Position point planning methods, path planning method, operation region planning method and device

Abstract

A position point planning method, comprising: displaying an electronic map on a user interaction interface, the electronic map comprising a region to be operated for a movable platform (S101); synchronously displaying an auxiliary planning identifier on the electronic map along with a cursor, wherein the auxiliary planning identifier synchronously moves in response to the movement of the cursor, and the auxiliary planning identifier is used for providing a user with an indication of whether there is an abnormal factor that is not suitable for planning position points within a preset range with reference to the cursor (S102); and, after step S102 has been executed, in response to an input operation of the user, generating and marking a position point at the position currently indicated by the cursor (S103). The method can improve the rationality of position point planning.

Description

Position point planning method, path planning method, work area planning method and device TECHNICAL FIELD

[0001] The present application relates to the technical field of position point planning, and particularly relates to a position point planning method, a path planning method, a work area planning method, a computer device, a system and a storage medium. BACKGROUND

[0002] At present, a user can plan position points by using a map dotting method, and then plans a path or a work area by using the planned position points. However, when the user performs a dotting operation on a map, there is a lack of effective indication, and the user cannot expect the rationality of the dot position, which leads to a poor experience.

[0003] SUMMARY

[0004] Therefore, the embodiments of the present application provide a position point planning method, a path planning method, a work area planning method, a computer device, a system and a storage medium, which aim to improve the rationality of position point planning.

[0005] In a first aspect, the embodiments of the present application provide a position point planning method, which comprises the following steps.

[0006] displaying an electronic map on a user interaction interface, the electronic map comprising a to-be-worked area of a movable platform;

[0007] generating and marking a position point at a position currently indicated by a cursor in response to an input operation of a user;

[0008] Before the input operation of the user, the method further comprises: synchronously displaying an auxiliary planning mark on the electronic map along with the cursor, wherein the auxiliary planning mark moves synchronously in response to the movement of the cursor, and the auxiliary planning mark is used to provide an indication for the user about whether there is an abnormal factor that is not suitable for planning a position point within a preset range with reference to the cursor.

[0009] The position point planning method provided in the first aspect dynamically and intuitively displays the influence of various environmental elements around the position point on the planning of the position point on the electronic map by synchronously displaying the auxiliary planning mark on the electronic map along with the cursor before the user confirms the operation of generating the position point, and the auxiliary planning mark moves along with the movement of the cursor. For example, the auxiliary planning mark dynamically and intuitively displays the comparison between the distance between the position point and the surrounding obstacles and the safety distance on the electronic map. Therefore, the user can check and verify whether each point is suitable for planning the position point by simply moving the cursor, which is beneficial for the user to make a reasonable position point planning decision, thereby avoiding errors caused by inaccurate visual estimation, reducing errors that may occur due to the difficulty of distinguishing with the naked eye, and improving the accuracy of the position point. From the perspective of the user, the method realizes quick verification and instant adjustment, which is a relatively continuous dynamic operation process, and improves the user operation convenience and efficiency.

[0010] In the second aspect, the embodiments of the present application further provide a position point planning method, comprising:

[0011] displaying an electronic map on a virtual interactive interface, the electronic map comprising a to-be-worked region of a movable platform;

[0012] generating and marking a position point at a position determined based on a user intention in response to an input operation of the user;

[0013] Before the input operation of the user, the method further comprises: displaying an auxiliary planning mark at the position determined based on the user intention in the electronic map, wherein the auxiliary planning mark changes synchronously in response to a change in the user intention, and the auxiliary planning mark is used to provide an indication for the user on whether there is an abnormal factor unsuitable for planning the position point within a preset range with reference to the position determined based on the user intention.

[0014] The position point planning method provided in the second aspect displays the electronic map on the virtual interactive interface, displays the auxiliary planning mark at the position determined based on the user intention, and the auxiliary planning mark changes synchronously in response to the change in the user intention before the user confirms the operation of generating the position point. Therefore, the user can check and verify whether each point is suitable for planning the position point based on the adjustment of the user's own interactive intention, which is beneficial for the user to make a reasonable position point planning decision.

[0015] In the third aspect, the embodiments of the present application further provide a position point planning method, comprising:

[0016] displaying an electronic map on a user interactive interface, the electronic map comprising a to-be-worked region of a movable platform;

[0017] In response to a first input operation of the user, an auxiliary planning mark is displayed at a position indicated by a cursor on the electronic map, wherein the auxiliary planning mark disappears in response to movement of the cursor, and the auxiliary planning mark is used to provide an indication to the user as to whether there is an abnormal factor of an unsuitable planning position point within a preset range with reference to the cursor; and

[0018] After the first input operation of the user, in response to a second input operation of the user, a position point is generated and marked at a position currently indicated by the cursor.

[0019] In the position point planning method provided in the third aspect, the auxiliary planning mark is displayed on the electronic map before an operation of the user for confirming generation of the position point, the auxiliary planning mark is not displayed synchronously during movement of the cursor, but is manually controlled by the user as to whether the auxiliary planning mark needs to be displayed at a position indicated by the cursor, and after movement of the position of the cursor, the auxiliary planning mark is controlled by the user as to whether to continue to be displayed at a new position after the movement to continue to provide a reference as to whether the position indicated by the cursor is suitable for planning of the position point or not to be displayed at the new position after the movement.

[0020] In the fourth aspect, the embodiments of the present application further provide a position point planning method, comprising:

[0021] An electronic map is displayed on a user interaction interface, and the electronic map comprises a to-be-worked region of a movable platform;

[0022] In response to a point selection operation of the user, a display position of an auxiliary planning mark on the electronic map is adjusted, wherein the auxiliary planning mark is used to provide an indication to the user as to whether there is an abnormal factor of an unsuitable planning position point within a preset range with reference to a position indicated by the point selection operation;

[0023] After the point selection operation of the user, in response to a confirmation operation of the user, a position currently indicated by the point selection operation is stored as a position point.

[0024] In the position point planning method provided in the fourth aspect, in response to the point selection operation of the user before an operation of the user for confirming generation of the position point, a display position of the auxiliary planning mark on the electronic map is adjusted, thereby providing a reference to the user as to whether the position indicated by the point selection operation is suitable for planning of the position point, and the rationality of planning of the position point is effectively improved.

[0025] In the fifth aspect, the embodiments of the present application further provide a position point planning method, comprising:

[0026] An electronic map is displayed on a user interaction interface, and the electronic map comprises a to-be-worked region of a movable platform;

[0027] The auxiliary planning mark is displayed on the electronic map synchronously with a cursor, wherein the auxiliary planning mark comprises a plurality of pixel points on the interface in succession, and is used to provide an indication for the user about whether there is an abnormal factor of an unsuitable planning position point in a preset range with the cursor as a reference.

[0028] The pixel position occupied by the auxiliary planning mark is adjusted based on the movement of the cursor, wherein the pixel distance between the auxiliary planning mark and the cursor changes based on the change of the zooming scale of the electronic map; and

[0029] The visual representation of at least one pixel point in the auxiliary planning mark is adjusted based on a preset prompt rule.

[0030] The position point planning method provided in the fifth aspect displays an auxiliary planning mark on an electronic map, and adjusts the pixel position occupied by the auxiliary planning mark based on the movement of a cursor, so that the user can conveniently check whether a position reached by the cursor is suitable for planning a position point. The pixel distance between the auxiliary planning mark and the cursor changes based on the change of the zooming scale of the electronic map, so that the user can conveniently select to view the whole or the part based on different zooming scales. The visual representation of at least one pixel point in the auxiliary planning mark is adjusted based on a preset prompt rule, so that the user can quickly locate a focus point.

[0031] In the sixth aspect, the embodiments of the present application further provide a path planning method, comprising:

[0032] An electronic map is displayed on a user interaction interface, wherein the electronic map comprises a to-be-worked region of a movable platform;

[0033] A first path point is generated at a position currently indicated by a cursor in response to an input operation of a user;

[0034] A target working path of the movable platform is planned according to the first path point;

[0035] Before the input operation of the user, the method further comprises: an auxiliary planning mark is displayed on the electronic map synchronously with the cursor, wherein the auxiliary planning mark moves synchronously in response to the movement of the cursor, and the auxiliary planning mark is used to provide an indication for the user about whether there is an abnormal factor of an unsuitable path point in a preset range with the cursor as a reference.

[0036] The path planning method provided in the sixth aspect displays an auxiliary planning mark on the electronic map synchronously with the cursor before the input operation of the user, thereby providing the user with a reference of whether the position currently indicated by the cursor is suitable for planning a path point, effectively improving the rationality of path point planning, thereby ensuring that each path point meets the safety standard, effectively avoiding potential safety hazards caused by path points not meeting the safety standard, and making the target operation path based on path point planning safer.

[0037] In the seventh aspect, the embodiments of the present application further provide an operation area planning method, comprising:

[0038] displaying an electronic map on a user interaction interface, the electronic map comprising an operation area to be operated of a movable platform;

[0039] generating a first boundary point at a position currently indicated by a cursor in response to an input operation of a user;

[0040] planning a target operation area of the movable platform according to the first boundary point;

[0041] Before the input operation of the user, the method further comprises: displaying an auxiliary planning mark on the electronic map synchronously with the cursor, wherein the auxiliary planning mark moves synchronously in response to movement of the cursor, and the auxiliary planning mark is used to provide an indication for the user of whether there is an abnormal factor unsuitable for planning a boundary point within a preset range with reference to the cursor.

[0042] The operation area planning method provided in the seventh aspect displays an auxiliary planning mark on the electronic map synchronously with the cursor before the user confirms the boundary points of the operation area, thereby providing the user with a reference of whether the position currently indicated by the cursor is suitable for planning a boundary point, effectively improving the rationality of boundary point planning, thereby ensuring that each boundary point meets the safety standard, effectively avoiding potential safety hazards caused by boundary points not meeting the safety standard, and making the target operation area based on boundary point planning safer.

[0043] In the eighth aspect, the embodiments of the present application further provide a computer device, comprising a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when the computer program is executed, implement the position point planning method according to the first aspect, the second aspect, the third aspect, the fourth aspect or the fifth aspect, the path planning method according to the sixth aspect, or the operation area planning method according to the seventh aspect.

[0044] In a ninth aspect, the embodiments of the present application further provide a storage medium for computer readable, the storage medium storing a computer program, the computer program being executed by a processor to enable the processor to implement the position point planning method of the first aspect, the second aspect, the third aspect, the fourth aspect or the fifth aspect, the path planning method of the sixth aspect or the work area planning method of the seventh aspect.

[0045] In a tenth aspect, the embodiments of the present application further provide a system, the system comprising a control device and a movable platform, the control device being communicatively connected with the movable platform and being configured to control the movable platform; the control device being configured to implement the position point planning method of the first aspect, the second aspect, the third aspect, the fourth aspect or the fifth aspect, the path planning method of the sixth aspect or the work area planning method of the seventh aspect.

