Display terminal control method and device and storage medium

Abstract

The embodiment of the invention relates to the field of control of display terminals, and provides a control method of a display terminal, a control method of a movable platform, a control device of the movable platform and a storage medium. The control method of the display terminal comprises the following steps: acquiring a historical moving track of a movable platform; quality parameters of the historical movement track are obtained, and the quality parameters are related to the operation safety of the movable platform along the historical movement track; determining identification information of the historical movement track according to the quality parameters, wherein the identification information is used for representing the safety degree of the movable platform when the movable platform moves along the historical movement track; and displaying the historical movement track on the display terminal in combination with the identification information. The control method can provide enough information for operation path planning for decision making.

Description

Technical Field

[0001] The present invention relates to the technical field of display terminals for mobile platforms, and in particular to a control method for a display terminal, a control method for a mobile platform, a device and a storage medium. Background Art

[0002] In order to facilitate users to interact with the movable platform more conveniently, the path of the movable platform can be viewed using a display terminal. Currently, users cannot obtain all-round reference information of the operation path, and cannot provide sufficient information for decision-making for operation path planning. Summary of the invention

[0003] Based on this, the embodiments of the present application provide a control method for a display terminal, a control method for a movable platform, a device and a storage medium, aiming to help users obtain more reference information related to the path and provide sufficient information for decision-making in operation path planning.

[0004] In view of this, a first aspect of the present invention provides a control method for a display terminal, comprising:

[0005] Acquire the historical movement trajectory of the movable platform;

[0006] Acquiring a quality parameter of the historical movement trajectory, wherein the quality parameter is related to the operation safety of the movable platform along the historical movement trajectory;

[0007] Determining identification information of the historical movement trajectory according to the quality parameter, wherein the identification information is used to characterize the safety level of the movable platform when moving along the historical movement trajectory;

[0008] The historical movement trajectory is displayed on the display terminal in combination with the identification information.

[0009] The control method provided in the first aspect obtains quality parameters related to the safety of the movable platform when the movable platform moves along the historical moving trajectory, and then uses the quality parameters to determine the identification information of the historical moving trajectory, indicating the safety level of the movable platform when moving along the historical moving trajectory, and presents this information intuitively on the display terminal, which can provide richer information about the historical moving trajectory, thereby improving the accuracy of operation path planning.

[0010] In a second aspect, an embodiment of the present application further provides a control method for a movable platform, comprising:

[0011] Controlling the movable platform to move along a task trajectory;

[0012] collecting quality parameters, wherein the quality parameters are collected when the movable platform moves along the task trajectory;

[0013] The task trajectory and the quality parameters are sent to a display terminal of the movable platform, so that the display terminal determines identification information of the task trajectory according to the quality parameters, wherein the identification information is used to characterize the safety level of the movable platform when moving along the task trajectory.

[0014] The method provided in the second aspect controls the movable platform to collect quality parameters on the path when performing a task, and then sends the quality parameters to the display terminal to provide richer path information for path planning decisions.

[0015] In a third aspect, an embodiment of the present application further provides a control device for a movable platform, the control device comprising a processor and a memory, the memory being used to store a computer program, the processor being used to execute the computer program and, when executing the computer program, implement the control method as described in the first aspect or the second aspect.

[0016] In a fourth aspect, an embodiment of the present application further provides a storage medium, on which a computer program is stored. When the computer program is executed, the control method as described in the first aspect or the second aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A flowchart showing the steps of a control method for a display terminal provided in an embodiment of the present application;

[0019] Figure 2 A flowchart showing the steps of another method for controlling a display terminal provided in an embodiment of the present application;

[0020] Figure 3 A flowchart showing the steps of another method for controlling a display terminal provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of a display interface of a display terminal provided in an embodiment of the present application;

[0022] Figure 5 A flowchart showing the steps of another method for controlling a display terminal provided in an embodiment of the present application;

[0023] Figure 6A schematic diagram of a display interface of a display terminal provided in an embodiment of the present application;

[0024] Figure 7 It is a schematic block diagram of the structure of a control device for a display terminal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention. For example, some operations / steps can also be decomposed, combined or partially merged, so the actual execution order may change according to the actual situation.

[0026] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] To facilitate those skilled in the art to understand the technical solutions provided in the embodiments of the present application, the relevant background is described below:

[0028] With the rapid development of my country's mobile platform manufacturing industry, mobile platforms are growing rapidly in the fields of aerial survey, power line inspection, natural gas (oil) pipeline inspection, forest fire prevention, disaster relief, smart cities, etc. The safety of mobile platforms is particularly important. At present, in various operating scenarios, mobile platforms often operate based on planned paths. However, these planned paths generally only contain geographical or length information, and do not provide more information about the safety of mobile platforms for reference. Therefore, it is difficult to accurately plan paths.

[0029] To solve the above problems, the embodiments of the present application provide a control method for a display terminal, a control method for a movable platform, a device and a storage medium. By obtaining quality parameters related to the safety of the movable platform when the movable platform moves along a historical moving trajectory, and then using the quality parameters to determine the identification information of the historical moving trajectory, it indicates the safety level of the movable platform when it moves along the historical moving trajectory, and presents this information intuitively on the display terminal, which can provide richer information about the historical moving trajectory, thereby improving the accuracy of operation path planning.

[0030] In some embodiments, the movable platform is any object that can be moved actively or controlled, including but not limited to unmanned aerial vehicles, manned aerial vehicles, unmanned vehicles, manned vehicles, unmanned ships, manned ships, etc. The display terminal of the movable platform is used to display information related to the movable platform. It can be understood that the display terminal can be integrated with the control terminal of the movable platform. In some embodiments, the display terminal can be integrated with the control terminal of the movable platform or can be separated from the control terminal of the movable platform. The functions of the control terminal include but are not limited to controlling the movement of the movable platform or being able to be used to plan tasks for the movable platform; the control terminal can be assembled with the movable platform, can be separated from the movable platform, or can be detachably connected to the movable platform; the control terminal includes but is not limited to a remote control, a tablet computer, a laptop computer, a server, a wearable device connected to the mobile platform, etc.

[0031] It should be noted that, in some embodiments, the movable platform may also be a simulated movable platform for performing simulated operating tasks in a constructed virtual environment.

