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WO2023082066A1 - Procédé de planification d'opérations, appareil de commande, terminal de commande et support de stockage - Google Patents

Procédé de planification d'opérations, appareil de commande, terminal de commande et support de stockage Download PDF

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Publication number
WO2023082066A1
WO2023082066A1 PCT/CN2021/129646 CN2021129646W WO2023082066A1 WO 2023082066 A1 WO2023082066 A1 WO 2023082066A1 CN 2021129646 W CN2021129646 W CN 2021129646W WO 2023082066 A1 WO2023082066 A1 WO 2023082066A1
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WO
WIPO (PCT)
Prior art keywords
area
movable platform
job
control terminal
icon
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/129646
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English (en)
Chinese (zh)
Inventor
陈建林
柯于旺
李振初
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SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2021/129646 priority Critical patent/WO2023082066A1/fr
Priority to CN202180100394.6A priority patent/CN117693721A/zh
Publication of WO2023082066A1 publication Critical patent/WO2023082066A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling

Definitions

  • the present application relates to the field of operation planning, in particular to an operation planning method, a control device, a control terminal and a storage medium.
  • embodiments of the present application provide a method for operation planning, a control device, a control terminal, and a storage medium, aiming at improving the convenience of operation planning.
  • the embodiment of the present application provides a method for job planning, including:
  • the embodiment of the present application also provides a control device, the control device includes a memory and a processor; the memory is used to store computer programs;
  • the processor is configured to execute the computer program and realize the steps of the above-mentioned operation planning method when the computer program is executed.
  • the embodiment of the present application further provides a control terminal, where the control terminal includes a display device and the above-mentioned control device.
  • the embodiment of the present application further provides a storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the above-mentioned job planning method.
  • the embodiment of the present application provides an operation planning method, a control device, a control terminal and a storage medium.
  • the method obtains one or more operation areas and displays an operation planning page including one or more operation areas. Since the operation areas are in The display area on the job planning page is determined based on the geographic location of the job area, which makes it easy for users to know the geographic location of the displayed job area, and then facilitates the user to assign the job area to the movable platform and plan the location of the movable platform in the job area.
  • the operation situation greatly improves the convenience of operation planning and user experience.
  • Fig. 1 is a schematic diagram of a scene implementing the operation planning method provided by the embodiment of the present application
  • Fig. 2 is a schematic flow chart of the steps of a job planning method provided in the embodiment of the present application
  • Fig. 3 is a schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 4 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 5 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 6 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 7 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 8 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 9 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 10 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 11 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 12 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 13 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 14 is another schematic diagram of the job planning page in the embodiment of the present application.
  • Fig. 15 is a schematic structural block diagram of a control device provided by an embodiment of the present application.
  • FIG. 16 is a schematic structural block diagram of a control terminal provided by an embodiment of the present application.
  • the embodiment of the present application provides an operation planning method, a control device, a control terminal and a storage medium.
  • the method acquires one or more operation areas and displays an operation planning page including one or more operation areas.
  • the geographic location can include the longitude and latitude position, shape or area size of the operation area, that is, the user can intuitively see the One or more work areas, and at the same time, you can know the location, shape and size of the work area.
  • the operation planning method provided by the embodiment of the present application can be applied to a server or a control terminal.
  • the server obtains one or more operation areas, and displays an operation planning page containing one or more operation areas through a display device.
  • the display area on the job planning page is determined according to the geographic location of the job area.
  • the server sends the job tasks to the corresponding mobile platform, or the server sends the job tasks to the control terminal, and the control terminal sends the job tasks to the The mobile platform to which the control terminal is connected.
  • control terminal obtains one or more operation areas, and displays the operation planning page containing one or more operation areas through the display device, and the display area of the operation area on the operation planning page is determined according to the geographic location of the operation area .
  • the control terminal sends the operation task to the corresponding movable platform.
  • FIG. 1 is a schematic diagram of a scenario for implementing the operation planning method provided by the embodiment of the present application.
  • this scene includes a mobile platform 100 and a control terminal 200 , and the control terminal 200 can communicate with the mobile platform 100 for controlling the mobile platform 100 .
