Control method and device

Abstract

The invention provides a control method and device. The control method comprises the steps that an initial operation track is generated according to path information of mobile operation of a movable platform; acquiring operation state information of a plurality of operation modules in the moving operation process of the movable platform; and superposing the operation state information of the plurality of operation modules on the initial operation track so as to prompt the operation quality of the plurality of operation modules on the initial operation track. The operation state information and the initial operation track of the plurality of operation modules are coupled, so that a user can clearly know the operation quality of the plurality of operation modules at different positions.

Description

Technical Field

[0001] The present application relates to the technical field of mobile platforms, and in particular to a control method, a device, a remote control terminal, a mobile system, a mobile platform and a computer-readable storage medium. Background Art

[0002] A mobile platform is a platform that can move in different locations or environments, such as aircraft, vehicles, or robots. These platforms are usually equipped with autonomous navigation systems or controlled movement mechanisms, and can move to different locations as needed to perform corresponding operations.

[0003] Among them, the operation quality of the movable platform during the operation process is one of the important factors affecting the operation efficiency and operation cost, and it is also an indicator that users focus on. Summary of the invention

[0004] In view of this, the present application provides a control method, device, remote control terminal, mobile system and computer-readable storage medium.

[0005] In a first aspect, an embodiment of the present application provides a control method, including:

[0006] Generate an initial operation trajectory according to the path information of the movable platform moving operation;

[0007] Acquiring operation status information of multiple operation modules during the mobile operation of the movable platform;

[0008] The operation status information of the multiple operation modules is superimposed on the initial operation track to prompt the operation quality of the multiple operation modules on the initial operation track.

[0009] In this embodiment, coupling the job status information of multiple job modules with the initial job trajectory can allow users to more clearly understand the job quality of multiple job modules at different positions, help users to promptly discover problems in the job, and make timely adjustments and corrections to improve job quality and accuracy.

[0010] In a second aspect, an embodiment of the present application provides a control method, including:

[0011] Generate an initial operation trajectory according to the path information of the movable platform moving operation;

[0012] Acquiring operation status information of at least one operation module during the moving operation of the movable platform;

[0013] The operation status information is superimposed on the initial operation trajectory to prompt the operation quality of the operation module on the initial operation trajectory; when the operation status information includes quality abnormalities, the prompt also includes the cause of the quality abnormality and / or improvement measures.

[0014] In this embodiment, the operation status information of the operation module and the initial operation trajectory are coupled, so that users can more clearly understand the operation quality of the operation module at different positions, which can help users to discover and solve problems in time, thereby improving the operation quality and efficiency; when the quality is abnormal, the causes and improvement measures of the quality abnormality are also provided, which can help users identify and solve safety hazards and ensure safety during the operation process.

[0015] In a third aspect, an embodiment of the present application provides a control device, including:

[0016] one or more processors;

[0017] a memory for storing instructions executable by the processor;

[0018] The one or more processors execute the executable instructions individually or collectively to perform the method as described in the first aspect or the second aspect.

[0019] In a fourth aspect, an embodiment of the present application provides a remote control terminal, comprising the control device as described in the third aspect.

[0020] In a fifth aspect, an embodiment of the present application provides a mobile system, comprising the remote control terminal and a movable platform as described in the fourth aspect, wherein the remote control terminal is communicatively connected to the movable platform.

[0021] In a sixth aspect, an embodiment of the present application provides a movable platform, comprising the control device as described in the third aspect.

[0022] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores executable instructions, and when the executable instructions are executed by a processor, the method described in the first aspect or the second aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a mobile system shown in an exemplary embodiment of the present application.

[0024] Figure 2 It is a schematic structural diagram of a power system of an unmanned aerial vehicle shown in an exemplary embodiment of the present application.

[0025] Figure 3 It is a flowchart of a control method shown in an exemplary embodiment of the present application.

[0026] Figure 4 It is a schematic diagram showing an initial operation trajectory superimposed on a first map according to an exemplary embodiment of the present application.

[0027] Figure 5 It is a schematic diagram showing an exemplary embodiment of the present application in which operation status information is superimposed on an initial operation trajectory.

[0028] Figure 6 It is a schematic diagram showing a supplementary operation trajectory according to an exemplary embodiment of the present application, with a prompt corresponding to that an operation module on an initial operation trajectory is in quality abnormality.

[0029] Figure 7 It is a flowchart of another control method shown in an exemplary embodiment of the present application.

[0030] Figure 8 It is a structural schematic diagram of a control device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0031] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0032] A movable platform refers to a platform that can move in different locations or environments. Movable platforms include, but are not limited to, aircraft, unmanned aerial vehicles, vehicles, movable carts, or mobile robots (such as sweeping robots). Among them, unmanned aerial vehicles include, but are not limited to, unmanned helicopters, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned gliders, unmanned helicopter balls, or unmanned balloons.

[0033] Mobile platforms are widely used in various fields, including logistics, warehousing, manufacturing, agriculture, medical treatment, service robots, education, aerial photography, surveying and mapping, rescue and inspection. They can realize intelligent movement and positioning functions through automatic navigation technology, such as sensors, lidar and vision systems. At the same time, they can also be controlled in a variety of ways, such as remote control, program control, human-computer interaction, etc.

[0034] The quality of the operation of the movable platform during the operation process is one of the important factors affecting the operation efficiency and operation cost, and it is also an indicator that users focus on. Therefore, it is necessary to provide tips on the operation quality of the movable platform during the operation process.

[0035] Based on this, an embodiment of the present application provides a control method, which can obtain the operation status information of multiple operation modules in the movable platform during the moving operation of the movable platform, and then superimpose the operation status information of the multiple operation modules on the initial operation trajectory corresponding to the moving operation of the movable platform, so as to prompt the operation quality of the multiple operation modules in the initial operation trajectory. By coupling the operation status information of the multiple operation modules with the initial operation trajectory, the user can more clearly understand the operation quality of the multiple operation modules at different positions, which helps the user to promptly discover problems in the operation, and make timely adjustments and corrections to improve the operation quality and accuracy.