[0046] In an eleventh aspect, the embodiments of the present application further provide an interactive system, the interactive system comprising a user interface device, a processor and a communication device, the user interface device and the communication device being communicatively connected with the processor; the user interface device being configured to display an electronic map and receive a point selection operation of a user, wherein the electronic map comprises a work area of a movable platform; the processor being configured to determine a display position of an auxiliary planning mark on the electronic map based on the point selection operation of the user, wherein the auxiliary planning mark is configured to provide an indication of whether there is an abnormal factor of unsuitable planning position point within a preset range for the user; wherein after the point selection operation of the user, the processor stores a position currently indicated by the point selection operation as a position point of work planning of the movable platform in response to a confirmation operation of the user; and the processor sends the work planning comprising the position point to the movable platform through the communication device.

[0047] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0049] FIG. 1 is a step schematic flow chart of a position point planning method provided by the embodiments of the present application;

[0050] FIG. 2 is an example diagram of an auxiliary planning mark in the embodiments of the present application;

[0051] FIG. 3 is an example diagram of a scenario of auxiliary planning identification in an embodiment of the present application;

[0052] FIG. 4 is another example diagram of a scenario of auxiliary planning identification in an embodiment of the present application;

[0053] FIG. 5 is another example diagram of a scenario of auxiliary planning identification in an embodiment of the present application;

[0054] FIG. 6 is another example diagram of a scenario of auxiliary planning identification in an embodiment of the present application;

[0055] FIG. 7 is another example diagram of a scenario of auxiliary planning identification in an embodiment of the present application;

[0056] FIG. 8 is another example diagram of a scenario of auxiliary planning identification in an embodiment of the present application;

[0057] FIG. 9 is a step schematic flow chart of another position point planning method provided by an embodiment of the present application;

[0058] FIG. 10 is a step schematic flow chart of another position point planning method provided by an embodiment of the present application;

[0059] FIG. 11 is another example diagram of a scenario of auxiliary planning identification in an embodiment of the present application;

[0060] FIG. 12 is a step schematic flow chart of another position point planning method provided by an embodiment of the present application;

[0061] FIG. 13 is a step schematic flow chart of a path planning method provided by an embodiment of the present application;

[0062] FIG. 14 is a step schematic flow chart of a work area planning method provided by an embodiment of the present application;

[0063] FIG. 15 is a step schematic flow chart of another position point planning method provided by an embodiment of the present application;

[0064] FIG. 16 is another example diagram of a scenario of auxiliary planning identification in an embodiment of the present application;

[0065] FIG. 17 is a structural schematic block diagram of a computer device provided by an embodiment of the present application;

[0066] FIG. 18 is a structural schematic block diagram of a system provided by an embodiment of the present application;

[0067] FIG. 19 is a structural schematic block diagram of an interactive system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0068] With reference to the drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts are within the scope of the present application.

[0069] The flowcharts shown in the drawings are only illustrative, and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further decomposed, combined or partially merged, so the actual execution order may be changed according to actual situations.

[0070] It should be understood that although the terms first, second, third, etc. can be used in the present disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information, without departing from the scope of the present disclosure. Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining".

[0071] At present, people can use the way of map dotting to plan position points, and then use the planned position points to plan a path or a work area, etc., for example, use the planned position points to plan a work path of a movable platform. However, when the user performs the dotting operation on the map, there is a lack of effective indication, and the user has difficulty in anticipating the reasonableness of the punched position points, resulting in a poor experience.

[0072] To solve the above problems, the embodiments of the present application provide a position point planning method, a path planning method, a work area planning method, a computer device, a system and a storage medium. By displaying an auxiliary planning identifier on an electronic map, an indication is provided to the user on whether the position point to be planned is suitable for planning, assisting the user to predict in advance which positions are suitable for planning and which positions are not suitable for planning, effectively improving the reasonableness of the position point planning, and avoiding the situation that the unreasonableness of the planning is realized only after the points have been punched, for example, realized only during the execution process, effectively improving the reasonableness and efficiency of the position point planning.

[0073] The embodiments of the present application provide an expected mechanism before planning, which assists the user to make correct planning decisions in the front end, avoids problems in the back end, and thus avoids low planning efficiency and even irreparable losses during execution. For example, taking path planning of a movable platform as an example, if the user does not refer to and guide when marking points, the user only marks points according to eyesight and feeling, generates a path after marking points, and finds that the path passes through some obstacles during path execution. At this time, the movable platform needs to rely on the sensing and identification ability and the obstacle avoidance response ability, and once the sensing and identification are not in place or the obstacle avoidance response is not timely, the movable platform will be in collision danger.

[0074] In the embodiments of the present application, the position point planning method, the path planning method or the work area planning method can be applied to a computer device, which can include a control device, a server or a movable platform. The control device can include a smartphone, a tablet computer, a notebook computer, a desktop computer, a remote control device or a wearable device, etc. The server can be a standalone server, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content distribution networks (CDN), and basic cloud computing services such as big data and artificial intelligence platforms.

[0075] The movable platform can include an aircraft, a vehicle, a ship, a mobile robot (for example, a sweeping robot), etc. The aircraft can include unmanned aerial vehicles and manned aircraft, etc. The unmanned aerial vehicle includes a rotor type unmanned aerial vehicle, such as a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, or a fixed-wing unmanned aerial vehicle. The unmanned aerial vehicle can also be a combination of a rotor type and a fixed-wing unmanned aerial vehicle. According to the application industry, the unmanned aerial vehicle can be divided into agricultural unmanned aerial vehicles, industry unmanned aerial vehicles, aerial photography unmanned aerial vehicles, etc.

[0076] The position point planning method provided in the embodiments of the present application can be applied to any scenario requiring planning of position points. For example, in an agricultural scenario, spraying of pesticides or fertilizers on a land plot is required, and the position point planning method provided in the embodiments of the present application can be used to plan the flight points of a UAV for spraying pesticides or fertilizers, and then a spraying flight path of the UAV is planned according to the obtained flight points. For another example, in a forestry scenario, investigation and monitoring of a forest are required, and the position point planning method provided in the embodiments of the present application can be used to plan the flight points of a UAV in a region where the forest is located, and then a monitoring flight path of the UAV is planned according to the obtained flight points. For another example, in a search and rescue scenario, the position point planning method provided in the embodiments of the present application can be used to plan the flight points of a UAV in a region requiring search and rescue, and then a search flight path of the UAV is planned according to the obtained flight points. Since the flight points are planned by a user in combination with an electronic map and an auxiliary planning mark, the rationality and safety of the flight points are ensured, and potential safety hazards caused by flight points that do not meet safety standards are effectively avoided, so that the flight path planned based on reasonable and safe flight points is safer and more effective.

[0077] For another example, in a city management scenario, site selection of a city facility is required, and therefore the position point planning method provided in the embodiments of the present application can be used to determine a site selection position of the city facility, so that the site selection position of the city facility is more reasonable and safe. For example, an electronic map is displayed on a user interaction interface, the electronic map includes a target region requiring arrangement of a city facility; an auxiliary planning mark is displayed on the electronic map synchronously with a cursor, wherein the auxiliary planning mark moves synchronously in response to movement of the cursor, and the auxiliary planning mark is used to provide an indication to the user about whether there is an abnormal factor unsuitable for arrangement of the city facility within a preset range with reference to the cursor; and in response to an input operation of the user, a site selection position point of the city facility is generated and marked at a position currently indicated by the cursor. The site selection of the city facility can include site selection of an airport, site selection of a logistics station, site selection of a high-speed rail station, site selection of a subway station, site selection of a supermarket, site selection of a traffic facility, site selection of a park, site selection of a gymnasium, site selection of a charging station, site selection of a gas station, and the like.

[0078] For example, in the power facility management scenario, the power facility needs to be located, and thus the location point planning method provided in the embodiments of the present application can be used to determine the location of the power facility, so that the location of the power facility is more reasonable and safe. For example, an electronic map is displayed on a user interaction interface, the electronic map including a target area where the power facility needs to be arranged; an auxiliary planning mark is displayed on the electronic map synchronously with a cursor, wherein the auxiliary planning mark moves synchronously in response to the movement of the cursor, and the auxiliary planning mark is used to provide an indication to the user about whether there is an abnormal factor unsuitable for arranging the power facility within a preset range with reference to the cursor; and in response to an input operation of the user, a location point of the power facility is generated and marked at a position currently indicated by the cursor. The power facility can include a power generation facility, a power transmission facility, a power transformation facility, a power distribution facility, and the like.

[0079] For example, in the communication facility management scenario, the communication facility needs to be located, for example, an outdoor base station or an indoor base station needs to be selected, and thus the location point planning method provided in the embodiments of the present application can be used to determine the location of the communication facility, so that the location of the communication facility is more reasonable and safe. For example, an electronic map is displayed on a user interaction interface, the electronic map including a target area where the communication facility needs to be arranged; an auxiliary planning mark is displayed on the electronic map synchronously with a cursor, wherein the auxiliary planning mark moves synchronously in response to the movement of the cursor, and the auxiliary planning mark is used to provide an indication to the user about whether there is an abnormal factor unsuitable for arranging the communication facility within a preset range with reference to the cursor; and in response to an input operation of the user, a location point of the communication facility is generated and marked at a position currently indicated by the cursor.

[0080] For example, in the sand prevention, water control or soil fixation scenario, the vegetation needs to be planned to be planted in a to-be-governed area, and thus the location point planning method provided in the embodiments of the present application can be used to determine the planting location of the vegetation in the to-be-governed area, so that the planting location of the vegetation is more reasonable and safe. For example, an electronic map is displayed on a user interaction interface, the electronic map including a target area where the vegetation needs to be planted; an auxiliary planning mark is displayed on the electronic map synchronously with a cursor, wherein the auxiliary planning mark moves synchronously in response to the movement of the cursor, and the auxiliary planning mark is used to provide an indication to the user about whether there is an abnormal factor unsuitable for planting the vegetation within a preset range with reference to the cursor; and in response to an input operation of the user, a planting location point of the vegetation is generated and marked at a position currently indicated by the cursor.

[0081] For example, in a video monitoring scenario, the installation position of a monitoring device needs to be planned, and thus the installation position of the monitoring device in a region to be monitored can be determined by using the position point planning method provided in the application, so that the installation position of the monitoring device is more reasonable and safer. For example, an electronic map is displayed on a user interaction interface, the electronic map including a target region in which the monitoring device needs to be installed; an auxiliary planning mark is displayed on the electronic map in synchronization with a cursor, wherein the auxiliary planning mark moves in synchronization with the movement of the cursor, and the auxiliary planning mark is used to provide an indication to the user as to whether there is an abnormal factor in a preset range with reference to the cursor that is not suitable for installing the monitoring device; and in response to an input operation of the user, an installation position point of the monitoring device is generated and marked at a position currently indicated by the cursor.

[0082] It can be understood that the application scenarios of the position point planning method provided in the application are merely exemplary and do not constitute a limitation on the application scenarios of the position point planning method provided in the application. The application scenarios of the position point planning method provided in the application can also be other application scenarios.

[0083] The application program implementing the position point planning method of the application can be provided to professional geographic information system (GIS) analysts and planners as a map dotting software, so that the GIS analysts and planners can better dot. The application program implementing the position point planning method of the application can also be connected to a flight planning system of a drone, so that an operator of the drone can reasonably and safely plan a route of the drone. The application program implementing the position point planning method of the application can also be connected to a city planning auxiliary tool and provided to a city planner for planning a site selection of a city facility, a power facility, a natural gas facility or a communication facility, so that the site selection of the city facility, the power facility, the natural gas facility or the communication facility is more reasonable and safer. The application program implementing the position point planning method of the application can also be integrated in a disaster emergency management software to plan a position point for seeking help and a position for dropping materials. The application program implementing the position point planning method of the application can also be integrated in a safety monitoring planning system to plan an installation position of a monitoring device or other safety devices.