[0032] In order to facilitate users to interact with the mobile platform more conveniently, a display terminal can be used to display relevant information of the mobile platform. However, the relevant information of the mobile platform currently displayed on the display terminal is too brief and cannot provide users with sufficient information for interactive decision-making.

[0033] The present application provides a method for controlling a display terminal. Figure 1 , Figure 1 4 is a flowchart of a method for controlling a display terminal provided in an embodiment of the present application. The method may include steps S101 to S104.

[0034] Step S101: Acquire the historical movement trajectory of the movable platform.

[0035] In this embodiment, the display terminal can obtain the historical movement track of the movable platform. It can be understood that there is information interaction between the display terminal and the movable platform.

[0036] In some embodiments, the movable platform is a movable platform in a real environment, including but not limited to an unmanned aerial vehicle, a manned aerial vehicle, an unmanned vehicle, a manned vehicle, an unmanned ship, a manned ship, etc. After completing the operation task, the above movable platform will obtain the historical movement track of the operation task, and the display terminal can obtain the historical movement track through communication with the movable platform.

[0037] In some embodiments, the mobile platform is a simulated mobile platform that performs simulated work tasks in a constructed virtual environment, such as a virtual airplane, a virtual car, a virtual ship, etc. The virtual work environment that carries the simulated mobile platform can be a man-made model system, or it can be a map obtained based on the mapping of the real environment. The map can be a map with normal resolution or a high-definition map. The user can issue a simulated task to the simulated mobile platform in the virtual system, and the simulated mobile platform will obtain the simulated historical movement trajectory corresponding to the simulated work task after completing the simulated task. In some embodiments, the display terminal corresponding to the mobile platform is a device that carries the above-mentioned virtual system, such as a computer, a tablet, a wearable device, etc.

[0038] In some embodiments, the historical movement track of the movable platform may be the historical movement track of the movable platform just after completing the operation. For example, the movable platform may send the historical movement track of the most recently completed operation task to the display terminal. The historical movement track of the above movable platform may also be the historical movement track of the operation task that was not completed most recently. For example, the movable platform may send the historical movement track of the last completed operation task to the display terminal.

[0039] In some embodiments, the number of historical movement tracks of the movable platform may be one, that is, the display terminal only obtains one historical movement track of the movable platform.

[0040] In some embodiments, the number of historical movement trajectories of the movable platform may be multiple, that is, the display terminal can obtain multiple historical movement trajectories of the movable platform. In some embodiments, the above-mentioned multiple historical movement trajectories are multiple historical movement trajectories with the same starting point and end point of the task and the same movement trajectory. In this case, it is convenient for the user to conduct a comprehensive analysis of the multiple identical trajectories. In some embodiments, the above-mentioned multiple historical movement trajectories are multiple historical movement trajectories with the same starting point and end point of the task, but different movement trajectories. It can be understood that the starting point and end point are not the starting point and end point of the entire task, and can also be part of the task points in the entire task. For example, the task point one of the task is point A, and the task point two is point B. There are multiple different historical movement trajectories between points A and B. The display terminal can obtain multiple different historical movement trajectories. In this case, it is convenient for the user to compare and analyze multiple historical movement trajectories between the two task points.

[0041] In some embodiments, the historical movement path of the mobile platform after completing the operation task can be stored in a storage device, and the control terminal can load the historical movement track of the mobile platform from the storage device. In one embodiment, the historical movement path of the mobile platform after completing the operation task can be stored in the cloud, and the control terminal can load the historical movement track of the mobile platform from the cloud. In one embodiment, the control terminal can accept the historical movement track of the mobile platform shared by other control terminals.

[0042] Step S102: Acquire a quality parameter of the historical movement trajectory, wherein the quality parameter is related to the operation safety of the movable platform along the historical movement trajectory.

[0043] In this embodiment, the movable platform can collect quality parameters of the historical movement trajectory while operating along the historical movement trajectory, and the quality parameters can be used to evaluate the operation safety of the movable platform.

[0044] In some embodiments, the movable platform may be equipped with sensors, through which the movable platform can collect quality parameters while moving along the historical moving trajectory. The types of sensors carried by the movable platform may be a combination of one or more, without limitation, such as an environmental wind sensor that can sense the wind speed and direction of the environment in which the movable platform is located; a rainfall sensor that can sense the rainfall in the environment in which the movable platform is located; a dust and fog sensor that can sense the smoke and fog in the environment in which the movable platform is located; a signal quality sensor that can sense the strength of the wireless signal in the environment in which the movable platform is located, such as 4G, 5G signals, SDR signals, WIFI or Bluetooth signals, etc.; a power sensor that can sense the real-time power of the movable platform while moving along the historical moving trajectory; an obstacle avoidance sensor that can record the geographical location of the movable platform when it moves along the historical moving trajectory and triggers the obstacle avoidance behavior; and a power sensor that can record the state of the power device when the movable platform moves along the historical moving trajectory.

[0045] In some embodiments, the movable platform is a virtual simulated movable platform, and the simulated movable platform can also be equipped with virtual sensors for collecting quality parameters of the operating path when operating along the virtual operating path. The virtual system can be set to simulate the real environment of the outside world. For example, virtual obstacles that can interfere with the operation of the simulated movable platform are set on the terrain, and strong winds or rainfall are set on the moving path of the movable platform. The data source of the virtual system to simulate the real environment of the outside world can be randomly generated or based on the user's own settings, or after matching the moving path planned on the map with the real path of the outside world, the data along the real path of the outside world can be obtained. Path data, illustratively, in the virtual system, the movable platform is simulated to move along the simulated historical moving trajectory R1. The virtual system can match the trajectory R1 with the geographical location of the real environment outside, and can obtain the data information at the matched geographical location, and simulate the corresponding environment at the corresponding position of the virtual system based on the data information. For example, after matching the trajectory R1 with the geographical location of the real environment outside, it can be known from the Meteorological Bureau that there is rainfall at P1 on the trajectory R1. The simulation system will simulate similar rainfall conditions at point P1 of the simulated historical moving trajectory based on this information, so that the simulated movable platform can obtain this information when passing through this place. It can be understood that the types of sensors are similar to those above and will not be repeated. This method allows users to obtain the quality parameters on the desired operation path without actually operating the movable platform, which greatly reduces safety risks. At the same time, the simulation system can more realistically simulate the real environment when the movable platform is operating, and also makes the reference information obtained by simulation more realistic.