[0036] The embodiment of the present application also provides another control method, which can obtain the operation status information of at least one operation module in the movable platform during the mobile operation of the movable platform, and then superimpose the operation status information of multiple operation modules on the initial operation track corresponding to the mobile operation of the movable platform, so as to provide a prompt for the operation quality of the operation module in the initial operation track; when the operation status information is abnormal quality, the prompt also includes the cause of the abnormal quality and / or improvement measures. Coupling the operation status information of the operation module with the initial operation track can allow users to more clearly understand the operation quality of the operation module at different positions, and also provide the cause of the abnormal quality and improvement measures when the quality is abnormal, which can help users identify and solve safety hazards and ensure safety during the operation process.

[0037] Exemplarily, the operations performed by the movable platform include but are not limited to at least one of aerial photography, inspection, rescue, logistics and transportation, measurement, mapping, spraying and sowing. The multiple operation modules in the movable platform include but are not limited to at least one of a posture sensor, an imaging device, a radar, a spraying device and a sowing device. For example, one operation module is an imaging device, another operation module is a radar, and another operation module is a posture sensor, etc. The number of each operation module may be more than one. Alternatively, the multiple operation modules in the movable platform are multiple operation modules, such as at least two of a posture sensor, an imaging device, a radar, a spraying device and a sowing device.

[0038] A posture sensor is a device used to measure the position and orientation of an object in space, and can provide information about the position, rotation angle, and posture of an object relative to a reference coordinate system. The posture sensor includes but is not limited to at least one of an IMU (Inertial Measurement Unit) module, a GNSS (Global Navigation Satellite System) module, and an RTK (Real-time kinematic) module.

[0039] Radar uses electromagnetic waves for detection and distance measurement. It sends electromagnetic wave signals and detects the returned signals to obtain information such as the position, speed, and shape of the target object. Radar includes but is not limited to at least one of laser radar and millimeter wave radar.

[0040] An imaging device refers to a device or system used to capture, record or generate images. It can convert the information of the target object into a visual image through optical, electronic, sound wave and other means, such as cameras, scanners, infrared cameras, thermal imagers, ultrasonic imagers, etc.

[0041] Spraying devices and spreading devices are key components for spraying and spreading pesticides or fertilizers on crops. Spraying devices are generally composed of nozzles, liquid tanks, pumps, control systems and other components. The nozzles are used to atomize pesticides and / or fertilizers into tiny droplets, and then evenly spray them on crops in the field, which can achieve quantitative and directional spraying and improve spraying effects and efficiency. Spreading devices are generally composed of seeders, material boxes, control systems and other components. They use aerodynamic principles to evenly spread seeds, fertilizers and other agricultural materials on the soil surface, which can achieve large-scale, high-efficiency sowing and fertilization.

[0042] It is understandable that the multiple operation modules refer to two or more operation modules. The multiple operation modules can be multiple types of operation modules.

[0043] For example, in aerial photography operations, the movable platform can be equipped with an imaging device to take photos or videos from an aerial perspective, providing users with aerial bird's-eye view images and video materials.

[0044] During inspection operations, the mobile platform can be equipped with various sensors, such as posture sensors, imaging devices, radars, infrared thermal imagers, gas detectors, etc. The mobile platform can perform inspection tasks in complex or dangerous environments, such as power lines, pipelines, buildings, etc., to help monitor and detect problems and take necessary measures in a timely manner.

[0045] In rescue operations, mobile platforms can be used for search and rescue missions at disaster sites and can be equipped with posture sensors, imaging devices, radars, etc. For example, drones can quickly reach the disaster area, search for the location of trapped people through radar, and provide real-time images and videos through imaging devices to assist rescuers in formulating rescue plans.

[0046] In logistics and transportation operations, the mobile platform can be an automated warehouse robot or robotic arm used for handling, loading, unloading and stacking of goods. The mobile platform is equipped with posture sensors, imaging devices, radars, etc., which can automatically plan routes according to demand, optimize material flow and improve efficiency.

[0047] In surveying and / or mapping operations, the mobile platform can carry operating modules such as posture sensors, imaging devices, radars, etc. for tasks such as topographic surveying, building surveying, and land mapping. These operating modules can accurately record and collect data and generate corresponding drawings or maps.

[0048] In plant protection operations (spraying or spreading), the mobile platform can be equipped with at least one of radar, imaging device, spraying device and spreading device for spraying pesticides or spreading fertilizers on farmland. Through automatic navigation and intelligent control, accurate and efficient plant protection operations can be achieved to improve the yield and quality of crops.

[0049] Exemplarily, the control method provided in the embodiment of the present application can be executed by a control device. The control device can be set in a remote control terminal that is communicatively connected to the mobile platform, and the remote control terminal includes but is not limited to a remote control, a base station, a cloud monitoring platform, etc. Exemplarily, the remote control terminal includes but is not limited to a mobile phone, a remote control, a tablet, a personal digital assistant, a computer or a wearable device, etc. The control device can also be set on a mobile platform.

[0050] On the one hand, the control device can be a computer software product integrated in a remote control terminal or a mobile platform, and the computer software product includes an application program that can execute the control method provided in the embodiment of the present application.

[0051] On the other hand, the control device includes a processor. When executing the control method, the processor may perform the operation by calling an executable program in a memory or by a logic operation circuit.

[0052] The control device may perform the control method in the background, or may display the control method to the user in the form of a graphical interface, or may perform part of the control method in the background and display the other part to the user. Moreover, the control device may perform the control method completely autonomously, or may perform part of the control method autonomously and the other part may be manually performed.

[0053] See also Figure 1 , Figure 1 A mobile system is shown, including a movable platform 100 and a remote control terminal 200, and the movable platform and the remote control terminal are communicatively connected. Figure 1 The movable platform is taken as an unmanned aerial vehicle for illustration, but the present invention is not limited thereto.

[0054] Exemplarily, the movable platform 100 includes a body; a power system installed in the body for providing power to the movable platform. The body refers to the body structure of the movable platform 100, including the appearance, frame, connecting parts, etc. In the movable platform 100, the body is one of the important components, which is used to carry and protect other components of the movable platform 100, and determines the movement performance, stability and adaptability of the movable platform 100.

