线。可选地，三维飞行航线也可以是由控制终端根据无人机的飞行状态信息解算出的。其中，本实施例不限于通过控制终端(例如遥控器)中APP界面中的选项来执行航线上传操作，也可通过遥控器上的按键等方式来进行航线上传操作。A specific embodiment As shown in Fig. 7, this embodiment may include the following steps: the user uses manual or semi-automatic operation modes such as manual, M+, AB point, etc. During the operation, the drone (such as the flight controller) will perform real-time operation at a certain frequency. Record the flight status information of the drone. After the operation is completed, the drone (such as the flight controller) will automatically calculate a 3D flight route based on the operation information, and the control terminal will display the 3D flight route (that is, the drone will The flight route is sent to the control terminal, and the control terminal displays the 3D flight route through the corresponding APP interface). If the user chooses to upload this route, the control terminal detects the user’s route upload operation, and according to the route upload operation, the 3D flight route of this mission The flight route is automatically saved locally or uploaded to a remote server and other equipment for saving, otherwise, the control terminal will clear the route. Optionally, the three-dimensional flight route may also be calculated by the control terminal according to the flight status information of the drone. Among them, this embodiment is not limited to performing the route upload operation by controlling the options in the APP interface of the terminal (for example, the remote control), and the route upload operation can also be performed by means of buttons on the remote control or the like.
当用户对相同地块再次作业时，则可通过控制终端的APP界面直接调用保存的三维飞行航线，然后控制无人机完成全自动的航线飞行。在进行作业前，用户可根据作物的长势、健康状态等信息，设置该三维飞行航线的高度、飞行速度及喷洒流量等。When the user works on the same plot again, he can directly call the saved 3D flight route through the APP interface of the control terminal, and then control the drone to complete the fully automatic flight route. Before the operation, the user can set the altitude, flight speed, and spraying flow of the three-dimensional flight route according to the crop's growth and health status.
因此，通过以上步骤，便可完成作业航线的上传、保存及调用。Therefore, through the above steps, the upload, save and recall of the operating route can be completed.
本申请实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括上述各实施例中的方法的部分或全部步骤。The embodiments of the present application also provide a computer storage medium, the computer storage medium stores program instructions, and the program execution may include part or all of the steps of the methods in the foregoing embodiments.
图8为本申请一实施例提供的控制终端的结构示意图，如图8所示，本实施例的控制终端800可以包括：交互装置801和处理器802。该交互装置801和处理器802可以通过总线通信连接。上述处理器802可以是中央处理单元(Central Processing Unit，CPU)，该处理器802还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。可选地，本实施例的控制终端800还可以包括：显示装置803。显示装置803可以通过总线与上述部件通信连接。FIG. 8 is a schematic structural diagram of a control terminal provided by an embodiment of this application. As shown in FIG. 8, the control terminal 800 of this embodiment may include: an interactive device 801 and a processor 802. The interaction device 801 and the processor 802 may be connected in communication via a bus. The above-mentioned processor 802 may be a central processing unit (CPU), and the processor 802 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), and application specific integrated circuits (Application Specific Integrated Circuits). ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. Optionally, the control terminal 800 of this embodiment may further include: a display device 803. The display device 803 may be communicatively connected with the above-mentioned components through a bus.
交互装置801，用于检测用户的第一设置操作。The interaction device 801 is used to detect the first setting operation of the user.
处理器802，用于根据所述交互装置801检测到的第一设置操作确定第一参考点和第一参考方向，所述第一参考方向为与所述第一参考点对应的参考方向。The processor 802 is configured to determine a first reference point and a first reference direction according to a first setting operation detected by the interaction device 801, where the first reference direction is a reference direction corresponding to the first reference point.
所述交互装置801，还用于检测用户的第二设置操作。The interaction device 801 is also used to detect the second setting operation of the user.
所述处理器802，还用于根据所述交互装置801检测到的第二设置操作确定第二参考点和第二参考方向，所述第二参考方向为与所述第二参考点对应的参考方向，其中，所述可移动平台的作业区域为所述第一参考点和所述第二参考点之间的参考线、从所述第一参考点沿所述第一参考方向延伸的参考线和从所述第二参考点沿所述第二参考方向延伸的参考线限定的区域。The processor 802 is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device 801, where the second reference direction is a reference corresponding to the second reference point Direction, wherein the working area of the movable platform is a reference line between the first reference point and the second reference point, and a reference line extending from the first reference point along the first reference direction And an area defined by a reference line extending from the second reference point in the second reference direction.