  • the control terminal 200 is used to plan the operation task of the movable platform 100, and send the operation task to the movable platform 100, and the movable platform 100 can perform the operation according to the operation task.
  • the control terminal 200 or the mobile platform 100 may also communicate with the server.
  • the control terminal 200 is communicatively connected to the display device 210, and the display device 210 is used to display the operation planning page including one or more operation areas, and the display area of the operation area in the operation planning page is based on the operation area. Geographically determined.
  • the display device 210 may include a display screen arranged on the control terminal 200 or a display independent of the control terminal 200, and the display independent of the control terminal 200 may include a mobile phone, a tablet computer or a personal computer, etc., or may be Other electronic devices with display screens.
  • the display screen includes an LED display screen, an OLED display screen, an LCD display screen and the like.
  • the control terminal 200 may also be other electronic devices with a display screen, for example, the control terminal 200 includes but not limited to a remote controller, a smart phone, a tablet computer, and a notebook computer.
  • the movable platform 100 may include a platform body 110 , a power system 120 and a control system (not shown in FIG. 1 ).
  • the power system 120 is used to provide moving power for the movable platform 100 .
  • the power system 120 may include one or more propellers 121 , one or more motors 122 corresponding to the one or more propellers, and one or more electronic governors (referred to as ESCs for short).
  • the motor 122 is connected between the electronic governor and the propeller 121, and the motor 122 and the propeller 121 are arranged on the platform body 110 of the movable platform 100; the electronic governor is used to receive the driving signal generated by the control device, and provide driving according to the driving signal.
  • the current is supplied to the motor 122 to control the speed of the motor 122 .
  • the motor 122 is used to drive the propeller 121 to rotate, so as to provide power for the movement of the movable platform 100, and the power enables the movable platform 100 to realize the movement of one or more degrees of freedom.
  • the movable platform 100 is rotatable about one or more axes of rotation.
  • the above-mentioned rotation axes may include a roll axis, a yaw axis and a pitch axis.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the control system may include one or more processors and sensor systems.
  • the sensing system can be used to measure the pose information and motion information of the UAV, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity, etc.
  • the pose information is the position information of the mobile platform 100 in space and attitude information.
  • the sensing system may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be the Global Positioning System (GPS).
  • One or more processors are used to control the movement of the movable platform 100, for example, the movement of the movable platform 100 may be controlled according to the pose information and/or the pose information measured by the sensing system. It should be understood that one or more processors may automatically control the movable platform 100 in accordance with preprogrammed instructions.
  • the movable platform may further include at least one of the following devices: a spraying device, a spreading device, a photographing device, and a detecting device.
  • the photographing device can be coupled and carried on the pan/tilt of the movable platform 100, and can also be integrated on the platform body 110 of the movable platform 100.
  • the photographing device can specifically include a camera, that is, a monocular shooting solution; Including two cameras, the binocular shooting solution.
  • the number of photographing devices can also be one or more. When there are multiple photographing devices, they can be distributed in multiple positions of the platform body 110, and the multiple photographing devices can work independently or in linkage.
  • the detection device can be coupled and mounted on the pan/tilt of the movable platform 100 , and can also be integrated on the platform body 110 of the movable platform 100 .
  • the detection device may be a laser radar or a millimeter wave radar.
  • the movable platform 100 includes unmanned aerial vehicles, unmanned ships, mobile robots, intelligent driving vehicles, etc., and the unmanned aerial vehicles may be, for example, four-rotor UAVs, six-rotor UAVs, and eight-rotor UAVs. Of course, it can also be a fixed-wing UAV, or a combination of a rotary-wing UAV and a fixed-wing UAV, which is not limited here.
  • Control terminals 200 may include, but are not limited to: smart phones/cell phones, tablet computers, personal digital assistants (PDAs), desktop computers, media content players, video game stations/systems, virtual reality systems, augmented reality systems, wearable devices , a gesture recognition device, any electronic device capable of providing or rendering image data, or any other type of device.
  • the control terminal may be a handheld terminal, and the control terminal may be portable.