[0046] In some embodiments, the quality parameter may include one or more types, which are used to characterize the route quality of each track segment in the historical moving trajectory under the dimension of the corresponding type when the movable platform moves along the historical moving trajectory. The type of quality parameter may correspond to the type of sensor. Different types of sensors can collect corresponding quality parameters when the movable platform moves along the historical moving trajectory. For example, the environmental wind sensor can collect the wind speed quality parameter and wind direction quality parameter on each track segment; the signal quality sensor can collect the wireless signal strength quality parameter at each track segment; the obstacle avoidance sensor can collect the quality parameter of the frequency of triggering obstacle avoidance at each track segment. The correspondence between different quality parameters and different sensors is similar to the above relationship and will not be repeated. In one embodiment, the movable platform may not be equipped with weather monitoring sensors, such as environmental wind sensors, rainfall sensors, dust and fog sensors, etc., but directly obtain the weather quality parameters of the historical moving trajectory from the weather monitoring station.

[0047] In some embodiments, the control terminal may obtain quality parameters in a variety of ways, which are not limited here. In one embodiment, the quality parameters are collected while the movable platform moves along the historical moving trajectory and are stored on the movable platform side or the cloud. After the entire historical moving trajectory is completed, the control terminal can obtain the quality parameters of the entire moving process from the movable platform side or the cloud. In one embodiment, while the movable platform moves along the historical moving trajectory, the quality parameters are collected while sending the quality parameters to the control terminal or uploading to the cloud in real time or with a slight delay. The control terminal can obtain the quality parameters from the movable platform side or the cloud in real time or with a slight delay.

[0048] Step S103: Determine identification information of the historical moving trajectory according to the quality parameter, wherein the identification information is used to characterize the safety level of the movable platform when it moves along the historical moving trajectory. In this embodiment, the display terminal can intuitively display the quality parameter in the form of identification information, and the user can determine the safety level of the movable platform when it moves along the historical moving trajectory based on the identification information, so as to subsequently accurately adjust the operation path.

[0049] In some embodiments, there may be multiple types of quality parameters, including but not limited to weather quality parameters, wind speed quality parameters, obstacle avoidance trigger frequency quality parameters, wireless signal strength quality parameters, etc. The user may select any quality parameter and evaluate the safety of the historical moving trajectory of the movable platform under the dimension of the quality parameter. In one embodiment, the movable platform can collect multiple quality parameters during operation along the historical moving trajectory. The user may select a first quality parameter, such as a wireless signal strength quality parameter, to determine the identification information of the above historical moving trajectory and display the historical moving trajectory on the display screen based on the identification information. After the user understands the quality of the historical moving trajectory under the quality parameter of the type, the user may choose to switch the type of quality parameter. For example, the user may select a second quality parameter again, such as an obstacle avoidance trigger frequency quality parameter, to determine the identification information of the above historical moving trajectory and display the historical moving trajectory on the display screen based on the identification information. In this way, the user may understand and analyze the safety of the same historical moving trajectory under the dimension of each type of quality parameter to help the user better optimize the operation route of the movable platform. In one embodiment, the type of quality parameter is not selected by the user, but may be set by system default. The movable platform will collect one or more quality parameters when operating along the historical movement trajectory. After the system selects a quality parameter by default, it determines the identification information of the historical movement trajectory based on the quality parameter and displays the historical movement trajectory on the display screen based on the identification information.

[0050] For the same type of quality parameters, the high or low or large and small of the quality parameters correspond to different identification information. In one embodiment, the quality parameter is a wireless signal strength quality parameter, and the wireless signal strength can be graded according to different signal strength thresholds. The wireless signal strength obtained by the movable platform in the first track segment of the historical moving trajectory is the first signal strength level, and the identification information corresponding to the first track segment is the first identification information. The wireless signal strength obtained by the movable platform in the second track segment of the above historical moving trajectory is the second signal strength level, and the identification information corresponding to the second track segment is the second identification information. In another embodiment, the quality parameter is a wind speed quality parameter, and the wind speed intensity can be graded according to different wind speed thresholds. The wind speed intensity obtained by the movable platform in the third track segment is the third wind speed intensity level, and the identification information corresponding to the third track segment is the third identification information. The wind speed intensity obtained by the movable platform in the fourth track segment is the fourth wind speed intensity level, and the identification information corresponding to the fourth track segment is the fourth identification information. The correspondence between other types of quality parameters and identification information is similar to the above embodiments and will not be repeated.

[0051] The identification information can be expressed in a variety of ways, which are not limited here. In one embodiment, the identification information can be expressed by the display mode of each trajectory segment, such as the line type, thickness, and color of the line drawing the trajectory segment, for example, the trajectory segment with a lower quality parameter is colored red, and the trajectory segment with a higher quality parameter is colored green; for another example, the trajectory segment with a lower quality parameter is represented by a dotted line, and the trajectory segment with a higher quality parameter is represented by a solid line. In one embodiment, the identification information can be expressed by text attached to each trajectory segment. For example, for a trajectory segment with a higher quality parameter, the text "excellent" can be attached next to the trajectory segment, and for a trajectory segment with a lower quality parameter, the text "poor" can be attached next to the trajectory segment, so as to highlight the correspondence between different levels of quality parameters of the same type and different identification information.

