Operation control method, device and control terminal applied to unmanned aerial vehicle

Abstract

A work control method applied to a UAV, comprising: displaying a map model on a display interface of a control terminal, identifying a plurality of land areas and a plurality of UAV icons on the map model (S202); according to a selection operation of a user on the plurality of land areas, identifying a selected land area on the map model (S204); acquiring an operation of the user on a first UAV icon or a first selected land area, associating the first UAV with the first selected land area, and displaying an association result (S206); and according to the association result, controlling the first UAV to perform a work task in the first selected land area (S208). The method disclosed in the embodiments of the present application solves the technical problem of inconvenient operation when associating the UAV with the land area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a work control method and device applied to unmanned aerial vehicles, a control terminal and a computer readable storage medium. BACKGROUND

[0002] With the progress of unmanned aerial vehicle technology, unmanned aerial vehicles are applied in surveying, agriculture, inspection and the like. Since surveying, agriculture, inspection and the like usually require work on a large area of land, the work efficiency of a single unmanned aerial vehicle cannot meet the demand when facing a large area of land. Therefore, multiple unmanned aerial vehicles can be used for joint work to greatly shorten the work time. SUMMARY

[0003] Therefore, the embodiments of the present application provide a work control method and device applied to unmanned aerial vehicles, a control terminal and a computer readable storage medium, one of the purposes of which is to solve the technical problem of inconvenient operation when associating unmanned aerial vehicles with land areas.

[0004] The first aspect of the embodiments of the present application provides a work control method applied to unmanned aerial vehicles, applied to a control terminal, the control terminal being used to control multiple unmanned aerial vehicles to perform a work task, and the method comprising:

[0005] displaying a map model on a display interface of the control terminal and marking multiple land areas and multiple unmanned aerial vehicle icons on the map model;

[0006] marking selected land areas on the map model according to a selection operation of a user on the multiple land areas; the multiple unmanned aerial vehicle icons include a first unmanned aerial vehicle icon; the selected land areas include a first selected land area; and the multiple unmanned aerial vehicles include a first unmanned aerial vehicle corresponding to the first unmanned aerial vehicle icon;

[0007] obtaining an operation of the user on the first unmanned aerial vehicle icon or the first selected land area, associating the first unmanned aerial vehicle with the first selected land area, and displaying an association result;

[0008] controlling the first unmanned aerial vehicle to perform the work task in the first selected land area according to the association result.

[0009] The second aspect of the embodiments of the present application provides a work control device applied to unmanned aerial vehicles, comprising a processor and a memory storing a computer program, and the processor realizes the following steps when executing the computer program:

[0010] displaying a map model on a display interface of the control terminal and marking multiple land areas and multiple unmanned aerial vehicle icons on the map model;

[0011] According to a selection operation of a user on the multiple land block regions, a selected land block region is identified on the map model; the multiple UAV icons include a first UAV icon; the selected land block region includes a first selected land block region; and the multiple UAVs include a first UAV corresponding to the first UAV icon.

[0012] An operation of the user on the first UAV icon or the first selected land block region is acquired, the first UAV is associated with the first selected land block region, and an association result is displayed.

[0013] According to the association result, the first UAV is controlled to perform a work task in the first selected land block region.

[0014] A third aspect of the embodiment of the present application provides a control terminal for controlling multiple UAVs to perform a flight task, the control terminal including a display device, an antenna device, a processor, and a memory storing a computer program.

[0015] The antenna device is configured to establish communication with the multiple UAVs.

[0016] The processor, when executing the computer program, implements the following steps:

[0017] A map model is displayed through the display device, and multiple land block regions and multiple UAV icons are identified on the map model.

[0018] According to a selection operation of a user on the multiple land block regions, a selected land block region is identified on the map model; the multiple UAV icons include a first UAV icon; the selected land block region includes a first selected land block region; and the multiple UAVs include a first UAV corresponding to the first UAV icon.

[0019] An operation of the user on the first UAV icon or the first selected land block region is acquired, the first UAV is associated with the first selected land block region, and an association result is displayed.

[0020] According to the association result, the first UAV is controlled to perform a work task in the first selected land block region.

[0021] A fourth aspect of the embodiment of the present application provides a computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the work control method for UAVs provided by the embodiment of the present application.

[0022] The work control method applied to the unmanned aerial vehicle provided in the embodiments of the present application can identify the selected land block region and the unmanned aerial vehicle icon on the map model, so that the user can directly operate the unmanned aerial vehicle icon or the selected land block region, and quickly complete the association of each unmanned aerial vehicle and the selected land block region. Compared with the operation mode in the related art that needs to enter the independent interfaces of each unmanned aerial vehicle respectively to perform the association, the operation convenience can be greatly improved. Moreover, the association result of the unmanned aerial vehicle and the selected land block region can be visually displayed, so that the user can easily find the association error and reduce the occurrence of the association error. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 is a scene schematic diagram of multi-machine work provided by the embodiments of the present application.

[0025] Figure 2 is a flowchart of the work control method applied to the unmanned aerial vehicle provided by the embodiments of the present application.

[0026] Figure 3 is the first display interface of the control terminal provided by the embodiments of the present application.

[0027] Figure 4 is the second display interface of the control terminal provided by the embodiments of the present application.

[0028] Figure 5 is a structural schematic diagram of the work control device applied to the unmanned aerial vehicle provided by the embodiments of the present application.

[0029] Figure 6 is a structural schematic diagram of the control terminal provided by the embodiments of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0031] In surveying, inspection, agriculture and other applications, the work efficiency can be greatly improved by using unmanned aerial vehicles (UAVs) to replace manual work. Taking an agricultural plant protection UAV as an example, the plant protection UAV is equipped with a spraying system, and the UAV flies along a specific route over a field and sprays pesticides during the flight, thereby quickly completing fertilization, pest control and other agricultural work on the field.

[0032] In some cases, such as when the area of the field to be worked on is too large or the number of fields to be worked on is large, a single UAV may not be able to meet the user's demand for work efficiency. For these cases, in one example, a multi-UAV working mode can be used, i.e., the user can use multiple UAVs to work at the same time to obtain higher work efficiency. For details, please refer to Figure 1 , Figure 1 is a schematic diagram of a multi-UAV working scenario provided by an embodiment of the present application.