[0084] Some embodiments of the application will be described in detail with reference to the drawings. The following examples and features in the examples can be combined with each other without conflict.

[0085] Please refer to FIG. 1, which is a step schematic flow chart of a position point planning method provided in an embodiment of the application.

[0086] As shown in FIG. 1, the position point planning method includes steps S101 to S103.

[0087] Step S101, display an electronic map on the user interaction interface, the electronic map including a to-be-worked region of the movable platform.

[0088] In this embodiment, the user interaction interface includes a virtual interaction interface or a real interaction interface, the virtual interaction interface including an Augmented Reality (AR) interface, a Virtual Reality (VR) interface or a Mixed Reality (MR) interface. The real interaction interface can include a display screen.

[0089] In some embodiments, the electronic map includes a real-time viewfinder picture of an imaging device carried by the movable platform or a pre-stored electronic map. For example, a real-time viewfinder picture of an imaging device carried by the movable platform is displayed on the user interaction interface, the real-time viewfinder picture including the to-be-worked region of the movable platform. Alternatively, a pre-stored electronic map selected by the user is displayed on the user interaction interface, for example, the electronic map is requested from a cloud server.

[0090] In some embodiments, the electronic map can be an RGB image, a depth image, a point cloud image, etc.

[0091] In some embodiments, the electronic map can be a topographic map, a raster topographic map, a tile map, a remote sensing image map or an elevation model map, etc.

[0092] Step S102, display an auxiliary planning mark on the electronic map synchronously with the cursor, the auxiliary planning mark moving synchronously with the cursor, the auxiliary planning mark being used to provide an indication to the user about whether there is an abnormal factor in a preset range with reference to the cursor.

[0093] In this embodiment, the cursor is used as an exemplary way to indicate the position of the to-be-confirmed position point in the electronic map, and the visual performance thereof is not specifically limited in this embodiment. The visual performance in this embodiment refers to the visual perception of an object presented to the user, for example, changes in graphics, shape, color, size, transparency, etc. will cause different visual performances. For example, the visual performance of the cursor can include an arrow (such as ), a crosshair (such as or “x”), an I-shaped icon (such as a capital letter “I”), a virtual pen-shaped icon (such as ) or a virtual hand-shaped icon (such as ) and the like.

[0094] As shown in FIG. 2, taking the circular mark as an example of the auxiliary planning mark, the electronic map 10 displays the cursor 11 and the auxiliary planning mark 12, and the user can know from the auxiliary planning mark 12 shown in FIG. 2 that there is no abnormal factor of the unsuitable planning position point in the preset range (a circular region with the cursor 11 as the center and a preset distance as the radius, which usually refers to the attention region of the user) with the cursor 11 as the reference, that is, there is no abnormal factor of the unsuitable planning position point near the position indicated by the cursor 11, which indicates that the position indicated by the cursor 11 is suitable for the planning position point.

[0095] In some embodiments, the auxiliary planning mark moves synchronously in response to the movement of the cursor, including that the position of the auxiliary planning mark changes synchronously in response to the change of the position where the cursor is located, that is, the auxiliary planning mark moves together with the cursor. For example, the position where the cursor is located is position A, the auxiliary planning mark is displayed at position A, and after the position where the cursor is located changes from position A to position B, the auxiliary planning mark is synchronously displayed at position B, so that the position of the auxiliary planning mark changes synchronously with the change of the position where the cursor is located.

[0096] In some embodiments, the cursor moves in response to the triggering operation of the input device by the user. The input device can include any one of a mouse, a keyboard, a joystick, a touch screen, and a wearable device, and the triggering operation can be set based on actual conditions, which is not limited in the embodiments of the present application. For example, the cursor moves in response to the movement operation of the mouse by the user, or the cursor moves in response to the click operation of the cursor control button on the keyboard by the user, or the cursor moves in response to the stick operation of the joystick by the user, or the cursor moves in response to the click operation of the cursor control button on the touch screen by the user, or the cursor moves in response to the preset gesture action recognized by the wearable device, or the cursor moves in response to the eye movement direction recognized by the wearable device.

[0097] In some embodiments, the display parameter of the auxiliary planning mark is fixed; in other embodiments, the display parameter of the auxiliary planning mark can be changed. The display parameter of the auxiliary planning mark includes at least one of the shape attribute, the size attribute, or the level attribute of the auxiliary planning mark.

[0098] In some embodiments, the display parameter of the auxiliary planning mark can be set in response to the parameter setting operation of the auxiliary planning mark by the user. By customizing the display parameter by the user, the indication provided by the auxiliary planning mark can be more adapted to different needs of the user, and the user experience is improved.

[0099] In some embodiments, the display parameters of the auxiliary planning mark can be adaptively set based on the obtained attribute information of the movable platform. By adaptively setting the display parameters corresponding to the current attribute information of the movable platform based on the obtained different attribute information of the movable platform, the indication provided by the auxiliary planning mark can be more suitable for the movable platform with different attribute information, ensuring high matching between the work planning and the work execution, and being applicable to different models of movable platforms, thereby having high versatility and flexibility.

[0100] In some embodiments, based on the obtained attribute information of the movable platform, setting recommendation information of the auxiliary planning mark can be outputted to provide the user with setting indication of the display parameters of the auxiliary planning mark, assisting the user in deciding whether to customize the display parameters and how to set the display parameters. For example, the setting recommendation information includes recommended display parameters.

[0101] The movable platform in the above embodiments can be a movable platform designated to participate in the work, a movable platform selected by the user, or a movable platform in communication with the computer device for planning the work, without specific limitation. The attribute information of the movable platform includes at least one of the body size, the contour shape, the work range, the load type, and the range of the power system of the movable platform. The load of the movable platform includes a spraying device, a sowing device, a launching device, a shooting device, or a cleaning device, and the work range is the spraying width of the spraying device, the sowing width of the sowing device, the launching range of the launching device, the field of view angle of the shooting device, or the cleaning range of the cleaning device.

[0102] In some embodiments, the indication of the abnormal factor unsuitable for the planning position point includes an indication of a potential collision risk to the movable platform, i.e., the auxiliary planning mark can be used to provide the user with an indication of whether there is a potential collision risk to the movable platform within a preset range with reference to the cursor. The abnormal factor unsuitable for the planning position point is caused by an obstacle. The obstacle can be an obstacle already existing in the preset range, such as a building, a power line, a hillside, a tree, or another movable platform. The obstacle can also be an obstacle that is highly likely to appear in the preset range, such as a landing site, a transfer site, a logistics site, a charging and battery replacement site, a dispatch platform, a parking apron, a transportation hub, or a densely populated area, indicating that other movable platforms are highly likely to come and go in this place, and there is a potential collision risk. The present embodiment can provide the user with a reference of whether the position where the cursor is located has a potential collision risk to the movable platform through the auxiliary planning mark, so that the user can plan a position point without a potential collision risk through the reference, effectively improving the rationality and safety of the planning of the position point.

[0103] For example, the preset range indicated by the auxiliary planning identifier intersects with the obstacle or there is an obstacle in the preset range indicated by the auxiliary planning identifier, and the user can know from the auxiliary planning identifier that there is a potential collision risk near the position of the cursor, i.e., the position of the cursor is not suitable for planning a position point. For another example, the preset range indicated by the auxiliary planning identifier does not intersect with the obstacle, and there is no obstacle in the preset range indicated by the auxiliary planning identifier, and the user can know from the auxiliary planning identifier that there is no potential collision risk near the position of the cursor, i.e., the position of the cursor is suitable for planning a position point.

[0104] In some embodiments, the indication of the abnormal factor that is not suitable for planning a position point includes an indication that the movable platform is not suitable for performing a task, i.e., the auxiliary planning identifier can be used to provide an indication for the user about whether the preset range with reference to the cursor is not suitable for the movable platform to perform a task. This embodiment can provide a reference for the user through the auxiliary planning identifier about whether the position of the cursor is not suitable for the movable platform to perform a task, so that the user can plan a position point that is suitable for the movable platform to perform a task through the reference, and the rationality of the task of the position point is effectively improved. In addition to the conventional load tasks such as spraying, sowing, launching, aerial photography, etc., the movable platform only moving through a certain area is also regarded as a case of performing a task.

[0105] For example, the movable platform is not suitable for performing a task in at least one of the following cases: not suitable for dispensing material; not suitable for sensing data; not suitable for moving through; and the impact on the environment during the task does not meet the preset requirement. The impact on the environment during the task includes at least one of the chemical impact, wind pressure impact and noise impact on the environment during the task of the movable platform, and the preset requirement can be set based on the actual situation, which is not limited in the present application.

[0106] For example, the movable platform is not suitable for performing a task in at least one of the following cases: not suitable for dispensing material; not suitable for sensing data; not suitable for moving through; and the impact on the environment during the task does not meet the preset requirement. The impact on the environment during the task includes at least one of the chemical impact, wind pressure impact and noise impact on the environment during the task of the movable platform, and the preset requirement can be set based on the actual situation, which is not limited in the present application.

[0107] An exemplary chemical impact on the environment that does not meet the preset requirement includes pesticide drift, for example, the pesticide spraying range of the movable platform covers sensitive objects such as fish ponds, lakes, rivers, nature reserves, and non-operation objects that are not suitable for pesticide spraying. An exemplary wind pressure impact on the environment that does not meet the preset requirement includes: there are crops prone to lodging in the range affected by the operation of the power system of the movable platform, and too strong a cyclone pressure under the propeller can easily cause crop lodging damage. An exemplary noise impact on the environment that does not meet the preset requirement includes: the noise generated by the operation of the power system of the movable platform exceeds the upper limit of the nuisance noise of the area to be operated.

[0108] In some embodiments, the indication that the movable platform is not suitable for performing the operation includes an indication that the operation efficiency does not meet the preset condition. The indication that the operation efficiency does not meet the preset condition includes at least one of the following: an indication that the operation is repeated; an indication that the operation is missed; an indication that the operation object is not fully covered; and an indication that a non-operation object is covered. For example, in a case where a planned position point exists within a preset range indicated by the auxiliary planning identifier, the auxiliary planning identifier is used to provide an indication that the position near the cursor is prone to repeated operation for the user, and an exemplary repeated spraying operation is prone to pesticide drift. For another example, in a case where the preset range indicated by the auxiliary planning identifier intersects with the operation object, the auxiliary planning identifier is used to provide an indication that the position near the cursor is prone to incomplete coverage of the operation object for the user, and an exemplary incomplete coverage of the operation object of a fruit tree occurs when a part of the fruit tree is within the preset range and another part is outside the preset range, resulting in uneven spraying. For another example, in a case where a non-operation object exists within the preset range indicated by the auxiliary planning identifier, the auxiliary planning identifier is used to provide an indication that the position near the cursor is prone to covering a non-operation object for the user, and an exemplary part of a rice field appears within the preset range originally used for spraying a fruit tree, and the pesticide suitable for fruit tree spraying may cause pesticide drift of the rice.