[0052] The above-mentioned identification information can characterize the safety level of the movable platform when it moves along the corresponding trajectory segment. For example, the trajectory segment with high wireless signal strength is expressed by the first identification information, and the trajectory segment with low wireless signal strength is expressed by the second identification information. The movable platform is less likely to lose contact with the control terminal or lose image transmission and other signal loss on the trajectory segment with high wireless signal strength. Therefore, relative to the second identification information, the first identification information can characterize that the movable platform has a higher degree of safety in the operation of the corresponding trajectory segment. In another embodiment, the trajectory segment with high wind speed is expressed by the third identification information, and the trajectory segment with low wind speed is expressed by the fourth identification information. The movable platform is more likely to roll over, be blown off the route and collide with obstacles, and other dangerous situations on the trajectory segment with high wind speed. Therefore, relative to the fourth identification information, the third identification information can characterize that the movable platform has a lower degree of safety in the operation of the corresponding trajectory segment. In another embodiment, the trajectory segment with a high frequency of triggering obstacle avoidance is expressed by the fifth identification information, and the trajectory segment with a low frequency of triggering obstacle avoidance is expressed by the sixth identification information. The high frequency of triggering obstacle avoidance means that there are more obstacles on the trajectory segment, and the probability of collision accidents of the movable platform will also be greater. Therefore, compared with the sixth identification information, the fifth identification information can represent that the operation safety of the movable platform in the corresponding trajectory segment is lower. For other types of quality parameters, different identification information can represent the safety of the movable platform when moving on the trajectory segment similarly to the above method, which will not be repeated here.

[0053] S104: Display the historical movement trajectory on the display terminal according to the identification information.

[0054] In this embodiment, the control terminal can display the historical movement trajectory on the display terminal according to the identification information, so that the user can more intuitively see the historical movement trajectory marked with different identification information, and can review the quality of the historical movement trajectory based on this information.

[0055] In some embodiments, the control terminal can display a historical movement track of the movable platform on the display terminal according to the expression of the identification information, or can display multiple historical movement tracks of the movable platform on the display terminal, without limitation. In one embodiment, the control terminal can display a historical movement track of the movable platform on the display terminal, and the historical movement track can be the historical movement track of the task just completed by the movable platform, or can be the historical movement track of the task that the movable platform has completed stored in the database, so that the user can perform a quality review analysis on the historical movement path that has just been completed, or can perform a quality review analysis on the historical movement track that has been operated a long time ago. In one embodiment, the control terminal can display multiple historical movement tracks on the display terminal, and the control terminal can display the historical movement tracks of multiple different task paths on the display terminal, so as to compare the quality of multiple historical movement tracks under the dimension of the same quality parameter in order to decide the best operation path of the movable platform, and can also display multiple historical movement tracks generated by the movable platform after multiple operations on the same task path on the display terminal, so as to compare the quality of the movable platform operating on the same operation path at different times under the dimension of the same quality parameter, so that the user can decide when to let the movable platform start the operation. In one embodiment, the control terminal can obtain multiple historical movement trajectories generated by the movable platform after multiple operations on the same task path, and fuse the quality parameters of the multiple historical movement trajectories under the dimension of the same quality parameter to obtain a comprehensive quality parameter, and determine the identification information based on the comprehensive quality parameter, and generate and display a comprehensive historical movement trajectory based on the identification information. For example, the movable platform has operated on the same operation path three times, and the wind speed quality parameters of each segment during the three operations are statistically analyzed. Under the dimension of the wind speed quality parameter, the wind speed intensity of the three historical movement trajectories is weighted averaged to generate a comprehensive historical movement trajectory, and the information identification of each trajectory segment in the comprehensive historical movement trajectory is determined according to the wind speed intensity of each trajectory segment, and the above-mentioned comprehensive historical movement trajectory is displayed on the display terminal according to the information identification. In this way, it can avoid inaccurate results caused by quality judgment based on the quality parameters collected in only one operation.

[0056] In some embodiments, for the same historical movement trajectory, different trajectory segments will be formed based on different identification information. This form of expression will enable users to more intuitively see the quality of different parts of the historical movement trajectory. Furthermore, in some embodiments, trajectory segments of different qualities can also be graded, such as grading according to a preset threshold, assigning a lower grade to trajectory segments with poor quality, and when the grade of the trajectory segment is low to a certain level, the trajectory segment will be prompted. For example, the trajectory segment with a quality parameter lower than a certain threshold is given the identification information of "colored red", and the trajectory segment is displayed on the display terminal, and a prompt "The red trajectory segment is a risky area, please adjust it in time" can be prompted in other areas of the display interface of the display terminal, or a low-quality trajectory segment can be prompted by voice or flashing indicator light to alert the user.

[0057] In some embodiments, the movable platform is a simulated movable platform, which performs a simulated task, which may be a task planned in a virtual modeling system in accordance with a real task, and uses a simulated sensor to collect quality parameters of the simulated movable platform during its movement along the simulated task path. Finally, the historical movement trajectory of the simulated movable platform is displayed on the display terminal in combination with the identification information. Such an operation allows the user to perform virtual operations using a virtual movable platform without actually using the movable platform to complete a real task in reality, thereby greatly reducing the user's actual operating costs and also reducing operational risks.

[0058] In some embodiments, Figure 2 As shown, the control method also includes steps S105 to S106.

[0059] Step S105: Acquire a second movement trajectory, where the second movement trajectory is obtained based on the adjustment of the historical movement trajectory.

[0060] In this embodiment, after the historical movement trajectory is displayed on the display terminal, the historical movement trajectory can be adjusted, for example, the position of the trajectory segment with poor quality in the historical movement trajectory can be adjusted, in order to improve the quality of the trajectory segment with poor quality, thereby further ensuring the safety level during the next operation.

[0061] In one embodiment, after completing a task, a real movable platform can display a historical movement trajectory on a display terminal, and the user adjusts the path of a trajectory segment with poor quality or the system automatically adjusts the path of a trajectory segment with poor quality to obtain a second movement trajectory, thereby enabling the movable platform to obtain better safety protection when moving along the adjusted task path.

[0062] In one embodiment, the movable platform may be a simulated movable platform, and the historical movement trajectory may also be a simulated movable historical trajectory after the simulated movable platform performs a simulated task. After obtaining the simulated historical movement trajectory, the user or the system may automatically adjust the path of the trajectory segment with poor quality to obtain a second movement trajectory.

[0063] Step S106: Send the second movement trajectory to the movable platform to control the movable platform to move according to the second movement trajectory.

[0064] In this embodiment, the historical movement trajectory can be adjusted to form a second movement trajectory and then sent to the movable platform, so that the movable platform can operate according to the above-mentioned second movement trajectory, thereby possibly being able to obtain better quality parameters on the new path, so that the movable platform is safer during the operation process.