[0055] The power system can provide the required power and energy support for the mobile platform 100. Taking the unmanned aerial vehicle as an example, please refer to Figure 2 The power system 20 may include one or more electronic speed regulators 21 (referred to as ESCs), one or more propellers 22, and one or more motors 23 corresponding to the one or more propellers, wherein the motor 23 is connected between the electronic speed regulator 21 and the propeller 22, and the motor 23 and the propeller 22 are arranged on the wings of the unmanned aerial vehicle.

[0056] The control device is provided with a display 201 (such as Figure 1 As shown), or connected to a display for communication, so as to provide prompts on the operation quality of multiple operation modules in the movable platform, so that the user can clearly understand the operation quality of multiple operation modules at different positions.

[0057] See also Figure 3 , Figure 3 A flow chart of a control method provided in the present application is applied to a control device, the control device can be set in a remote control terminal or a movable platform, and the method includes:

[0058] In S101, an initial operation trajectory is generated according to the path information of the movable platform moving operation.

[0059] In a possible implementation, the path information includes location information of the area to be operated. It may be that before the movable platform performs the operation, the control device pre-plans and generates an initial operation trajectory according to the location information of the area to be operated.

[0060] In another possible implementation, considering that the movable platform may change the pre-planned path due to the actual environment (such as obstacle avoidance) during the movement process, therefore, in order to improve the accuracy of subsequent prompts, the initial operation trajectory can also be generated in real time by the control device according to the actual path of the movable platform's movement operation during the movable platform's movement operation. Exemplarily, the path information includes the position information fed back in real time by the movable platform during the movement operation, and the control device can generate the initial operation trajectory in real time according to the position information fed back in real time by the movable platform during the movement operation.

[0061] Exemplarily, the control device may display the initial operation trajectory in a user graphical interface provided by the remote control terminal.

[0062] For example, in order to let the user know the relationship between the initial operation trajectory and the actual environment of the movable platform moving operation, please refer to Figure 4 The control device may also display a first map corresponding to the initial operation trajectory in the user graphical interface displaying the initial operation trajectory, and the initial operation trajectory is superimposed on the first map.

[0063] In S102, the operation status information of multiple operation modules during the moving operation of the movable platform is obtained.

[0064] For example, during the mobile platform moving operation, the operation status information of the multiple operation modules at each position of the mobile platform moving operation can be obtained in real time. Alternatively, the operation status information of the multiple operation modules at each position of the mobile platform moving operation can be obtained at preset time intervals.

[0065] In S103, the operation status information of the plurality of operation modules is superimposed on the initial operation track to prompt the operation quality of the plurality of operation modules on the initial operation track.

[0066] Exemplarily, the job status information of an operation module represents the job quality of the operation module. The job status information of multiple operation modules can be superimposed on the initial operation trajectory and displayed in a user graphical interface. By coupling the job status information of multiple operation modules with the initial operation trajectory, users can more clearly understand the job quality of multiple operation modules at different positions, which helps users to promptly discover problems in the operation, make timely adjustments and corrections, and improve the quality and accuracy of the operation.

[0067] In some embodiments, during the moving operation of the movable platform, the control device can generate an initial operation trajectory in real time based on the path information fed back by the movable platform in real time during the moving operation; and the control device can obtain the operation status information of multiple operation modules in real time, and then can provide real-time prompts for the operation quality of the operation modules, so that users can promptly understand the current operation status of the movable platform, which helps users quickly discover problems and abnormal situations, handle and correct them in a timely manner, avoid time-consuming rework and adjustments, and improve the operator's work efficiency and operation stability.

[0068] In one possible implementation, considering that the operation module itself has a certain computing power, during the moving operation of the movable platform, each operation module can determine and output the operation status information based on the operation status of the operation module itself. That is to say, the operation status information of the operation module at different position points in the initial operation trajectory is determined and output by the operation module based on the operation status of the operation module at the corresponding position point.

[0069] Among them, the operation status information at least includes normal quality and abnormal quality, and the abnormal quality at least includes substandard quality and / or quality to be optimized. Generally speaking, the level of "substandard quality" is higher, which means that the operation quality of the operation module has reached the threshold that cannot meet the minimum operating requirements or target performance, and the operation module needs to be processed or replaced immediately to ensure the normal operation and stable quality. The level of "quality to be optimized" is lower, which means that the operation quality of the operation module has not yet reached the expected optimal state, but it can still support the basic needs and functional requirements of the operation, and corresponding adjustments and optimizations are required. For example, in the operation, if the operation quality of the imaging device needs to be optimized, it may be necessary to optimize or adjust the parameters of the imaging device to achieve better shooting quality. For the quality abnormalities of the same operation module, the division of its level information can set different thresholds and standards according to actual needs.

[0070] For example, normal quality indicates that the job quality meets the first quality condition, substandard quality indicates that the job quality does not meet the second quality condition, and quality to be optimized indicates that the job quality is between normal quality and substandard quality. It can be understood that the first quality condition and the second quality condition can be specifically set according to the actual application scenario, and this embodiment does not limit this.

[0071] Exemplarily, the operation module includes at least one of a posture sensor, an imaging device, a radar, a spraying device, and a sowing device. The posture sensor includes but is not limited to an IMU module, a GNSS module, and an RTK module. During the mobile operation of the movable platform, each operation module can respectively monitor and analyze its own operation status at each position point in real time, so as to output the operation status information at each position point.

[0072] For example:

[0073] The posture sensor can solve its own errors, and then combine the set thresholds and algorithm judgment conditions to determine whether the posture data needs post-processing and repair. Based on the judgment results, it outputs operating status information such as normal quality, substandard quality, or quality to be optimized.

[0074] The imaging device analyzes the photo quality (such as the clarity and exposure of the photo), the photo overlap rate, etc., and outputs operation status information such as normal quality, substandard quality, or quality to be optimized based on the analysis results.

[0075] The radar can monitor its own operating status, such as the sensor's output frequency, noise level, data loss, etc., and output operating status information such as normal quality, substandard quality, or quality to be optimized based on the monitored operating status.

[0076] The spraying device can monitor the operating status of each component (such as the sprinkler head, nozzle, water pump, etc.), the remaining capacity of the liquid in the liquid tank, etc., and output operating status information such as normal quality, substandard quality, or quality to be optimized based on the monitoring results.

[0077] The spreading device can monitor the operating status of each component (such as the seeder, etc.), the remaining capacity of the solids in the box, etc., and output operating status information such as normal quality, substandard quality, or quality to be optimized based on the monitoring results.