  • the control terminal may be carried by a human user. In some cases, the control terminal may be remote from the human user, and the user may control the control terminal using wireless and/or wired communications.
  • the job planning method provided by the embodiment of the present application will be described in detail with reference to the scenario in FIG. 1 .
  • the scenario in FIG. 1 is only used to explain the operation planning method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the operation planning method provided by the embodiment of the present application.
  • FIG. 2 is a schematic flow chart of steps of a method for job planning provided by an embodiment of the present application.
  • the operation planning method can be applied in a control terminal or a server to plan operation tasks of a movable platform.
  • the operation planning method includes steps S101 to S102.
  • Step S101 acquiring one or more work areas.
  • Step S102 displaying an operation planning page including one or more operation areas, wherein the display area of an operation area on the operation planning page is determined according to the geographic location of the operation area.
  • the operation planning page displays the operation area 11, the operation area 12 and the operation area 13, and the operation area 11, the operation area 12 and the operation area 13 are adjacent to each other, then the operation area 11, the operation area 12 and operating area 13 are located in the same area.
  • one or more operation areas may be obtained from local storage, downloaded from a server, imported from an external storage device, or obtained by identifying land plots on land surveying and mapping images, This embodiment of the present application does not specifically limit it.
  • the display area of the operation area on the operation planning page includes description information corresponding to the operation area, and the description information includes at least one of the geographic location of the operation area, the operation area, the name of the operation area, and the creation time.
  • the display area of the operation area on the operation planning page is determined according to the geographic location and operation area of the corresponding operation area, that is, the location of the display area can be determined by the geographic location, and the size of the display area can be determined by the operation area , the larger the working area, the larger the display area, and the smaller the working area, the smaller the display area.
  • the geographic location of the operation area may be the latitude and longitude coordinates of the center point of the operation area.
  • the display area of the operation area on the operation planning page is determined by the geographical location and the operation area of the operation area, so that the user can know the geographical location and the operation area of the operation area through the display area, which is convenient for the user to select the operation area.
  • a reference working position and one or more working areas matching the reference working position are obtained.
  • the reference operation position is determined based on at least one of the current position of the movable platform connected to the control terminal, the current position of the control terminal, and the preset position in the operation planning page, and one or The distances between the multiple working areas and the reference working position are less than or equal to the preset distance, and the preset distance can be set based on actual conditions, which is not specifically limited in this embodiment. For example, the preset distance is 20 meters.
  • the way of obtaining the reference working position may include: when there is a communication connection between the movable platform and the control terminal, determining the actual position of the movable platform as the reference working position; when there is no communication connection between the movable platform and the control terminal , determine the actual position of the control terminal as the reference work position; when there is no communication connection between the mobile platform and the control terminal, obtain the positioning signal strength of the control terminal; The position of the preset position in the map area is determined as the reference operation position.
  • the operation planning page further includes a map area matching the reference operation location, and one or more operation areas are located within the map area.
  • the map area is determined based on the map associated with the user account currently logged into the control terminal and the reference operation position, and the map is generated based on surveying and mapping data bound to the user account.
  • control terminal can control the movable platform to perform surveying and mapping operations in the surveying and mapping operation area, so as to obtain the surveying and mapping data of the surveying and mapping operation area; Bind and store the user account of the mobile platform; when planning the operation of the mobile platform, the map area matching the reference operation position can be obtained from the map, and the map area matching the reference operation position will be displayed on the operation planning page.
  • the flying height of the mobile platform is less than the preset height, which makes the collected surveying and mapping data more comprehensive and accurate, and facilitates the subsequent generation of high-precision maps based on comprehensive and accurate surveying and mapping data, which is convenient for users to plan. Work on mobile platforms.
  • the operation area and/or the map area on the operation planning page changes as the reference operation position changes. Since the operation area and/or map area in the operation planning page can change with the change of the reference operation position, the user can change the displayed operation area and/or map area by changing the reference operation position, which is more convenient for the user to choose work area. For example, on the operation area planning page, the user can drag the current display area to change the reference operation position, so that the display area displays a new operation area and/or map area.