[0065] In one embodiment, after reviewing the historical operation path of the movable platform in reality, a second movement trajectory can be obtained by adjusting at least part of the historical movement trajectory, and then the second movement trajectory is sent to the movable platform, so that the movable platform can operate according to the second movement trajectory.

[0066] In one embodiment, the simulated historical movement trajectory of the simulated movable platform can be reviewed, and a second movement trajectory can be obtained after adjusting at least part of the simulated historical movement trajectory, and then the second movement trajectory is sent to the real movable platform in reality corresponding to the above-mentioned simulated movable platform, so that the real movable platform operates according to the second movement trajectory. Such operation enables the user to obtain the quality parameters of the historical movement trajectory with high accuracy without having to perform real operations, which greatly facilitates the user's operation and also increases the service life of the real movable platform.

[0067] In some embodiments, the control method further includes step S107.

[0068] Step S107: Obtain the model of the movable platform; and recommend a matching moving path based on the model of the movable platform.

[0069] In this embodiment, for the operation tasks with the same starting point and end point, since the operation power, efficiency, obstacle avoidance accuracy and other information of different types of movable platforms may be different, even for the same starting point and end point, the optimal operation routes of different types of movable platforms may be different. Therefore, after adjusting the historical movement trajectory and obtaining the optimized operation path, the optimized operation paths that match the different types of movable platforms can be stored, and after the user selects the model of the movable platform, the corresponding operation path can be retrieved for recommendation. This solution can make the recommended operation path more intelligent and further ensure the safety of different types of movable platforms during operation.

[0070] Please refer to Figure 3 and Figure 4 , Figure 3 is a flow chart of a control method of a movable platform of the present application, Figure 4 is a corresponding schematic diagram. In this embodiment, the movable platform can use a cargo loading device to load objects. For example, the movable platform is an aircraft and is provided with a cargo box for loading cargo. Figure 3 As shown, the control method may include steps S201 to S203.

[0071] Step S201: Displaying a center of gravity identifier of the object on the display terminal, wherein the center of gravity identifier is used to represent the position of the center of gravity of the object.

[0072] In this embodiment, when the cargo is loaded on the cargo loading device, the position of the center of gravity of the cargo can be displayed on the interface of the display terminal, so that the user can adjust the center of gravity of the cargo to prevent the movable platform from being in danger or the cargo from being damaged due to the tilting center of gravity of the cargo during transportation.

[0073] In one embodiment, a first identifier, such as a frame-shaped identifier, is used on the display terminal to indicate the loading space of the cargo loading device, and a second identifier, such as a circular identifier, is used to indicate the position of the center of gravity of the cargo in the loading space.

[0074] Step S202: Displaying a standard loading position on the display terminal, wherein the standard loading position is used to represent a safe loading range of the object.

[0075] In this embodiment, the display terminal is also used to display the standard loading position, which is located within the range of the loading space position. When the center of gravity of the cargo is located at the standard loading position, the cargo is considered to be safely loaded, that is, in this condition, when the movable platform is in a transportation state, the disturbance of the cargo to the movable platform is in an acceptable state, or the cargo will not be damaged by the transportation process of the movable platform.

[0076] In one embodiment, a third identifier, such as an opaque frame identifier, is used on the display terminal to indicate the position range of the standard loading position, which is an area. When the center of gravity of the cargo is located in the area of ​​the standard loading position, the cargo is considered to be safely loaded.

[0077] Step S203: When the center of gravity identifier is outside the standard loading position, output object center of gravity skew prompt information.

[0078] In this embodiment, when the center of gravity of the cargo is outside the above-mentioned standard loading position, it is considered that there is a risk in the loading method of the cargo, so a prompt will be given to allow the user to adjust the loading method of the cargo so that the center of gravity of the cargo is within the standard loading position.

[0079] In one embodiment, please refer to Figure 4 The loading space identifier 20 of the cargo loading device is used to indicate the range of the loading space of the cargo loading device. When the center of gravity identifier 21 of the cargo is located within the standard loading position, the color of the center of gravity identifier 21 of the cargo and the color of the standard loading position identifier 22 are rendered in a first color; when the center of gravity identifier 21 of the cargo is located outside the standard loading position, the color of the center of gravity identifier 21 of the cargo and the color of the standard loading position identifier 22 are rendered in a second color. It can be understood that there are many ways of prompting, such as sound prompts, light prompts, etc., which are not limited here.

[0080] In one embodiment, the control method further includes step S204.

[0081] Step S204, displaying an ideal loading position 23 on the display terminal, wherein the ideal loading position is used to characterize an optimal loading position of the object, and the ideal loading position is located within the standard loading position, wherein when the center of gravity identifier is located at the ideal loading position, the object is considered to be optimally loaded.

[0082] In this embodiment, the display terminal is also used to display the ideal loading position of the cargo. When the center of gravity of the cargo is located at the ideal loading position, the cargo is considered to be optimally loaded. When the cargo is in this state, it is considered that the disturbance caused to the movable platform is minimal, or the probability of the cargo being damaged during transportation is minimal.

[0083] Please refer to Figure 5 and Figure 6 , Figure 5 is a flow chart of a control method of a display terminal of the present application, Figure 6 is a corresponding schematic diagram. In this embodiment, the movable platform is an aircraft, and the aircraft is equipped with a camera device. Figure 5 As shown, the control method may include steps S301 to S302.

[0084] Step S301: displaying the images captured by the camera device on the display terminal, wherein the images captured by the camera device include images below the movable platform captured by the camera device during the landing of the movable platform.

[0085] In this embodiment, during the descent of the aircraft, the camera device can capture the image below the aircraft and display the image on the display terminal, so that the user can intuitively feel the geographical environment below the landing site of the aircraft, which is convenient for the user to ensure the landing safety of the aircraft.

[0086] In one embodiment, the camera device can rotate relative to the aircraft. For example, the aircraft is equipped with a gimbal, and the gimbal is equipped with a camera device, and the gimbal can rotate the camera device relative to the aircraft. During the descent of the aircraft, in order to ensure that the user can see whether there is a geographical environment below the aircraft that is not suitable for landing, the gimbal can be controlled to rotate so that the camera device can shoot the scene below the aircraft. When the aircraft lands safely, the user may pay more attention to the environment around the aircraft rather than the environment below the aircraft, so the gimbal can be controlled to rotate so that the camera device can shoot the environment around the aircraft. Such operation can more intelligently enable the camera device to shoot the area that the user wants to be interested in.

