Information processing method, information processing device, aircraft system and storage medium

Abstract

An information processing method, comprising: generating a first identifier, the first identifier being used for identifying height distribution of object points in a vertical plane corresponding to a course of an aircraft in a surrounding environment of the aircraft (S101); generating a second identifier, wherein the second identifier is used for identifying the height position of the aircraft in the environment (S102); and simultaneously displaying the first identifier and the second identifier on the user interface (S103). According to the invention, the display of safe flight and reliable operation information of the aircraft can be constructed. An information processing apparatus, an aircraft system, and a storage medium are also provided.

Description

Information processing method, information processing device, aircraft system and storage medium Technical Field

[0001] The present application relates to the field of aircraft, and in particular to an information processing method, information processing equipment, aircraft system and storage medium. Background Art

[0002] With the development of science and technology, aircraft are increasingly used for low-altitude operations. The low-altitude airspace environment is often more complex, with varied terrain and many obstacles.

[0003] During low-altitude operations of aircraft, users lack good observation of the environment in front of the aircraft, and lack observation of information such as terrain undulations and obstacles. As a result, they lack effective perception of whether the aircraft's own motion information can adapt to environmental information to ensure flight safety. Flight accidents occur frequently, which reduces users' confidence in the operation of flight equipment.

[0004] Summary of the Invention

[0005] Based on this, the embodiments of the present application provide an aircraft information processing method, information processing equipment, aircraft system and storage medium, aiming to solve the technical problem of how to construct a display of aircraft safe flight and reliable operation information.

[0006] In a first aspect, an embodiment of the present application provides an information processing method, the method comprising:

[0007] generating a first identifier for identifying a height distribution of object points in a surrounding environment of an aircraft in a vertical plane corresponding to a heading of the aircraft;

[0008] generating a second identifier, the second identifier being used to identify the altitude position of the aircraft in the environment;

[0009] The first identifier and the second identifier are displayed simultaneously on the user interface.

[0010] In a second aspect, an embodiment of the present application provides an aircraft information processing method, the method comprising:

[0011] Obtaining positions of object points in the surrounding environment of the aircraft in a vertical plane corresponding to the heading of the aircraft;

[0012] Projecting the object point position onto the plane formed by the heading and vertical directions of the aircraft to generate an environmental object point display mark in the surrounding environment;

[0013] Obtaining motion vector information of the aircraft, wherein the motion vector information includes one or more information of the trajectory, speed, or acceleration of the aircraft;

[0014] Projecting the motion vector information onto a plane to generate a motion status display mark of the aircraft;

[0015] The environmental object point display logo and the motion state display logo are displayed simultaneously on the user interface.

[0016] In a third aspect, an embodiment of the present application provides an information processing method for an aircraft, wherein the aircraft is equipped with a camera, and the method includes:

[0017] Obtaining a planned route, where the planned route includes a first route and a second route planned within the waiting operation area, where the first route intersects the second route;

[0018] During the movement along the route, the camera is controlled at different positions to obtain images of surface objects at different pitch angles.

[0019] In a fourth aspect, an embodiment of the present application provides an information processing device, the information processing device including one or more processors, working individually or collectively to perform the following steps:

[0020] generating a first identifier for identifying a height distribution of object points in a surrounding environment of an aircraft in a vertical plane corresponding to a heading of the aircraft;

[0021] generating a second identifier, the second identifier being used to identify the altitude position of the aircraft in the environment;

[0022] The first identifier and the second identifier are displayed simultaneously on the user interface.

[0023] In a fifth aspect, embodiments of the present application provide an information processing device for an aircraft, the information processing device including one or more processors that work individually or collectively to perform the following steps:

[0024] Obtaining positions of object points in the surrounding environment of the aircraft in a vertical plane corresponding to the heading of the aircraft;

[0025] Projecting the object point position onto the plane formed by the heading and vertical directions of the aircraft to generate an environmental object point display mark in the surrounding environment;

[0026] Obtaining motion vector information of the aircraft, wherein the motion vector information includes one or more information of the trajectory, speed, or acceleration of the aircraft;

[0027] Projecting the motion vector information onto a plane to generate a motion status display mark of the aircraft;

[0028] The environmental object point display logo and the motion state display logo are displayed simultaneously on the user interface.

[0029] In a sixth aspect, embodiments of the present application provide an information processing device for an aircraft, wherein the aircraft is equipped with a camera. The information processing device includes one or more processors that work individually or collectively to perform the following steps:

[0030] Obtaining a planned route, where the planned route includes a first route and a second route planned within the waiting operation area, where the first route intersects the second route;

[0031] During the movement along the route, the camera is controlled at different positions to obtain images of surface objects at different pitch angles.

[0032] In a seventh aspect, an embodiment of the present application provides an aircraft system, which includes the information processing device of any embodiment of the present application specification.

[0033] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the information processing method of any embodiment of the present application specification are implemented.

[0034] Embodiments of the present application provide an information processing method, information processing device, aircraft system, and storage medium, wherein a first identifier is generated to identify the height distribution of object points in the aircraft's surrounding environment in a vertical plane corresponding to the aircraft's heading, a second identifier is generated to identify the aircraft's height position in the environment, and the first and second identifiers are simultaneously displayed on a user interface. This creates an intuitive display of information about safe flight and reliable operation of the aircraft, facilitating real-time user viewing and analysis, significantly improving the user experience and aircraft operational effectiveness.

[0035] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and do not limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. 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 any creative work.

[0037] FIG1 is a schematic structural diagram of an aircraft provided in an embodiment of the present application;

[0038] FIG2 is a flowchart of the steps of an information processing method provided in an embodiment of the present application;

[0039] FIG3 is a schematic diagram of a user interface provided by the information processing method according to an embodiment of the present application;

[0040] FIG4 is a schematic diagram of another user interface provided by the information processing method according to an embodiment of the present application;

[0041] FIG5 is a flowchart of a method for processing aircraft information according to an embodiment of the present application;

[0042] FIG6 is a schematic diagram of a user interface provided by an aircraft information processing method according to an embodiment of the present application;

[0043] FIG7 is a schematic diagram of another user interface provided by an aircraft information processing method according to an embodiment of the present application;

[0044] FIG8 is a schematic diagram of a user interface provided by the information processing method according to an embodiment of the present application;

[0045] FIG9 is a flowchart of another method for processing aircraft information provided by an embodiment of the present application;

[0046] FIG10 is a schematic diagram of a planned route provided in an embodiment of the present application;

[0047] FIG11A is a schematic diagram of a photographing device operating in a first route segment according to an embodiment of the present application;

[0048] FIG11B is a schematic diagram of a photographing device provided by an embodiment of the present application operating in a second route segment;

[0049] FIG12 is a schematic block diagram of the structure of a control device provided in an embodiment of the present application.

[0050] Reference numerals

[0051] Aircraft 100, fuselage 110, power system 120, camera 130, gimbal 140, sensor 150, waiting area 201, first route 202, second route 203, acceleration route segment 301, braking route segment 302, forward shooting route segment 303, forward center shooting route segment 304, forward center rear shooting route segment 305, center rear shooting route segment 306, rear shooting route segment 307, information processing device 400, processor 401, memory 402, bus 403, first marker 11, second marker 12, third marker 13, fourth marker 14, fifth marker 15, user-desired ground height marker 16, environmental object point display marker 21, position display marker 22, motion status display marker 23, ground height display marker 24, obstacle height display marker 25 DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0053] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0055] In addition, the directional terms such as up, down, front, and back that appear in this embodiment are based on the normal operating posture of the aircraft 100 and should not be considered as restrictive.