[0078] In another possible implementation, the operating status of the operating module may also be acquired by the movable platform or a remote control terminal in communication with the movable platform, and then the operating status information of the operating module may be determined according to the operating status of the operating module. In other words, the operating status information of the operating module at different positions in the initial operating trajectory may also be determined by the movable platform or a remote control terminal in communication with the movable platform based on the operating status of the operating module at the corresponding position.

[0079] In some embodiments, the operation status information includes at least normal quality and abnormal quality, and the abnormal quality includes at least substandard quality and / or quality to be optimized. Different types of quality abnormalities of the same operation module have different level information, and different levels of operation status information of the same operation module have different prompts, or the operation status information includes different types of normal quality, substandard quality, and quality to be optimized, so that the user can clearly understand the quality of the operation.

[0080] Exemplarily, the operation module includes at least one of a posture sensor, an imaging device, a radar, a spraying device, and a sowing device. The posture sensor includes but is not limited to an IMU module, a GNSS module, and an RTK module. During the mobile operation of the movable platform, the control device can provide different prompts based on different levels of operation status information of the operation module.

[0081] For example:

[0082] When the operation module is a radar, the prompt corresponding to the operation status information includes at least one of the following: normal collection, missed collection. Specifically, the prompt corresponding to normal quality includes normal collection; the prompt corresponding to abnormal quality includes missed collection. The corresponding supplementary operation is radar supplementary collection.

[0083] When the operation module is an imaging device, the prompt corresponding to the operation status information includes at least one of the following: normal shooting, missed shooting, and shooting quality to be optimized. Specifically, the prompt corresponding to normal quality includes normal shooting; the prompt corresponding to substandard quality includes missed shooting; and the prompt corresponding to quality to be optimized includes shooting quality to be optimized. The corresponding supplementary operation may be supplementary shooting of the imaging device.

[0084] When the operation module is a posture sensor, the prompt corresponding to the operation status information includes at least one of the following: normal solution accuracy, substandard solution accuracy, and solution accuracy to be optimized. Specifically, the prompt corresponding to normal quality includes normal solution accuracy; the prompt corresponding to substandard quality includes substandard solution accuracy; the prompt corresponding to quality to be optimized includes solution accuracy to be optimized. The corresponding supplementary operation can be to supplement the collected data for the posture sensor.

[0085] When the operation module is a spraying device, the prompt corresponding to the operation status information includes at least one of the following: normal spraying, missed spraying. Specifically, the prompt corresponding to normal quality includes normal spraying; the prompt corresponding to abnormal quality includes missed spraying. The corresponding supplementary operation can be supplementary spraying of the spraying device.

[0086] When the operation module is a sowing device, the prompt corresponding to the operation status information includes at least one of the following: normal sowing, missing sowing. Specifically, the prompt corresponding to normal quality includes normal sowing; the prompt corresponding to abnormal quality includes missing sowing. The corresponding supplementary operation can be supplementary sowing of the sowing device.

[0087] In some embodiments, the operation status information of different types of operation modules has different characterizers. In other words, the operation quality of different types of operation modules can be prompted by different characterizers, and the characterizers corresponding to the operation status information of multiple operation modules can be superimposed on the initial operation track, so that the user can clearly understand the operation quality of different operation modules at different positions. It can be understood that this embodiment does not impose any restrictions on the specific style of the characterizer, which can be specifically set according to the actual application scenario. The characterizer can be at least one identification such as graphics, patterns, text, symbols or letters. This embodiment superimposes the characterizer corresponding to the operation status information on the initial operation track, which is conducive to improving the visibility of the operation quality and facilitating the user to intuitively obtain information from the graphics.

[0088] For example, see Figure 5 , showing a schematic diagram of different characterization symbols of different operation modules superimposed on the initial operation trajectory. Taking the operation module including an imaging device and a radar as an example, the operation quality characterization symbol of the imaging device is a circle, and the operation quality characterization symbol of the radar is a line segment overlapping with the initial operation trajectory.

[0089] For example, different levels of the operation status information of the same operation module correspond to different colors and / or textures of the same symbol, so that different prompts can be achieved. Figure 5 , the characterization symbol of the imaging device is a circle with gray filling inside, indicating that the image quality meets the standard; the characterization symbol of the substandard quality is presented as a circle with no filling inside, indicating that the image is missing; the characterization symbol of the quality to be optimized is presented as a circle with black filling inside, indicating that the image quality needs to be optimized. The characterization symbol of the radar is a gray line segment that coincides with the initial operation trajectory. The characterization symbol of normal quality is presented as a gray line segment to indicate that the data meets the standard; the characterization symbol of substandard quality is presented as a blank line segment to indicate that the data is missing; when a black or other color highlighted line segment appears on the initial operation trajectory, it indicates that the attitude sensor of this segment of the path has an abnormal operation quality phenomenon. It should be noted that the use of this application does not require that all operation modules are distinguished and represented by different characterization symbols. For example, in the above example description, the radar acquisition quality and the attitude sensor operation quality can both be prompted on the operation trajectory. When the radar acquisition is missing, the trajectory segment is missing. When the attitude sensor operation quality is abnormal, the corresponding trajectory segment is highlighted.

[0090] In some embodiments, considering that the operation status information includes quality abnormalities, the control device can also determine the position information of multiple operation modules when they are in quality abnormalities, and then generate a supplementary operation trajectory based on the position information, and the supplementary operation trajectory includes multiple position points where the operation modules are in quality abnormalities.

[0091] The control device can display the supplementary operation trajectory in the user graphical interface.

[0092] For example, see Figure 6 In order to allow the user to clearly understand the relationship between the supplementary operation track and the actual environment of the mobile platform's mobile operation, the control device can also display a second map corresponding to the supplementary operation track in the user graphical interface displaying the supplementary operation track, and the supplementary operation track is superimposed on the second map. The first map and the second map can be maps with the same display scale or maps with different display scales, and this embodiment does not limit this.

[0093] The starting point of the supplementary operation trajectory includes at least one of the following: (1) the current position of the movable platform; (2) the position of the operation module when the quality is abnormal, which is closest to the current position of the movable platform; (3) one of the two endpoints of the line connecting the various position points of the operation module when the quality is abnormal; (4) the starting point automatically planned by the movable platform. The starting point of the supplementary operation trajectory can be determined autonomously or with human participation according to the actual situation, and this embodiment does not limit this.