  • the land parcel surveying and mapping image when the land parcel surveying and mapping image is acquired, in response to the land parcel identification instruction, land parcel identification is performed on the land parcel surveying and mapping image; one or more successfully identified operation areas are displayed in the operation planning page.
  • the plot surveying and mapping image may be collected by a mobile platform communicated with the control terminal and/or downloaded from the server, the plot surveying and mapping image may also be obtained from the local memory of the control terminal, or may be obtained from an external storage device.
  • the method of performing land parcel identification on the land parcel surveying and mapping image may be: input the land parcel surveying and mapping image into the preset land parcel recognition model for processing, and obtain the target image output by the land parcel identification model; The target image is detected, the land parcel boundary in the target image is determined, and one or more operation areas in the land parcel surveying and mapping image are determined according to the determined land parcel boundary.
  • the land parcel recognition model is a neural network model trained in advance based on a sample image set, the sample image set includes a plurality of sample images, and the sample images are land parcel images marked with land parcel boundaries.
  • the labeling method of the original land parcel image is to divide the land parcel area from the original land parcel image.
  • the parcel area in the original parcel image is marked as white
  • the non-plot area is marked as a black background
  • the parcel area is covered with vegetation
  • the non-plot area includes villages, rivers, roads and other areas.
  • the land parcel recognition instruction may be automatically triggered when the land parcel surveying and mapping image is acquired, or may be triggered according to a user's operation.
  • the control terminal includes a land identification key for triggering the land identification instruction, and in response to the trigger operation of the land identification key by the user, the land identification instruction is triggered, and in response to the land identification instruction, the land Mapping images are used for land identification; one or more successfully identified operation areas are displayed on the operation planning page.
  • the land parcel identification icon is displayed on the operation planning page; in response to the trigger operation of the land parcel identification icon by the user, a land parcel identification instruction is generated, and in response to the parcel identification instruction, Carry out land parcel recognition on land parcel surveying and mapping images; display one or more successfully identified operating areas on the operation planning page.
  • the operation planning page displays the land parcel surveying and mapping image 21, and the operation planning page also displays the land parcel identification icon 22, when the user clicks the parcel identification icon 22,
  • the control terminal performs land parcel recognition on the land surveying and mapping image, and the operation planning page is shown in Figure 5. After one or more operating areas are successfully identified, the operation planning page can be shown in Figure 3.
  • a prompt message of land parcel identification failure is output to prompt land parcel identification failure.
  • multiple boundary points of the selected operation area are displayed; in response to the user's adjustment operation on the boundary points, the positions of the boundary points are adjusted to determine a new operation area.
  • the boundary adjustment instruction may be automatically triggered after the operation area is selected, or may be triggered according to a user's operation.
  • the control terminal includes a boundary adjustment key for triggering a boundary adjustment command.
  • a boundary adjustment instruction is triggered, and in response to the boundary adjustment instruction, multiple boundary points of the selected working area are displayed.
  • the job planning page further includes a boundary adjustment icon.
  • a boundary adjustment icon When a working area is in the selected state, switch the running state of the boundary adjustment icon from the disabled state to the enabled state; respond to the user's trigger operation on the boundary adjustment icon in the enabled state, generate a boundary adjustment command, and respond to the boundary
  • the adjustment instruction displays multiple boundary points of the selected operation area; in response to the user's adjustment operation on the boundary points, the positions of the boundary points are adjusted to determine a new operation area.
  • the control terminal when the boundary adjustment icon is in the disabled state, the control terminal does not respond after the user clicks the boundary adjustment icon, and when the boundary adjustment icon is in the enabled state, after the user clicks the boundary adjustment icon, the control terminal generates a boundary adjustment command.
  • the selected operation area is the operation area 11, and only the operation area 11 is in the selected state, then the boundary adjustment icon 14 is switched from the disabled state to the enabled state, if the user clicks the boundary adjustment icon 14, the operation planning page can be as shown in FIG. 7 , that is, the operation planning page displays multiple boundary points of the operation area 11 .
  • the at least two working areas in the selected state include a first working area and a second working area.