在一些实施例中，所述处理器802，还用于根据所述第一参考点和第一参考方向、第二参考点和第二参考方向确定可移动平台的所述作业区域。In some embodiments, the processor 802 is further configured to determine the operating area of the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction.
在一些实施例中，所述第一参考方向和所述第二参考方向中至少一个参考方向是采集到的可移动平台的朝向。In some embodiments, at least one of the first reference direction and the second reference direction is the collected orientation of the movable platform.
在一些实施例中，所述处理器802在根据交互装置801检测到的第一设置操作确定第一参考点和第一参考方向时，具体用于：响应于所述交互装置801检测到的所述第一设置操作，将采集到的所述可移动平台的位置设置为所述第一参考点，将采集到的所述可移动平台的朝向设置为所述第一参考方向；In some embodiments, when the processor 802 determines the first reference point and the first reference direction according to the first setting operation detected by the interactive device 801, it is specifically configured to: respond to all the information detected by the interactive device 801. In the first setting operation, the collected position of the movable platform is set as the first reference point, and the collected orientation of the movable platform is set as the first reference direction;
所述处理器802在根据交互装置801检测到的第二设置操作确定第二参考点和第二参考方向时，具体用于：When the processor 802 determines the second reference point and the second reference direction according to the second setting operation detected by the interaction device 801, it is specifically configured to:
响应于所述交互装置801检测到的所述第二设置操作，将采集到的所述可移动平台的位置设置为第二参考点，将采集到的所述可移动平台的朝向设置为所述第二参考方向。In response to the second setting operation detected by the interaction device 801, the collected position of the movable platform is set as a second reference point, and the collected orientation of the movable platform is set as the The second reference direction.
在一些实施例中，所述交互装置801，还用于检测用户的第一移动控制操作；In some embodiments, the interaction device 801 is also used to detect the user's first movement control operation;
所述处理器802，还用于根据所述交互装置801检测到的第一移动控制操作控制可移动平台移动至所述第一参考点；The processor 802 is further configured to control the movable platform to move to the first reference point according to the first movement control operation detected by the interaction device 801;
所述交互装置801，还用于检测用户的第二移动控制操作；The interaction device 801 is also used to detect a second movement control operation of the user;
所述处理器802，还用于根据所述交互装置801检测到的第二移动控 制操作控制可移动平台移动至所述第二参考点。The processor 802 is further configured to control the movable platform to move to the second reference point according to the second movement control operation detected by the interaction device 801.
在一些实施例中，所述交互装置801，还用于检测用户的第一朝向控制操作；In some embodiments, the interaction device 801 is also used to detect the user's first orientation control operation;
所述处理器802，还用于根据所述交互装置801检测到的第一朝向控制操作将可移动平台的朝向调节至所述第一参考方向；The processor 802 is further configured to adjust the orientation of the movable platform to the first reference direction according to the first orientation control operation detected by the interaction device 801;
所述交互装置801，还用于检测用户的第二朝向控制操作；The interaction device 801 is also used to detect the second orientation control operation of the user;
所述处理器802，还用于根据所述交互装置801检测到的第二朝向控制操作将可移动平台的朝向调节至所述第二参考方向。The processor 802 is further configured to adjust the orientation of the movable platform to the second reference direction according to the second orientation control operation detected by the interaction device 801.
在一些实施例中，所述可移动平台的朝向包括可移动平台机身的航向或可移动平台的拍摄装置的航向。In some embodiments, the orientation of the movable platform includes the orientation of the fuselage of the movable platform or the orientation of the camera of the movable platform.
在一些实施例中，所述可移动平台机身的航向为所述可移动平台的机头的航向。In some embodiments, the heading of the fuselage of the movable platform is the heading of the nose of the movable platform.
在一些实施例中，所述处理器802，还用于获取可移动平台采集的图像；In some embodiments, the processor 802 is also used to obtain images collected by the movable platform;
所述显示装置803，用于显示所述可移动平台采集的图像，以及在所述图像上显示指示所述可移动平台的航向的指示标识。The display device 803 is configured to display the image collected by the movable platform, and display an indication mark indicating the heading of the movable platform on the image.