[0094] Exemplarily, in response to the completion of the movable platform operation, the control device may generate a supplementary operation trajectory based on the position information of the plurality of operation modules used for the operation when the quality is abnormal, and display the supplementary operation trajectory in the user graphical interface.

[0095] For example, since the operation quality of the operation module can be prompted in real time during the mobile operation of the movable platform, the user can stop the operation of the movable platform at any time according to the actual situation. Then, the control device can generate a supplementary operation track according to the position information of the plurality of operation modules used for the operation when the quality is abnormal in response to receiving the operation stop instruction.

[0096] For example, see Figure 6 The supplementary operation track is accompanied by a prompt corresponding to the abnormal quality of the operation module on the initial operation track, so that the user can clearly know the location point and the type of operation that needs to be supplemented. Figure 6 In the figure, the characterization symbols corresponding to the quality anomalies of multiple operation modules are superimposed on the supplementary operation trajectory, so that the user can clearly understand that the data that need to be supplemented for collection this time are the detection data of the image and the radar. Among them, the line segments displayed with no fill color in the supplementary operation trajectory represent the trajectory segments that need the radar to supplement the detection data, the circles filled with black represent the position points that need the imaging device to supplement the image shooting, and the black line segments represent the trajectory segments that need the posture sensor to supplement the posture data. By superimposing the characterization symbols corresponding to the operation status information on the supplementary operation trajectory, it is beneficial to improve the visibility of the operation quality and facilitate users to intuitively obtain information from the graphics.

[0097] In a first possible implementation, after generating a supplementary operation trajectory, the control device may automatically generate a supplementary operation instruction corresponding to the supplementary operation trajectory according to the supplementary operation trajectory and send it to the movable platform, so that the movable platform automatically performs the supplementary operation task according to the supplementary operation instruction. Through the automatically generated supplementary operation instruction, the movable platform can accurately perform according to the predetermined supplementary operation trajectory, thereby ensuring the accuracy and consistency of the operation task. In a second possible implementation, the control device may display the generated supplementary operation trajectory in a user graphical interface, and the user may confirm whether to allow the movable platform to perform mobile operation according to the supplementary operation trajectory according to actual needs to meet user needs. After receiving the user's confirmation information, the control device generates a supplementary operation instruction corresponding to the supplementary operation trajectory in response to the confirmation information and sends it to the movable platform, so that the movable platform automatically performs the supplementary operation task according to the supplementary operation instruction.

[0098] In a third possible implementation, in order to provide a more flexible supplementary operation mode, the user can select a track segment of the supplementary operation from the generated supplementary operation track according to actual needs, and the control device can receive the track segment of the supplementary operation selected by the user from the supplementary operation track, and generate a supplementary operation instruction corresponding to the track segment selected by the user in response to the track segment and send it to the movable platform, so that the movable platform automatically performs the supplementary operation task according to the supplementary operation instruction. In this embodiment, the user can select a specific track segment that needs to be supplemented according to actual needs, without having to perform supplementary operations on the entire supplementary operation track, which provides greater flexibility and customized options to meet specific needs under different scenarios and requirements.

[0099] Exemplarily, the quality abnormalities of the operation modules have different level information, for example, the levels of quality abnormalities at least include substandard quality and quality to be optimized, and the level of substandard quality is higher than the level of quality to be optimized. Figure 5 and Figure 6 It can be seen that different levels of quality abnormalities in the operation module may have different prompts. The user can select the operation start point and / or operation end point on the supplementary operation trajectory as needed according to the different prompts corresponding to the different levels of quality abnormalities, and then the control device receives the operation start point and / or operation end point selected by the user on the supplementary operation trajectory to form the trajectory segment, which can be used as the actual supplementary operation path of the movable platform. In other words, the user can select the corresponding trajectory segment as the actual supplementary operation path according to the different levels of quality abnormalities. For example, when the remaining operation time is short, the user can select the location point where the quality does not meet the standard as the operation start point or operation end point, providing the operation start point and / or operation end point.

[0100] For example, different types of operation modules have different level information for quality anomalies, so as to better deal with and handle abnormal situations. By setting the level information of quality anomalies of different operation modules, abnormal situations can be better handled according to operation requirements and risk assessment, and corresponding measures can be taken in time to ensure the smooth progress of the operation and the stability of quality.

[0101] For example, in surveying and mapping operations, radar is usually used to perceive the environment and obtain map data, so its quality abnormality level is higher. Radar quality abnormality may lead to missing modeling data, limited positioning, obstacle avoidance and other functions, and thus affect the accuracy and completeness of the map. When the imaging device has quality abnormalities, it may cause poor position imaging quality, and its impact is relatively small. Therefore, the quality abnormality level of the radar can be set higher than the quality abnormality level of the posture sensor.

[0102] The user can select the position point of at least one operation module with a high level on the supplementary operation trajectory according to the different levels of quality abnormalities of different types of operation modules to form a trajectory segment, and the trajectory point segment can be used as the actual supplementary operation path of the movable platform.

[0103] In a fourth possible implementation, after generating the supplementary operation trajectory, the control device may select position points with high levels to form a trajectory segment according to the different levels of quality abnormalities of multiple operation modules in the supplementary operation trajectory. For example, position points that do not meet the quality standards may be selected to form trajectory points. This eliminates the need for performing supplementary operations on the entire supplementary operation trajectory, which is beneficial to improving the efficiency of the supplementary operation.

[0104] In a fifth possible implementation, after generating the supplementary operation trajectory, the control device may select the position points of at least one operation module with a high level to form a trajectory segment according to the different levels of quality abnormalities of different types of operation modules in the supplementary operation trajectory. For example, in a surveying and mapping operation, a trajectory segment is formed only according to the position points of the quality abnormalities of the radar, and there is no need to perform supplementary operations on the entire supplementary operation trajectory, which is beneficial to improving the efficiency of the supplementary operation.