[0033] Before using multiple UAVs to work, the user needs to assign each UAV participating in the work to a field area to be worked on, i.e., needs to associate each UAV with a field area. In the related art, when associating multiple UAVs with field areas, the user needs to repeatedly perform the following operations: selecting a UAV, entering the field association interface of the UAV, selecting a field area to associate with the UAV, exiting the field association interface of the UAV, selecting another UAV, entering the field association interface of the UAV, and so on. As can be seen, the user needs to repeatedly perform a large number of operations when associating multiple UAVs with field areas, which is low in operation efficiency and provides the user with a poor user experience.

[0034] To solve the above problem, an embodiment of the present application provides a work control method applied to a UAV, which can be applied to a control terminal. The control terminal can establish communication with the UAV through a frequency, and when multiple UAVs are established, the control terminal can be connected with each UAV through different channels. The control terminal can have multiple implementation manners. In one implementation manner, the control terminal can be a remote controller with a display device. In one implementation manner, the control terminal can be a combination of a remote controller and a mobile terminal, i.e., the remote controller and the mobile terminal can be connected through a wired or wireless manner, and the mobile terminal can install a corresponding application program (APP), and the user can interact with the UAV through the APP. In one implementation manner, the control terminal can also be a mobile terminal, which can provide a virtual remote controller for the user through the APP. In one implementation manner, the control terminal can also be a combination of a remote controller and flight glasses.

[0035] In the method provided by an embodiment of the present application, the control terminal can be used to control multiple UAVs to perform a work task, which can be referred to in Figure 2 , Figure 2is a flowchart of a work control method applied to a UAV provided by an embodiment of the present application. The method can include the following steps:

[0036] S202, displaying a map model on a display interface of the control terminal, and marking a plurality of land areas and a plurality of UAV icons on the map model.

[0037] The map model can be obtained in various ways. In an embodiment, the map model can be obtained by calling an API of a third-party map software. In an embodiment, the map model can be obtained by pre-mapping with a UAV, and establishing the map model according to pictures taken during the mapping process.

[0038] The land areas can be created according to land data of a land to be worked on. The land data of the land to be worked on can be obtained in various ways. In an embodiment, a user can control the UAV to fly along the boundary of the land to be worked on, so as to measure the land data of the land to be worked on. In an embodiment, the land data can also be measured by a user walking along the land with a handheld remote controller. In an embodiment, the land data can also be measured by a handheld RTK.

[0039] In an embodiment, the plurality of land areas marked on the map model can also be obtained by dividing a total land area selected by a user on the map model. In an example, the user can perform a region selection operation on the map model, such as frame selection or drawing on the map model by using a region selection tool. The control terminal obtains the region selection operation of the user, and determines the total land area. Here, the total land area can be a large area of land to be worked on by the user. If the area of the total land area is too large, the work of the total land area by one UAV will be too low in efficiency. Therefore, when the area of the total land area is determined to be greater than a preset threshold, the total land area can be divided into a plurality of land areas according to the number of UAVs currently connected to the control terminal. For example, in an example, the control terminal is currently connected to three UAVs, and the total land area with an excessively large area can be divided into three land areas with smaller areas, and the three land areas can be marked on the map model, so as to facilitate the user to subsequently assign the three land areas to the three UAVs currently connected.

[0040] In consideration of the fact that the user can have created multiple plot areas in advance on the APP of the control terminal, and the plot areas can be far apart from each other, if each of the created plot areas is marked and displayed on the map model, the map model can need to be scaled to a smaller scale, which can cause the user to be unable to see the shape, position, size, and the like of the plot areas on the display interface, and it is also difficult for the user to perform a touch operation on the plot areas. Therefore, in an embodiment, a preset number of plot areas closest to the control terminal can be marked on the map model from among the created plot areas. Since the user usually carries the control terminal to the vicinity of the plot area to be worked on before performing a work task, marking the plot areas closest to the control terminal on the map model can facilitate the user to quickly find the plot area to be worked on this time on the map model.

[0041] The control terminal can establish a connection with multiple unmanned aerial vehicles, and can obtain position information of the unmanned aerial vehicles, and mark the positions corresponding to the unmanned aerial vehicles on the map model by using unmanned aerial vehicle icons. The control terminal can also mark the plot areas on the map model according to the position information of the plot areas. In addition, the control terminal can also obtain the FPV (First Person View) pictures and state information transmitted by the connected unmanned aerial vehicles. Here, the state information of the unmanned aerial vehicles can include one or more of the following: power, flight speed, traffic, distance from the control terminal, area of completed work, flight height, and the like. In an embodiment, the state information and the FPV pictures of different unmanned aerial vehicles can be switched according to the operation of the user on the unmanned aerial vehicle icons or on the dial wheel of the control terminal. For example, the user can click any one of the multiple unmanned aerial vehicle icons on the map model, and the control terminal can display the FPV pictures and the state information of the unmanned aerial vehicle corresponding to the clicked unmanned aerial vehicle icon on the display interface.

[0042] S204. Marking the selected plot areas on the map model according to the selection operation of the user on the multiple plot areas.

[0043] It can be understood that the multiple plot areas marked on the map model are not necessarily all the plot areas to be processed this time, and therefore, the selection operation of the user on the multiple plot areas can be obtained. Here, the selection operation of the user on the multiple plot areas can be that the user clicks the plot areas on the map model, or that the user selects the plot areas by clicking the text information corresponding to the plot areas on the plot list provided on the display interface. For details, refer to Figure 3 , Figure 3 is a first display interface of the control terminal provided by the embodiments of the present application. As shown in FIG. 1, the first display interface can include a map model 101, a dial wheel 102, and a plot list 103. Figure 3As shown, five land areas are identified on the map model, and the user can select a land area on the land area list on the left side of the display interface. The selected land area can be referred to as a selected land area. After the selected land area is determined, the selected land area can be identified on the map model, and the unselected land area can no longer be identified. As shown, Figure 4 Figure 4 As shown, the selected land area includes three land areas, and the remaining unselected land areas are no longer identified.