在一些实施例中，所述第一参考方向和所述第二参考方向中至少一个参考方向是采集到的所述控制终端的朝向。In some embodiments, at least one of the first reference direction and the second reference direction is the collected orientation of the control terminal.
在一些实施例中，所述处理器802在根据交互装置801检测到的第一设置操作确定第一参考点和第一参考方向时，具体用于：In some embodiments, when the processor 802 determines the first reference point and the first reference direction according to the first setting operation detected by the interaction device 801, it is specifically configured to:
响应于所述交互装置801检测到的第一设置操作，将采集到的控制终端800的位置设置为所述第一参考点，将采集到的控制终端800的朝向设置为所述第一参考方向；In response to the first setting operation detected by the interaction device 801, the collected position of the control terminal 800 is set as the first reference point, and the collected orientation of the control terminal 800 is set as the first reference direction ；
所述处理器802在根据交互装置801检测到的第二设置操作确定第二参考点和第二参考方向时，具体用于：When the processor 802 determines the second reference point and the second reference direction according to the second setting operation detected by the interaction device 801, it is specifically configured to:
响应于所述交互装置801检测到的第二设置操作，将采集到的控制终端800的位置设置为所述第二参考点，将采集到的控制终端800的朝向设置为所述第二参考方向。In response to the second setting operation detected by the interaction device 801, the collected position of the control terminal 800 is set as the second reference point, and the collected orientation of the control terminal 800 is set as the second reference direction .
在一些实施例中，所述处理器802，还用于获取数字地图；In some embodiments, the processor 802 is also used to obtain a digital map;
所述显示装置803，用于显示所述数字地图；The display device 803 is used to display the digital map;
所述交互装置801在检测用户的第一设置操作时，具体用于：检测用户对显示的所述数字地图的第一设置操作；When the interaction device 801 detects the first setting operation of the user, it is specifically configured to: detect the first setting operation of the user on the displayed digital map;
所述交互装置801在检测用户的第二设置操作时，具体用于：检测用户对所述显示数字地图的第二设置操作。When the interaction device 801 detects the second setting operation of the user, it is specifically configured to detect the second setting operation of the display digital map by the user.
在一些实施例中，所述处理器802，还用于获取数字地图；In some embodiments, the processor 802 is also used to obtain a digital map;
所述显示装置803，用于显示所述数字地图，以及在所述数字地图上显示所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向。The display device 803 is configured to display the digital map, and display the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map.
在一些实施例中，所述处理器802，还用于根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动平台在所述作业区域内执行工作任务。In some embodiments, the processor 802 is further configured to control the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction Perform work tasks in the work area.
在一些实施例中，所述处理器802，具体用于：根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，生成可移动平台的航线；根据所述航线控制所述可移动平台在所述作业区域内执行工作任务。In some embodiments, the processor 802 is specifically configured to: generate information about the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction. Route; according to the route, the movable platform is controlled to perform work tasks in the operation area.
在一些实施例中，所述处理器802，还用于确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系；In some embodiments, the processor 802 is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
所述处理器802在根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动在所述作业区域内执行工作任务时，具体用于：When the processor 802 controls the movable to perform a work task in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction , Specifically used for:
当满足所述预设的指向关系时，根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动在所述作业区域内执行工作任务。When the preset pointing relationship is satisfied, control the movable in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction Perform work tasks within.
在一些实施例中，所述处理器802，还用于确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系；In some embodiments, the processor 802 is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
所述显示装置803，用于当所述处理器802确定不满足所述预设的指向关系时，显示提示信息。The display device 803 is configured to display prompt information when the processor 802 determines that the preset pointing relationship is not satisfied.
在一些实施例中，所述处理器802在确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系时，具体用于：In some embodiments, the processor 802 is specifically configured to: when determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship:
确定所述第一参考方向与所述第二参考方向是否都指向第一参考点 和第二参考点之间的参考线的两侧中的同一侧。It is determined whether the first reference direction and the second reference direction both point to the same side of the two sides of the reference line between the first reference point and the second reference point.
可选地，本实施例的控制终端800还可以包括存储器(图中未示出)，存储器用于存储程序代码，当程序代码被执行时，所述控制终端800可以实现上述各实施例的技术方案。Optionally, the control terminal 800 of this embodiment may further include a memory (not shown in the figure). The memory is used to store program code. When the program code is executed, the control terminal 800 may implement the techniques of the foregoing embodiments. Program.