[0105] In some embodiments, the supplementary operation trajectory includes multiple position points where the operation modules are in quality abnormalities. When the movable platform reaches the position points where each operation module is in quality abnormalities during the process of performing the supplementary operation task according to the supplementary operation trajectory, the supplementary operation can be performed using the operation module corresponding to the position point where the quality abnormality occurs (that is, the operation module that was in quality abnormality at this position point during the initial operation process).

[0106] For example, the supplementary operation trajectory includes the position points where operation module A is in quality abnormality, the position points where operation module B is in quality abnormality, and the position points where operation module C is in quality abnormality. When the movable platform moves to the position point where operation module A is in quality abnormality, operation module A can be used for operation without using operation module B and operation module C, thereby realizing effective utilization of operation modules and saving resources and costs.

[0107] In another example, see Figure 6 If the movable platform performs the supplementary operation task according to the supplementary operation trajectory shown, after reaching the position indicated by the black-filled line segment, the posture sensor is used to collect posture data, and the imaging device and the radar do not need to collect data; after reaching the position points indicated by each black-filled circle, the imaging device is used to capture images, and the posture sensor and the radar do not need to collect data; after reaching the position indicated by the unfilled line segment, the radar is used to collect relevant detection data, and the posture sensor and the imaging device do not need to collect data, thereby realizing effective utilization of the operation module and saving resources and costs.

[0108] In other embodiments, the movable platform can also use multiple operation modules to synchronously perform the supplementary operation in the process of performing the supplementary operation task according to the supplementary operation trajectory, that is, the multiple operation modules are always in the operation state in the process of the movable platform performing the supplementary operation task. For example, the supplementary operation trajectory includes the position point where the A operation module is at a quality abnormality, the position point where the B operation module is at a quality abnormality, and the position point where the C operation module is at a quality abnormality. In the process of performing the supplementary operation task according to the supplementary operation trajectory, the movable platform can simultaneously start the A operation module, the B operation module, and the C operation module to synchronously perform the supplementary operation.

[0109] In some embodiments, when the operation quality is abnormal, the control device can also prompt the abnormal cause and / or improvement measures corresponding to the abnormal quality, which can help users better identify and solve problems, thereby improving operation efficiency and quality.

[0110] Prompting the cause of abnormality can help users quickly locate the specific cause of abnormal operation quality and take corresponding measures to deal with it. For example, in plant protection operations, if the control device prompts that the abnormal cause of the spraying device is a hydraulic system failure, the user can check the hydraulic system in time and repair it to ensure the stability and accuracy of spraying.

[0111] Prompting improvement measures can help users understand how to take measures to improve abnormal operation quality and prevent similar problems from happening again. For example, in surveying and mapping operations, if the control device prompts that the operation quality of the radar's detection data is abnormal, the user can improve the quality and accuracy of the radar's detection data by adjusting the radar's parameters or cleaning the radar sensor. For example, if the operation quality of the GNSS module or RTK module is abnormal, the user can be prompted to pull data from the network for post-processing and correct the original observation data. For example, if the operation quality of the imaging device is abnormal, the user can be prompted to re-calibrate the parameters and other operations.

[0112] In short, by prompting at least one of the abnormal cause and improvement measures, the control device can help users quickly resolve abnormal operation quality, reduce operation risks, improve operation efficiency and quality, and help extend the service life of the operation module.

[0113] In some embodiments, in response to the completion of the operation of the movable platform or the receipt of an operation termination instruction, the control device may generate a quality report based on the operation status information of the multiple operation modules at different positions in the initial operation trajectory, and the quality report is used to describe the summary of the operation quality of the multiple operation modules at different positions in the initial operation trajectory. For example, please refer to the quality report shown in Table 1, which describes the summary of the operation quality of the radar, posture sensor and imaging device of the movable platform at different positions in the initial operation trajectory during the surveying and mapping operation.

[0114] Table 1

[0115] Job Module Summary of work quality (quality standard / total amount) Radar operation quality qualified time 10 / 15 minutes The operation quality of the posture sensor is qualified for the duration 10 / 15 minutes Number of qualified images of the imaging device 16 / 22

[0116] See also Figure 7 The embodiment of the present application also provides another control method, which can be executed by a control device, and the method includes:

[0117] In S201, an initial operation trajectory is generated according to the path information of the movable platform moving operation.

[0118] In S202, the operation status information of at least one operation module during the moving operation of the movable platform is obtained.

[0119] In S203, the operation status information is superimposed on the initial operation trajectory to prompt the operation quality of the operation module on the initial operation trajectory; when the operation status information includes quality abnormalities, the prompt also includes the cause of the quality abnormality and / or improvement measures.

[0120] In this embodiment, the operation status information of the operation module and the initial operation trajectory are coupled, so that users can more clearly understand the operation quality of the operation module at different positions, which can help users to discover and solve problems in time, thereby improving the operation quality and efficiency; when the quality is abnormal, the causes and improvement measures of the quality abnormality are also provided, which can help users identify and solve safety hazards and ensure safety during the operation process.

[0121] In some embodiments, the method further includes: determining position information of the operation module when the operation module is in a quality abnormality; generating a supplementary operation trajectory according to the position information, wherein the supplementary operation trajectory includes a position point where the operation module is in a quality abnormality.

[0122] In some embodiments, it also includes: automatically generating supplementary job instructions based on the supplementary job trajectory, so that the movable platform automatically performs the supplementary job task according to the supplementary job instructions; or, after receiving the user's confirmation information on the supplementary job, generating supplementary job instructions, so that the movable platform performs the supplementary job task according to the supplementary job instructions; or, after receiving the trajectory segment of the supplementary job selected by the user from the supplementary job trajectory, generating supplementary job instructions, so that the movable platform performs the supplementary job task according to the supplementary job instructions.

[0123] In some embodiments, the supplementary operation trajectory is accompanied by a prompt corresponding to the abnormal quality of the operation module on the initial operation trajectory.

[0124] In some embodiments, the quality abnormalities of the operation module have different levels, and the method further includes: receiving an operation start point and / or an operation end point selected by a user on the supplementary operation trajectory to form the trajectory segment, wherein the user selects the corresponding trajectory segment as the actual supplementary operation path according to the different levels of quality abnormalities.

[0125] In some embodiments, quality anomalies of different types of operation modules have different level information; and / or different types of quality anomalies of the same type of operation module have different level information.