[0044] S206, obtain the operation of the user on the first unmanned aerial vehicle icon or the first selected land area, associate the first unmanned aerial vehicle with the first selected land area, and display the association result.

[0045] It should be noted that the first unmanned aerial vehicle icon can be any one of the plurality of unmanned aerial vehicle icons, and the unmanned aerial vehicle corresponding to the first unmanned aerial vehicle icon can be referred to as the first unmanned aerial vehicle. The first selected land area can be any one of the plurality of selected land areas.

[0046] Through the operation on the unmanned aerial vehicle icon or the selected land area, the user can associate the unmanned aerial vehicle with the selected land area. In an embodiment, the user can associate the unmanned aerial vehicle with the selected land area by dragging the unmanned aerial vehicle icon to the selected land area to be associated. Specifically, the touch and drag operation of the user on the first unmanned aerial vehicle icon can be obtained. When the first unmanned aerial vehicle icon is dragged to a position overlapping the first selected land area and released, the first unmanned aerial vehicle can be associated with the first selected land area. Here, in determining whether the first unmanned aerial vehicle icon is located at a position overlapping the first selected land area, in an embodiment, if the first unmanned aerial vehicle icon has an area overlap with the first selected land area, it can be determined that the first unmanned aerial vehicle icon is located at a position overlapping the first selected land area. In an embodiment, if the center of the first unmanned aerial vehicle icon is located within the first selected land area, it can be determined that the first unmanned aerial vehicle icon is located at a position overlapping the first selected land area.

[0047] In an embodiment, when the first unmanned aerial vehicle icon is dragged to a position overlapping the first selected land area but has not been released, the first selected land area can be highlighted to prompt the user that if the first unmanned aerial vehicle icon is released at this time, the first unmanned aerial vehicle will be associated with the first selected land area.

[0048] In an embodiment, after the first unmanned aerial vehicle icon is dragged to a position overlapping the first selected land area and released, the first unmanned aerial vehicle icon can also return to the position before the drag operation.

[0049] ​In an embodiment, the UAV icon can include two types, which can be continuously referred to as Figure 4 , Figure 4 The two types of UAV icons include a first type of UAV icon located below the selected plot area, which can be used to identify the location of the UAV, and a second type of UAV icon displayed in a list on the right side of the display interface, which can be used for the user to drag. Since the second type of UAV icon is larger in size than the first type of UAV icon, it can facilitate the user to touch and drag the second type of UAV icon.

[0050] In an embodiment, the user's operation on the first UAV icon or the first selected plot area can also include the user's point selection operation on the first UAV icon and the first selected plot area. Specifically, the user can click the UAV icon once and click the selected plot area once in two consecutive clicks, and the UAV corresponding to the clicked UAV icon can be associated with the clicked selected plot area.

[0051] After the first UAV and the first selected plot area are associated, the association result of the two can be displayed. In an embodiment, a connection line can be established between the first UAV icon and the first selected plot area, so that the user can intuitively see the association relationship between the first UAV and the first selected plot area through the connection line. Here, when the connection line is established between the first UAV icon and the first selected plot area, the connection line can be connected to the work starting point in the first selected plot area, so that the connection line can also indicate the flight route of the first UAV from the takeoff point to the work starting point. In an embodiment, when the control terminal is connected to multiple UAVs, each connected UAV can be assigned a corresponding serial number according to the time sequence of connection establishment, so that after the first UAV and the first selected plot area are associated, the serial number corresponding to the first UAV can also be displayed on the first selected plot area, so that the user can intuitively see the association result, as shown in Figure 4

[0052] S208, according to the association result, controlling the first UAV to perform a work task in the first selected plot area.

[0053] Before controlling the first UAV to perform a work task, in an embodiment, the user input work parameters and flight route parameters can also be obtained, and the target state of the first UAV during work can be determined according to the work parameters, and the flight route of the first UAV in the first selected plot area can be determined according to the flight route parameters. In one example, the work parameters can include spraying amount, flight speed, flow, flight height, etc. In one example, the flight route parameters can include the insetting distance of the route boundary, the route spacing, the route angle, etc. ​

[0054] Before the UAVs formally start the operation, the UAVs can also be controlled to perform self-checking, and self-checking reports of the UAVs can be obtained. The self-checking reports of the UAVs can be sequentially displayed in a list to facilitate the user to quickly check the conditions of the UAVs. For the UAVs with no abnormal self-checking result, the operation task data corresponding to the selected land block region associated with the UAV can be transmitted to the UAV, and then the UAV can perform the operation task on the associated selected land block region according to the operation task data after the operation task data is transmitted and an instruction to start the operation is received. Here, the operation task data can include boundary information of the land block region associated with the UAV, the operation parameters and the flight path parameters described above, and the like.

[0055] The operation control method applied to the UAVs provided by the embodiments of the present application can identify the selected land block region and the UAV icon on the map model, so that the user can directly operate the UAV icon or the selected land block region to quickly complete the association of each UAV and the selected land block region. Compared with the operation mode of the related art that needs to enter the independent interfaces of the UAVs respectively to perform the association, the operation convenience can be greatly improved. Moreover, the association result of the UAVs and the selected land block region can be visually displayed, so that the user can easily find the association error and reduce the occurrence of the association error.

[0056] In an implementation manner, after the selected land block region is identified, the pending scheme of associating the UAVs with the selected land block region can be automatically generated, and the pending scheme can be displayed to the user, so that the user can directly confirm or only make slight adjustment, which is more convenient in operation.

[0057] There can be multiple strategies when the pending scheme is automatically generated, and the embodiments of the present application provide three strategies, which are a first strategy, a second strategy and a third strategy. In the first strategy, the pending scheme can be generated according to the nearest allocation principle. Specifically, the position information of each UAV and each selected land block region can be matched, the nearest UAV and the selected land block region are associated, and the corresponding pending scheme is generated.