[0056] Drones have a wide range of uses, with promising applications in aerial photography, police operations, agriculture, surveying and mapping, and inspections. For example, in surveying and mapping scenarios, drones can use imaging devices to create high-precision models of the operating area. Currently, during drone operations, users cannot effectively observe the environment in front of and below the drone, such as terrain undulations and obstacle information. Furthermore, users cannot intuitively determine whether the drone's motion information is adapting to the environment to ensure flight safety. This results in a poor user experience and suboptimal operational results.

[0057] To solve the above technical problems, the embodiments of the present application provide an aircraft information processing method, information processing equipment, aircraft system and storage medium, aiming to solve the technical problem of constructing a display of aircraft safe flight and reliable operation information.

[0058] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0059] It should be noted that the information processing method provided in the embodiment of the present application is applied to an aircraft system. The aircraft may include a rotor-type drone, such as a quad-rotor drone, a six-rotor drone, an octo-rotor drone, or a fixed-wing drone, or a combination of rotor-type and fixed-wing drones. The embodiment of the present application does not make specific limitations on this.

[0060] Please refer to Figure 1, which is a schematic diagram of the structure of an aircraft 100 provided in an embodiment of the present application. The aircraft 100 includes a fuselage 110, a power system 120, a camera 130, and a control device (not shown in Figure 1). The fuselage 110 may include a nose. In some embodiments, the aircraft 100 further includes an arm, wherein the arm is connected to the fuselage 110 and is used to install the power system 120. In some embodiments, the power system 120 can be directly installed on the fuselage 110.

[0061] The power system 120 is used to provide flight power for the aircraft 100. The power system 120 may include a motor and a propeller mounted on the motor and driven by the motor. The power system 120 can drive the fuselage 110 of the aircraft 100 to rotate around one or more rotation axes. For example, the rotation axes may include a roll axis, a yaw axis, and a pitch axis. Exemplarily, when the power system 120 drives the fuselage 110 to rotate around the pitch axis, the pitch orientation of the nose of the fuselage 110 will change, that is, the pitch rotation of the fuselage 110 can be controlled by controlling the power system 120. It should be understood that the motor can be a DC motor or an AC motor. In addition, the motor can be a brushless motor or a brushed motor.

[0062] The camera 130 is mounted directly on the body 110 or via the gimbal 140 to capture images, which may be pictures and / or videos. The camera 130 may include one or more cameras, which may be wide-angle cameras, telephoto cameras, or thermal imaging cameras.

[0063] The aircraft 100 may include a gimbal 140, and the camera 130 is mounted on the gimbal 140, which is connected to the fuselage 110. In some embodiments, the gimbal 140 can control the rotation of the camera 130 to adjust the orientation of the camera 130. For example, the orientation may include yaw orientation, pitch orientation, and roll orientation. Specifically, the gimbal 140 may include one or more motors, which are used to control the rotation of the camera 130. The gimbal 140 can provide a stable platform for the camera 130, so that the camera 130 can also capture stable images when the aircraft 100 is flying at high speed. In some embodiments, when the aircraft 100 is in operation, the gimbal 140 can control the pitch orientation of the camera 130 to prevent rotation in other directions from blocking the camera image of the camera 130 by the aircraft 100.

[0064] In an optional embodiment, an information processing method includes: generating a first identifier, the first identifier is used to identify the height distribution of object points in the surrounding environment of the aircraft 100; generating a second identifier, the second identifier is used to identify the height position of the aircraft 100 in the environment; and displaying the first identifier and the second identifier simultaneously on the user interface.

[0065] Alternatively, the distribution of object points on the vertical plane corresponding to the heading of the aircraft 100 can be obtained. Alternatively, the heading of the aircraft 100 and the object points within a certain width around it can be projected onto the vertical plane corresponding to the heading, thereby obtaining a fitted distribution of object points. The heading can be the speed direction of the aircraft 100 or the direction of the nose of the aircraft 100.

[0066] Please refer to FIG. 2 , which is a flowchart of the steps of an information processing method provided in an embodiment of the present application. The information processing method is applied to the aforementioned aircraft 100 , and the information processing method includes steps S101 to S103 .

[0067] Step S101 : Generate a first identifier 11 , which is used to identify the height distribution of object points in the environment surrounding the aircraft 100 in a vertical plane corresponding to the heading of the aircraft.

[0068] Optionally, the object point includes a surface point in the ground area below the aircraft 100; the first identifier 11 includes a surface envelope display identifier formed by the height distribution of the surface points.

[0069] The heading may be the speed direction of the aircraft 100 or the direction of the nose of the aircraft 100. Alternatively, the ground area below the aircraft 100 may be the ground area perpendicular to the flight speed direction of the aircraft 100 or the ground area perpendicular to the position of the aircraft 100.

[0070] Step S102: Generate a second identifier 12, where the second identifier 12 is used to identify the altitude position of the aircraft 100 in the environment.

[0071] Step S103: Display the first identifier 11 and the second identifier 12 simultaneously on the user interface.

[0072] Please refer to Figure 3, which is a schematic diagram of a user interface provided by the information processing method according to an embodiment of the present application. For example, the first indicator 11 may be an envelope curve, which can effectively fit the surface undulations of the ground below the aircraft 100's operating route, facilitating user analysis. For example, the second indicator 12 may be an arrow, the front tip of which represents the direction of the aircraft 100's nose.

[0073] By simultaneously displaying the first mark 11 and the second mark 12 on the display plane, the relative height distribution of object points in the vertical plane corresponding to the heading of the aircraft in the surrounding environment of the aircraft 100 and the position height of the aircraft 100 in the environment can be intuitively represented, reflecting whether the vertical height of the aircraft 100 matches the terrain undulations of the ground, and constructing an intuitive display of the safe flight and reliable operation information of the aircraft 100, which is convenient for users to view and analyze in real time, greatly improving the user experience and the operation effect of the aircraft 100.

[0074] In some embodiments, please refer to FIG4, which is another user interface diagram provided by the information processing method of the embodiment of the present application. The method further includes:

[0075] Generate a third identifier 13, the third identifier 13 is used to identify the motion state information of the aircraft 100;

[0076] The second identifier 12 and the third identifier 13 are associated and displayed on the user interface.

[0077] Optionally, the motion state information includes one or more information of the trajectory, speed, or acceleration of the aircraft 100 .

[0078] Optionally, the third identifier 13 includes one or more of the following display identifiers: a display identifier for representing one or more historical altitude positions, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.

[0079] Optionally, one or more historical altitude positions of the aircraft 100 are displayed in association with the left side of the second identifier 12. Optionally, a trajectory line representing the historical flight trajectory of the aircraft 100 is displayed in association with the left side of the second identifier 12. Optionally, a speed state display identifier representing a speed vector, or an acceleration state display identifier representing an acceleration vector is displayed in association with the right side of the second identifier 12. The orientation of the display identifier can represent the speed or acceleration direction of the aircraft 100, and the pixel size occupied by the display identifier can represent the speed or acceleration of the aircraft 100. The embodiment of the present application can not only record the historical trajectory of the aircraft 100, but also reflect the speed changes of the aircraft 100 in vertical height and the future trajectory of the aircraft 100, so that the flight status information of the aircraft 100 can be more intuitively displayed to the user.

[0080] In some embodiments, referring to FIG4 , the method further includes: generating a fourth identifier 14 , the fourth identifier 14 being used to identify a relative height, which is the height between the aircraft 100 and an object point below the aircraft 100 ; and displaying the first identifier, the second identifier, and the fourth identifier simultaneously on the user interface.