[0109] In some embodiments, the auxiliary planning identifier includes at least two auxiliary planning sub-identifiers, and different layers of auxiliary planning sub-identifiers are used to provide an indication for the user as to whether there is an abnormal factor that is not suitable for planning a position point within a preset range of different sizes with reference to the cursor. The geometric centers of different layers of auxiliary planning sub-identifiers are the same. This embodiment can provide the user with a reference as to whether there is an abnormal factor that is not suitable for planning a position point within different ranges of the same position through multiple layers of auxiliary planning identifiers, making it more convenient for the user to plan the position point and further improving the planning accuracy of the position point.

[0110] For example, as shown in FIG. 3, the auxiliary planning mark 12 includes a first auxiliary planning sub-mark 121 and a second auxiliary planning sub-mark 122, the geometric centers of the first auxiliary planning sub-mark 121 and the second auxiliary planning sub-mark 122 are the same as the position of the cursor 11, the first auxiliary planning sub-mark 121 is configured to provide an indication to the user about whether there is an abnormal factor of an unsuitable planning position point within a preset range with the cursor 11 as the center and a first preset distance as the radius, the second auxiliary planning sub-mark 122 is configured to provide an indication to the user about whether there is an abnormal factor of an unsuitable planning position point within a preset range with the cursor 11 as the center and a second preset distance as the radius, and the first preset distance is different from the second preset distance. For example, in the field of agricultural plant protection unmanned aerial vehicles, the first preset distance is usually 5 m, and the second preset distance is usually 3 m.

[0111] In some embodiments, the auxiliary planning sub-marks of different layers are visually different to facilitate the user to distinguish, for example, at least one of the color, shape, transparency, line thickness, or line type of the auxiliary planning sub-marks of different layers is different. For example, the first auxiliary planning sub-mark 121 is red, and the second auxiliary planning sub-mark 122 is yellow, and the red color is more conspicuous than the yellow color to warn the user. This embodiment can obviously provide a reference to the user about whether there is an abnormal factor of an unsuitable planning position point within different ranges of the same position, and further facilitates the user to plan the position point, and improves the planning convenience and accuracy of the position point.

[0112] In some embodiments, the preset ranges of different sizes represent different levels of the degree of unsuitable planning position points, and the preset range is a multi-level margin mechanism. The level of the degree of the unsuitable planning position point is negatively correlated with the size of the preset range, that is, the larger the preset range, the lower the level of the degree of the unsuitable planning position point, and the smaller the preset range, the higher the level of the degree of the unsuitable planning position point. For example, as shown in FIG. 3, the first preset distance of 5 m indicates a relatively conservative preset range, and the second preset distance of 3 m indicates a relatively aggressive preset range. Taking the auxiliary planning mark indicating a potential collision risk to the movable platform as an example, the collision risk level represented by 3 m is higher than the collision risk level represented by 5 m. This embodiment can provide different references to the user about the different levels of the degree of the unsuitable planning position point within different ranges of the same position through the auxiliary planning sub-marks of different layers, and further facilitates the user to plan the position point.

[0113] In some embodiments, the different sizes of the preset ranges represent different types of abnormal objects that cause abnormal factors of the planning position point. The abnormal objects that cause abnormal factors of the planning position point include first abnormal objects that cause potential collision risks of the movable platform and second abnormal objects that cause the movable platform to be unsuitable for performing the task, and the first abnormal objects are different from the second abnormal objects in type. For example, the first abnormal objects are obstacles, and the second abnormal objects are crops that are prone to lodging or crops that are not resistant to pesticides. In this embodiment, the different layers of the auxiliary planning sub-identifiers can provide the user with references of different ranges of the same position for different types of abnormal objects that cause the planning position point to be unsuitable, so that the planning position point can meet the needs of the user considering multiple factors, for example, meeting the needs of safety and collision-free and meeting the needs of efficient operation.

[0114] In some embodiments, the different sizes of the preset ranges include at least one of a first preset range, a second preset range, and a third preset range, wherein the first preset range is related to collision risks of the movable platform, the second preset range is related to a working range of the movable platform, and the third preset range is related to a range of influence of a power system of the movable platform when the power system is working. For example, the first preset range is a circular region with a preset safe distance as a radius. If the distance between the movable platform and an object is greater than the preset safe distance, the potential collision risk between the movable platform and the object is small, and if the distance between the movable platform and the object is less than the preset safe distance, the potential collision risk between the movable platform and the object is large.

[0115] In some embodiments, the different sizes of the preset ranges include at least two of the first preset range, the second preset range, and the third preset range. For example, the different sizes of the preset ranges include the first preset range and the second preset range, and the second preset range is greater than the first preset range. In this embodiment, the different layers of the auxiliary planning sub-identifiers can provide the user with indications of whether there are objects that cause potential collision risks of the movable platform within the first preset range with the cursor as a reference and whether there are abnormal factors that make the movable platform unsuitable for performing the task within the second preset range, so as to make it more convenient for the user to plan the position point, so that the planning position point can not only meet the safety of the task, but also meet the suitability of the task.

[0116] For example, as shown in FIG. 4, the auxiliary planning mark 12 includes a first auxiliary planning sub-mark 121 and a third auxiliary planning sub-mark 123, the geometric centers of the first auxiliary planning sub-mark 121 and the third auxiliary planning sub-mark 123 are the same and are located at the position of the cursor 11, the first auxiliary planning sub-mark 121 is configured to provide an indication to the user as to whether there is a potential collision risk within a first preset range with reference to the cursor 11, and the third auxiliary planning sub-mark 123 is configured to provide an indication to the user as to whether there is an abnormal factor within a second preset range with reference to the cursor 11, which is not suitable for the mobile platform to perform the work. Generally, the preset safety range of the mobile platform is smaller than the suitable work range of the mobile platform.

[0117] In some embodiments, the preset ranges of different sizes include the first preset range and the third preset range, and the third preset range is larger than the first preset range. This embodiment can provide the user with an indication as to whether there is a potential collision risk within the first preset range with reference to the cursor and an indication as to whether there is an abnormal object affected by the work of the power system within the third preset range through the auxiliary planning sub-marks of different layers, thereby making it more convenient for the user to plan the position point, so that the planned position point can not only meet the safety of the work, but also meet the suitability of the work of the power system.

[0118] In some embodiments, the geometric center of the auxiliary planning mark is located at the cursor. Further, the auxiliary planning mark is a central symmetric figure with the cursor as the center. The central symmetric figure can include a circle, an ellipse, a rectangle, a square, a sphere, a pentagon, or a hexagon, etc. For example, as shown in FIG. 2, the geometric center of the auxiliary planning mark 12 is located at the cursor 11, and the auxiliary planning mark 12 is a circular mark with the cursor 11 as the center.

[0119] In some embodiments, the distance from the cursor to each point on the boundary of the auxiliary planning mark is consistent.

[0120] In some embodiments, the distance from the cursor to different points on the boundary of the auxiliary planning mark is inconsistent. For example, considering the influence of the speed direction, the first distance from the cursor to the boundary of the auxiliary planning mark along the expected speed direction of the mobile platform is greater than the second distance from the cursor to the boundary of the auxiliary planning mark along a direction other than the expected speed direction of the mobile platform. For example, as shown in FIG. 5, the first distance dl from the cursor 11 to the boundary of the auxiliary planning mark 12 along the expected speed direction 13 of the mobile platform is greater than the second distance d2 from the cursor 11 to the boundary of the auxiliary planning mark 12 along a direction other than the expected speed direction 13 of the mobile platform. This embodiment can give a longer response time to changes in the expected speed direction by using a larger distance to circle the search range in the expected speed direction of the mobile platform, thereby further ensuring the suitability of the planned position point.

[0121] In some embodiments, the visual representation of the auxiliary planning indication for different position points to be planned is consistent.

[0122] In some embodiments, the visual representation of the auxiliary planning indication for different position points to be planned is inconsistent. For example, the visual representation of the auxiliary planning indication is adjusted according to the position or acceleration state of the position point to be planned. For example, the preset range corresponding to the auxiliary planning indication of the position point at the turning of the movable platform is larger than the preset range corresponding to the auxiliary planning indication of the position point when the movable platform is moving straight, because a larger working radius is needed at the turning; for another example, the larger the acceleration of the movable platform, the larger the preset range corresponding to the auxiliary planning indication of the position point, because a longer response time is needed to deal with the change when the acceleration is large.

[0123] In some embodiments, the auxiliary planning indication is adjusted according to the terrain information reflected by the electronic map, so that the indication given by the auxiliary planning indication is more suitable for the current terrain information to be planned. The terrain information can include any one of the following: terrain, vegetation, whether it includes power lines, roads, water surfaces, and other special landscapes. For example, when the auxiliary planning indication indicates whether there is a potential collision risk, if the terrain information reflects that the current working area is a rugged mountain, the preset range can be set to be larger than that of a plain terrain, and more safety margin is reserved to ensure the safety of work in rugged terrain. If the terrain information reflects that the current position point to be planned is in an uphill or downhill state, the preset range can be set to be larger than that of the horizontal moving state, and more safety margin is reserved to ensure the safety of work in the uphill or downhill state.

[0124] In some embodiments, the auxiliary planning indication is scaled synchronously in response to the scaling of the electronic map. For example, the electronic map is scaled down by 2 times, and the auxiliary planning indication is scaled down by 2 times at the same time; for another example, the electronic map is scaled up by 2 times, and the auxiliary planning indication is scaled up by 2 times at the same time. By scaling the auxiliary planning indication at the same time as the electronic map is scaled, the embodiment can ensure the consistency of the scaling of the electronic map and the auxiliary planning indication, and facilitate the user to see the whole and the part through the scaling operation. For example, when the user suspects that there is an obstacle in the preset range through the zoomed-out map, the user can see the "part" by zooming in the electronic map and the auxiliary planning indication to zoom in the suspected obstacle and the auxiliary planning indication; when the user cannot see the environment around the preset range through the zoomed-in map, the user can see the "whole" by zooming out the electronic map and the auxiliary planning indication. In the operation practice, the user can flexibly choose to use.

[0125] In some embodiments, the auxiliary planning identifier carries scale information, which is used to indicate the size of the preset range corresponding to the auxiliary planning identifier. For example, as shown in FIG. 2, the auxiliary planning identifier 12 carries scale information, which is used to indicate that the radius of the preset range corresponding to the auxiliary planning identifier 12 is 5 meters. In this embodiment, the scale information carried by the auxiliary planning identifier can provide an indication of the size of the preset range corresponding to the auxiliary planning identifier, so that the user can know the size of the preset range, and the planning is more predictable.

[0126] In some embodiments, the auxiliary planning identifier is displayed on the electronic map in a preset transparency. The preset transparency can be set based on actual conditions, which is not limited in the embodiments of the present application. For example, the preset transparency is any transparency in the range of 30%-80%. In this embodiment, the auxiliary planning identifier is displayed on the electronic map in a preset transparency, which reduces the occlusion of the electronic map by the auxiliary planning identifier, so that the auxiliary planning identifier can better provide the user with planning reference for the location point, and the user can plan the location point more conveniently.