[0058] In the second strategy, the area of each selected plot region and the load capacity and endurance of each unmanned aerial vehicle can be obtained. According to the obtained area, load capacity and endurance, the unmanned aerial vehicle and the selected plot region can be matched. In the generated pending scheme, the unmanned aerial vehicle and the selected plot region that are successfully matched can be associated. Here, the load capacity can be the weight that the unmanned aerial vehicle can carry, or can be represented by the volume of the operation box. When the unmanned aerial vehicle and the selected plot region are matched according to the area, load capacity and endurance, the selected plot region with a larger area can be associated with the unmanned aerial vehicle with a stronger comprehensive load capacity and endurance. For example, in an example, the selected plot region 1 has the largest area among three selected plot regions, and the unmanned aerial vehicle A has the strongest comprehensive load capacity and endurance among three unmanned aerial vehicles. Then, the selected plot region 1 and the unmanned aerial vehicle A can be associated. It can be understood that this matching method can reduce the flight cycles of the unmanned aerial vehicle and the interruption times of the operation, and improve the operation efficiency. In an embodiment, the comprehensive ability of the unmanned aerial vehicle in terms of load and endurance can be represented by a value calculated by weighting the load parameter and the endurance parameter of the unmanned aerial vehicle.

[0059] In the third strategy, the crop information of each selected plot region and the drug information of the drug filled in the operation box of each unmanned aerial vehicle can be obtained. According to the crop information and the drug information, the unmanned aerial vehicle and the selected plot region can be matched. In the generated pending scheme, the unmanned aerial vehicle and the selected plot region that are successfully matched can be associated. Here, the crop information can be input by the user when creating the plot region, or can be determined according to the aerial image recognition of the unmanned aerial vehicle. The crop information can include the crop variety, the fertilizer and pest corresponding to the crop variety, the crop density and other information. The drug information can be pre-input by the user, and can include the category, name, concentration and other information of the drug. Since different crops are suitable for spraying different drugs, the crop information of the selected plot region and the drug information of the drug filled in the operation box of the unmanned aerial vehicle can be matched to automatically generate the pending scheme.

[0060] The above provides three strategies for generating the pending scheme, in an embodiment, the three strategies can have respective applicable conditions, the control terminal can determine in a preset order whether the information of the UAV and the selected land block region satisfies the applicable condition of the strategy, and after determining that the applicable condition of any strategy is satisfied, the subsequent strategy can no longer be determined, and the pending scheme is generated according to the strategy whose applicable condition is currently determined to be satisfied. For example, there are three selected land block regions and three UAVs, and the judgment order of the three strategies can be to judge the third strategy first, then the second strategy, and finally the first strategy. Specifically, the crop information of the three selected land block regions and the drug information loaded in the three UAVs can be obtained first, if it is determined that the crops planted in the three selected land block regions are different and the drugs loaded in the three UAVs are also different (the applicable condition of the third strategy), the third strategy can be used to generate the pending scheme, otherwise, the area of the three selected land block regions and the load capacity and endurance capacity of the three UAVs can be obtained to determine whether the second strategy is applicable. If the areas of the three selected land block regions are different and the load capacity and endurance capacity of the three UAVs are also different (the applicable condition of the second strategy), the second strategy can be used to generate the pending scheme, otherwise, the position information of the three selected land block regions and the three UAVs can be obtained, and the first strategy is used to generate the pending scheme.

[0061] In some cases, a user can associate multiple UAVs with the same selected land block region. For example, the user can need to perform multiple treatments on the same land block, such as fertilization and pest control, and the user can use one UAV to spray pesticides on the land block and another UAV to spray fertilizers on the land block. Alternatively, the user can need to quickly spray a large amount of drugs on a certain land block, and when the spraying flow of one UAV is insufficient, multiple UAVs can be used to spray the land block multiple times. Considering these cases, in an embodiment, when at least two UAVs are associated with the same selected land block region, the order of the at least two UAVs performing the work task can be determined according to the association time of the at least two UAVs with the same selected land block region, so that the at least two UAVs can be controlled to perform the work task according to the determined order. Since the order of the work of each UAV is determined before the work starts, interference between multiple UAVs can be avoided, such as considering another working UAV as an obstacle to perform obstacle avoidance.

[0062] When multiple UAVs need to perform work on the same plot, the UAVs performing work in the later stage do not necessarily have to wait until the UAVs performing work in the earlier stage have finished performing work before starting work. In an embodiment, when the UAVs performing work in the earlier stage fly to a designated waypoint on the flight path, the UAVs performing work in the later stage can be controlled to start work. Here, the designated waypoint can be determined according to a safe distance that the at least two UAVs should maintain during work, in other words, even if the UAVs performing work in the later stage start work after the UAVs performing work in the earlier stage fly to the designated waypoint, the UAVs performing work in the later stage and the UAVs performing work in the earlier stage can always maintain a safe distance during work, and there is no risk of collision or interference.

[0063] The work control method applied to the UAVs provided in the embodiments of this application can identify the selected plot region and the UAV icon on the map model, so that the user can directly operate the UAV icon or the selected plot region, and quickly complete the association of each UAV and the selected plot region. Compared with the operation mode in the related art in which the user needs to enter the independent interface of each UAV to perform association, the operation convenience can be greatly improved. Moreover, the association result of the UAV and the selected plot region can be visually displayed, so that the user can easily find association errors and reduce the occurrence of association errors.

[0064] The following can be referred to Figure 5 , Figure 5 is a structural schematic diagram of the work control device applied to the UAVs provided in the embodiments of this application. The device can include a processor 510 and a memory 520 storing a computer program, and the processor implements the following steps when executing the computer program.

[0065] displaying a map model on the display interface of the control terminal, and identifying multiple plot regions and multiple UAV icons on the map model;

[0066] According to the selection operation of the user on the multiple plot regions, a selected plot region is identified on the map model; the multiple UAV icons include a first UAV icon; the selected plot region includes a first selected plot region; and the multiple UAVs include a first UAV corresponding to the first UAV icon.

[0067] obtaining the operation of the user on the first UAV icon or the first selected plot region, associating the first UAV with the first selected plot region, and displaying an association result;

[0068] According to the association result, the first UAV is controlled to perform a work task in the first selected plot region.