本实施例的控制终端，可以用于执行本申请上述各方法实施例中控制终端的技术方案，其实现原理和技术效果类似，此处不再赘述。The control terminal of this embodiment can be used to implement the technical solutions of the control terminal in the foregoing method embodiments of the present application, and its implementation principles and technical effects are similar, and will not be repeated here.
图9为本申请一实施例提供的可移动平台的作业规划***的一种结构示意图，如图9所示，本实施例的可移动平台的作业规划***900可以包括：可移动平台901和控制终端902。其中，控制终端902可以采用图8所示实施例的结构，其对应地，可以执行上述各方法实施例中控制终端的技术方案，其实现原理和技术效果类似，此处不再赘述。FIG. 9 is a schematic structural diagram of a work planning system for a movable platform provided by an embodiment of this application. As shown in FIG. 9, the work planning system 900 for a movable platform in this embodiment may include: a movable platform 901 and a control Terminal 902. Wherein, the control terminal 902 can adopt the structure of the embodiment shown in FIG. 8, which can correspondingly execute the technical solutions of the control terminal in the foregoing method embodiments. The implementation principles and technical effects are similar, and will not be repeated here.
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. range.

Claims (37)

  1. 一种可移动平台的作业规划方法，应用于控制终端，其特征在于，包括：A work planning method for a movable platform, applied to a control terminal, is characterized in that it includes:
    检测用户的第一设置操作，根据检测到的第一设置操作确定第一参考点和第一参考方向，所述第一参考方向为与所述第一参考点对应的参考方向；Detecting a first setting operation of the user, and determining a first reference point and a first reference direction according to the detected first setting operation, where the first reference direction is a reference direction corresponding to the first reference point;
    检测用户的第二设置操作，根据检测到的第二设置操作确定第二参考点和第二参考方向，所述第二参考方向为与所述第二参考点对应的参考方向，其中，所述可移动平台的作业区域为所述第一参考点和所述第二参考点之间的参考线、从所述第一参考点沿所述第一参考方向延伸的参考线和从所述第二参考点沿所述第二参考方向延伸的参考线限定的区域。The second setting operation of the user is detected, and a second reference point and a second reference direction are determined according to the detected second setting operation, where the second reference direction is a reference direction corresponding to the second reference point, wherein the The working area of the movable platform is the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the second reference point. The reference point is an area defined by a reference line extending along the second reference direction.
  2. 根据权利要求1所述的方法，其特征在于，所述第一参考方向和所述第二参考方向中至少一个参考方向是采集到的可移动平台的朝向。The method according to claim 1, wherein at least one of the first reference direction and the second reference direction is the collected orientation of the movable platform.
  3. 根据权利要求2所述的方法，其特征在于，The method of claim 2, wherein:
    所述根据检测到的第一设置操作确定第一参考点和第一参考方向，包括：The determining the first reference point and the first reference direction according to the detected first setting operation includes:
    响应于检测到的所述第一设置操作，将采集到的所述可移动平台的位置设置为所述第一参考点，将采集到的所述可移动平台的朝向设置为所述第一参考方向；In response to the detected first setting operation, the collected position of the movable platform is set as the first reference point, and the collected orientation of the movable platform is set as the first reference direction;
    所述根据检测到的第二设置操作确定第二参考点和第二参考方向，包括：The determining the second reference point and the second reference direction according to the detected second setting operation includes:
    响应于检测到的所述第二设置操作，将采集到的所述可移动平台的位置设置为第二参考点，将采集到的所述可移动平台的朝向设置为所述第二参考方向。In response to the detected second setting operation, the collected position of the movable platform is set as a second reference point, and the collected orientation of the movable platform is set as the second reference direction.
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：The method according to claim 3, wherein the method further comprises:
    检测用户的第一移动控制操作，根据检测到的第一移动控制操作控制可移动平台移动至所述第一参考点；Detecting a first movement control operation of the user, and controlling the movable platform to move to the first reference point according to the detected first movement control operation;
    检测用户的第二移动控制操作，根据检测到的第二移动控制操作控制可移动平台移动至所述第二参考点。The second movement control operation of the user is detected, and the movable platform is controlled to move to the second reference point according to the detected second movement control operation.