[0127] In some embodiments, the auxiliary planning identifier is displayed on the electronic map in a dashed line. In this embodiment, the auxiliary planning identifier is displayed on the electronic map in a dashed line, so that the user can know that the auxiliary planning identifier is virtually constructed and does not exist in reality.

[0128] In some embodiments, the electronic map is a two-dimensional electronic map, and the auxiliary planning identifier is a two-dimensional auxiliary planning identifier; or the electronic map is a three-dimensional electronic map, and the auxiliary planning identifier is a three-dimensional auxiliary planning identifier. The two-dimensional auxiliary planning identifier is switched to a three-dimensional auxiliary planning identifier in response to the two-dimensional electronic map being switched to a three-dimensional electronic map; or the three-dimensional auxiliary planning identifier is switched to a two-dimensional auxiliary planning identifier in response to the three-dimensional electronic map being switched to a two-dimensional electronic map. The two-dimensional auxiliary planning identifier can be a circular identifier, and the three-dimensional auxiliary planning identifier can be a spherical identifier. In this embodiment, the user can be provided with two-dimensional reference or three-dimensional reference for planning the location point, so that the user can select a suitable way to provide reference according to needs, thereby facilitating the user to plan the location point. For example, taking an agricultural plant protection unmanned aerial vehicle as an example, the user can switch between the two-dimensional electronic map and the three-dimensional electronic map at will, and generally plans a two-dimensional flight path in the two-dimensional electronic map, and then switches to the three-dimensional electronic map to convert the two-dimensional flight path into a three-dimensional flight path to facilitate the user to preview and adjust the local elevation. In this operation, the auxiliary planning identifier can also be switched between the two-dimensional and the three-dimensional, which facilitates the user to provide an indication when planning the two-dimensional flight path and the three-dimensional flight path.

[0129] In some embodiments, the location point planning method further comprises: in response to the auxiliary planning identifier indicating that there is an abnormal factor unsuitable for planning a location point within the preset range, outputting warning information. Further, in response to the auxiliary planning identifier indicating that the degree of the abnormal factor unsuitable for planning a location point within the preset range is different, outputting differentiated warning information. The present embodiment can not only show the influence of various environmental elements around the planning location on the planning, but also provide intuitive warning when the planning location is unsuitable for planning, to remind the user that the location where the cursor is located is unsuitable for planning a location point, so as to facilitate the user to quickly locate the focus, thereby making timely adjustments and improving the user experience.

[0130] In some embodiments, outputting the warning information comprises at least one of the following operations: outputting the warning information in the form of a pop-up window; changing the visual representation of the auxiliary planning identifier; changing the visual representation of the cursor; changing the visual representation of the abnormal object causing the location point unsuitable for planning; presenting the first part and the second part of the abnormal object causing the location point unsuitable for planning in different visual representations, the first part being within the preset range of the auxiliary planning identifier, and the second part being outside the preset range of the auxiliary planning identifier; presenting the first part and the second part of the auxiliary planning identifier in different visual representations, the first part including the part of the auxiliary planning identifier corresponding to the position of the abnormal object, and the second part including the part of the auxiliary planning identifier other than the first part; outputting different types of warning information for different types of abnormal objects.

[0131] In some embodiments, changing the visual representation of the auxiliary planning identifier can include at least one of the following: changing the line of the auxiliary planning identifier from a dashed line to a solid line; changing the color of the line of the auxiliary planning identifier to a preset color; changing the width (thickness) of the line of the auxiliary planning identifier to a preset width. For example, the auxiliary planning identifier 12 in FIG. 2 is displayed in a dashed line, and there is no abnormal factor unsuitable for planning a location point within the preset range with the cursor 11 as a reference, while after the cursor 11 moves to the position in FIG. 6, there is an abnormal factor unsuitable for planning a location point within the preset range with the cursor 11 as a reference, so the line of the auxiliary planning identifier 12 is changed from a dashed line to a solid line (the auxiliary planning identifier 12 in FIG. 6 is displayed in a solid line).

[0132] In some embodiments, the changing of the visual representation of the cursor can include at least one of the following: changing a color of the cursor to a preset color; changing a shape of the cursor to a preset shape; controlling the cursor to blink at a preset frequency. The preset color and the preset frequency can be set based on actual conditions, and the embodiments of the present application do not make specific limitations thereon. For example, the preset color is red, and the preset frequency is 1 second of blinking once.

[0133] In some embodiments, the changing of the visual representation of the abnormal object of the abnormal factor causing the unsuitable planning position point can include at least one of the following: changing a color of the abnormal object of the abnormal factor causing the unsuitable planning position point to a preset color; highlighting the abnormal object of the abnormal factor causing the unsuitable planning position point, such as an obstacle or an object unsuitable for operation.

[0134] In some embodiments, the first part and the second part of the abnormal object of the abnormal factor causing the unsuitable planning position point are presented in different visual representations. For example, at least one of the following: the first part and the second part of the abnormal object of the abnormal factor causing the unsuitable planning position point are displayed in different colors; the first part or the second part of the abnormal object of the abnormal factor causing the unsuitable planning position point is highlighted. For example, as shown in FIG. 6, the first part 14 of the obstacle is located within the preset range of the auxiliary planning mark 12, and the second part 15 of the obstacle is located outside the preset range of the auxiliary planning mark 12, and the colors of the first part 14 and the second part 15 are different.

[0135] In some embodiments, the first part and the second part of the auxiliary planning mark are presented in different visual representations. For example, at least one of the following: the first part and the second part of the auxiliary planning mark are displayed in different colors; the first part and the second part of the auxiliary planning mark are displayed in different line widths; the first part and the second part of the auxiliary planning mark are displayed in different line types. For example, the color of the first part of the auxiliary planning mark is red, and the color of the second part is white, or the first part of the auxiliary planning mark is displayed in a solid line, and the second part of the auxiliary planning mark is displayed in a dashed line, or the first part of the auxiliary planning mark is displayed in a thicker line, and the second part of the auxiliary planning mark is displayed in a thinner line.

[0136] In some embodiments, the position point planning method further includes: in response to the presence of the abnormal factor unsuitable for planning position points within the preset range indicated by the auxiliary planning mark, the input operation of the user is rejected. In this embodiment, the user is restricted from planning a position point at the position where the cursor is located in the case that the abnormal factor unsuitable for planning position points exists within the preset range indicated by the auxiliary planning mark, so as to avoid the user from planning an unsuitable position point at the position where the cursor is located.

[0137] In some embodiments, the position point planning method further comprises: in response to the auxiliary planning identifier indicating that there is an abnormal factor in the preset range that is not suitable for planning position points, outputting movement guidance information of the cursor, the movement guidance information being used to provide the user with cursor movement guidance that can eliminate the abnormal factor. For example, as described in FIG. 6, the first part 14 of the obstacle is located below the preset range of the auxiliary planning identifier 12, and the movement guidance identifier 16 of the cursor 11 is used to prompt the user to move the cursor 11 to the opposite upper side, so that the obstacles are all located outside the preset range of the auxiliary planning identifier 12, thereby eliminating the abnormal factor. In this embodiment, the user can know how to move the cursor to eliminate the abnormal factor by providing the user with cursor movement guidance that can eliminate the abnormal factor in the case that there is an abnormal factor in the preset range of the auxiliary planning identifier that is not suitable for planning position points.

[0138] In some embodiments, the position point planning method further comprises: in response to the user's closing operation on the preset control, the auxiliary planning identifier disappears. In response to the user's opening operation on the preset control, the auxiliary planning identifier is displayed on the electronic map in synchronization with the cursor. The preset control can be a physical button or a virtual button, which is not limited in the embodiments of the present application. The auxiliary planning function of the position point can be opened and closed in this embodiment, so that the user can manually open or close the auxiliary planning function of the position point according to actual needs. In some cases, the preset control is in the open state by default. In some cases, once the preset control is opened, it is in the always-on state until the closing operation is triggered.

[0139] In some embodiments, the visual representation of the auxiliary planning identifier satisfies at least one of the following conditions: the shape is circle-shaped; the shape is spherical; the shape is band-shaped; is related to the outline shape and / or the body size of the movable platform; is related to the load structure and / or the load distribution on the movable platform; is related to the range of influence of the power system of the movable platform; is related to the expected speed direction and / or the expected speed size of the movable platform. Further, the auxiliary planning identifier is a circular identifier or an elliptical identifier. In some cases, the preset range indicating the potential collision risk is obtained by inflating a certain range outward from the outline shape and / or the body size of the movable platform; the preset range indicating the potential working range is related to the load structure and / or the load distribution on the movable platform; in some cases, the preset range indicating the influence of wind pressure or noise on the environment is related to the range of influence of the power system of the movable platform.

[0140] In some embodiments, the auxiliary planning mark is a strip mark, and a length extension direction of the strip mark represents an expected speed direction of the movable platform at the position currently indicated by the cursor. For example, as shown in FIG. 7, there is an obstacle 18 in a region of the length extension direction 17 of the strip mark 16, and thus the user can know from the strip mark 16 that although the position A indicated by the cursor 11 has no collision risk, the next position B along the expected speed direction of the movable platform has a collision risk, and if the obstacle 18 is to be avoided, the moving direction of the movable platform between the positions A and B needs to be adjusted, and the adjustment of the direction can cause additional loss of kinetic energy.

[0141] In step S103, a position point is generated and marked at the position currently indicated by the cursor in response to an input operation of the user.

[0142] Step S103 is performed after step S102, so that the user can reasonably expect the suitability of the planning position through the auxiliary planning mark displayed on the electronic map before confirming the operation of generating the position point, thereby facilitating the correct decision of the dotting. In the embodiment, the input operation is from at least one of the following input units: a mouse, a keyboard, a joystick, a touch screen, or a wearable device. For example, the position point is generated and marked at the position currently indicated by the cursor in response to a clicking operation of the user on the mouse. Or the position point is generated and marked at the position currently indicated by the cursor in response to a clicking operation of the user on the enter key of the keyboard. Or the position point is generated and marked at the position currently indicated by the cursor in response to a pressing operation of the user on the joystick. Or the position point is generated and marked at the position currently indicated by the cursor in response to a clicking operation of the user on the cursor of the touch screen. Or the position point is generated and marked at the position currently indicated by the cursor in response to the wearable device recognizing that the user gesture action is a preset gesture action.

[0143] In some embodiments, the position point planning method further comprises: displaying a rendering map related to at least one generated position point, the rendering map being determined based on a preset range of each generated position point, and being used to provide an indication to the user on whether there is an abnormal factor of unsuitable planning position point in a continuous region with reference to each generated position point. Further, the rendering map is extended in response to the generation of a new position point or in response to the movement of the cursor. In this embodiment, by displaying the rendering map related to the generated position point, the user can know from the rendering map whether there is an abnormal factor of unsuitable planning position point in a continuous region with reference to each generated position point, thereby providing a continuous reference to the user and making it more convenient for the user to plan the position point.