[0069] Optionally, the processor is configured to, when the first UAV icon is dragged to overlap with the first selected land plot region and is released, associate the first UAV with the first selected land plot region.

[0070] Optionally, the processor is further configured to, when the first UAV icon is dragged to overlap with the first selected land plot region but is not released, highlight the first selected land plot region.

[0071] Optionally, the processor is further configured to, after the first UAV icon is dragged to overlap with the first selected land plot region and is released, restore the first UAV icon to a position before the dragging operation.

[0072] Optionally, the processor is configured to, when the first UAV icon is dragged to overlap with the first selected land plot region and is released, associate the first UAV with the first selected land plot region.

[0073] Optionally, the processor is configured to, when the first UAV icon is dragged to overlap with the first selected land plot region and is released, associate the first UAV with the first selected land plot region.

[0074] Optionally, the processor is configured to, when the first UAV icon is dragged to overlap with the first selected land plot region and is released, associate the first UAV with the first selected land plot region.

[0075] Optionally, the processor is configured to, when the first UAV icon is dragged to overlap with the first selected land plot region and is released, associate the first UAV with the first selected land plot region.

[0076] Optionally, the processor is further configured to, before the multiple land plot regions are identified on the map model, determine a total land plot region according to a selection operation of a user on the map model, and if an area of the total land plot region is greater than a preset threshold, divide the total land plot region according to a number of UAVs currently connected to the control terminal to obtain the multiple land plot regions.

[0077] Optionally, the processor is further configured to, before the operation of the first UAV icon or the first selected land plot region is acquired, generate a pending scheme of associating a closest UAV with a selected land plot region according to position information of each selected land plot region and each UAV, and display the pending scheme.

[0078] Optionally, the processor is further configured to, before obtaining the operation of the user on the first UAV icon or the first selected land plot region, match the UAVs and the selected land plot regions according to the load capacity and the endurance capacity of each of the UAVs and the area of each of the selected land plot regions, generate a tentative scheme of associating the UAVs and the selected land plot regions that are matched successfully, and display the tentative scheme.

[0079] Optionally, the processor is further configured to, when at least two UAVs are associated with the same selected land plot region, determine the order of the at least two UAVs in performing the operation task according to the association time of the at least two UAVs and the same selected land plot region.

[0080] Optionally, the processor is further configured to, when the UAV that performs the operation task in the front has flown to the specified waypoint on the flight route, control the UAV that performs the operation task in the rear to start the operation.

[0081] Optionally, the specified waypoint is determined according to a safety distance that the at least two UAVs should maintain during the operation.

[0082] Optionally, the processor is configured to, when controlling the first UAV to perform the operation task in the first selected land plot region, transmit the operation task data corresponding to the first selected land plot region to the first UAV, so that the first UAV automatically performs the operation according to the operation task data.

[0083] Optionally, the processor is further configured to obtain the operation of the user on the UAV icon or on the dial wheel on the control terminal, and switch the display of the state information and the image transmission screen of different UAVs.

[0084] Optionally, the plurality of UAVs are connected to the control terminal through different channels.

[0085] Optionally, the UAVs include plant protection UAVs.

[0086] The above provides various embodiments of the operation control device applied to the UAV, and the specific implementation can refer to the related description in the foregoing, which will not be described herein.

[0087] The application embodiment provided in the application can identify the selected land block region and the UAV icon on the map model, so that the user can directly operate the UAV icon or the selected land block region, and quickly complete the association of each UAV and the selected land block region. Compared with the operation mode of entering the independent interface of each UAV to perform the association in the prior art, the operation convenience can be greatly improved. Moreover, the association result of the UAV and the selected land block region can be visually displayed, so that the user can easily find the association error and reduce the occurrence of the association error.

[0088] The following can be referred to Figure 6 , Figure 6 is a structural schematic diagram of a control terminal provided by the application embodiment. The control terminal is used for controlling multiple UAVs to perform a flight task, and can include a display device 610, an antenna device 620, a processor 630, and a memory 640 storing a computer program;

[0089] The antenna device is used for establishing communication with multiple UAVs;

[0090] The processor implements the following steps when executing the computer program:

[0091] A map model is displayed through the display device, and multiple land block regions and multiple UAV icons are identified on the map model;

[0092] According to a selection operation of the user on the multiple land block regions, a selected land block region is identified on the map model; the multiple UAV icons include a first UAV icon; the selected land block region includes a first selected land block region; and the multiple UAVs include a first UAV corresponding to the first UAV icon;

[0093] An operation of the user on the first UAV icon or the first selected land block region is acquired, the first UAV is associated with the first selected land block region, and an association result is displayed;

[0094] According to the association result, the first UAV is controlled to perform a work task in the first selected land block region.

[0095] Optionally, when the processor acquires the operation of the user on the first UAV icon or the first selected land block region and associates the first UAV with the first selected land block region, the processor is used for acquiring a touch and drag operation of the user on the first UAV icon, and when the first UAV icon is released after being dragged to a position overlapping the first selected land block region, the first UAV is associated with the first selected land block region.

[0096] Optionally, the processor is further configured to highlight the first selected land plot region when the first UAV icon is dragged to a position overlapping the first selected land plot region but not released.

[0097] Optionally, the processor is further configured to restore the first UAV icon to a position before the dragging operation when the first UAV icon is released after being dragged to a position overlapping the first selected land plot region.

[0098] Optionally, the processor is configured to establish a connection line between the first UAV icon and the first selected land plot region when displaying the association result.

[0099] Optionally, the processor is configured to establish a connection line between the first UAV icon and a work starting point in the first selected land plot region when establishing the connection line between the first UAV icon and the first selected land plot region.

[0100] Optionally, the processor is configured to display a serial number corresponding to the first UAV on the first selected land plot region when displaying the association result.

[0101] Optionally, the processor is configured to identify a preset number of land plot regions closest to the control terminal on the map model when identifying a plurality of land plot regions on the map model.