  5. 根据权利要求2-4任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 2-4, wherein the method further comprises:
    检测用户的第一朝向控制操作，根据检测到的第一朝向控制操作将可移动平台的朝向调节至所述第一参考方向；Detecting a first orientation control operation of the user, and adjusting the orientation of the movable platform to the first reference direction according to the detected first orientation control operation;
    检测用户的第二朝向控制操作，根据检测到的第二朝向控制操作将可移动平台的朝向调节至所述第二参考方向。The second orientation control operation of the user is detected, and the orientation of the movable platform is adjusted to the second reference direction according to the detected second orientation control operation.
  6. 根据权利要求2-5任一项所述的方法，其特征在于，所述可移动平台的朝向包括可移动平台机身的航向或可移动平台的拍摄装置的航向。The method according to any one of claims 2-5, wherein the orientation of the movable platform comprises the orientation of the fuselage of the movable platform or the orientation of the camera of the movable platform.
  7. 根据权利要求6所述的方法，其特征在于，所述可移动平台机身的航向为所述可移动平台的机头的航向。The method according to claim 6, wherein the heading of the fuselage of the movable platform is the heading of the nose of the movable platform.
  8. 根据权利要求2-7任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 2-7, wherein the method further comprises:
    获取并显示可移动平台采集的图像；Acquire and display the images collected by the mobile platform;
    在所述图像上显示指示所述可移动平台的航向的指示标识。An indication mark indicating the heading of the movable platform is displayed on the image.
  9. 根据权利要求1-8任一项所述的方法，其特征在于，所述第一参考方向和所述第二参考方向中至少一个参考方向是采集到的所述控制终端的朝向。The method according to any one of claims 1-8, wherein at least one of the first reference direction and the second reference direction is a collected orientation of the control terminal.
  10. 根据权利要求9所述的方法，其特征在于，The method of claim 9, wherein:
    所述根据检测到的第一设置操作确定第一参考点和第一参考方向，包括：The determining the first reference point and the first reference direction according to the detected first setting operation includes:
    响应于检测到的第一设置操作，将采集到的控制终端的位置设置为所述第一参考点，将采集到的控制终端的朝向设置为所述第一参考方向；In response to the detected first setting operation, setting the collected position of the control terminal as the first reference point, and setting the collected orientation of the control terminal as the first reference direction;
    所述根据检测到的第二设置操作确定第二参考点和第二参考方向，包括：The determining the second reference point and the second reference direction according to the detected second setting operation includes:
    响应于检测到的第二设置操作，将采集到的控制终端的位置设置为所述第二参考点，将采集到的控制终端的朝向设置为所述第二参考方向。In response to the detected second setting operation, the collected position of the control terminal is set as the second reference point, and the collected orientation of the control terminal is set as the second reference direction.
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-10, wherein the method further comprises:
    获取并显示数字地图；Acquire and display digital maps;
    所述检测用户的第一设置操作，根据检测到的第一设置操作确定第一参考点和第一参考方向，包括：The detecting the first setting operation of the user and determining the first reference point and the first reference direction according to the detected first setting operation includes:
    检测用户对显示的所述数字地图的第一设置操作，根据检测到的第一设置操作确定所述第一参考点和所述第一参考方向；Detecting a user's first setting operation on the displayed digital map, and determining the first reference point and the first reference direction according to the detected first setting operation;
    所述检测用户的第二设置操作，根据检测到的第二设置操作确定第二参考点和第二参考方向，包括：The detecting the second setting operation of the user and determining the second reference point and the second reference direction according to the detected second setting operation includes:
    检测用户对所述显示数字地图的第二设置操作，根据检测到的第二设置操作确定所述第二参考点和所述第二参考方向。The second setting operation of the display digital map by the user is detected, and the second reference point and the second reference direction are determined according to the detected second setting operation.
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-11, wherein the method further comprises:
    获取并显示数字地图；Acquire and display digital maps;
    在所述数字地图上显示所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向。The first reference point and the first reference direction, the second reference point and the second reference direction are displayed on the digital map.
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-12, wherein the method further comprises:
    根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动平台在所述作业区域内执行工作任务。According to the first reference point and the first reference direction, the second reference point and the second reference direction, the movable platform is controlled to perform work tasks in the work area.
  14. 根据权利要求13所述的方法，其特征在于，The method of claim 13, wherein:
    所述根据所述第一参考点和所述第一参考方向、所述第二参考点和所 述第二参考方向，控制所述可移动平台在所述作业区域内执行工作任务，包括：The controlling the movable platform to perform work tasks in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction includes:
    根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，生成可移动平台的航线；Generating a route of the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction;
    根据所述航线控制所述可移动平台在所述作业区域内执行工作任务。According to the route, the movable platform is controlled to perform work tasks in the work area.