[0144] In some embodiments, the rendering map includes a first part that has been generated previously and a second part that has been newly generated due to the extension, and the first part and the second part have different visual representations. For example, as shown in FIG. 8, the rendering map 20 includes a first part 21 that has been generated previously and a second part 22 that has been newly generated due to the extension, and the first part 21 and the second part 22 have different colors. This embodiment makes the user aware of which part of the rendering map is the part that has been generated previously and which part is the part that has been newly generated due to the extension, and makes it easier for the user to understand the influence of the newly added location point on the continuous area corresponding to the already generated location point, for example, generating the work coverage corresponding to the already generated location point, moving the cursor, and extending the rendering map to generate the new work coverage corresponding to the location point generated at the cursor, so that the user can understand whether the planning thus planned can achieve the desired work coverage, for example, the extended rendering map covers a part of the sensitive area that is not suitable for pesticide spraying, such as a fish pond, which indicates that the location point currently indicated by the cursor is not suitable for planning a location point, and this part of the sensitive area may not be located in the previous work coverage, may not be located in the preset range of the auxiliary planning mark of the newly added location point, but may be located in the transition area between the previous work coverage and the preset range of the auxiliary planning mark of the newly added location point.

[0145] In some embodiments, the location point planning method further includes marking the work objects in the to-be-worked region using a first marking style and marking the non-work objects in the to-be-worked region using a second marking style, the first marking style being different from the second marking style. This embodiment makes it easier for the user to know which is the work object and which is the non-work object in the to-be-worked region, thereby making it easier for the user to plan the location point.

[0146] In some embodiments, the location point planning method further includes determining the marking style of the work objects and the non-work objects in the to-be-worked region based on the semantic information of the to-be-worked region. The semantic information of the to-be-worked region includes a semantic label of each to-be-marked object in the to-be-worked region, in a case where the semantic label of the to-be-marked object is a first semantic label, the to-be-marked object can be determined to be a work object, and the work object is assigned a first marking style, and in a case where the semantic label of the to-be-marked object is a second semantic label, the to-be-marked object can be determined to be a non-work object, and the non-work object is assigned a second marking style.

[0147] In some embodiments, the position point planning method further comprises: determining a target operation path or a target operation area of the movable platform according to the generated position points. In this embodiment, the target operation path or the target operation area is determined based on the generated safe position points, and the suitability of the target operation path or the target operation area can be ensured.

[0148] In some embodiments, determining the target operation path or the target operation area of the movable platform according to the generated position points can comprise: connecting the generated position points in a preset order to generate the target operation path or the target operation area of the movable platform. In this embodiment, the position points include path points or boundary points. When all the generated position points are path points, the generated path points are connected in the preset order to generate the target operation path of the movable platform. When all the generated position points are boundary points, the generated boundary points are connected in the preset order to generate the target operation area of the movable platform.

[0149] Please refer to FIG. 9, which is a step schematic flowchart of another position point planning method provided by the embodiments of the present application.

[0150] As shown in FIG. 9, the position point planning method comprises steps S201-S203.

[0151] Step S201: displaying an electronic map on a virtual interactive interface, the electronic map comprising a to-be-operated area of a movable platform;

[0152] Step S202: displaying an auxiliary planning mark at a position determined based on a user's intention in the electronic map, wherein the auxiliary planning mark changes synchronously in response to a change in the user's intention, and the auxiliary planning mark is used to provide an indication to the user about whether there is an abnormal factor for planning position points in a preset range with reference to the position determined based on the user's intention.

[0153] Step S203: generating and marking a position point at a position determined based on the user's intention currently in response to an input operation of the user.

[0154] In this embodiment, step S202 is performed before step S203. The user's intention is determined based on at least one of eye tracking of the user, facial expression recognition of the user, body sensing recognition of the user, or gesture recognition of the user. The input operation is from at least one input unit, such as a mouse, a keyboard, a joystick, a touch screen, a wearable device such as a watch, etc. In this embodiment, the auxiliary planning mark changes synchronously in response to a change in the user's intention, which comprises: after the user's intention changes, determining a new position based on the changed user's intention, and displaying the auxiliary planning mark at the new position.

[0155] It should be noted that, for the convenience and brevity of description, the specific working process of the embodiment can refer to the corresponding process in the foregoing position point planning method embodiment, which will not be described here.

[0156] Please refer to FIG. 10, which is a step schematic flowchart of another position point planning method provided by the embodiment of the application.

[0157] As shown in FIG. 10, the position point planning method comprises steps S301 to S303.

[0158] Step S301, display an electronic map on a user interaction interface, the electronic map comprising a to-be-worked region of a movable platform;

[0159] Step S302, in response to a first input operation of a user, display an auxiliary planning mark at a position indicated by a cursor on the electronic map, the auxiliary planning mark disappearing in response to movement of the cursor, the auxiliary planning mark being used to provide an indication for the user as to whether there is an abnormal factor in a preset range with reference to the cursor that is not suitable for planning a position point;

[0160] Step S303, in response to a second input operation of the user, generate and mark a position point at a position currently indicated by the cursor.

[0161] In the embodiment, step S303 is executed after step S302 is executed. The first input operation or the second input operation is from at least one input unit, such as a mouse, a keyboard, a joystick, a touch screen, or a wearable device. The first input operation and the second input operation can be different operations or the same operation at different times.

[0162] For example, as shown in FIG. 11, if the cursor 11 indicates a position A within a subgraph a, and the user clicks the left mouse button at this time, an auxiliary planning mark 12 is displayed at the position A, obtaining a subgraph b. After the cursor 11 changes from the position A within the subgraph a to a position B within a subgraph c, the auxiliary planning mark 12 disappears, and if the user clicks the left mouse button at this time, the auxiliary planning mark 12 is displayed at the position B, obtaining the subgraph c.

[0163] It should be noted that, for the convenience and brevity of description, the specific working process of the embodiment can refer to the corresponding process in the foregoing position point planning method embodiment, which will not be described here.

[0164] Please refer to FIG. 12, which is a step schematic flowchart of another position point planning method provided by the embodiment of the application.

[0165] As shown in FIG. 12, the position point planning method comprises steps S401 to S404.

[0166] Step S401, display an electronic map on a user interaction interface, the electronic map including a to-be-worked region of a movable platform;

[0167] Step S402, display an auxiliary planning mark synchronously with a cursor on the electronic map, wherein the auxiliary planning mark includes a plurality of pixel points on the interface, and is used to provide an indication for the user about whether there is an abnormal factor in a preset range with reference to the cursor;

[0168] Step S403, adjust a pixel position occupied by the auxiliary planning mark based on movement of the cursor, wherein a pixel distance between the auxiliary planning mark and the cursor changes based on a change in a zooming scale of the electronic map;

[0169] Step S404, adjust a visual presentation of at least one pixel point in the auxiliary planning mark based on a preset prompt rule.

[0170] In this embodiment, the adjustment of the visual presentation of the at least one pixel point in the auxiliary planning mark based on the preset prompt rule can be to present a first part and a second part of the auxiliary planning mark with different visual presentations, the first part including a part of the auxiliary planning mark corresponding to a position of an abnormal object, and the second part including a part of the auxiliary planning mark other than the first part so as to facilitate the user to quickly locate a focus region; or to adjust the visual presentation of the pixel points of the auxiliary planning mark as a whole. After step S404, the method further includes: in response to an input operation of the user, generating and marking a position point at a position currently indicated by the cursor.

[0171] It should be noted that, for the convenience and brevity of description, the specific working process of this embodiment can refer to the corresponding process in the foregoing position point planning method embodiments, which will not be described herein again.

[0172] Please refer to FIG. 13, which is a step schematic flowchart of a path planning method provided by an embodiment of the present application.

[0173] As shown in FIG. 13, the path planning method includes steps S501 to S504.

[0174] Step S501, display an electronic map on a user interaction interface, the electronic map including a to-be-worked region of a movable platform;

[0175] Step S502, display an auxiliary planning mark synchronously with a cursor on the electronic map, wherein the auxiliary planning mark moves synchronously in response to movement of the cursor, and the auxiliary planning mark is used to provide an indication for the user about whether there is an abnormal factor in a preset range with reference to the cursor;

[0176] Step S503, in response to the input operation of the user, generating a first path point at the position currently indicated by the cursor;

[0177] Step S504, planning a target operation path of the movable platform according to the first path point.

[0178] It should be noted that the specific planning manner of the first path point can refer to the corresponding process in the foregoing position point planning method embodiment, which will not be described here again.

[0179] In this embodiment, step S503 is executed before step S502. Wherein, planning a target operation path of the movable platform according to the first path point can include: connecting each first path point generated in a preset order to form a target operation path of the movable platform. Wherein, the preset order can be set based on actual situation, which is not limited in the embodiment of the application.

[0180] In some embodiments, planning a target operation path of the movable platform according to the first path point can include: planning a target operation path of the movable platform according to the first path point and a second path point, wherein the second path point is automatically generated and marked on the electronic map. This embodiment can be applied to the case of manually planned path points, and can also be applied to the scene of combination of manual planning and automatic planning, for example, manual local adjustment in automatic planning mode. Based on the path points obtained by the above method, the target operation path of the movable platform is generated, which can ensure the suitability of the target operation path and the efficiency of subsequent operation execution.

[0181] Please refer to FIG. 14, which is a step schematic flow chart of a work area planning method provided by an embodiment of the application.

[0182] As shown in FIG. 14, the path planning method includes steps S601 to S604.

[0183] Step S601, displaying an electronic map on a user interaction interface, the electronic map including a to-be-operated area of a movable platform;

[0184] Step S602, synchronously displaying an auxiliary planning mark on the electronic map with the cursor, wherein the auxiliary planning mark moves synchronously in response to the movement of the cursor, and the auxiliary planning mark is used to provide an indication for the user about whether there is an abnormal factor of unsuitable planning boundary point in a preset range with the cursor as a reference;

[0185] Step S603, in response to the input operation of the user, generating a first boundary point at the position currently indicated by the cursor;

[0186] Step S604: planning a target operation area of the movable platform according to the first boundary point.

[0187] In this embodiment, step S603 is executed before step S602. It should be noted that the specific planning manner of the first boundary point can refer to the corresponding process in the foregoing position point planning method embodiment, which will not be described here again.

[0188] In some embodiments, planning the target operation area of the movable platform according to the first boundary point can include connecting each generated first boundary point in a preset order to form the target operation area of the movable platform. The preset order can be set based on actual conditions, which is not limited in the embodiments of the present application.

[0189] In some embodiments, planning the target operation area of the movable platform according to the first boundary point can include determining the target operation area of the movable platform according to the first boundary point and a second boundary point, wherein the second boundary point is automatically generated and marked on the electronic map. This embodiment can be applied to the case of manually planned boundary points, and can also be applied to the scene of combining manual dotting and automatic dotting, for example, manual local adjustment in an automatic planning mode. Based on the boundary points obtained by the above method, the target operation path of the movable platform is generated, which can ensure the suitability of the target operation path and the efficiency of subsequent operation.

[0190] Please refer to FIG. 15, which is a step schematic flowchart of another position point planning method provided by the embodiments of the present application.

[0191] As shown in FIG. 15, the position point planning method includes steps S701-S703.