[0081] Illustratively, the fourth marker 14 may be a vertical line between the aircraft 100 and a ground point below the aircraft 100 , so that the height of the aircraft 100 above the ground can be more intuitively displayed to the user.

[0082] Optionally, the method further includes generating a fifth identifier 15, where the fifth identifier 15 is used to identify the height distribution of obstacles in the ground area below the aircraft 100; and simultaneously displaying the first identifier 11, the second identifier 12 and the fifth identifier 15 on the user interface.

[0083] Optionally, the method further includes displaying any kind of identification on a plane formed by the heading and altitude directions of the aircraft 100 .

[0084] Optionally, the height distribution of object points in the environment surrounding the aircraft 100 in the vertical plane corresponding to the heading of the aircraft is collected and acquired by the aircraft's sensor 150 during the flight of the aircraft 100 .

[0085] Optionally, the method further includes generating a user-desired altitude indicator 16, the user-desired altitude indicator 16 being used to identify the user-desired altitude between the aircraft 100 and an object point below the aircraft 100; and simultaneously displaying the first indicator 11, the second indicator 12, and the user-desired altitude indicator 16 on the user interface. Optionally, the object point below the aircraft 100 may be an object point vertically relative to the position of the aircraft 100 or an object point vertically relative to the flight speed of the aircraft 100.

[0086] Optionally, the method further includes: adjusting the flight altitude of the aircraft 100 when flying over the ground area according to the altitude distribution of the ground points, so that the aircraft maintains a preset altitude above the ground.

[0087] In some embodiments, a first identifier 11 is optionally generated, the first identifier 11 being used to identify the height distribution of object points in the environment surrounding the aircraft 100 in a vertical plane corresponding to the aircraft's heading. Optionally, during flight of the aircraft 100, sensors of the aircraft 100 acquire the height distribution of object points in the environment surrounding the aircraft 100. Optionally, the object points include surface points in the ground area below the aircraft. Optionally, the first identifier 11 includes a surface envelope identifier formed by the height distribution of the surface points. Optionally, the flight altitude of the aircraft 100 when flying over the ground area is adjusted based on the height distribution of the surface points so that the aircraft maintains a preset altitude above the ground. Optionally, a second identifier 12 is generated, the second identifier 12 being used to identify the altitude position of the aircraft 100 in the environment. Optionally, a third identifier 13 is generated, the third identifier 13 being used to identify the aircraft's motion state information. Optionally, the motion state information includes one or more of the aircraft's trajectory, velocity, or acceleration. Optionally, the third identifier 13 includes one or more of the following display identifiers: a display identifier for representing one or more historical altitude positions, a display identifier for representing a velocity state of a velocity vector, or a display identifier for representing an acceleration state of an acceleration vector. Optionally, a fourth identifier 14 is generated, and the fourth identifier 14 is used to identify a relative altitude, which is the altitude between the aircraft and an object point below the aircraft. Optionally, a fifth display identifier 15 is obtained, and the fifth identifier 15 is used to identify the altitude distribution of obstacles in the ground area below the aircraft 100. Optionally, a user-desired altitude-to-ground identifier 16 is obtained, and the user-desired altitude-to-ground identifier 16 is used to identify the user-desired altitude between the aircraft 100 and an object point below the aircraft 100. Optionally, one or more of the first identifier 11, the second identifier 12, the third identifier 13, the fourth identifier 14, the fifth identifier 15, and the user-desired altitude-to-ground identifier 16 are simultaneously displayed on the user interface.

[0088] Please refer to FIG. 5 , which is a flowchart of the steps of an aircraft information processing method provided in an embodiment of the present application. The information processing method is applied to the aforementioned aircraft 100 , and the display information processing method includes steps S201 to S205 .

[0089] Step S201: Obtain the position of an object point in the surrounding environment of the aircraft 100 in a vertical plane corresponding to the heading of the aircraft.

[0090] The heading can be the speed direction of the aircraft or the direction of the aircraft's nose.

[0091] Step S202: Project the object point position onto a plane formed by the heading and vertical directions of the aircraft to generate an environmental object point display mark in the surrounding environment.

[0092] In some embodiments, please refer to FIG6 , which is a schematic diagram of a user interface provided by an aircraft information processing method according to an embodiment of the present application.

[0093] Optionally, the object point includes a surface point of the ground area below the aircraft 100; the environmental object point display mark 21 includes: a surface envelope display mark of the ground area generated by projecting the surface point onto a plane.

[0094] Specifically, the ground area may include the ground area below the front of the aircraft 100, and may also include the ground area below the location of the aircraft 100. In some embodiments, the ground area includes the ground area corresponding to the route that the aircraft 100 has not passed.

[0095] In some embodiments, the position information of the surface object point may include the height value of the surface object point relative to the altitude / geoid. In some embodiments, the position information of the surface object point may also include the height value of the surface object point relative to the waypoint of the aircraft 100.

[0096] Furthermore, obtaining the position of the ground surface point of the ground area below the aircraft 100 may include: during the flight of the aircraft 100 , controlling the sensor 150 of the aircraft 100 to collect the position of the ground surface point of the ground area below the aircraft in front of the aircraft.

[0097] In some embodiments, the sensor 150 is disposed on the fuselage 110 of the aircraft 100 . The sensor 150 includes sensors 150 facing downward and / or forward of the fuselage 110 of the aircraft 100 .

[0098] The field of view (FOV) of sensor 150 can cover the front lower side of fuselage 110. In some embodiments, sensor 150 can be a monocular vision sensor 150 or a binocular vision sensor 150. The vision sensor 150 uses image ranging to sense the location of ground points below aircraft 100. In some embodiments, sensor 150 can also be an infrared sensor 150, which can determine the distance to obstacles and provide reference information about the height of aircraft 100 above the ground.

[0099] This surface envelope display can better fit the surface undulations of the ground below the aircraft 100's operating route, making it easier for users to view and analyze. In some embodiments, this surface envelope display can be created as a map for users to view, allowing them to query the surface terrain height information ahead of the route in advance when the aircraft 100 is executing the operating route.

[0100] Step S203 : Acquire motion vector information of the aircraft 100 , wherein the motion vector information includes one or more information of the trajectory, speed, or acceleration of the aircraft 100 .

[0101] Step S204: Project the motion vector information onto a plane to generate a motion status display mark 23 of the aircraft.

[0102] In some embodiments, the motion state display identifier 23 includes one or more of the following display identifiers: a trajectory line display identifier for representing a continuous trajectory, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.

[0103] Referring to FIG. 6 , a trajectory line representing the historical flight trajectory of aircraft 100 may optionally be displayed in a plane. Alternatively, a velocity state display mark representing a velocity vector, or an acceleration state display mark representing an acceleration vector, may be displayed in a plane. The orientation of the velocity state display mark or the acceleration state display mark may represent the velocity direction or acceleration direction of aircraft 100, and the pixel size occupied by the velocity state display mark or the acceleration state display mark may represent the velocity or acceleration of aircraft 100.

[0104] The motion status display mark 23 of the aircraft 100 generated according to the motion vector information provided in the embodiment of the present application can not only record the historical trajectory of the aircraft 100, but also reflect the speed change of the aircraft 100 in the vertical height and the future trajectory of the aircraft, so that the flight status information of the aircraft 100 can be displayed to the user more intuitively.

[0105] Step S205: Display the environmental object point display mark 21 and the motion state display mark 23 simultaneously on the user interface.

[0106] Please refer to Figure 6. The logo displayed through the user interface can intuitively reflect whether the vertical height change of the aircraft 100 matches the terrain undulations of the ground, and whether the future trajectory of the aircraft can successfully cross obstacles. An intuitive display of safe flight and reliable operation information in the flight direction of the aircraft 100 is constructed in the user interface, which is convenient for users to view and analyze in real time, greatly improving the user experience and the operation effect of the aircraft 100.