[0102] Optionally, the processor is further configured to determine a total land plot region according to a selection operation of a user on the map model before identifying a plurality of land plot regions on the map model, and divide the total land plot region according to a number of UAVs currently connected to the control terminal to obtain the plurality of land plot regions if an area of the total land plot region is greater than a preset threshold.

[0103] Optionally, the processor is further configured to generate a pending scheme of associating a closest UAV with a selected land plot region according to position information of each selected land plot region and each UAV, and display the pending scheme before obtaining an operation of a user on the first UAV icon or the first selected land plot region.

[0104] Optionally, the processor is further configured to match the UAVs with the selected land plot regions according to load capacity and endurance capacity of each UAV and an area of each selected land plot region, generate a pending scheme of associating a successfully matched UAV with a selected land plot region, and display the pending scheme before obtaining an operation of a user on the first UAV icon or the first selected land plot region.

[0105] Optionally, the processor is further configured to determine, when at least two unmanned aerial vehicles are associated with the same selected land block region, an order of the at least two unmanned aerial vehicles to perform the task according to association time of the at least two unmanned aerial vehicles and the same selected land block region.

[0106] Optionally, the processor is further configured to control the unmanned aerial vehicle performing the task to start the task when the unmanned aerial vehicle performing the task in sequence has flown to the specified waypoint on the flight path.

[0107] Optionally, the specified waypoint is determined according to a safety distance that the at least two unmanned aerial vehicles should maintain during the task.

[0108] Optionally, the processor is configured to transmit, when the first unmanned aerial vehicle performs the task in the first selected land block region, task data corresponding to the first selected land block region to the first unmanned aerial vehicle, so that the first unmanned aerial vehicle automatically performs the task according to the task data.

[0109] Optionally, the processor is further configured to obtain an operation of a user on the unmanned aerial vehicle icon or on the dial wheel on the control terminal, and switch display of state information and a picture transmission screen of different unmanned aerial vehicles.

[0110] Optionally, the plurality of unmanned aerial vehicles are connected to the control terminal through different channels.

[0111] Optionally, the unmanned aerial vehicle includes a plant protection unmanned aerial vehicle.

[0112] The above provides various embodiments of the control terminal, and specific implementation can refer to the related description in the foregoing, which will not be repeated here.

[0113] The control terminal provided in the embodiments of the present application can identify the selected land block region and the unmanned aerial vehicle icon on the map model, so that the user can directly operate the unmanned aerial vehicle icon or the selected land block region, quickly complete association of each unmanned aerial vehicle and the selected land block region, and greatly improve the convenience of operation compared with the operation mode of the related art that needs to enter independent interfaces of each unmanned aerial vehicle to perform association. In addition, the association result of the unmanned aerial vehicle and the selected land block region can be visually displayed, so that the user can easily find association errors and reduce occurrence of the association errors.

[0114] The embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement any one of the task control methods applied to unmanned aerial vehicles provided in the embodiments of the present application.

[0115] The above provides multiple embodiments for each protection subject. On the basis of no conflict or contradiction, a person skilled in the art can freely combine various embodiments according to actual conditions, thereby forming various different technical solutions. The present application file is limited in length, and cannot explain all the technical solutions obtained by combination. However, it can be understood that these unexplained technical solutions also belong to the scope disclosed by the embodiments of the present application.

[0116] The embodiments of the present application can adopt the form of computer program products implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes. The computer usable storage media includes permanent and non-permanent, removable and non-removable media, and can be realized by any method or technology. Information storage. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0117] It should be noted that in this paper, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. The term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0118] The above describes the method and device provided by the embodiments of the present application in detail. In this paper, specific examples are applied to explain the principles and implementation modes of the present application. The above embodiment description is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed; according to the above, the content of the specification should not be understood as the limitation of the present application.

Claims

1. A work control method applied to a drone, characterized by, The method is applied to a control terminal used for controlling multiple unmanned aerial vehicles to perform a task, and comprises the following steps: displaying a map model on a display interface of the control terminal, marking multiple land areas on the map model according to position information of each land area, and marking multiple unmanned aerial vehicle icons on the map model, wherein the multiple unmanned aerial vehicle icons include a first unmanned aerial vehicle icon; marking a selected land area on the map model according to a selection operation of a user on the land area, wherein the selected land area includes a first selected land area; obtaining an operation of the user on the first unmanned aerial vehicle icon or the first selected land area, associating a first unmanned aerial vehicle corresponding to the first unmanned aerial vehicle icon with the first selected land area, and displaying an association result; controlling the first unmanned aerial vehicle to perform a task in the first selected land area according to the association result; wherein the control terminal is connected with the multiple unmanned aerial vehicles, obtains picture transmitted by each connected unmanned aerial vehicle, switches display of state information and picture transmission of different unmanned aerial vehicles according to an operation of the user on the unmanned aerial vehicle icon or on a dial wheel of the control terminal, and the multiple unmanned aerial vehicles are connected with the control terminal through different channels; and before each unmanned aerial vehicle starts a task, the method further comprises controlling each unmanned aerial vehicle to perform self-checking to obtain a self-checking report of each unmanned aerial vehicle.

2. The method of claim 1, wherein, The operation of the user on the first unmanned aerial vehicle icon or the first selected land area comprises: obtaining a touch and drag operation of the user on the first unmanned aerial vehicle icon, and associating the first unmanned aerial vehicle with the first selected land area when the first unmanned aerial vehicle icon is released at a position overlapping the first selected land area.

3. The method of claim 2, wherein, The method further comprises: when the first unmanned aerial vehicle icon is dragged to a position overlapping the first selected land area but is not released, highlighting the first selected land area.

4. The method of claim 2, wherein, After the first unmanned aerial vehicle icon is dragged to the position overlapping the first selected land area and is released, the method further comprises: restoring the first unmanned aerial vehicle icon to a position before the drag operation.

5. The method of claim 1, wherein, The display of the association result comprises: establishing a connection line between the first unmanned aerial vehicle icon and the first selected land area.

6. The method of claim 5, wherein, The establishment of the connection line between the first unmanned aerial vehicle icon and the first selected land area comprises: establishing a connection line between the first unmanned aerial vehicle icon and a task starting point in the first selected land area.