[0192] Step S701: displaying an electronic map on a user interaction interface, wherein the electronic map includes a to-be-operated area of a movable platform;

[0193] Step S702: adjusting a display position of an auxiliary planning mark on the electronic map in response to a point selection operation of a user, wherein the auxiliary planning mark is used to provide an indication of whether there is an abnormal factor of an unsuitable planning position point in a preset range with the position indicated by the point selection operation as a reference for the user;

[0194] Step S703: storing a position currently indicated by the point selection operation as a position point in response to a confirmation operation of the user.

[0195] In the embodiment, after step S702, step S703 is performed. It should be noted that in some of the foregoing embodiments, the cursor is taken as an example, and the cursor is used as an exemplary manner of indicating a current operation position. The position where the cursor is located indicates a position point to be operated by the user. The user can view the verification of different position points by moving the cursor. However, the cursor is only an exemplary manner, and other manners can be used to determine the current operation position of the user or adjust the display position of the auxiliary planning mark. In the embodiment of the application, the display position of the auxiliary planning mark on the electronic map is adjusted in response to a pointing operation of the user.

[0196] For example, in some cases, other indicating manners are used to indicate the current operation position of the user. As shown in FIG. 16, the auxiliary planning mark plays a dual role of display guidance and display of a position point to be determined, and is used to indicate the position of the position point to be confirmed in the electronic map and provide an indication for the user about whether there is an abnormal factor of an unsuitable planning position point in a preset range with reference to the position point to be confirmed. For example, as shown in FIG. 11, the auxiliary planning mark 12 is displayed on the electronic map 10, and the position of the position point to be confirmed in the electronic map is the geometric center of the auxiliary planning mark 12. If the user clicks the left mouse button at this time, a position point is generated and marked at the position where the geometric center of the auxiliary planning mark 12 is located.

[0197] It should be noted that a person skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the embodiment can refer to the corresponding process in the foregoing position point planning method embodiments, and will not be described herein.

[0198] Please refer to FIG. 17, which is a structural schematic block diagram of a computer device provided in an embodiment of the application.

[0199] As shown in FIG. 17, the computer device 100 includes a processor 101 and a memory 102, and the processor 101 and the memory 102 are connected through a bus 103, such as an I2C (Inter-integrated Circuit) bus.

[0200] Specifically, the processor 101 can be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc. The processor 101 is used to run a computer program stored in the memory 102, and implement the corresponding method steps in the foregoing embodiments when the computer program is executed.

[0201] Specifically, the memory 102 can be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U disk, a mobile hard disk, or the like.

[0202] Referring to FIG. 18, FIG. 18 is a structural schematic block diagram of a system provided by an embodiment of the present application.

[0203] As shown in FIG. 18, the system 200 includes a control device 210 and a movable platform 220, the control device 210 is in communication connection with the movable platform 220 and is used for controlling the movable platform 220, and the control device 210 is used for implementing the position point planning method, the path planning method, or the work area planning method provided by the above-described embodiments.

[0204] Referring to FIG. 19, FIG. 19 is a structural schematic block diagram of an interactive system provided by an embodiment of the present application.

[0205] As shown in FIG. 19, the interactive system 300 includes a user interface device 310, a processor 320, a communication device 330, and a movable platform 340, the user interface device 310 and the communication device 330 are in communication connection with the processor 320.

[0206] The user interface device 310 is used for displaying an electronic map and receiving a point selection operation of a user, wherein the electronic map includes a work area of the movable platform;

[0207] The processor 320 is used for determining a display position of an auxiliary planning mark on the electronic map based on the point selection operation of the user, wherein the auxiliary planning mark is used for providing an indication to the user about whether there is an abnormal factor of an unsuitable planning position point within a preset range;

[0208] Wherein, after the point selection operation of the user, the processor 320 stores a position currently indicated by the point selection operation as a position point of work planning of the movable platform in response to a confirmation operation of the user;

[0209] The processor 320 sends the work planning containing the position point to the movable platform 340 through the communication device 330.

[0210] It should be noted that, for the convenience and brevity of description, the specific working process of the above-described interactive system can refer to the corresponding process in the foregoing position point planning method, path planning method, or work area planning method embodiments, which will not be described herein again.

[0211] The embodiment of the present application further provides a storage medium for computer readable, the storage medium storing a computer program, the computer program comprising program instructions, the processor executing the program instructions to realize the position point planning method, the path planning method or the work area planning method provided by the above embodiment.

[0212] The storage medium can be an internal storage unit of the computer device, for example, a hard disk or a memory of the computer device. The storage medium can also be an external storage device of the computer device, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0213] It should be understood that the terms used in this specification of the present application are only for the purpose of describing particular embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0214] It should also be understood that the term "and / or" used in the specification and the appended claims means any combination of one or more of the associated listed terms and all possible combinations, and includes these combinations.

[0215] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of position point planning, characterized by, Comprise: displaying an electronic map on a user interaction interface, the electronic map comprising a to-be-worked region of a movable platform; in response to a user's input operation, generating and marking a position point at a position currently indicated by a cursor; before the user's input operation, the method further comprises: synchronously displaying an auxiliary planning identifier on the electronic map with the cursor, wherein the auxiliary planning identifier moves synchronously in response to movement of the cursor, and the auxiliary planning identifier is used to provide an indication to the user of whether there is an abnormal factor of an unsuitable planning position point within a preset range with reference to the cursor.

2. The position point planning method according to claim 1, characterized by, The indication of the abnormal factor of the unsuitable planning position point comprises an indication of a potential collision risk to the movable platform.

3. The position point planning method according to claim 2, characterized by, The abnormal factor of the unsuitable planning position point is caused by an obstacle.

4. The position point planning method according to claim 1, characterized by, The indication of the abnormal factor of the unsuitable planning position point comprises an indication that it is unsuitable for the movable platform to perform work.

5. The position point planning method according to claim 4, characterized by, At least one of the following situations is unsuitable for the movable platform to perform work: unsuitable for material allocation; unsuitable for sensing data; unsuitable for moving through; An impact on the environment during work does not meet a preset requirement.

6. The position point planning method according to claim 5, characterized by, The impact on the environment comprises at least one of a chemical impact, a wind pressure impact, or a noise impact on the environment during work by the movable platform.

7. The position point planning method according to any one of claims 4 to 6, characterized by, The indication that it is unsuitable for the movable platform to perform work comprises at least one of the following: an indication that it causes work efficiency to not meet a preset condition.

8. The position point planning method according to claim 7, characterized by, The indication that it causes work efficiency to not meet a preset condition comprises at least one of the following: an indication that it causes repeated work; an indication that it causes missed work; an indication that it causes incomplete coverage of a work object; an indication that it covers at least part of a non-work object.

9. The position point planning method according to claim 1, characterized by, The auxiliary planning identifier comprises at least two auxiliary planning sub-identifiers, and different layers of the auxiliary planning sub-identifiers are used to provide an indication to the user of whether there is an abnormal factor of an unsuitable planning position point within different sizes of preset ranges with reference to the cursor.

10. The position point planning method according to claim 9, characterized by, The geometric centers of different layers of the auxiliary planning sub-identifiers are the same.

11. The position point planning method according to claim 9, characterized by, The visual representations of different layers of the auxiliary planning sub-identifiers are different.

12. The position point planning method according to claim 9, characterized by, The different sizes of the preset ranges represent different levels of degrees of unsuitable planning position points.

13. The position point planning method according to claim 12, characterized by, The size of the degree of unsuitable planning position points is negatively correlated with the size of the preset range.

14. The position point planning method according to claim 9, characterized by, The different sizes of the preset ranges represent different types of abnormal factors of unsuitable planning position points.

15. The position point planning method according to claim 9, characterized by, The different sizes of the preset ranges comprise at least one of a first preset range, a second preset range, or a third preset range, wherein the first preset range is related to a collision risk of the movable platform, the second preset range is related to a work range of the movable platform, and the third preset range is related to a range of influence when a power system of the movable platform is working.

16. The position point planning method according to claim 15, characterized by, The different sizes of the preset ranges comprise at least two of the first preset range, the second preset range, or the third preset range.

17. The position point planning method according to claim 16, characterized by, The different sizes of the preset ranges comprise the first preset range and the second preset range, and the second preset range is larger than the first preset range.

18. The position point planning method according to claim 16, characterized by, The preset range of different sizes comprises the first preset range and the third preset range, and the third preset range is larger than the first preset range.

19. The position point planning method according to any one of claims 1 to 18, characterized by, The geometric center of the auxiliary planning mark is located at the cursor.

20. The position point planning method according to claim 19, wherein, The auxiliary planning mark is a central symmetric figure centered on the cursor.

21. The position point planning method according to claim 19, wherein The first distance from the cursor to the boundary of the auxiliary planning mark along the expected speed direction of the movable platform is greater than the second distance from the cursor to the boundary of the auxiliary planning mark along a direction other than the expected speed direction of the movable platform.

22. The position point planning method according to any one of claims 1 to 21, characterized by, The auxiliary planning mark is synchronously zoomed in response to zooming of the electronic map.

23. The position point planning method according to any one of claims 1 to 22, characterized by, The auxiliary planning mark carries scale information for providing an indication of the size of the preset range corresponding to the auxiliary planning mark to the user.

24. The position point planning method according to any one of claims 1 to 23, characterized by, The auxiliary planning mark is displayed on the electronic map in a preset transparency.

25. The position point planning method according to any one of claims 1 to 24, characterized by, The electronic map is a two-dimensional electronic map, and the auxiliary planning mark is a two-dimensional auxiliary planning mark; or the electronic map is a three-dimensional electronic map, and the auxiliary planning mark is a three-dimensional auxiliary planning mark.

26. The position point planning method according to claim 25, wherein The two-dimensional auxiliary planning mark is synchronously switched to the three-dimensional auxiliary planning mark in response to switching of the two-dimensional electronic map to the three-dimensional electronic map. Or, the three-dimensional auxiliary planning mark is synchronously switched to the two-dimensional auxiliary planning mark in response to switching of the three-dimensional electronic map to the two-dimensional electronic map.

27. The position point planning method according to any one of claims 1 to 26, characterized by, The method further comprises: In response to the presence of an abnormal factor of an unsuitable planning location point within the preset range, outputting warning information.

28. The position point planning method according to claim 27, wherein, The response to the presence of an abnormal factor of an unsuitable planning location point within the preset range, outputting warning information, comprises: In response to different levels of abnormal factors of an unsuitable planning location point within the preset range, outputting differentiated warning information.

29. The position point planning method according to claim 27 or 28, characterized by, Outputting warning information comprises at least one of the following operations: Outputting the warning information in the form of a pop-up window; Changing the visual representation of the auxiliary planning mark; Changing the visual representation of the cursor; Changing the visual representation of an abnormal object causing an abnormal factor of an unsuitable planning location point; Presenting a first part and a second part of an abnormal object causing an abnormal factor of an unsuitable planning location point in different visual representations, the first part being within the preset range of the auxiliary planning mark, and the second part being outside the preset range of the auxiliary planning mark; Presenting a first part and a second part of the auxiliary planning mark in different visual representations, the first part comprising a part of the auxiliary planning mark corresponding to the position of the abnormal object, and the second part comprising a part of the auxiliary planning mark other than the first part; or Presenting different types of abnormal objects causing an abnormal factor of an unsuitable planning location point in different visual representations.