[0087] Step S302: displaying a pre-landing point identifier in the picture taken by the camera device, wherein the pre-landing point identifier is used to indicate the pre-landing point of the movable platform.

[0088] In this embodiment, please refer to Figure 6 During the descent of the aircraft, the gimbal can be controlled to rotate so that the camera device can capture a picture 31 below the aircraft, and a pre-landing point identifier 30 can be displayed in the picture captured by the camera device. The pre-landing point identifier 30 is used to identify the predicted landing position of the aircraft, which is used to provide a reference for the user. The user can determine whether the position identified by the identifier is suitable for landing based on the information of the identifier.

[0089] In one embodiment, the control method further includes steps S303 to S305.

[0090] Step S303, obtaining the height of the movable platform relative to the ground;

[0091] Step S304: when the altitude is the first altitude, displaying a first estimated landing point identifier on the display terminal;

[0092] Step S305: When the altitude is the second altitude, displaying a second pre-landing point identifier on the display terminal, wherein the first altitude is greater than the second altitude, and a display type of the first pre-landing point identifier is different from that of the second pre-landing point identifier.

[0093] In this embodiment, the pre-landing point identifier of the aircraft is related to the height of the aircraft relative to the ground. When the height of the aircraft relative to the ground is a first height, the pre-landing point identifier of the aircraft is a first identifier. When the height of the aircraft relative to the ground is a second height, the pre-landing point identifier of the aircraft is a second identifier. Different identifiers can give users different prompt information to help users better determine the location of the pre-landing point.

[0094] In one embodiment, when the height between the aircraft and the ground is greater than a preset threshold, the aircraft's pre-landing point identifier is an identifier with a smaller indication range, such as a cross or dot-shaped identifier. Because the aircraft is far from the ground, the aircraft's pre-landing area is smaller from this angle, so an identifier with a more precise indication range is needed to indicate it.

[0095] In one embodiment, when the height between the aircraft and the ground is less than a preset threshold, the aircraft's pre-landing point identifier is an identifier with a larger indication range, such as a circular or frame-shaped identifier. Because the aircraft is closer to the ground, an identifier with a larger indication range can more accurately indicate the pre-landing area.

[0096] The embodiment of the present application also provides a control method for a movable platform. The method is applied to the movable platform and includes the following steps S401 to S403.

[0097] Step S401, controlling the movable platform to move along the task track;

[0098] Step S402, collecting quality parameters, where the quality parameters are collected when the movable platform moves along the task trajectory;

[0099] Step S403: Send the task trajectory and the quality parameters to the display terminal of the movable platform, so that the display terminal determines the identification information of the task trajectory according to the quality parameters, and the identification information is used to characterize the safety level of the movable platform when moving along the task trajectory.

[0100] In this embodiment, the movable platform operates along the task trajectory and collects quality parameters along the way, and after completing the operation, the historical movement trajectory of the operation or the collected quality parameters are sent to the display terminal. The display terminal determines the identification information of the historical movement trajectory based on the above quality parameters, and displays the historical movement trajectory on the display terminal in combination with the identification information, so that the user can better plan the next operation path based on this information.

[0101] The control method in the embodiment of the present invention is described above. The control device in the embodiment of the present invention is described below:

[0102] See 7, Figure 7 It is a schematic block diagram of the structure of a control device for a movable platform provided in an embodiment of the present application.

[0103] like Figure 7 As described above, the control device includes a processor 141 and a memory 142 , and the processor 141 and the memory 142 are connected via a bus 143 , and the bus 143 is, for example, an I2C (Inter-integrated Circuit) bus.

[0104] Specifically, the processor 141 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0105] Specifically, the memory 142 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0106] The processor 141 is used to run the computer program stored in the memory 142, and implement the following steps when executing the computer program:

[0107] Acquire the historical movement trajectory of the movable platform;

[0108] Acquiring a quality parameter of the historical movement trajectory, wherein the quality parameter is related to the operation safety of the movable platform along the historical movement trajectory;

[0109] Determining identification information of the historical movement trajectory according to the quality parameter, wherein the identification information is used to characterize the safety level of the movable platform when moving along the historical movement trajectory;

[0110] The historical movement trajectory is displayed on the display terminal in combination with the identification information.

[0111] In some embodiments, the movable platform includes a simulated movable platform, the historical movement trajectory includes a simulated historical movement trajectory, and the simulated historical movement trajectory includes a movement trajectory of the simulated movable platform after performing a simulated task in a virtual environment.

[0112] In some embodiments, the processor 141 is further configured to implement:

[0113] Acquire a first movement trajectory, where the first movement trajectory is obtained based on an adjustment of the simulated historical movement trajectory;

[0114] The first movement trajectory is sent to a real movable platform to control the real movable platform to move according to the first movement trajectory, and the real movable platform includes a movable platform corresponding to the simulated movable platform and performing a task in a real environment.

[0115] In some embodiments, the processor 141 is further configured to implement:

[0116] Acquire a second movement trajectory, where the second movement trajectory is obtained based on the adjustment of the historical movement trajectory;

[0117] The second movement trajectory is sent to the movable platform to control the movable platform to move according to the second movement trajectory.

[0118] In some embodiments, the quality parameter includes multiple types. When implementing the method for determining the identification information of the historical movement trajectory according to the quality parameter, the processor 141 is used to implement:

[0119] Obtaining a user's selection of the type of the quality parameter;

[0120] The identification information of the historical movement trajectory is determined according to the selected quality parameter.

[0121] In some embodiments, the historical movement trajectory includes multiple trajectory segments, and different trajectory segments correspond to different identification information.

[0122] In some embodiments, the processor 141 is further configured to implement:

[0123] Prompt a low-quality trajectory segment, where the low-quality trajectory segment includes a trajectory segment in the historical movement trajectory whose quality parameter does not meet a preset quality condition.

[0124] In some embodiments, the type of the quality parameter includes one of the operating status of the movable platform and the environmental information of the historical movement trajectory.