[0107] In some embodiments, please refer to FIG7 , which is another user interface diagram provided by an aircraft information processing method according to an embodiment of the present application. The method further includes: obtaining the current position of the aircraft 100;

[0108] Project the current position onto the plane to generate a position display logo;

[0109] Based on the projection position relationship between the current position of the aircraft, the object point position and the motion vector on the plane, the position display mark 22, the environment object point display mark 21 and the motion state display mark 23 are displayed simultaneously on the user interface.

[0110] For example, the position display mark 22 may be an arrow, where the front tip of the arrow represents the direction of the nose of the aircraft 100 .

[0111] Optionally, the method further includes generating a ground altitude display indicator 24 for indicating the altitude of the aircraft 100 relative to a vertical environmental point corresponding to the heading of the aircraft 100; and simultaneously displaying the environmental point display indicator 21, the position display indicator 22, and the ground altitude display indicator 24 on the user interface. For example, a perpendicular line between the aircraft 100 and the vertical ground point corresponding to the heading of the aircraft 100 may be displayed, so that the ground altitude of the aircraft 100 can be more intuitively displayed to the user.

[0112] Optionally, the method also includes obtaining an obstacle height display mark 25, which is used to characterize the height distribution of obstacles in the ground area below the aircraft 100; displaying the environmental object point display mark 21, the position display mark 22, the motion state display mark 23 and the obstacle height display mark 25 on the user interface at the same time can provide an information reference on whether the future flight trajectory of the aircraft 100 can bypass the obstacles ahead.

[0113] Please refer to Figure 8, which is a schematic diagram of a user interface provided by the information processing method of an embodiment of the present application. In the user interface, the center of the main screen displays the image captured by the camera 130. The status information of the aircraft 100 and / or the parameter information of the camera 130 can be displayed above the main screen. The mode of the camera 130 and / or the gimbal 140, the user's target point setting, and other information can be displayed on the left side of the main screen. The setting information of the camera 130 can be displayed on the right side of the main screen. The navigation information module displayed below the main screen mainly includes information such as the speed, altitude, direction, and return point of the aircraft 100.

[0114] For example, as shown in the lower right corner of Figure 8 , the user interface diagram can be simultaneously presented on the interface of Figure 8 . This user interface display can intuitively reflect whether the vertical altitude changes of aircraft 100 match the terrain undulations of the ground, and whether the future flight trajectory of aircraft 100 can bypass obstacles ahead. This user interface provides an intuitive display of safe flight and reliable operation information in the flight direction of aircraft 100, facilitating real-time viewing and analysis by users, greatly improving the user experience and the operational effectiveness of aircraft 100.

[0115] Furthermore, the method may further include: adjusting the flight altitude of the aircraft 100 when flying over the ground area according to the position of the ground point, so that the aircraft 100 maintains a preset altitude above the ground.

[0116] In some embodiments, the motion vector of the aircraft 100 includes a 3D motion vector during the process of adjusting the flight altitude of the aircraft 100. In some embodiments, the aircraft 100 can perform precise ground-simulating flight based on the position of the ground point, thereby enabling the camera 130 to maintain a fixed shooting distance from the ground.

[0117] Specifically, when the aircraft 100 is executing an operational route, such as a surveying route, it will query the terrain height of the ground area ahead of the route in advance. Then, based on the terrain height, the subsequent movement trajectory of the aircraft 100 is planned in real time to maintain the relative height between the aircraft 100 and the ground area. Information such as the aircraft 100's motion status, the location of the ground point, and the relative height between the aircraft 100 and the ground object are displayed simultaneously on the user interface in real time, creating an intuitive display of the aircraft 100's safe and precise flight, which is convenient for users to view and analyze. For example, as shown in Figure 8, the aforementioned user interface can display the aircraft 100's ground-simulating flight information in real time. The preset height of the aircraft 100 above the ground can be represented by the height above ground level (AGL). For example, an AGL of 100m indicates that the height value of the aircraft 100 at the waypoint remains unchanged at 100m relative to the ground.

[0118] In some embodiments, the aircraft 100 flies along a preset route, and the heading of the aircraft 100 is set according to the extension direction of the route. For example, the preset route is a 2D position point.

[0119] Furthermore, the aircraft 100 is equipped with a photographing device 130 , and the method may further include: when the aircraft 100 flies over the ground target area, collecting a surveying and mapping image of the ground target area through the photographing device 130 .

[0120] In some embodiments, the camera 130 is connected to the fuselage 110 of the aircraft 100 via the gimbal 140. When the aircraft 100 flies over a ground target area, the orientation of the camera 130 is adjusted based on the position of the surface point so that the camera 130 collects surveying and mapping images when the optical axis is close to perpendicular to the ground target area.

[0121] Specifically, the orientation of the photographing device 130 may be the normal direction of the center of the vertical ground target area calculated based on the position of the ground point.

[0122] In conventional surveying and mapping operations using an aircraft 100, the camera 130 is unable to provide multi-angle surveying images at once, making it impossible to capture vertical terrain. For terrain with large elevation variations, the captured images cannot fully capture details on inclined or even vertical surfaces, resulting in "drawing" when the captured images are used for 3D modeling later, and the inability to reconstruct details of the terrain's sides. The present embodiment of the present invention can adjust the height of the aircraft 100 above the ground and the rotation angle of the gimbal 140 in real time based on the location of the surface point, so that the camera 130 captures surveying and mapping images with the optical axis close to perpendicular to the target area on the ground. This ensures that images are captured perpendicular to the surface being photographed, thereby optimizing the 3D modeling effect later.

[0123] Please refer to FIG. 9 , which is a flowchart of the steps of another information processing method for an aircraft 100 provided in an embodiment of the present application. The aircraft 100 is equipped with a photographing device 130 , and the information processing method includes steps S301 to S302 .

[0124] Step S301 : obtaining a planned route, wherein the planned route includes a first route 202 and a second route 203 planned in the waiting operation area 201 , and the first route 202 and the second route 203 intersect.

[0125] In some embodiments, please refer to Figure 10, which is a schematic diagram of a planned route provided by an embodiment of the present application. The horizontal projections of first route 202 and second route 203 are perpendicular to each other. For example, in the embodiment shown in Figure 10, first route 202 and second route 203 together form a tic-tac-toe-shaped route, making it easier for users to plan routes in the user interface.

[0126] Step S302 : During the movement along the route, the camera 130 is controlled at different positions to capture images of surface objects at different pitch angles.

[0127] Specifically, the pitch angle is the tilt angle of the camera 130 in the pitch direction.

[0128] In some embodiments, during the flight operation of the aircraft 100 along the first route 202, the camera 130 is controlled to acquire a first image of the surface object at a first pitch angle at a first location, the camera 130 is controlled to acquire a second image of the surface object at a second pitch angle at a second location, and the camera 130 is controlled to acquire a second image of the surface object at a third location at a third pitch angle, wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different;

[0129] During the flight operation of the aircraft 100 along the second route 203, the shooting device 130 is controlled to obtain a fourth image of the surface object at a fourth position point at a fourth pitch angle, and the shooting device 130 is controlled to obtain a fifth image of the surface object at a fifth position point at a fifth pitch angle, wherein the fourth pitch angle and the fifth pitch angle are different.

[0130] The shooting device 130 of the aircraft 100 is controlled to swing and shoot the surface objects at different pitch angles, so as to better capture the three-dimensional details of the surface objects.