30. The position point planning method according to any one of claims 1 to 29, characterized by, The method further comprises: In response to the presence of an abnormal factor of an unsuitable planning location point within the preset range, rejecting the input operation of the user.

31. The position point planning method according to any one of claims 1 to 29, characterized by, The method further comprises: In response to the abnormal factor existing in the preset range and being unsuitable for the planning position point, outputting the moving guiding information of the cursor, the moving guiding information being used for providing the user with the cursor moving guidance capable of eliminating the abnormal factor.

32. The position point planning method according to any one of claims 1 to 31, characterized by, The method further comprises: In response to the closing operation of the preset control by the user, making the auxiliary planning mark disappear.

33. The position point planning method according to claim 32, wherein, The method further comprises: In response to the opening operation of the preset control by the user, displaying the auxiliary planning mark on the electronic map synchronously with the cursor.

34. The position point planning method according to any one of claims 1 to 33, characterized by, The visual representation of the auxiliary planning mark satisfies at least one of the following conditions: At least part of the line of the auxiliary planning mark is a dashed line. The auxiliary planning mark comprises a mark in a shape of a circle. The auxiliary planning mark comprises a mark in a shape of a sphere. The auxiliary planning mark comprises a mark in a shape of a belt. The adjustment of the auxiliary planning mark is related to the attribute information of the movable platform. The adjustment of the auxiliary planning mark is related to the scale of the electronic map. The adjustment of the auxiliary planning mark is related to the terrain information reflected by the electronic map. The adjustment of the auxiliary planning mark is related to the expected acceleration state of the position currently indicated by the cursor.

35. The position point planning method according to claim 34, wherein, The attribute information of the movable platform comprises at least one of the following: profile shape, body size, structure loaded on the movable platform, distribution of the structure loaded on the movable platform, working range of the power system of the movable platform, expected speed direction of the movable platform, or expected speed size of the movable platform.

36. The position point planning method of claim 34, wherein, The auxiliary planning mark is a circular mark or an elliptical mark.

37. The position point planning method of claim 34, wherein, When the auxiliary planning mark is a belt-shaped mark, the length extension direction of the belt-shaped mark represents the expected speed direction of the movable platform corresponding to the position currently indicated by the cursor.

38. The position point planning method according to any one of claims 1 to 36, characterized by, The method further comprises: Displaying a rendering map related to at least one generated position point, the rendering map being determined based on the preset range of each generated position point, and being used for providing the user with an indication of whether there is an abnormal factor of unsuitable planning position point in the continuous area with reference to each generated position point.

39. The position point planning method according to claim 38, wherein, The rendering map is extended in response to the generation of a new position point or in response to the movement of the cursor.

40. The position point planning method of claim 39, wherein, The rendering map comprises a first part that has been generated before and a second part that is newly generated due to the extension, and the visual representation of the first part and the second part is different.

41. The position point planning method of claim 1, wherein, The method further comprises: In response to the parameter setting operation of the auxiliary planning mark by the user, setting the display parameter of the auxiliary planning mark.

42. The position point planning method of claim 1, wherein, The method further comprises: In response to the acquisition of the attribute information of the movable platform, adaptively setting the display parameter of the auxiliary planning mark.

43. The position point planning method of claim 1, wherein, The method further comprises: In response to the acquisition of the attribute information of the movable platform, outputting setting recommendation information of the auxiliary planning mark, the setting recommendation information being used for providing the user with a setting indication of the display parameter of the auxiliary planning mark.

44. The position point planning method according to any one of claims 41 to 43, characterized by, The display parameter comprises at least one of the shape attribute, size attribute or level attribute of the auxiliary planning mark.

45. The location point planning method of claim 1, wherein, The method further comprises: Marking the work object in the to-be-worked region using a first marking style, and marking a non-work object in the to-be-worked region using a second marking style, the first marking style being different from the second marking style.

46. The position point planning method according to claim 45, wherein, The method further comprises: Determining the marking style of the work object and the non-work object in the to-be-worked region based on semantic information of the to-be-worked region.

47. The position point planning method according to any one of claims 1 to 46, characterized by, The method further comprises: Determining a target work path or a target work region of the movable platform according to the generated respective position points.

48. The position point planning method of claim 47, wherein, The determining of the target work path or the target work region of the movable platform according to the generated respective position points comprises: Connecting the generated respective position points in a preset order to generate the target work path or the target work region of the movable platform.

49. The position point planning method according to any one of claims 1 to 46, characterized by, The position points comprise path points or boundary points.

50. The position point planning method according to any one of claims 1 to 49, characterized by, The electronic map comprises a real-time viewfinder picture of an imaging device carried by the movable platform or a pre-stored electronic map.

51. The position point planning method according to any one of claims 1 to 50, characterized by, The user interaction interface comprises a virtual interaction interface or a real interaction interface, and the virtual interaction interface comprises an augmented reality (AR) interface, a virtual reality (VR) interface or a mixed reality (MR) interface.

52. The position point planning method according to any one of claims 1 to 51, characterized by, The input operation is derived from at least one input unit, such as a mouse, a keyboard, a joystick, a touch screen or a wearable device.

53. A method of position point planning, the method comprising: The method comprises: displaying an electronic map on a virtual interaction interface, the electronic map comprising a to-be-worked region of a movable platform; in response to an input operation of a user, generating and marking a position point at a position currently determined based on an intention of the user; before the input operation of the user, the method further comprises: displaying an auxiliary planning identifier in the electronic map at the position determined based on the intention of the user, wherein the auxiliary planning identifier changes synchronously in response to a change in the intention of the user, and the auxiliary planning identifier is used to provide an indication to the user as to whether there is an abnormal factor of an unsuitable planning position point within a preset range with reference to the position determined based on the intention of the user.

54. The position point planning method of claim 53, wherein, The intention of the user is determined based on at least one of eye tracking of the user, expression recognition of the user, body sensing recognition of the user or gesture recognition of the user.

55. A method of position point planning, the method comprising: The method comprises: displaying an electronic map on a user interaction interface, the electronic map comprising a to-be-worked region of a movable platform; in response to a first input operation of a user, displaying an auxiliary planning identifier at a position indicated by a cursor on the electronic map, wherein the auxiliary planning identifier disappears in response to movement of the cursor, and the auxiliary planning identifier is used to provide an indication to the user as to whether there is an abnormal factor of an unsuitable planning position point within a preset range with reference to the cursor; and in response to a second input operation of the user after the first input operation of the user, generating and marking a position point at a position currently indicated by the cursor.

56. A method of position point planning, the method comprising: The method comprises: displaying an electronic map on a user interaction interface, the electronic map comprising a to-be-worked region of a movable platform; In response to a user's point selection operation, the display position of an auxiliary planning mark on the electronic map is adjusted, wherein the auxiliary planning mark is used to provide an indication to the user of whether there is an abnormal factor of an unsuitable planning position point within a preset range with reference to a position indicated by the point selection operation; After the user's point selection operation, in response to a user's confirmation operation, the position currently indicated by the point selection operation is stored as a position point.

57. A method of position point planning, the method comprising: The method comprises: displaying an electronic map on a user interaction interface, the electronic map comprising a to-be-worked region of a movable platform; synchronously displaying an auxiliary planning mark on the electronic map with a cursor, wherein the auxiliary planning mark comprises a plurality of pixel points on the interface in succession, and is used to provide an indication to the user of whether there is an abnormal factor of an unsuitable planning position point within a preset range with reference to the cursor; based on movement of the cursor, adjusting the pixel position occupied by the auxiliary planning mark, wherein the pixel distance between the auxiliary planning mark and the cursor changes based on changes in the zoom scale of the electronic map; and based on a preset prompt rule, adjusting the visual presentation of at least one pixel point in the auxiliary planning mark.

58. A path planning method characterized by, The method comprises: displaying an electronic map on a user interaction interface, the electronic map comprising a to-be-worked region of a movable platform; in response to a user's input operation, generating a first path point at a position currently indicated by a cursor; planning a target working path of the movable platform according to the first path point; before the user's input operation, the method further comprises: synchronously displaying an auxiliary planning mark on the electronic map with a cursor, wherein the auxiliary planning mark moves synchronously in response to movement of the cursor, and the auxiliary planning mark is used to provide an indication to the user of whether there is an abnormal factor of an unsuitable planning path point within a preset range with reference to the cursor.

59. The path planning method of claim 58, wherein, The planning of the target working path of the movable platform according to the first path point comprises: connecting each of the generated first path points in a preset order to form the target working path of the movable platform.

60. The path planning method of claim 58 or 59, wherein, The planning of the target working path of the movable platform according to the first path point comprises: planning the target working path of the movable platform according to the first path point and a second path point, wherein the second path point is automatically generated and marked on the electronic map.

61. A method of planning a work area, characterized by, The method comprises: displaying an electronic map on a user interaction interface, the electronic map comprising a to-be-worked region of a movable platform; in response to a user's input operation, generating a first boundary point at a position currently indicated by a cursor; planning a target working region of the movable platform according to the first boundary point; before the user's input operation, the method further comprises: synchronously displaying an auxiliary planning mark on the electronic map with a cursor, wherein the auxiliary planning mark moves synchronously in response to movement of the cursor, and the auxiliary planning mark is used to provide an indication to the user of whether there is an abnormal factor of an unsuitable planning boundary point within a preset range with reference to the cursor.

62. The work area planning method of claim 61, wherein, The target working area of the movable platform is planned according to the first boundary points, and the planning comprises: The first boundary points are connected in a preset order to form the target working area of the movable platform.

63. The work area planning method according to claim 61 or 62, characterized by, The target working area of the movable platform is planned according to the first boundary points, and the planning comprises: The target working area of the movable platform is determined according to the first boundary points and second boundary points, wherein the second boundary points are automatically generated and marked on the electronic map. 64.A computer device, characterized in that, The computer device comprises a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and realize the position point planning method of any one of claims 1 to 57, the path planning method of any one of claims 58 to 60 or the working area planning method of any one of claims 61 to 63 when the computer program is executed.

65. A storage medium for computer-readable use, characterized in that The storage medium stores a computer program, and the computer program is executed by the processor to make the processor realize the position point planning method of any one of claims 1 to 57, the path planning method of any one of claims 58 to 60 or the working area planning method of any one of claims 61 to 63.

66. A system characterized by The system comprises a control device and a movable platform, the control device is communicatively connected with the movable platform and is used to control the movable platform; the control device is used to realize the position point planning method of any one of claims 1 to 57, the path planning method of any one of claims 58 to 60 or the working area planning method of any one of claims 61 to 63.

67. An interactive system, characterized by The interactive system comprises a user interface device, a processor and a communication device, the user interface device and the communication device are communicatively connected with the processor; The user interface device is used to display an electronic map and receive a user's point selection operation, wherein the electronic map comprises a working area of a movable platform; The processor is used to determine a display position of an auxiliary planning mark on the electronic map based on the point selection operation of the user, wherein the auxiliary planning mark is used to provide an indication for the user whether there is an abnormal factor of unsuitable planning position point within a preset range; After the point selection operation of the user, the processor stores a position currently indicated by the point selection operation as a position point of working planning of the movable platform in response to a confirmation operation of the user; The processor sends the working planning comprising the position point to the movable platform through the communication device.

Images