  • the operation area merging instruction In response to the operation area merging instruction, the first operation area and the second operation area are combined into one operation area, and the combined operation area is displayed.
  • the operation area merging instruction may be triggered automatically after two operation areas are selected, or may be triggered according to a user's operation.
  • the control terminal includes a working area merging button for triggering a working area merging command.
  • an operation area merging instruction is triggered, and in response to the operation area merging instruction, the first operation area and the second operation area are merged into one operation area.
  • the job planning page further includes a job area merging icon.
  • a job area merging icon When at least two operation areas are in the selected state, switch the operation state of the operation area merging icon from the disabled state to the enable state; respond to the user's trigger operation on the operation area merging icon in the enabled state, generate an operation area merging instruction, And in response to the operation area merging instruction, the first operation area and the second operation area are merged into one operation area.
  • the control terminal when the operation area merging icon is disabled, the control terminal does not respond after the user clicks the boundary adjustment icon, and when the operation area merging icon is in the enabled state, after the user clicks the operation area merging icon, the control terminal generates an operation area merging icon. instruction.
  • the work area in the selected state includes work area 11 and work area 12, and the boundary adjustment icon 14 is in a disabled state, and the work area merging icon 15 is in an enabled state.
  • the work area merging icon 15 9 that is, the job planning page displays the merged job area 16, and both the boundary adjustment icon 14 and the job area merging icon 15 are disabled.
  • the distance between the first operation area and the second operation area is determined; when the distance between the first operation area and the second operation area is less than or equal to a preset distance threshold, the first operation area and the second operation area are combined.
  • the second operation area is merged into one operation area; when the distance between the first operation area and the second operation area is greater than a preset distance threshold, a prompt message for identification of land parcel merger is output to prompt the user that the operation area merge fails.
  • the preset distance threshold can be actually set based on actual conditions, for example, the preset distance threshold is 3 meters.
  • an indicator icon of the movable platform in response to the user's selection operation on the operation area, is displayed, and the indicator icon includes one or more indicators of the movable platform; in response to the user's selection operation on the indicator , displaying the selected indication mark in the selected operation area, and assigning the selected operation area to the movable platform corresponding to the selected indication mark.
  • the indication signs of different movable platforms are different.
  • the indicator included in the indicator icon is determined according to one or more movable platforms connected to the control terminal, the selected operation area partially overlaps with the display area of the indicator icon, and the operation planning page also includes Control the status display bar of one or more mobile platforms connected to the terminal.
  • an indicator icon 32 is displayed in a part of the operation area 31, and the indicator icon 32 displays three indicator icons, which are respectively the indicator icons of the first movable platform, The indicator icon of the second movable platform and the indicator icon of the third movable platform, and the operation planning page also displays the status display column 33 of the first movable platform, the status display column 34 of the second movable platform, and the status display column 34 of the third movable platform.
  • the assigned indication of the movable platform is displayed in the selected operation area.
  • the user can know the relationship between the operation area and the movable platform, which is convenient for the user to further plan the operation of the movable platform. For example, as can be seen from FIG. 11 , the working area 31 is allocated to the first movable platform, and the operating area 36 is allocated to the third movable platform.
  • the job planning page further includes a job parameter setting column, which is used to set the job parameters when the movable platform executes the job.
  • determine the selected effective identification icon in the operation parameter setting column In response to the movable platform matching instruction triggered by the user, determine the selected effective identification icon in the operation parameter setting column; determine the current active identification icon in the operation parameter setting column from at least two movable platforms according to the selected effective identification icon.
  • the effective movable platform of the operation parameters set the effective operation parameters of the movable platform as the current operation parameters in the operation parameter setting column.
  • the effective identification icon included in the operation parameter setting column is related to the movable platform assigned with the operation area, and the effective identification icon is used to indicate the effective range of the current operation parameter in the operation parameter setting column. Distance, working line spacing, whether to enable automatic edge sweeping, edge sweeping direction, spraying speed, spreading speed, spraying height, spreading height.