[0131] In some embodiments, on one of the two planned routes, at at least three different locations, the shooting device 130 is controlled to obtain images of the surface object in three different directions at three different pitch angles; on the other of the two planned routes, at at least two different locations, the shooting device 130 is controlled to obtain images of the surface object in two different directions at two different pitch angles.

[0132] When the traditional application aircraft 100 is used for terrain mapping operations, for areas with large terrain undulations, it is necessary to first control the aircraft 100 to perform a mapping task at a higher altitude with the same height, in order to "roughly model" the terrain height of the mapping area. Based on the terrain height of the "rough model", a refined terrain-simulating flight route is generated to ensure that the overlap rate and the ground sampling distance (GSD) are consistent, so that a high-precision terrain model can be established. The above process requires controlling the aircraft 100 to perform two mapping tasks and establish two terrain models. Among them, the image of the first mapping task and the model established for the first time are relatively rough, and can only be used as the second refined modeling, and it will also consume a lot of outdoor operation time of the aircraft 100.

[0133] The embodiment of the present application adjusts the altitude of the aircraft 100 above the ground in real time according to the position of the ground point, which can ensure that the aircraft 100 can directly achieve accurate real-time terrain simulation flight in one flight mission, saving the operation time of the aircraft 100.

[0134] By adjusting the ground altitude of aircraft 100 and the rotation angle of gimbal 140 in real time, this embodiment of the present application ensures that aircraft 100 captures images with consistent overlap and GSD during a single mission along a planned route. In this embodiment of the present application, by adjusting the rotation angle of gimbal 140 in real time while aircraft 100 is operating along a planned route, the camera 130 is controlled to swing and capture images in different directions, capturing more details of the terrain slopes and improving the quality of subsequent terrain modeling.

[0135] In addition, in an embodiment of the present application, the camera device 130 performs multi-directional swinging along the planned route, which can further reduce the computing resources occupied by the captured images used for modeling while ensuring the accuracy of the three-dimensional modeling of the surface objects. Specifically, when the aircraft 100 flies along the first route 202, the camera device 130 is controlled to perform three-directional swinging of the surface objects, which can be, for example, forward, forward, and backward. When the aircraft 100 flies along the second route 203, the camera device 130 is controlled to perform two-directional swinging of the surface objects, which can be, for example, forward and backward. Since the camera device 130 has already captured the forward image of the surface object on the first route 202, the forward shooting of the surface object can be omitted on the second route 203, and the three-dimensional modeling of the surface object can be achieved only through the five-directional swinging images.

[0136] Furthermore, the planned route can be set to different route segments, and the pitch angle of the shooting device 130 can be set specifically on different route segments, which can not only reduce the number of operations of the shooting device 130, but also improve the three-dimensional modeling effect of the captured images of surface objects in the working area 201.

[0137] Please refer to FIG. 11A , which is a schematic diagram of a photographing device 130 operating in sections on a first route 202 according to an embodiment of the present application. The aircraft 100 is outside the waiting area 201, and the route from the starting point of the first route 202 to the intersection of the first route 202 and the waiting area 201 is set as the acceleration route segment 301 of the aircraft 100; the aircraft 100 enters the vicinity of the waiting area 201, and the route is set as the forward shooting route segment 303; the aircraft 100 approaches the center area of ​​the waiting area 201, and the route is set as the forward middle shooting route segment 304; the aircraft 100 enters the center area of ​​the waiting area 201, and the route is set as the forward middle and backward shooting route segment 305; the aircraft 100 moves away from the center area of ​​the waiting area 201, and the route is set as the forward middle and backward shooting route segment 306; the aircraft 100 is about to leave the waiting area 201, and the route is set as the backward shooting route segment 307; the aircraft 100 leaves the waiting area 201, and the route is set as the braking route segment 302. It should be noted that when the aircraft 100 turns around and returns, the specific setting of the route segment can refer to the corresponding principles of the above content, and will not be repeated here.

[0138] Please refer to Figure 11B, which is a schematic diagram of a photographing device 130 according to an embodiment of the present application operating in sections on the second route 203. When the aircraft 100 is outside the waiting area 201, the route extending from the starting point of the first route 202 to the intersection of the first route 202 and the waiting area 201 is set as the acceleration route segment 301 of the aircraft 100. When the aircraft 100 enters the vicinity of the waiting area 201, the route is set as the forward shooting route segment 303. When the aircraft 100 enters the center area of ​​the waiting area 201, the route is set as the front, center and rear shooting route segment 305. When the aircraft 100 moves away from the center area of ​​the waiting area 201, the route is set as the rear shooting route segment 307. When the aircraft 100 leaves the waiting area 201, the route is set as the braking route segment 302. It should be noted that when the aircraft 100 turns around and returns, the specific setting of the route segments can refer to the corresponding principles in the above content and will not be repeated here.

[0139] Optionally, the locations of object points in the environment surrounding the aircraft 100 in a vertical plane corresponding to the aircraft's heading are obtained. Optionally, the object points include surface points in the ground area below the aircraft 100. Optionally, during flight, the sensor 150 controlling the aircraft 100 collects the locations of surface points in the ground area below and in front of the aircraft 100's heading. Optionally, the locations of the surface points include their altitudes. Optionally, the altitudes of the surface points are mapped for user verification, facilitating control of the aircraft for ground-simulation flight at a user-desired altitude above the ground. Optionally, the sensor 150 is disposed on the fuselage of the aircraft 100, including sensors facing downward and / or forward of the fuselage of the aircraft 100. Optionally, the sensor 150 may be a visual sensor. Optionally, the locations of the object points are projected onto a plane defined by the aircraft's heading and vertical direction to generate an environmental object point display marker 21 in the environment. Optionally, the environmental object point display mark 21 includes a surface envelope display mark of the ground area generated by projecting the surface point onto a plane. This surface envelope display mark can better fit the ground undulations below the aircraft 100's operating route, facilitating user viewing and analysis.

[0140] Optionally, motion vector information of the aircraft 100 is obtained, where the motion vector information includes one or more of the aircraft's trajectory, velocity, or acceleration. Optionally, the motion vector information is projected onto a plane to generate a motion status display mark 23 for the aircraft. Optionally, the motion status display mark 23 includes one or more of the following display marks: a trajectory line display mark for representing a continuous trajectory, a velocity state display mark for representing a velocity vector, or an acceleration state display mark for representing an acceleration vector. The motion status display mark 23 of the aircraft 100 generated based on the motion vector information can not only record the historical trajectory of the aircraft 100, but also reflect the changes in the vertical velocity of the aircraft 100 and the future trajectory of the aircraft, so that the flight status information of the aircraft 100 can be more intuitively displayed to the user.

[0141] Optionally, the current position of the aircraft is obtained. Optionally, the current position is projected onto a plane to generate a position display mark 22. Optionally, a ground altitude display mark 24 is generated, which is used to indicate the altitude of an environmental object in a vertical plane corresponding to the heading of aircraft 100. For example, a vertical line between aircraft 100 and a point on the ground below aircraft 100 can be displayed, so that the real-time ground altitude of aircraft 100 can be more intuitively displayed to the user.

[0142] Optionally, an obstacle height display mark 25 is obtained, which is used to represent the height distribution of obstacles in the ground area below the aircraft 100. The obstacle height display mark 25 can provide information reference on whether the future flight trajectory of the aircraft 100 can bypass the obstacles ahead.

[0143] Optionally, based on the current position of the aircraft 100, the object point position and motion vector, and the projection position relationship of the obstacle position on the plane formed by the heading and vertical direction of the aircraft, one or more of the environmental object point display mark 21, the position display mark 22, the motion state display mark 23, the ground height display mark 24, and the obstacle height display mark 25 are displayed simultaneously on the user interface.