7. The method of claim 1, wherein, The display of the association result comprises: displaying a serial number corresponding to the first unmanned aerial vehicle on the first selected land area.

8. The method of claim 1, wherein, The marking of the multiple land areas on the map model comprises: marking a preset number of land areas closest to the control terminal on the map model.

9. The method of claim 1, wherein, Before the marking of the multiple land areas on the map model, the method further comprises: determining a total land area according to a selection operation of a user on the map model. If the total area of the land plots is greater than a preset threshold, the total area of the land plots is divided according to the number of the unmanned aerial vehicles currently connected to the control terminal, and a plurality of the land plot areas are obtained.

10. The method of claim 1, wherein, Before the operation of the user on the first unmanned aerial vehicle icon or the first selected land plot area is acquired, the method further comprises: According to the position information of each selected land plot area and each unmanned aerial vehicle, a tentative scheme of associating the closest unmanned aerial vehicle with the selected land plot area is generated, and the tentative scheme is displayed.

11. The method of claim 1, wherein, Before the operation of the user on the first unmanned aerial vehicle icon or the first selected land plot area is acquired, the method further comprises: According to the load capacity and endurance capacity of each unmanned aerial vehicle and the area of each selected land plot area, the unmanned aerial vehicle and the selected land plot area are matched, a tentative scheme of associating the successfully matched unmanned aerial vehicle with the selected land plot area is generated, and the tentative scheme is displayed.

12. The method of claim 1, wherein, The method further comprises: When at least two unmanned aerial vehicles are associated with the same selected land plot area, the order of the at least two unmanned aerial vehicles in performing the operation task is determined according to the association time of the at least two unmanned aerial vehicles with the same selected land plot area.

13. The method of claim 12, wherein, The method further comprises: When the unmanned aerial vehicle performing the operation task in the front has flown to a specified waypoint on the flight route, the unmanned aerial vehicle performing the operation task in the rear starts the operation.

14. The method of claim 13, wherein, The specified waypoint is determined according to a safety distance that the at least two unmanned aerial vehicles should maintain during the operation.

15. The method of claim 1, wherein, The control of the first unmanned aerial vehicle to perform the operation task in the first selected land plot area comprises: The operation task data corresponding to the first selected land plot area is transmitted to the first unmanned aerial vehicle, so that the first unmanned aerial vehicle automatically performs the operation according to the operation task data.

16. The method of claim 1, wherein, The unmanned aerial vehicle comprises a plant protection unmanned aerial vehicle.

17. A work control device applied to a UAV, characterized by, Comprise: A processor and a memory storing a computer program, the processor implements the following steps when executing the computer program: A map model is displayed on the display interface of the control terminal, a plurality of land plot areas are marked on the map model according to the position information of each land plot area, and a plurality of unmanned aerial vehicle icons are marked on the map model, the plurality of unmanned aerial vehicle icons comprising a first unmanned aerial vehicle icon; According to the selection operation of the user on the land plot area, a selected land plot area is marked on the map model, the selected land plot area comprising a first selected land plot area; The operation of the user on the first unmanned aerial vehicle icon or the first selected land plot area is acquired, the first unmanned aerial vehicle corresponding to the first unmanned aerial vehicle icon is associated with the first selected land plot area, and the association result is displayed; According to the association result, the first unmanned aerial vehicle is controlled to perform the operation task in the first selected land plot area; The control terminal is connected with a plurality of the unmanned aerial vehicles, and the screen transmitted by each connected unmanned aerial vehicle is acquired, and according to the operation of the user on the unmanned aerial vehicle icon or on the dial wheel of the control terminal, the state information and the image transmission screen of different unmanned aerial vehicles are switched to display, and the plurality of unmanned aerial vehicles are connected with the control terminal through different channels; and Before each of the UAVs starts the operation task, the method further comprises: controlling each of the UAVs to perform self-checking to obtain a self-checking report of each of the UAVs.

18. The apparatus of claim 17, wherein, The processor is configured to, when obtaining the operation of the user on the first UAV icon or the first selected land plot region and associating the first UAV with the first selected land plot region, obtain a touch-and-drag operation of the user on the first UAV icon, and associate the first UAV with the first selected land plot region when the first UAV icon is released after being dragged to a position overlapping the first selected land plot region.

19. The apparatus of claim 18, wherein, The processor is further configured to, when the first UAV icon is dragged to a position overlapping the first selected land plot region but not released, highlight the first selected land plot region.

20. The apparatus of claim 18, wherein, The processor is further configured to, after the first UAV icon is released after being dragged to a position overlapping the first selected land plot region, restore the first UAV icon to a position before the drag operation.

21. The apparatus of claim 17, wherein, The processor is configured to, when displaying the association result, establish a connection line between the first UAV icon and the first selected land plot region.

22. The apparatus of claim 21, wherein, The processor is configured to, when establishing the connection line between the first UAV icon and the first selected land plot region, establish a connection line between the first UAV icon and a work starting point in the first selected land plot region.

23. The apparatus of claim 17, wherein, The processor is configured to, when displaying the association result, display a serial number corresponding to the first UAV on the first selected land plot region.

24. The apparatus of claim 17, wherein, The processor is configured to, when identifying the plurality of land plot regions on the map model, identify a preset number of land plot regions closest to the control terminal on the map model.

25. The apparatus of claim 17, wherein, The processor is further configured to, before identifying the plurality of land plot regions on the map model, determine a total land plot region according to a selection operation of the user on the map model. If the area of the total land plot region is greater than a preset threshold, divide the total land plot region according to the number of UAVs currently connected to the control terminal to obtain the plurality of land plot regions.

26. The apparatus of claim 17, wherein, The processor is further configured to, before obtaining the operation of the user on the first UAV icon or the first selected land plot region, generate a tentative scheme of associating a closest UAV with a selected land plot region according to position information of each of the selected land plot regions and each of the UAVs, and display the tentative scheme.

27. The apparatus of claim 17, wherein, The processor is further configured to, before obtaining the operation of the user on the first UAV icon or the first selected land plot region, match the UAVs with the selected land plot regions according to load capacity and endurance capacity of each of the UAVs and area of each of the selected land plot regions, generate a tentative scheme of associating a successfully matched UAV with a selected land plot region, and display the tentative scheme.