  • the at least two movable platforms include a first movable platform and a second movable platform
  • the current operating parameters in the operating parameter setting column are determined from the at least two movable platforms according to the active identification icon in the selected state
  • the method of the effective movable platform may include: when the effective identification icon is the first effective identification icon, determining that the effective effective mobile platform includes the first movable platform and the second movable platform; when the effective identification icon is the second effective identification icon , determine that the effective movable platform is the first movable platform; when the effective identification icon is the third effective identification icon, determine that the effective movable platform is the second movable platform.
  • the operation planning page displays an operation parameter setting column 41, the operation parameter setting column 41 includes three effective identification icons, and the effective identification icon 42 is in the selected state, therefore, the current in the operation parameter setting column 41
  • the effective range of the operation parameters is the first movable platform and the third movable platform, and the operation routes displayed in the operation area 31 and the operation area 36 are related to the current operation parameters in the operation parameter setting column 41 .
  • the operation planning page displays an operation parameter setting column 41, the operation parameter setting column 41 includes three effective identification icons, and the effective identification icon 43 is in the selected state, therefore, the operation parameter setting column 41
  • the effective range of the current operation parameter is the first movable platform.
  • the target movable platform controlled by the control terminal in response to the user's trigger operation on the switching component in the control terminal, the target movable platform controlled by the control terminal is determined, and the parameter interface of the target movable platform is displayed.
  • the control terminal may control the target movable platform controlled by the control terminal, and there may be one or more switching components in the control terminal, which is not specifically limited in this embodiment of the present application.
  • the movable platform communicated with the control terminal includes a first movable platform, a second movable platform, and a third movable platform.
  • the The preset switching sequence and the current movable platform controlled by the control terminal determine the target movable platform controlled by the control terminal.
  • the preset switching sequence is the first movable platform ⁇ the second movable platform ⁇ the third movable platform ⁇ the first movable platform, then when the current movable platform controlled by the control terminal is the first movable platform, If the user's click operation on the switching component is detected, the target movable platform controlled by the control terminal is the second movable platform.
  • the switching part includes a first switching part, a second switching part and a third switching part, and when a user's trigger operation on the first switching part is detected, the first movable platform is determined to be controlled by the control terminal.
  • the third movable platform is determined as the target movable platform controlled by the control terminal.
  • the reference point of the job area to be created is determined.
  • the reference point is determined according to at least one of the position of the control terminal, the position of the movable platform communicatively connected with the control terminal, and the position of the mark point selected by the user on the map area.
  • the job planning page includes at least two setting modes of the reference point, and when the different setting modes are switched to each other, the page jump of the control job planning page does not occur. After switching the setting mode of the reference point, the operation planning page is controlled without page jump, so that the user can determine the reference point of the same operation area according to different setting methods, which greatly improves the planning convenience of the operation area.
  • the job planning page includes a setting mode selection icon of the reference point, and in response to the user's trigger operation on the setting mode selection icon, a setting mode selection bar is displayed on the job planning page, and the setting mode selection bar includes a plurality of setting modes An indication icon; in response to the user's selection operation on the setting mode indication icon, modify the setting mode of the reference point to the setting mode corresponding to the selected setting mode indication icon.
  • the job planning page includes a setting mode selection icon 51 of the reference point.
  • the job planning page displays a setting mode selection bar 52, and the setting mode selection bar 52 includes three setting modes of the reference point, the crosshair marking is the first setting mode, the aircraft marking is the second setting mode, and the remote control marking is the third setting mode.
  • the current setting mode of the reference point is the first setting mode, that is, dotted with a crosshair.
  • the method of determining the reference point of the operation area to be created may include: when the setting method of the reference point is the first setting method, determining the position corresponding to the marked point on the map area as the reference point of the operation area to be created point; when the setting mode of the reference point is the second setting mode, the actual position of the movable platform connected with the control terminal is determined as the reference point of the work area to be created; when the setting mode of the reference point is the third setting mode , determine the actual position of the control terminal as the reference point of the work area to be created.
  • one or more operation areas are obtained, and the operation planning page including one or more operation areas is displayed, since the display area of the operation area on the operation planning page is based on the geographic location of the operation area Determined, it is convenient for the user to know the geographical location of the displayed operation area, and then it is convenient for the user to allocate the operation area to the movable platform and plan the operation situation of the movable platform in the operation area, which greatly improves the convenience of operation planning and the user experience.