[0144] Optionally, a user-desired height-over-the-ground indicator 16 is obtained. The user-desired height-over-the-ground indicator 16 is used to identify the height between the aircraft 100 and an object point below the aircraft 100. The user-desired height-over-the-ground indicator 16 is displayed on the user interface to facilitate user viewing and analysis. Simultaneously, the aircraft 100 is controlled to fly along the planned route according to the user-desired height-over-the-ground and complete the corresponding operation task, illustratively completing a photography task for three-dimensional reconstruction of the object. Optionally, the aircraft is equipped with a photography device 130. The method includes: obtaining a planned route, the planned route including a first route 202 and a second route 203 planned within the waiting area 201, the first route 202 intersecting the second route 203. Optionally, the projections of the first route 202 and the second route 203 on the horizontal plane are perpendicular to each other, and a tic-tac-toe route is designed as a user interaction method to facilitate user route planning. Optionally, when aircraft 100 is executing a planned route, it may query the altitude of a ground point ahead of the route in advance and then plan the trajectory of aircraft 100 in real time based on the altitude of the ground point, maintaining the relative altitude of aircraft 100 above the ground at the user's desired altitude. Optionally, while moving along the planned route, camera 130 may be controlled at different locations to capture images of ground objects at different pitch angles. Optionally, while the aircraft 100 is flying along the first route 202, the camera 130 is controlled to capture a first image of a surface object at a first pitch angle at a first location, a second image of the surface object at a second pitch angle at a second location, and a second image of the surface object at a third location at a third pitch angle; wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different. While the aircraft 100 is flying along the second route 203, the camera 130 is controlled to capture a fourth image of the surface object at a fourth pitch angle at a fourth location, and a fifth image of the surface object at a fifth location at a fifth pitch angle; wherein the fourth pitch angle and the fifth pitch angle are different. The camera 130 of the aircraft 100 is controlled to swing and capture the surface object at different pitch angles to better capture the three-dimensional details of the surface object. Optionally, the normal direction perpendicular to the center of the shooting point is calculated based on the height of the surface point. When executing the planned route, the camera swings around the normal direction to shoot, which can not only capture images perpendicular to the surface of the ground, but also capture the surrounding environment from different angles to assist in 3D modeling.

[0145] Please refer to Figure 12, which is a schematic block diagram of the structure of an information processing device 400 provided in an embodiment of the present application. This information processing device 400 is applied to the aforementioned aircraft 100. Specifically, this information processing device 400 can be integrated into the aforementioned aircraft 100, or it can be independently provided and communicatively connected to the aircraft 100. The aforementioned information processing method can also be applied to this information processing device 400.

[0146] As shown in FIG12 , the information processing device 400 includes a processor 401 and a memory 402 . The processor 401 and the memory 402 are connected via a bus 403 , which is, for example, an I2C (Inter-integrated Circuit) bus 403 .

[0147] Specifically, the processor 401 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0148] Specifically, the memory 402 may be a Flash chip, a read-only memory 402 (ROM), a disk, an optical disk, a USB disk, or a mobile hard disk.

[0149] The processor 401 is used to run the computer program stored in the memory 402 and implement the steps of the aforementioned information processing method of the aircraft 100 when executing the computer program.

[0150] Exemplarily, the processor 401 is configured to run a computer program stored in the memory 402 and implement the following steps when executing the computer program:

[0151] generating a first identifier for identifying a height distribution of object points in a surrounding environment of an aircraft in a vertical plane corresponding to a heading of the aircraft;

[0152] generating a second identifier, the second identifier being used to identify the altitude position of the aircraft in the environment;

[0153] The first identifier and the second identifier are displayed simultaneously on the user interface.

[0154] Optionally, the object point includes a surface point in the ground area below the aircraft 100; the first identifier 11 includes a surface envelope display identifier formed by the height distribution of the surface points.

[0155] Optionally, the processor 401 is further configured to: generate a third identifier 13 , where the third identifier 13 is used to identify the motion state information of the aircraft 100 ; and associate and display the second identifier 12 and the third identifier 13 on the user interface.

[0156] Optionally, the motion state information includes one or more information of the trajectory, speed, or acceleration of the aircraft 100 .

[0157] Optionally, the third identifier 13 includes one or more of the following display identifiers: a display identifier for representing one or more historical altitude positions, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.

[0158] Optionally, the processor 401 is also used to execute: generating a fourth identifier 14, the fourth identifier 14 is used to identify the relative height, the relative height is the height between the aircraft and the object point in the vertical plane corresponding to the heading of the aircraft; and displaying the first identifier 11, the second identifier 12 and the fourth identifier 14 on the user interface at the same time.

[0159] Optionally, the processor 401 is further configured to execute: displaying any kind of identification on a plane formed by the heading and altitude directions of the aircraft 100 .

[0160] Optionally, the height distribution of object points in the environment surrounding the aircraft 100 in the vertical plane corresponding to the heading of the aircraft 100 is collected and acquired by the sensor 150 of the aircraft 100 during the flight of the aircraft 100 .

[0161] Optionally, the processor 401 is also used to execute: obtaining the user's desired height above the ground identifier 16, which is used to identify the height between the user's desired aircraft and an object point below the aircraft; and displaying the first identifier 11, the second identifier 12 and the user's desired height above the ground identifier on the user interface at the same time.

[0162] Optionally, the processor 401 is further configured to: adjust the flight altitude of the aircraft 100 when flying over a ground area according to the altitude distribution of ground points, so that the aircraft 100 maintains a preset altitude above the ground.

[0163] Exemplarily, the processor 401 is configured to run a computer program stored in the memory 402 and implement the following steps when executing the computer program:

[0164] Obtaining positions of object points in the surrounding environment of the aircraft 100 in a vertical plane corresponding to the heading of the aircraft 100;

[0165] Projecting the object point position onto a plane formed by the heading and vertical directions of the aircraft 100 to generate an environmental object point display mark 21 in the surrounding environment;

[0166] Obtaining motion vector information of the aircraft 100, wherein the motion vector information includes one or more information of a trajectory, a speed, or an acceleration of the aircraft 100;

[0167] Projecting the motion vector information onto a plane to generate a motion status display mark 23 of the aircraft 100;

[0168] The environmental object point display mark 21 and the motion state display mark 23 are displayed simultaneously on the user interface.

[0169] Optionally, the object point includes a surface point of the ground area below the aircraft 100; the environmental object point display mark 21 includes: a surface envelope display mark of the ground area generated by projecting the surface point onto a plane.

[0170] Optionally, the motion state display identifier 23 includes one or more of the following display identifiers: a trajectory line display identifier for representing a continuous trajectory, a velocity state display identifier for representing a velocity vector, or an acceleration state display identifier for representing an acceleration vector.

[0171] Optionally, the processor 401 is further configured to execute: obtaining the current position of the aircraft;

[0172] Project the current position onto the plane to generate a position display mark 22;

[0173] Based on the projection position relationship between the current position of the aircraft, the object point position and the motion vector on the plane, the position display mark 22, the environment object point display mark 21 and the motion state display mark 23 are displayed simultaneously on the user interface.

[0174] Optionally, obtaining the position of the surface point of the ground area below the aircraft 100 includes: during the flight of the aircraft 100, controlling the sensor 150 of the aircraft 100 to collect the position of the surface point of the ground area below the aircraft in the direction of the aircraft.

[0175] Optionally, the sensor 150 is disposed on the fuselage 110 of the aircraft 100 , and the sensor 150 includes a sensor 150 facing downward and / or forward of the fuselage 110 of the aircraft 100 .