28. The apparatus of claim 17, wherein, The processor is further configured to, when at least two UAVs are associated with a same selected land plot region, determine an order of the at least two UAVs to perform an operation task according to association time of the at least two UAVs with the same selected land plot region.

29. The apparatus of claim 28, wherein, The processor is further configured to control the unmanned aerial vehicle performing the task to start the task when the unmanned aerial vehicle performing the task in front has flown to the designated waypoint on the route.

30. The apparatus of claim 29, wherein, The designated waypoint is determined according to a safety distance that the at least two unmanned aerial vehicles should maintain during the task.

31. The apparatus of claim 17, wherein, The processor is configured to, when controlling the first unmanned aerial vehicle to perform the task in the first selected plot area, transmit task data corresponding to the first selected plot area to the first unmanned aerial vehicle, so that the first unmanned aerial vehicle automatically performs the task according to the task data.

32. The apparatus of claim 17, wherein, The unmanned aerial vehicle includes a plant protection unmanned aerial vehicle.

33. A control terminal, characterized by comprising: A control terminal for controlling a plurality of unmanned aerial vehicles to perform a flight task, the control terminal comprising: a display device, an antenna device, a processor and a memory storing a computer program; The antenna device is configured to establish communication with the plurality of unmanned aerial vehicles; The processor implements the following steps when executing the computer program: display a map model on the display device, identify a plurality of plot areas on the map model according to position information of the plot areas, and identify a plurality of unmanned aerial vehicle icons on the map model, the plurality of unmanned aerial vehicle icons including a first unmanned aerial vehicle icon; identify a selected plot area on the map model according to a selection operation of a user on the plot area, the selected plot area including a first selected plot area; obtain an operation of the user on the first unmanned aerial vehicle icon or the first selected plot area, associate a first unmanned aerial vehicle corresponding to the first unmanned aerial vehicle icon with the first selected plot area, and display an association result; control the first unmanned aerial vehicle to perform a task in the first selected plot area according to the association result; further comprising: establishing a connection with the plurality of unmanned aerial vehicles, obtaining a picture transmitted by each connected unmanned aerial vehicle, and switching to display state information and picture transmission pictures of different unmanned aerial vehicles according to an operation of the user on the unmanned aerial vehicle icon or on a dial wheel on the control terminal, and the plurality of unmanned aerial vehicles establish connections with the control terminal through different channels; and before each unmanned aerial vehicle starts the task, further comprising: controlling each unmanned aerial vehicle to perform a self-check to obtain a self-check report of each unmanned aerial vehicle.

34. The control terminal according to claim 33, characterized by When the processor associates the first unmanned aerial vehicle with the first selected plot area by obtaining an operation of the user on the first unmanned aerial vehicle icon, the processor is configured to obtain a touch and drag operation of the user on the first unmanned aerial vehicle icon, associate the first unmanned aerial vehicle with the first selected plot area when the first unmanned aerial vehicle icon is dragged to a position overlapping the first selected plot area and released.

35. The control terminal according to claim 34, characterized by The processor is further configured to highlight the first selected plot area when the first unmanned aerial vehicle icon is dragged to a position overlapping the first selected plot area but not released.

36. The control terminal according to claim 34, wherein The processor is further configured to restore the first unmanned aerial vehicle icon to a position before the drag operation after the first unmanned aerial vehicle icon is dragged to the position overlapping the first selected plot area and released.

37. The control terminal of claim 33, wherein, The processor is configured to establish a connection line between the first UAV icon and the first selected land plot region when displaying the association result.

38. The control terminal according to claim 37, characterized by The processor is configured to establish a connection line between the first UAV icon and a work starting point in the first selected land plot region when establishing the connection line between the first UAV icon and the first selected land plot region.

39. The control terminal of claim 33, wherein, The processor is configured to display a serial number corresponding to the first UAV on the first selected land plot region when displaying the association result.

40. The control terminal of claim 33, wherein, The processor is configured to identify a preset number of land plot regions closest to the control terminal on the map model when identifying a plurality of land plot regions on the map model.

41. The control terminal of claim 33, wherein, The processor is further configured to determine total land plot regions according to a selection operation of a user on the map model before identifying a plurality of land plot regions on the map model. If the area of the total land plot regions is greater than a preset threshold, the total land plot regions are divided according to the number of UAVs currently connected to the control terminal, to obtain a plurality of land plot regions.

42. The control terminal of claim 33, wherein, The processor is further configured to generate a tentative scheme of associating a closest UAV with a selected land plot region according to position information of each selected land plot region and each UAV, and display the tentative scheme, before obtaining the operation of the user on the first UAV icon or the first selected land plot region.

43. The control terminal of claim 33, wherein, The processor is further configured to match the UAVs with the selected land plot regions according to the load capacity and endurance capacity of each UAV and the area of each selected land plot region, generate a tentative scheme of associating a successfully matched UAV with a selected land plot region, and display the tentative scheme, before obtaining the operation of the user on the first UAV icon or the first selected land plot region.

44. The control terminal of claim 33, wherein, The processor is further configured to determine the order of performing work tasks by at least two UAVs according to the association time of the at least two UAVs with the same selected land plot region when the at least two UAVs are associated with the same selected land plot region.

45. The control terminal of claim 44, wherein, The processor is further configured to control a UAV performing a work task later to start work when a UAV performing a work task earlier has flown to a designated waypoint on a flight route.

46. The control terminal according to claim 45, characterized in that, The designated waypoint is determined according to a safety distance that should be maintained by the at least two UAVs during work.

47. The control terminal of claim 33, wherein, The processor is configured to transmit work task data corresponding to the first selected land plot region to the first UAV to enable the first UAV to automatically perform work according to the work task data when controlling the first UAV to perform a work task in the first selected land plot region.

48. The control terminal of claim 33, wherein, The UAV includes a plant protection UAV.

49. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method of any one of claims 1-16. The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method of any one of claims 1-16.

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