[0125] In some embodiments, the operating status of the movable platform includes one of the power performance, power information, and obstacle avoidance trigger records of the movable platform, and the environmental information of the historical moving trajectory includes one of the weather information at the historical moving trajectory and the wireless signal strength information at the historical moving trajectory.

[0126] In some embodiments, the historical movement trajectory includes multiple historical movement trajectories of the movable platform on the same task path, and the quality parameters include quality parameters collected multiple times, wherein each historical movement trajectory of the movable platform corresponds to a quality parameter collected once.

[0127] In some embodiments, the multiple historical movement trajectories of the same task path include multiple historical movement trajectories with the same starting point and end point and the same movement trajectory. When the processor 141 implements the method for determining the identification information of the historical movement trajectory according to the quality parameter, it is used to implement:

[0128] Acquire a comprehensive quality parameter, where the comprehensive quality parameter is obtained based on the quality parameters acquired for the multiple times;

[0129] Determining identification information of the historical movement trajectory according to the comprehensive quality parameter; or

[0130] The multiple historical movement trajectories of the same task path include multiple historical movement trajectories with the same starting point and end point but different movement trajectories. When the processor 141 implements the method for determining the identification information of the historical movement trajectory according to the quality parameter, it is used to implement:

[0131] Acquire quality parameters of multiple acquisitions corresponding to the multiple historical movement trajectories;

[0132] The identification information of the corresponding historical movement trajectory is determined according to the quality parameters collected for multiple times.

[0133] In some embodiments, the processor 141 is further configured to implement:

[0134] Obtaining the model of the movable platform;

[0135] A matching moving path is recommended based on the model of the movable platform.

[0136] In some embodiments, the movable platform includes an object loading device, the object loading device includes a loading space, the loading space is used to load the object, and the processor 141 is further used to implement:

[0137] Displaying a center of gravity identifier of the object on the display terminal, wherein the center of gravity identifier is used to indicate the position of the center of gravity of the object;

[0138] Displaying a standard loading position on the display terminal, wherein the standard loading position is used to represent a safe loading range of the object;

[0139] When the center of gravity identifier is located outside the standard loading position, object center of gravity skew prompt information is output.

[0140] In some embodiments, the processor 141 is further configured to implement:

[0141] The range of the loading space is displayed on the display terminal, and the standard loading position is located within the range of the loading space.

[0142] In some embodiments, the processor 141 is further configured to implement:

[0143] An ideal loading position is displayed on the display terminal, the ideal loading position being used to characterize an optimal loading position of the object, the ideal loading position being located within the standard loading position, wherein when the center of gravity identifier is located at the ideal loading position, the object is considered to be optimally loaded.

[0144] In some embodiments, when the processor 141 implements the method of outputting the object gravity center skew prompt information when the gravity center identifier is located outside the standard loading position, it is used to implement:

[0145] When the center of gravity identifier is located at the standard loading position, the center of gravity identifier and the standard loading position are displayed in a first color on the display terminal;

[0146] When the center of gravity identifier is located outside the standard loading position, the center of gravity identifier and the standard loading position are displayed in a second color on the display terminal, and the first color and the second color are different.

[0147] In some embodiments, the movable platform is an aircraft, and a camera device is mounted on the movable platform. The processor 141 is further used to implement:

[0148] Displaying the pictures taken by the camera device on the display terminal, wherein the pictures taken by the camera device include pictures below the movable platform taken by the camera device during the landing of the movable platform;

[0149] A pre-landing point identifier is displayed in the picture taken by the camera device, and the pre-landing point identifier is used to indicate the pre-landing point of the movable platform.

[0150] In some embodiments, the camera device can rotate relative to the movable platform. During the descent of the movable platform, the shooting direction of the camera device is below the movable platform. After the movable platform lands, the shooting direction of the camera device is different from the shooting direction of the camera device during the descent of the movable platform.

[0151] In some embodiments, the pre-landing point identifier includes a first pre-landing point identifier and a second pre-landing point identifier, and the processor 141 is further configured to implement:

[0152] Obtaining the height of the movable platform relative to the ground;

[0153] When the altitude is the first altitude, displaying a first pre-landing point identifier on the display terminal;

[0154] When the height is the second height, a second pre-landing point identifier is displayed on the display terminal, wherein the first height is greater than the second height, and a display type of the first pre-landing point identifier is different from that of the second pre-landing point identifier.

[0155] In some embodiments, the processor 141 is further configured to implement:

[0156] Controlling the movable platform to move along a task trajectory;

[0157] collecting quality parameters, wherein the quality parameters are collected when the movable platform moves along the task trajectory;

[0158] The task trajectory and the quality parameters are sent to a display terminal of the movable platform, so that the display terminal determines identification information of the task trajectory according to the quality parameters, wherein the identification information is used to characterize the safety level of the movable platform when moving along the task trajectory.

[0159] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the movable platform described above can refer to the corresponding process in the aforementioned control method embodiment, and will not be repeated here.

[0160] An embodiment of the present application also provides a storage medium that is readable by a computer, and the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the control method provided in the above embodiment.

[0161] The storage medium may be an internal storage unit of the mobile platform described in any of the above embodiments, such as a hard disk or memory of the mobile platform. The storage medium may also be an external storage device of the mobile platform, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the mobile platform.

[0162] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware embodiment, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0163] It should be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0164] The serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for a display terminal, characterized in that: The display terminal can display the historical movement track of the movable platform, including: Acquire the historical movement trajectory of the movable platform; Acquiring a quality parameter of the historical movement trajectory, wherein the quality parameter is related to the operation safety of the movable platform along the historical movement trajectory; Determining identification information of the historical movement trajectory according to the quality parameter, wherein the identification information is used to characterize the safety level of the movable platform when moving along the historical movement trajectory; The historical movement trajectory is displayed on the display terminal in combination with the identification information.

2. The method according to claim 1, characterized in that The movable platform includes a simulated movable platform, the historical movement trajectory includes a simulated historical movement trajectory, and the simulated historical movement trajectory includes the movement trajectory of the simulated movable platform after performing a simulated task in a virtual environment.