[0176] Optionally, the processor 401 is further configured to: adjust the flight altitude of the aircraft 100 when flying over a ground area according to the position of the ground point, so that the aircraft 100 maintains a preset altitude above the ground.

[0177] Optionally, the aircraft 100 flies according to a preset route; the heading of the aircraft 100 is set according to the extension direction of the route.

[0178] Optionally, the aircraft 100 is equipped with a photographing device 130 ; the processor 401 is further configured to collect surveying and mapping images of the ground target area through the photographing device 130 when the aircraft 100 flies over the ground target area.

[0179] Optionally, when the aircraft 100 flies over a ground target area, a surveying and mapping image of the ground target area is collected by the shooting device 130, including: adjusting the orientation of the shooting device 130 based on the position of the surface point so that the shooting device 130 collects the surveying and mapping image when the optical axis is close to perpendicular to the ground target area.

[0180] The aircraft 100 is equipped with a camera 130. Exemplarily, the processor 401 is configured to run a computer program stored in the memory 402 and implement the following steps when executing the computer program:

[0181] Obtaining a planned route, the planned route including a first route 202 and a second route 203 planned in the waiting operation area 201, wherein the first route 202 intersects the second route 203;

[0182] During the movement along the route, the camera 130 is controlled at different positions to capture images of surface objects at different pitch angles.

[0183] Optionally, projections of the first route 202 and the second route 203 on the horizontal plane are perpendicular to each other.

[0184] Optionally, in the process of moving along the route, controlling the shooting device 130 at different positions to acquire images of surface objects at different pitch angles includes:

[0185] During the flight operation of the aircraft 100 along the first route 202, the camera 130 is controlled to acquire a first image of a surface object at a first pitch angle at a first location, the camera 130 is controlled to acquire a second image of the surface object at a second pitch angle at a second location, and the camera 130 is controlled to acquire a second image of the surface object at a third location at a third pitch angle; wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different;

[0186] During the flight operation of the aircraft 100 along the second route 203, the shooting device 130 is controlled to obtain a fourth image of the surface object at a fourth position point at a fourth pitch angle, and the shooting device 130 is controlled to obtain a fifth image of the surface object at a fifth position point at a fifth pitch angle; wherein the fourth pitch angle and the fifth pitch angle are different.

[0187] An embodiment of the present application provides an aircraft system, which includes the information processing device of any embodiment of the present application specification.

[0188] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the aircraft information processing method provided in the above embodiment.

[0189] The computer-readable storage medium may be an internal storage unit of the chassis of the mobile platform of any of the aforementioned embodiments, such as a hard disk or memory of the chassis of the mobile platform. The computer-readable storage medium may also be an external storage device of the chassis of the mobile platform, such as a plug-in hard disk equipped on the chassis of the mobile platform, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc.

[0190] It should be understood that the terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. As used in this application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0191] It will also be understood that the term "and / or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0192] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An information processing method, characterized in that: The method comprises: generating a first identifier for identifying a height distribution of object points in a surrounding environment of an aircraft in a vertical plane corresponding to a heading of the aircraft; generating a second identifier, the second identifier being used to identify the altitude position of the aircraft in the environment; The first identifier and the second identifier are displayed simultaneously on a user interface.

2. The information processing method according to claim 1, wherein: The object points include ground surface points in a ground area below the aircraft; The first identifier includes a surface envelope display identifier formed by the height distribution of the surface points.

3. The information processing method according to claim 1, wherein: The method further comprises: generating a third identifier, wherein the third identifier is used to identify the motion state information of the aircraft; The second identifier and the third identifier are associated and displayed on the user interface.

4. The information processing method according to claim 3, wherein: The third identifier includes one or more of the following display identifiers: a display identifier for representing one or more historical altitude positions, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.

5. The information processing method according to claim 1, wherein: The method further comprises: generating a fourth identifier, the fourth identifier being used to identify a relative height, the relative height being the height between the aircraft and an object point below the aircraft; The first identifier, the second identifier, and the fourth identifier are displayed simultaneously on the user interface.

6. The information processing method according to any one of claims 1 to 5, characterized in that: The method further includes displaying any one of the markers on a plane formed by the heading and altitude directions of the aircraft.

7. The information processing method according to claim 1, wherein: The height distribution of the object points in the surrounding environment of the aircraft is collected and acquired by the sensors of the aircraft during the flight of the aircraft.

8. The information processing method according to claim 1, wherein: The method further comprises: generating a user-desired height-to-ground identifier, the height-to-ground identifier being used to identify a user-desired height between the aircraft and an object point below the aircraft; The first identifier, the second identifier, and the height-over-ground identifier desired by the user are simultaneously displayed on the user interface.

9. The information processing method according to claim 2, wherein: The method further comprises: The flight altitude of the aircraft when flying over the ground area is adjusted according to the altitude distribution of the ground points, so that the aircraft maintains a preset altitude above the ground.

10. An aircraft information processing method, characterized in that: The method comprises: Obtaining positions of object points in the surrounding environment of the aircraft in a vertical plane corresponding to the heading of the aircraft; Projecting the object point position onto a plane formed by the heading and vertical directions of the aircraft to generate an environmental object point display marker in the surrounding environment; Acquiring motion vector information of the aircraft, wherein the motion vector information includes one or more information of a trajectory, a speed, or an acceleration of the aircraft; Projecting the motion vector information onto the plane to generate a motion status display mark of the aircraft; The environmental object point display mark and the motion state display mark are displayed simultaneously on the user interface.

11. The information processing method according to claim 10, wherein: The object points include ground surface points in a ground area below the aircraft; The environmental object point display mark includes: projecting the surface point onto the plane to generate a surface envelope display mark of the ground area.

12. The information processing method according to claim 10, wherein: The motion state display identifier includes one or more of the following display identifiers: a trajectory line display identifier for representing a continuous trajectory, a velocity state display identifier for representing a velocity vector, or an acceleration state display identifier for representing an acceleration vector.

13. The information processing method according to claim 10, wherein: The method further comprises: Obtaining the current position of the aircraft; Projecting the current position onto the plane to generate a position display mark; Based on the projection position relationship between the current position of the aircraft, the object point position and the motion vector on the plane, the position display mark, the environmental object point display mark and the motion state display mark are displayed simultaneously on the user interface.

14. The information processing method according to claim 11, wherein: The obtaining of the position of a surface point in the ground area below the aircraft includes: During the flight of the aircraft, a sensor controlling the aircraft collects positions of surface points in a ground area below the aircraft's forward direction.

15. The information processing method according to claim 14, wherein: The sensors are arranged on the fuselage of the aircraft, and the sensors include sensors facing downward and / or forward of the fuselage of the aircraft.

16. The information processing method according to claim 11, wherein: The method further comprises: The flight altitude of the aircraft when flying over the ground area is adjusted according to the position of the ground point, so that the aircraft maintains a preset altitude above the ground.

17. The information processing method according to claim 16, wherein: The aircraft flies according to a preset route; the heading of the aircraft is set according to the extension direction of the route.

18. The information processing method according to claim 16, wherein: The aircraft is equipped with a photographing device; The method further includes: when the aircraft flies over a ground target area, collecting a surveying and mapping image of the ground target area by the shooting device.

19. The information processing method according to claim 18, wherein: When the aircraft flies over a ground target area, collecting a surveying and mapping image of the ground target area by the photographing device includes: The orientation of the photographing device is adjusted based on the position of the ground point, so that the photographing device collects the surveying and mapping image in a state where the optical axis is close to perpendicular to the ground target area.