  15. 根据权利要求13或14所述的方法，其特征在于，所述方法还包括：The method according to claim 13 or 14, wherein the method further comprises:
    确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系；Determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
    所述根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动在所述作业区域内执行工作任务，包括：The controlling the movable to perform a work task in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction includes:
    当满足所述预设的指向关系时，根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动在所述作业区域内执行工作任务。When the preset pointing relationship is satisfied, control the movable in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction Perform work tasks within.
  16. 根据权利要求1-15任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-15, wherein the method further comprises:
    确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系；Determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
    当不满足所述预设的指向关系时，显示提示信息。When the preset pointing relationship is not satisfied, a prompt message is displayed.
  17. 根据权利要求15或16所述的方法，其特征在于，The method according to claim 15 or 16, characterized in that:
    所述确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系，包括：The determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship includes:
    确定所述第一参考方向与所述第二参考方向是否都指向第一参考点和第二参考点之间的参考线的两侧中的同一侧。It is determined whether the first reference direction and the second reference direction both point to the same side of the two sides of the reference line between the first reference point and the second reference point.
  18. 一种控制终端，其特征在于，包括：A control terminal, characterized in that it comprises:
    交互装置，用于检测用户的第一设置操作；An interactive device for detecting the user's first setting operation;
    处理器，用于根据所述交互装置检测到的第一设置操作确定第一参考点和第一参考方向，所述第一参考方向为与所述第一参考点对应的参考方向；A processor, configured to determine a first reference point and a first reference direction according to a first setting operation detected by the interaction device, where the first reference direction is a reference direction corresponding to the first reference point;
    所述交互装置，还用于检测用户的第二设置操作；The interaction device is also used to detect the second setting operation of the user;
    所述处理器，还用于根据所述交互装置检测到的第二设置操作确定第二参考点和第二参考方向，所述第二参考方向为与所述第二参考点对应的参考方向，其中，可移动平台的作业区域为所述第一参考点和所述第二参考点之间的参考线、从所述第一参考点沿所述第一参考方向延伸的参考线和从所述第二参考点沿所述第二参考方向延伸的参考线限定的区域。The processor is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device, where the second reference direction is a reference direction corresponding to the second reference point, Wherein, the working area of the movable platform is a reference line between the first reference point and the second reference point, a reference line extending from the first reference point along the first reference direction, and a reference line extending from the first reference point along the first reference direction. The second reference point is an area defined by a reference line extending along the second reference direction.
  19. 根据权利要求18所述的控制终端，其特征在于，所述第一参考方向和所述第二参考方向中至少一个参考方向是采集到的可移动平台的朝向。The control terminal according to claim 18, wherein at least one of the first reference direction and the second reference direction is a collected orientation of the movable platform.
  20. 根据权利要求19所述的控制终端，其特征在于，The control terminal according to claim 19, wherein:
    所述处理器在根据所述交互装置检测到的第一设置操作确定第一参考点和第一参考方向时，具体用于：The processor is specifically configured to: when determining the first reference point and the first reference direction according to the first setting operation detected by the interaction device:
    响应于所述交互装置检测到的所述第一设置操作，将采集到的所述可移动平台的位置设置为所述第一参考点，将采集到的所述可移动平台的朝向设置为所述第一参考方向；In response to the first setting operation detected by the interaction device, the collected position of the movable platform is set as the first reference point, and the collected orientation of the movable platform is set as the first reference point. The first reference direction;
    所述处理器在根据所述交互装置检测到的第二设置操作确定第二参考点和第二参考方向时，具体用于：The processor is specifically configured to: when determining the second reference point and the second reference direction according to the second setting operation detected by the interaction device:
    响应于所述交互装置检测到的所述第二设置操作，将采集到的所述可移动平台的位置设置为第二参考点，将采集到的所述可移动平台的朝向设置为所述第二参考方向。In response to the second setting operation detected by the interaction device, the collected position of the movable platform is set as a second reference point, and the collected orientation of the movable platform is set as the first 2. Reference direction.