  • FIG. 15 is a schematic structural block diagram of a control device provided by an embodiment of the present application.
  • the control device 300 includes a processor 310 and a memory 320, and the processor 310 and the memory 320 are connected through a bus 330, such as an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 310 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 320 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 310 is configured to run a computer program stored in the memory 320, and implement the following steps when executing the computer program:
  • An operation planning page including one or more operation areas is displayed by a display device, wherein the display area of the operation area on the operation planning page is determined according to the geographic location of the operation area.
  • the display area includes description information corresponding to the operation area, and the description information includes at least one item of the geographic location of the operation area, operation area, operation area name, and creation time.
  • the display area is determined according to the geographic location corresponding to the operation area and the operation area.
  • the processor realizes obtaining one or more job areas, it is used to realize:
  • the reference operation position is determined based on at least one of the current position of the movable platform connected to the control terminal, the current position of the control terminal, and a preset position on the operation planning page.
  • the job planning page further includes a map area matching the reference job location, and one or more of the job areas are located in the map area.
  • the map area is determined based on a map associated with a user account currently logged into the control terminal and the reference work position, and the map is generated based on surveying and mapping data bound to the user account.
  • the operation area and/or map area on the operation planning page changes as the reference operation position changes.
  • the processor obtains the reference job location, it is used to:
  • the actual position of the movable platform is determined as the reference operation position
  • the actual position of the control terminal is determined as the reference working position.
  • the processor obtains the reference job location, it is used to:
  • the position of the preset position on the operation planning page in the map area is determined as the reference operation position.
  • the processor realizes displaying the operation planning page including one or more operation areas through the display device, it is further configured to:
  • indication icons of the movable platform In response to the user's selection operation on the operation area, displaying indication icons of the movable platform, where the indication icons include one or more indication signs of the movable platform;
  • the selected indicator In response to the user's selection operation on the indicator, the selected indicator is displayed in the selected operation area, and the selected operation area is allocated to the movable platform corresponding to the selected indicator.
  • the selected operation area partially overlaps with the display area of the indication icon.
  • processor is also used to implement the following steps:
  • One or more successfully identified operation areas are displayed in the operation planning page.
  • the processor realizes that when the land parcel surveying and mapping image is acquired, in response to the land parcel identification instruction, when performing land parcel identification on the land parcel surveying and mapping image, it is used to realize:
  • a land parcel identification instruction is generated, and in response to the land parcel identification instruction, land parcel identification is performed on the land parcel surveying and mapping image.
  • the plot surveying and drawing is collected by a mobile platform communicatively connected with the control terminal and/or downloaded from a server.
  • processor is also used to implement the following steps:
  • the position of the boundary point is adjusted to determine a new working area.
  • the job planning page further includes a boundary adjustment icon
  • the processor is further configured to implement the following steps:
  • the operating state of the boundary adjustment icon is switched from a disabled state to an enabled state.
  • the at least two operating areas in the selected state include a first operating area and a second operating area
  • the processor is further configured to implement the following steps:
  • the first operation area and the second operation area are combined into one operation area, and the combined operation area is displayed.
  • the job planning page further includes a job area merging icon
  • the processor is further configured to implement the following steps:
  • the operating state of the operation area merging icon is switched from a disabled state to an enabled state.
  • processor is also used to implement the following steps:
  • the first operation area and the second operation area are combined into one operation area.
  • processor is also used to implement the following steps:
  • a prompt message for land parcel consolidation identification is output to prompt the user that the merge of operation areas fails.
  • the job planning page also includes a job parameter setting bar, the job parameter setting bar is used to set the job parameters when the movable platform executes the job, and the processor is also used to implement the following steps:
  • the at least two movable platforms include a first movable platform and a second movable platform
  • the processor selects from the at least two movable platforms according to the active identification icon in the selected state.
  • the validating identification icon is the first validating identification icon, it is determined that the validating movable platform includes the first movable platform and the second movable platform;
  • the effective identification icon is the second effective identification icon, it is determined that the effective movable platform is the first movable platform;
  • the validating identification icon is the third validating identification icon, it is determined that the validating movable platform is the second movable platform.