20. An aircraft information processing method, characterized in that: The aircraft is equipped with a photographing device; the method includes: Acquiring a planned route, the planned route including a first route and a second route planned in the waiting operation area, wherein the first route intersects the second route; During the movement along the route, the shooting device is controlled at different positions to acquire images of surface objects at different pitch angles.

21. The information processing method according to claim 20, characterized in that: Projections of the first route and the second route on a horizontal plane are perpendicular to each other.

22. The information processing method according to claim 20, characterized in that: The step of controlling the camera to acquire images of surface objects at different pitch angles at different positions during movement along the route includes: During the flight operation of the aircraft along the first route, the camera is controlled to acquire a first image of the surface object at a first pitch angle at a first position, the camera is controlled to acquire a second image of the surface object at a second pitch angle at a second position, and the camera is controlled to acquire a second image of the surface object at a third position at a third pitch angle; wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different; During the flight operation of the aircraft along the second route, the shooting device is controlled to obtain a fourth image of the surface object at a fourth position point at a fourth pitch angle, and the shooting device is controlled to obtain a fifth image of the surface object at a fifth position point at a fifth pitch angle; wherein the fourth pitch angle and the fifth pitch angle are different.

23. An information processing device, characterized in that The information processing device includes one or more processors, which work individually or collectively to perform the following steps: generating a first identifier for identifying a height distribution of object points in an environment surrounding an aircraft in a vertical plane corresponding to a heading of the aircraft; generating a second identifier, the second identifier being used to identify the altitude position of the aircraft in the environment; The first identifier and the second identifier are displayed simultaneously on a user interface.

24. The information processing device according to claim 23, wherein The object points include ground surface points in a ground area below the aircraft; The first identifier includes a surface envelope display identifier formed by the height distribution of the surface points.

25. The information processing device according to claim 23, wherein The processor is further configured to execute: generating a third identifier, wherein the third identifier is used to identify the motion state information of the aircraft; The second identifier and the third identifier are associated and displayed on the user interface.

26. The information processing device according to claim 25, characterized in that The third identifier includes one or more of the following display identifiers: a display identifier for representing one or more historical altitude positions, a speed state display identifier for representing a speed vector, or an acceleration state display identifier for representing an acceleration vector.

27. The information processing device according to claim 23, wherein The processor is further configured to execute: generating a fourth identifier, the fourth identifier being used to identify a relative height, the relative height being the height between the aircraft and an object point below the aircraft; The first identifier, the second identifier, and the fourth identifier are displayed simultaneously on the user interface.

28. The information processing device according to any one of claims 23 to 27, characterized in that: The processor is further configured to execute: Any of the markers is displayed on a plane formed by the heading and altitude directions of the aircraft.

29. The information processing device according to claim 23, wherein The height distribution of the object points in the surrounding environment of the aircraft is collected and acquired by the sensors of the aircraft during the flight of the aircraft.

30. The information processing device according to claim 23, wherein The processor is further configured to execute: generating a user-desired height-to-ground identifier, the height-to-ground identifier being used to identify a user-desired height between the aircraft and an object point below the aircraft; The first identifier, the second identifier, and the height-over-ground identifier desired by the user are simultaneously displayed on the user interface.

31. The information processing device according to claim 24, wherein The processor is further configured to execute: The flight altitude of the aircraft when flying over the ground area is adjusted according to the altitude distribution of the ground points, so that the aircraft maintains a preset altitude above the ground.

32. An information processing device for an aircraft, characterized in that: The information processing device includes one or more processors, which work individually or collectively to perform the following steps: Obtaining positions of object points in the surrounding environment of the aircraft in a vertical plane corresponding to the heading of the aircraft; Projecting the object point position onto a plane formed by the heading and vertical directions of the aircraft to generate an environmental object point display marker in the surrounding environment; Acquiring motion vector information of the aircraft, wherein the motion vector information includes one or more information of a trajectory, a speed, or an acceleration of the aircraft; Projecting the motion vector information onto the plane to generate a motion status display mark of the aircraft; The environmental object point display mark and the motion state display mark are displayed simultaneously on the user interface.

33. The information processing device according to claim 32, wherein: The object points include ground surface points in a ground area below the aircraft; The environmental object point display mark includes: projecting the surface point onto the plane to generate a surface envelope display mark of the ground area.

34. The information processing device according to claim 32, characterized in that The motion state display identifier includes one or more of the following display identifiers: a trajectory line display identifier for representing a continuous trajectory, a velocity state display identifier for representing a velocity vector, or an acceleration state display identifier for representing an acceleration vector.

35. The information processing device according to claim 32, wherein The processor is further configured to execute: Obtaining the current position of the aircraft; Projecting the current position onto the plane to generate a position display mark; Based on the projection position relationship between the current position of the aircraft, the object point position and the motion vector on the plane, the position display mark, the environmental object point display mark and the motion state display mark are displayed simultaneously on the user interface.

36. The information processing device according to claim 33, wherein The obtaining of the position of a surface point in the ground area below the aircraft includes: During the flight of the aircraft, a sensor controlling the aircraft collects positions of surface points in a ground area below the aircraft's forward direction.

37. The information processing device according to claim 36, characterized in that The sensors are arranged on the fuselage of the aircraft, and the sensors include sensors facing downward and / or forward of the fuselage of the aircraft.

38. The information processing device according to claim 33, characterized in that The processor is further configured to execute: The flight altitude of the aircraft when flying over the ground area is adjusted according to the position of the ground point, so that the aircraft maintains a preset altitude above the ground.

39. The information processing device according to claim 38, characterized in that The aircraft flies according to a preset route; the heading of the aircraft is set according to the extension direction of the route.

40. The information processing device according to claim 38, wherein The aircraft is equipped with a photographing device; The processor is further configured to: when the aircraft flies over a ground target area, collect a surveying and mapping image of the ground target area through the shooting device.

41. The information processing device according to claim 40, characterized in that When the aircraft flies over a ground target area, collecting a surveying and mapping image of the ground target area by the photographing device includes: The orientation of the photographing device is adjusted based on the position of the ground point, so that the photographing device collects the surveying and mapping image in a state where the optical axis is close to perpendicular to the ground target area.

42. An information processing device for an aircraft, characterized in that: The aircraft is equipped with a photographing device; The information processing device includes one or more processors, which work individually or collectively to perform the following steps: Acquiring a planned route, the planned route including a first route and a second route planned in the waiting operation area, wherein the first route intersects the second route; During the movement along the route, the shooting device is controlled at different positions to acquire images of surface objects at different pitch angles.

43. The information processing device according to claim 42, characterized in that Projections of the first route and the second route on a horizontal plane are perpendicular to each other.

44. The information processing device according to claim 42, characterized in that The step of controlling the camera to acquire images of surface objects at different pitch angles at different positions during movement along the route includes: During the flight operation of the aircraft along the first route, the camera is controlled to acquire a first image of the surface object at a first pitch angle at a first position, the camera is controlled to acquire a second image of the surface object at a second pitch angle at a second position, and the camera is controlled to acquire a second image of the surface object at a third position at a third pitch angle; wherein the first pitch angle, the second pitch angle, and the third pitch angle are all different; During the flight operation of the aircraft along the second route, the shooting device is controlled to obtain a fourth image of the surface object at a fourth position point at a fourth pitch angle, and the shooting device is controlled to obtain a fifth image of the surface object at a fifth position point at a fifth pitch angle; wherein the fourth pitch angle and the fifth pitch angle are different.

45. An aircraft system, characterized in that: The aircraft system includes the information processing device according to any one of claims 23 to 44.

46. ​​A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the information processing method according to any one of claims 1 to 22 are implemented.

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