[0126] In some embodiments, when the movable platform reaches a position point where each operation module has a quality abnormality during the process of performing a supplementary operation task, the movable platform uses the operation module corresponding to the position point where the quality abnormality occurs to perform the supplementary operation; or, when the movable platform performs a supplementary operation task, the movable platform uses multiple operation modules to perform the supplementary operation synchronously.

[0127] In some embodiments, the job status information includes at least normal quality and abnormal quality, and the abnormal quality includes at least substandard quality and / or quality to be optimized; the normal quality indicates that the job quality meets the first quality condition, the substandard quality indicates that the job quality does not meet the second quality condition, and the quality to be optimized indicates that the job quality is between the normal quality and the substandard quality.

[0128] In some embodiments, the job status information of different types of job modules has different identifiers, and different levels of job status information of the same type of job module has different prompts.

[0129] In some embodiments, it also includes: in response to the movable platform completing an operation or receiving an operation termination instruction, generating a supplementary operation trajectory according to the position information of the operation module used for the operation when the quality is abnormal.

[0130] In some embodiments, the starting point of the supplementary operation trajectory includes at least one of the following: the current position point of the movable platform; the position point closest to the current position point of the movable platform among the position points when the operation module is in a quality abnormality; one of the two endpoints of the line connecting the various position points when the operation module is in a quality abnormality; the starting point of automatic planning of the movable platform.

[0131] In some embodiments, the user graphical interface displaying the initial operation trajectory also displays a first map corresponding to the initial operation trajectory, and the initial operation trajectory is superimposed and displayed on the first map.

[0132] In some embodiments, the user graphical interface displaying the supplementary operation trajectory also displays a second map corresponding to the supplementary operation trajectory, and the supplementary operation trajectory is superimposed and displayed on the second map.

[0133] In some embodiments, the operation status information of the operation module at different position points in the initial operation trajectory is determined and output by the operation module based on the operation status of the operation module at the corresponding position points; or, the operation status information of the operation module at different position points in the initial operation trajectory is determined by the movable platform or a remote control terminal communicated with the movable platform based on the operation status of the operation module at the corresponding position points.

[0134] In some embodiments, the plurality of operation modules are multiple types of operation modules; and / or, the operation module includes at least one of a posture sensor, an imaging device, a radar, a spraying device, and a spreading device.

[0135] In some embodiments, when the operation module is a radar, the prompt corresponding to the operation status information includes at least one of the following: normal collection, missed collection; when the operation module is an imaging device, the prompt corresponding to the operation status information includes at least one of the following: normal shooting, missed shooting, shooting quality to be optimized; when the operation module is a posture sensor, the prompt corresponding to the operation status information includes at least one of the following: normal solution accuracy, substandard solution accuracy, and solution accuracy to be optimized; when the operation module is a spraying device, the prompt corresponding to the operation status information includes at least one of the following: normal spraying, missed spraying; when the operation module is a sowing device, the prompt corresponding to the operation status information includes at least one of the following: normal sowing, missed sowing.

[0136] In some embodiments, during the moving operation of the movable platform, the initial operation trajectory is generated in real time, and the operation quality of the operation module is prompted in real time.

[0137] In some embodiments, the operation includes at least one of aerial photography operation, inspection operation, rescue operation, logistics and transportation operation, measurement operation, mapping operation, spraying operation and spreading operation.

[0138] The various technical features in the above embodiments can be arbitrarily combined as long as there is no conflict or contradiction between the combinations of features. However, due to space limitations, they are not described one by one. Therefore, any combination of the various technical features in the above embodiments also falls within the scope of this specification.

[0139] Accordingly, see Figure 8 The present application embodiment further provides a control device 30, including:

[0140] One or more processors 31;

[0141] A memory 32 for storing instructions executable by the processor 31;

[0142] The one or more processors 31 execute the executable instructions individually or collectively to perform any one of the control methods described above.

[0143] The processor 31 executes the executable instructions included in the memory 32. The processor 31 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0144] The memory 32 stores executable instructions of the control method, and the memory 32 may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. Moreover, the device may cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory 32 may be an internal storage unit of the control device 30, such as a hard disk or memory of the control device 30. The memory 32 may also be an external storage device of the control device 30, such as a plug-in hard disk equipped on the control device 30, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 32 may also include both an internal storage unit of the control device 30 and an external storage device. The memory 32 is used to store executable instructions and other programs and data required by the control device 30. The memory 32 may also be used to temporarily store data that has been output or is to be output.

[0145] Various embodiments described herein can be implemented using computer readable media such as computer software, hardware or any combination thereof. For hardware implementation, the embodiments described herein can be implemented using at least one of application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and electronic units designed to perform the functions described herein. For software implementation, embodiments such as processes or functions can be implemented with separate software modules that allow execution of at least one function or operation. Software code can be implemented by a software application (or program) written in any appropriate programming language, and the software code can be stored in a memory and executed by a controller.

[0146] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0147] Correspondingly, an embodiment of the present application further provides a remote control terminal, comprising the above-mentioned control device.

[0148] Accordingly, see Figure 1 The embodiment of the present application also provides a mobile system, including the above-mentioned remote control terminal and the above-mentioned movable platform, which are communicatively connected.

[0149] Correspondingly, an embodiment of the present application also provides a movable platform, comprising the above-mentioned control device.

[0150] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions, and the above instructions can be executed by a processor of the device to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0151] A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a terminal, enables the terminal to execute the above method.

[0152] It should be noted that the terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0153] It should be understood that, although the term first, second, third, etc. may be adopted in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of ... " or "when ... " or "in response to determination". The term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only include those elements, but also include other elements not clearly listed, or also include elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "include one ..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0154] Although this specification includes many specific implementation details, these should not be interpreted as limiting the scope of any invention or the scope of protection claimed, but are mainly used to describe the features of the specific embodiments of specific inventions. Certain features described in multiple embodiments in this specification may also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although features may work in certain combinations as described above and even initially claim protection, one or more features from the claimed combination may be removed from the combination in some cases, and the claimed combination may point to a sub-combination or a variation of a sub-combination.

[0155] Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that these operations be performed in the particular order shown or performed sequentially, or requiring that all illustrated operations be performed to achieve the desired results. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product, or packaged into multiple software products.