  21. 根据权利要求20所述的控制终端，其特征在于，The control terminal according to claim 20, wherein:
    所述交互装置，还用于检测用户的第一移动控制操作；The interaction device is also used to detect the user's first movement control operation;
    所述处理器，还用于根据所述交互装置检测到的第一移动控制操作控制可移动平台移动至所述第一参考点；The processor is further configured to control the movable platform to move to the first reference point according to the first movement control operation detected by the interaction device;
    所述交互装置，还用于检测用户的第二移动控制操作；The interaction device is also used to detect a second movement control operation of the user;
    所述处理器，还用于根据所述交互装置检测到的第二移动控制操作控制可移动平台移动至所述第二参考点。The processor is further configured to control the movable platform to move to the second reference point according to a second movement control operation detected by the interactive device.
  22. 根据权利要求19-21任一项所述的控制终端，其特征在于，The control terminal according to any one of claims 19-21, wherein:
    所述交互装置，还用于检测用户的第一朝向控制操作；The interaction device is also used to detect the first orientation control operation of the user;
    所述处理器，还用于根据所述交互装置检测到的第一朝向控制操作将可移动平台的朝向调节至所述第一参考方向；The processor is further configured to adjust the orientation of the movable platform to the first reference direction according to the first orientation control operation detected by the interaction device;
    所述交互装置，还用于检测用户的第二朝向控制操作；The interaction device is also used to detect a second orientation control operation of the user;
    所述处理器，还用于根据所述交互装置检测到的第二朝向控制操作将可移动平台的朝向调节至所述第二参考方向。The processor is further configured to adjust the orientation of the movable platform to the second reference direction according to the second orientation control operation detected by the interaction device.
  23. 根据权利要求19-22任一项所述的控制终端，其特征在于，所述可移动平台的朝向包括可移动平台机身的航向或可移动平台的拍摄装置的航向。The control terminal according to any one of claims 19-22, wherein the orientation of the movable platform includes the orientation of the fuselage of the movable platform or the orientation of the camera of the movable platform.
  24. 根据权利要求23所述的控制终端，其特征在于，所述可移动平台机身的航向为所述可移动平台的机头的航向。The control terminal according to claim 23, wherein the heading of the fuselage of the movable platform is the heading of the nose of the movable platform.
  25. 根据权利要求19-24任一项所述的控制终端，其特征在于，还包括：显示装置；The control terminal according to any one of claims 19-24, further comprising: a display device;
    所述处理器，还用于获取可移动平台采集的图像；The processor is also used to obtain images collected by the movable platform;
    所述显示装置，用于显示所述可移动平台采集的图像，以及在所述图像上显示指示所述可移动平台的航向的指示标识。The display device is used for displaying the image collected by the movable platform, and displaying an indication mark indicating the heading of the movable platform on the image.
  26. 根据权利要求18-25任一项所述的控制终端，其特征在于，所述第一参考方向和所述第二参考方向中至少一个参考方向是采集到的所述控制终端的朝向。The control terminal according to any one of claims 18-25, wherein at least one of the first reference direction and the second reference direction is a collected orientation of the control terminal.
  27. 根据权利要求26所述的控制终端，其特征在于，The control terminal according to claim 26, wherein:
    所述处理器在根据所述交互装置检测到的第一设置操作确定第一参考点和第一参考方向时，具体用于：The processor is specifically configured to: when determining the first reference point and the first reference direction according to the first setting operation detected by the interaction device:
    响应于所述交互装置检测到的第一设置操作，将采集到的控制终端的位置设置为所述第一参考点，将采集到的控制终端的朝向设置为所述第一参考方向；In response to the first setting operation detected by the interaction device, setting the collected position of the control terminal as the first reference point, and setting the collected orientation of the control terminal as the first reference direction;
    所述处理器在根据所述交互装置检测到的第二设置操作确定第二参考点和第二参考方向时，具体用于：The processor is specifically configured to: when determining the second reference point and the second reference direction according to the second setting operation detected by the interaction device:
    响应于所述交互装置检测到的第二设置操作，将采集到的控制终端的位置设置为所述第二参考点，将采集到的控制终端的朝向设置为所述第二参考方向。In response to the second setting operation detected by the interaction device, the collected position of the control terminal is set as the second reference point, and the collected orientation of the control terminal is set as the second reference direction.