  • processor is also used to implement the following steps:
  • the target movable platform controlled by the control terminal is determined, and the parameter interface of the target movable platform is displayed.
  • processor is also used to implement the following steps:
  • the reference point of the job area to be created is determined.
  • the job planning page includes at least two setting modes of the reference point, and the processor is further configured to implement the following steps:
  • FIG. 16 is a schematic structural block diagram of a control terminal provided by an embodiment of the present application.
  • the control terminal 400 includes a display device 410 and a control device 420 .
  • the display device 410 is used to display the human-computer interaction page of the control terminal 400
  • the control device 420 may include the control terminal 300 shown in FIG. 15 .
  • the embodiment of the present application also provides a storage medium, the storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the job planning method provided in the above embodiments .
  • the storage medium may be an internal storage unit of the control terminal or server described in any of the foregoing embodiments, such as a hard disk or memory of the control terminal or server.
  • the storage medium can also be an external storage device of the control terminal or server, such as a plug-in hard disk equipped on the control terminal or server, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

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Abstract

L'invention concerne un procédé de planification d'opérations, comprenant les étapes consistant à : acquérir une ou plusieurs régions d'opération (S101) ; et afficher une page de planification d'opérations, qui comprend une ou plusieurs régions d'opération, une région d'affichage d'une région d'opération dans la page de planification d'opérations étant déterminée en fonction de l'emplacement géographique de la région d'opération (S102). Au moyen du procédé, la commodité de planification d'opérations peut être améliorée.
PCT/CN2021/129646 2021-11-09 2021-11-09 Procédé de planification d'opérations, appareil de commande, terminal de commande et support de stockage Ceased WO2023082066A1 (fr)

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PCT/CN2021/129646 WO2023082066A1 (fr) 2021-11-09 2021-11-09 Procédé de planification d'opérations, appareil de commande, terminal de commande et support de stockage
CN202180100394.6A CN117693721A (zh) 2021-11-09 2021-11-09 作业规划方法、控制装置、控制终端及存储介质

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CN107924188A (zh) * 2016-07-04 2018-04-17 深圳市大疆创新科技有限公司 一种无人机的飞行路径规划、控制方法及系统
CN108151716A (zh) * 2017-11-09 2018-06-12 广州极飞科技有限公司 飞行装置测绘作业区域规划方法、装置和终端
CN109670719A (zh) * 2018-12-25 2019-04-23 雷沃重工股份有限公司 一种农业设备的作业规划方法、装置及电子设备
US20210150184A1 (en) * 2018-05-28 2021-05-20 Guangzhou Xaircraft Technology Co., Ltd. Target region operation planning method and apparatus, storage medium, and processor
CN113052369A (zh) * 2021-03-15 2021-06-29 北京农业智能装备技术研究中心 智能农机作业管理方法及系统
WO2021168793A1 (fr) * 2020-02-28 2021-09-02 深圳市大疆创新科技有限公司 Procédé et appareil de planification de d'opération, et support de stockage

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107924188A (zh) * 2016-07-04 2018-04-17 深圳市大疆创新科技有限公司 一种无人机的飞行路径规划、控制方法及系统
CN108151716A (zh) * 2017-11-09 2018-06-12 广州极飞科技有限公司 飞行装置测绘作业区域规划方法、装置和终端
US20210150184A1 (en) * 2018-05-28 2021-05-20 Guangzhou Xaircraft Technology Co., Ltd. Target region operation planning method and apparatus, storage medium, and processor
CN109670719A (zh) * 2018-12-25 2019-04-23 雷沃重工股份有限公司 一种农业设备的作业规划方法、装置及电子设备
WO2021168793A1 (fr) * 2020-02-28 2021-09-02 深圳市大疆创新科技有限公司 Procédé et appareil de planification de d'opération, et support de stockage
CN113052369A (zh) * 2021-03-15 2021-06-29 北京农业智能装备技术研究中心 智能农机作业管理方法及系统

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