3. The method according to claim 2, characterized in that After displaying the historical movement trajectory on the display terminal in combination with the identification information, the method further includes: Acquire a first movement trajectory, where the first movement trajectory is obtained based on an adjustment of the simulated historical movement trajectory; The first movement trajectory is sent to a real movable platform to control the real movable platform to move according to the first movement trajectory, and the real movable platform includes a movable platform corresponding to the simulated movable platform and performing a task in a real environment.

4. The method according to claim 1, characterized in that: After displaying the historical movement trajectory on the display terminal in combination with the identification information, the method further includes: Acquire a second movement trajectory, where the second movement trajectory is obtained based on the adjustment of the historical movement trajectory; The second movement trajectory is sent to the movable platform to control the movable platform to move according to the second movement trajectory.

5. The method according to any one of claims 1 to 4, characterized in that The quality parameter includes multiple types, and the determining the identification information of the historical movement trajectory according to the quality parameter includes: Obtaining a user's selection of the type of the quality parameter; The identification information of the historical movement trajectory is determined according to the selected quality parameter.

6. The method according to any one of claims 1 to 4, characterized in that The historical movement trajectory includes a plurality of trajectory segments, and different trajectory segments correspond to different identification information.

7. The method according to claim 6, characterized in that The method further comprises: Prompt a low-quality trajectory segment, where the low-quality trajectory segment includes a trajectory segment in the historical movement trajectory whose quality parameter does not meet a preset quality condition.

8. The method according to any one of claims 1 to 4, characterized in that The type of the quality parameter includes one of the operating state of the movable platform and the environmental information of the historical movement trajectory.

9. The method according to claim 8, characterized in that The operating status of the movable platform includes one of the power performance, power information, and obstacle avoidance trigger record of the movable platform, and the environmental information of the historical moving trajectory includes one of the weather information at the historical moving trajectory and the wireless signal strength information at the historical moving trajectory.

10. The method according to any one of claims 1 to 4, characterized in that The historical movement trajectory includes multiple historical movement trajectories of the movable platform on the same task path, and the quality parameters include quality parameters collected multiple times, wherein each historical movement trajectory of the movable platform corresponds to a quality parameter collected once.

11. The method according to claim 10, characterized in that The multiple historical movement trajectories of the same task path include multiple historical movement trajectories with the same starting point and end point and the same movement trajectory, and the identification information of the historical movement trajectory is determined according to the quality parameter, including: Acquire a comprehensive quality parameter, where the comprehensive quality parameter is obtained based on the quality parameters acquired for the multiple times; Determining identification information of the historical movement trajectory according to the comprehensive quality parameter; or The multiple historical movement trajectories of the same task path include multiple historical movement trajectories with the same starting point and end point but different movement trajectories, and the identification information of the historical movement trajectories is determined according to the quality parameter, including: Acquire quality parameters of multiple acquisitions corresponding to the multiple historical movement trajectories; The identification information of the corresponding historical movement trajectory is determined according to the quality parameters collected for multiple times.

12. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Obtaining the model of the movable platform; A matching moving path is recommended based on the model of the movable platform.

13. The method according to claim 1, characterized in that The movable platform includes an object loading device, the object loading device includes a loading space, and the loading space is used to load the object. The method further includes: Displaying a center of gravity identifier of the object on the display terminal, wherein the center of gravity identifier is used to indicate the position of the center of gravity of the object; Displaying a standard loading position on the display terminal, wherein the standard loading position is used to represent a safe loading range of the object; When the center of gravity identifier is located outside the standard loading position, object center of gravity skew prompt information is output.

14. The method according to claim 13, characterized in that The method further comprises: The range of the loading space is displayed on the display terminal, and the standard loading position is located within the range of the loading space.

15. The method according to claim 13 or 14, characterized in that The method further comprises: An ideal loading position is displayed on the display terminal, the ideal loading position being used to characterize an optimal loading position of the object, the ideal loading position being located within the standard loading position, wherein when the center of gravity identifier is located at the ideal loading position, the object is considered to be optimally loaded.

16. The method according to claim 13 or 14, characterized in that When the center of gravity identifier is outside the standard loading position, outputting object center of gravity skew prompt information includes: When the center of gravity identifier is located at the standard loading position, the center of gravity identifier and the standard loading position are displayed in a first color on the display terminal; When the center of gravity identifier is located outside the standard loading position, the center of gravity identifier and the standard loading position are displayed in a second color on the display terminal, and the first color and the second color are different.

17. The method according to claim 1, characterized in that The movable platform is an aircraft, and a camera device is mounted on the movable platform. The method further includes: Displaying the pictures taken by the camera device on the display terminal, wherein the pictures taken by the camera device include pictures below the movable platform taken by the camera device during the landing of the movable platform; A pre-landing point identifier is displayed in the picture taken by the camera device, and the pre-landing point identifier is used to indicate the pre-landing point of the movable platform.

18. The method according to claim 17, characterized in that The camera device can rotate relative to the movable platform. During the descent of the movable platform, the shooting direction of the camera device is below the movable platform. After the movable platform lands, the shooting direction of the camera device is different from the shooting direction of the camera device during the descent of the movable platform.

19. The method according to claim 17 or 18, characterized in that The pre-landing point identifier includes a first pre-landing point identifier and a second pre-landing point identifier, and the method further includes: Obtaining the height of the movable platform relative to the ground; When the altitude is the first altitude, displaying a first pre-landing point identifier on the display terminal; When the height is the second height, a second pre-landing point identifier is displayed on the display terminal, wherein the first height is greater than the second height, and a display type of the first pre-landing point identifier is different from that of the second pre-landing point identifier.

20. A control method for a movable platform, characterized in that: Applied to the movable platform, comprising: Controlling the movable platform to move along a task trajectory; collecting quality parameters, wherein the quality parameters are collected when the movable platform moves along the task trajectory; The task trajectory and the quality parameters are sent to a display terminal of the movable platform, so that the display terminal determines identification information of the task trajectory according to the quality parameters, wherein the identification information is used to characterize the safety level of the movable platform when moving along the task trajectory.

21. A control device for a movable platform, characterized in that: The device comprises: a storage device for storing program instructions; and One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the method according to any one of claims 1-20.

22. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 20 are implemented.

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