  28. 根据权利要求18-27任一项所述的控制终端，其特征在于，还包括：显示装置；The control terminal according to any one of claims 18-27, further comprising: a display device;
    所述处理器，还用于获取数字地图；The processor is also used to obtain a digital map;
    所述显示装置，用于显示所述数字地图；The display device is used to display the digital map;
    所述交互装置在检测用户的第一设置操作时，具体用于：检测用户对显示的所述数字地图的第一设置操作；When the interaction device detects the user's first setting operation, it is specifically configured to: detect the user's first setting operation on the displayed digital map;
    所述交互装置在检测用户的第二设置操作时，具体用于：检测用户对所述显示数字地图的第二设置操作。When the interaction device detects the second setting operation of the user, it is specifically configured to: detect the second setting operation of the display digital map by the user.
  29. 根据权利要求18-28任一项所述的控制终端，其特征在于，还包括：显示装置；The control terminal according to any one of claims 18-28, further comprising: a display device;
    所述处理器，还用于获取数字地图；The processor is also used to obtain a digital map;
    所述显示装置，用于显示所述数字地图，以及在所述数字地图上显示所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向。The display device is configured to display the digital map, and display the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map.
  30. 根据权利要求18-29任一项所述的控制终端，其特征在于，所述处理器，还用于根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动平台在所述作业区域内执行工作 任务。The control terminal according to any one of claims 18-29, wherein the processor is further configured to: according to the first reference point and the first reference direction, the second reference point and the direction The second reference direction controls the movable platform to perform work tasks in the work area.
  31. 根据权利要求30所述的控制终端，其特征在于，所述处理器，具体用于：根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，生成可移动平台的航线；根据所述航线控制所述可移动平台在所述作业区域内执行工作任务。The control terminal according to claim 30, wherein the processor is specifically configured to: according to the first reference point and the first reference direction, the second reference point and the second reference Direction, generating a route of the movable platform; according to the route, the movable platform is controlled to perform work tasks in the operation area.
  32. 根据权利要求30或31所述的控制终端，其特征在于，所述处理器，还用于确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系；The control terminal according to claim 30 or 31, wherein the processor is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
    所述处理器在根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动在所述作业区域内执行工作任务时，具体用于：When the processor controls the movable to perform a work task in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction, Specifically used for:
    当满足所述预设的指向关系时，根据所述第一参考点和所述第一参考方向、所述第二参考点和所述第二参考方向，控制所述可移动在所述作业区域内执行工作任务。When the preset pointing relationship is satisfied, control the movable in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction Perform work tasks within.
  33. 根据权利要求18-32任一项所述的控制终端，其特征在于，还包括：显示装置；The control terminal according to any one of claims 18-32, further comprising: a display device;
    所述处理器，还用于确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系；The processor is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship;
    所述显示装置，用于当所述处理器确定不满足所述预设的指向关系时，显示提示信息。The display device is configured to display prompt information when the processor determines that the preset pointing relationship is not satisfied.
  34. 根据权利要求32或33所述的控制终端，其特征在于，The control terminal according to claim 32 or 33, wherein:
    所述处理器在确定所述第一参考方向和所述第二参考方向是否满足预设的指向关系时，具体用于：The processor is specifically configured to: when determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship:
    确定所述第一参考方向与所述第二参考方向是否都指向第一参考点和第二参考点之间的参考线的两侧中的同一侧。It is determined whether the first reference direction and the second reference direction both point to the same side of the two sides of the reference line between the first reference point and the second reference point.
  35. 一种可移动平台的作业规划***，其特征在于，包括可移动平台和如权利要求18-34任一项所述的控制终端。A work planning system for a movable platform, which is characterized by comprising a movable platform and the control terminal according to any one of claims 18-34.
  36. 根据权利要求35所述的***，其特征在于，所述可移动平台包括无人机、无人车、无人船、机器人或自动驾驶汽车。The system according to claim 35, wherein the movable platform comprises an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, a robot, or an autonomous vehicle.
  37. 一种可读存储介质，其特征在于，所述可读存储介质上存储有计算机程序；所述计算机程序在被执行时，实现如权利要求1-17任一项所述的可移动平台的作业规划方法。A readable storage medium, characterized in that a computer program is stored on the readable storage medium; when the computer program is executed, it realizes the operation of the movable platform according to any one of claims 1-17 Planning method.
PCT/CN2019/114713 2019-10-31 2019-10-31 Work planning method and system for movable platform, and control terminal WO2021081894A1 (en)

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