[0156] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In some implementations, multitasking and parallel processing may be advantageous.

[0157] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A control method, characterized in that: include: Generate an initial operation trajectory according to the path information of the movable platform moving operation; Acquiring operation status information of multiple operation modules during the mobile operation of the movable platform; The operation status information of the multiple operation modules is superimposed on the initial operation track to prompt the operation quality of the multiple operation modules on the initial operation track.

2. The method according to claim 1, characterized in that The operation status information includes quality abnormality, and the method further includes: Determining position information of a plurality of the operation modules when they are in quality abnormality; A supplementary operation trajectory is generated according to the position information, and the supplementary operation trajectory includes a plurality of position points where the operation modules are in abnormal quality.

3. The method according to claim 2, characterized in that Also includes: Automatically generate a supplementary operation instruction according to the supplementary operation trajectory, so that the movable platform automatically performs the supplementary operation task according to the supplementary operation instruction; or, After receiving confirmation information of the user's supplementary operation, a supplementary operation instruction is generated, so that the mobile platform performs the supplementary operation task according to the supplementary operation instruction; or, After receiving the track segment of the supplementary operation selected by the user from the supplementary operation track, a supplementary operation instruction is generated, so that the movable platform performs the supplementary operation task according to the supplementary operation instruction.

4. The method according to claim 3, characterized in that The supplementary operation track is accompanied by a prompt corresponding to the abnormal quality of the operation module on the initial operation track.

5. The method according to claim 4, characterized in that The quality anomalies of the operation modules have different levels, and the method further comprises: An operation start point and / or an operation end point selected by a user on the supplementary operation trajectory is received to form the trajectory segment, wherein the user selects the corresponding trajectory segment as an actual supplementary operation path according to different levels of quality anomaly.

6. The method according to claim 5, characterized in that Different types of operation modules have different level information for quality anomalies; and / or Different types of quality anomalies of the same operation module have different level information.

7. The method according to any one of claims 1 to 6, characterized in that The operation status information at least includes normal quality and abnormal quality, and the abnormal quality at least includes substandard quality and / or quality to be optimized; The normal quality indicates that the operation quality meets the first quality condition, the substandard quality indicates that the operation quality does not meet the second quality condition, and the quality to be optimized indicates that the operation quality is between the normal quality and the substandard quality.

8. The method according to any one of claims 1 to 6, characterized in that The job status information of different types of job modules has different identifiers, and different levels of job status information of the same type of job module have different prompts.

9. The method according to any one of claims 1 to 6, characterized in that Also includes: In response to the movable platform completing an operation or receiving an operation termination instruction, a supplementary operation trajectory is generated according to position information of a plurality of operation modules used for the operation when the quality is abnormal.

10. The method according to claim 2, characterized in that The starting point of the supplementary operation trajectory includes at least one of the following: The current position point of the movable platform; Among the positions of the operation module when the quality is abnormal, the position point closest to the current position point of the movable platform; One of the two endpoints of the line connecting each position point when the operation module is in a quality abnormality; The starting point of the automatic planning of the movable platform; and / or, When the movable platform reaches a position where each operation module has a quality abnormality during the process of performing the supplementary operation task, the movable platform performs the supplementary operation using the operation module corresponding to the position where the quality abnormality occurs; and / or When the movable platform is executing the supplementary operation task, multiple operation modules are used to synchronously perform the supplementary operation.

11. The method according to claim 1, characterized in that: The operation status information includes quality abnormality, and the method further includes: Provide prompts for abnormal causes and / or improvement measures corresponding to quality abnormalities.

12. The method according to any one of claims 1 to 6, characterized in that The user graphical interface displaying the initial operation track also displays a first map corresponding to the initial operation track, and the initial operation track is superimposed and displayed on the first map.

13. The method according to any one of claims 1 to 6, characterized in that The user graphical interface displaying the supplementary operation track also displays a second map corresponding to the supplementary operation track, and the supplementary operation track is superimposed and displayed on the second map.

14. The method according to any one of claims 1 to 6, characterized in that The operation status information of the operation module at different positions in the initial operation trajectory is determined and output by the operation module based on the operation status of the operation module at the corresponding position; or, The operation status information of the operation module at different positions in the initial operation trajectory is determined by the movable platform or a remote control terminal in communication with the movable platform based on the operation status of the operation module at the corresponding position.

15. The method according to any one of claims 1 to 6, characterized in that: The multiple operation modules are multiple types of operation modules; and / or, The operation module includes at least one of a posture sensor, an imaging device, a radar, a spraying device and a spreading device.

16. The method according to claim 15, characterized in that When the operation module is a radar, the prompt corresponding to the operation status information includes at least one of the following: normal collection, missed collection; When the operation module is an imaging device, the prompt corresponding to the operation status information includes at least one of the following: normal shooting, missed shooting, and shooting quality to be optimized; When the operation module is a posture sensor, the prompt corresponding to the operation status information includes at least one of the following: the solution accuracy is normal, the solution accuracy does not meet the standard, and the solution accuracy needs to be optimized; When the operation module is a spraying device, the prompt corresponding to the operation status information includes at least one of the following: normal spraying, missed spraying; When the operation module is a spreading device, the prompt corresponding to the operation status information includes at least one of the following: normal spreading, missed spreading.

17. The method according to any one of claims 1 to 6, characterized in that: During the moving operation of the movable platform, the initial operation trajectory is generated in real time, and the operation quality of the operation module is prompted in real time.

18. The method according to any one of claims 1 to 6, characterized in that: The operation includes at least one of aerial photography operation, inspection operation, rescue operation, logistics and transportation operation, measurement operation, mapping operation, spraying operation and spreading operation.

19. A control method, characterized in that: include: Generate an initial operation trajectory according to the path information of the movable platform moving operation; Acquiring operation status information of at least one operation module during the moving operation of the movable platform; The operation status information is superimposed on the initial operation trajectory to prompt the operation quality of the operation module on the initial operation trajectory; when the operation status information includes quality abnormalities, the prompt also includes the cause of the quality abnormality and / or improvement measures.

20. A control device, characterized in that: include: one or more processors; a memory for storing instructions executable by the processor; Wherein, when the one or more processors execute the executable instructions, they are individually or collectively configured to perform the method of any one of claims 1 to 19.

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