Control method and control system for movable object, and storage medium

Abstract

The invention discloses a control method and system for a movable object and a storage medium. The control method of the movable objects comprises the following steps: in response to a first signal, controlling a plurality of movable objects to move along a preset direction facing a target position according to information of the target position; the plurality of movable objects are controlled to move along a preset route, the preset route is used for guiding the plurality of movable objects to a target position in sequence, the preset route comprises a plurality of waypoints, each movable object stays for a preset time when passing through the waypoint, and when the previous movable object leaves the current waypoint, the preset time stays for a preset time when the previous movable object leaves the current waypoint. The next movable object is controlled to move to the waypoint where the previous movable object leaves; and in response to the condition that the previous movable object staying at the target position leaves the target position, controlling the next movable object staying at the waypoint close to the target position to move to the target position. Therefore, the landing effect of the whole formation can be achieved, and the total landing time of all the movable objects can be shortened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of movable object control, and in particular to a movable object control method, a movable object control system, and a storage medium. BACKGROUND

[0002] Currently, movable objects, such as aircrafts, underwater / overwater robots, ground intelligent cars, cleaning robots, or self-moving terminals, are widely used in various fields. In some scenarios, a cluster composed of multiple movable objects can be used to jointly implement a certain task, for example, multiple movable objects perform formation performance, multiple movable objects are used for logistics transportation or manned transportation, multiple movable objects are used to simultaneously perform different tasks, or multiple movable objects are dispatched by a same control terminal to perform different tasks at different times.

[0003] However, these scenarios all face a problem, that is, how to quickly and safely control the takeoff, recovery, storage, or landing of multiple movable objects. SUMMARY

[0004] The present application provides a movable object control method, a movable object control system, and a storage medium to solve at least one of the above technical problems.

[0005] The movable object control method provided by the present application comprises:

[0006] In response to a first signal, multiple movable objects are controlled to move along a preset direction towards a target position according to information of the target position; the multiple movable objects are controlled to move along a preset flight path, wherein the preset flight path is used to sequentially guide the multiple movable objects to the target position, the preset flight path comprises multiple waypoints, each movable object stays at a preset time when passing through the waypoint, when a previous movable object leaves a current waypoint, a next movable object is controlled to move to the waypoint left by the previous movable object; and in response to the previous movable object staying at the target position leaving the target position, the next movable object staying at the waypoint close to the target position is controlled to move to the target position.

[0007] The above movable object control method controls multiple movable objects to move towards a target position for landing, and all movable objects move sequentially and gradually, when a previous movable object starts to move, a next movable object also moves accordingly, so as to achieve the effect that the entire formation moves at the destination at the same time, and the total time length of the movement of all movable objects is reduced, which is beneficial to improve the movement (such as takeoff, storage, recovery, or landing) efficiency of the movable objects.

[0008] A control method of a movable object includes:

[0009] sending a first signal to the plurality of movable objects to control the plurality of movable objects to move along a preset direction towards a target position according to information of the target position; controlling the plurality of movable objects to move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, the preset flight path includes a plurality of waypoints, each movable object stays at the waypoint for a preset time, when a previous movable object leaves the current waypoint, a next movable object is controlled to move to the waypoint left by the previous movable object; and in response to the previous movable object staying at the target position leaving the target position, the next movable object staying at the waypoint close to the target position is controlled to move to the target position.

[0010] The control method of the movable object can control the plurality of movable objects to move towards the target position, and all the movable objects move in sequence. When the previous movable object starts to move, the next movable object also moves correspondingly, so that the plurality of movable objects can move to the destination at the same time, the total time for moving of all the movable objects is reduced, and the moving (such as taking off, storing, recycling or landing) efficiency of the movable object is improved.

[0011] A control method of a movable object includes:

[0012] In a case where the movable object is ready to stay at a to-be-stayed position, the to-be-stayed position is identified;

[0013] In a case where the movable object identifies that the to-be-stayed position is a target position, the movable object is determined to stay at the to-be-stayed position.

[0014] The control method of the movable object can identify whether the to-be-stayed position is the target position, and determine the movable object to stay at the to-be-stayed position when the to-be-stayed position is the target position. Thus, the movable object can not stay at a wrong position, and the problem of increasing the staying time caused by re-moving or manually moving the movable object is avoided, and the moving (such as taking off, storing, recycling or landing) efficiency of the movable object is improved.

[0015] A control method of a movable object includes:

[0016] A control station sends a first signal to the plurality of movable objects;

[0017] The plurality of movable objects move along a preset direction towards the target position according to information of the target position in response to the first signal; the plurality of movable objects move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, and the preset flight path includes a plurality of waypoints, each movable object stays at the waypoint for a preset time, the control station controls the next movable object to move to the waypoint left by the previous movable object when the previous movable object leaves the current waypoint, and the control station controls the next movable object to move to the target position when the previous movable object stays at the target position leaves the target position.

[0018] The control method of the movable object can control a plurality of movable objects to move towards a target position, and all movable objects move in sequence. When the previous movable object starts to move, the next movable object also moves accordingly, so that the plurality of movable objects can move to the destination at the same time, and the total time of moving all movable objects can be reduced, which is beneficial to improve the moving (such as taking off, storing, recycling or landing) efficiency of the movable object.

[0019] The control method of the movable object includes:

[0020] The movable object closest to the target position is controlled to leave the waypoint first; and / or

[0021] In the case that the movable object leaves the target position for the first time, the pose information of at least one device is obtained, and the target position is located in one of the devices; and / or

[0022] In the case that the movable object leaves the target position for the first time, the number information of the target position is obtained, and the number information is used by the movable object to determine whether the position where the movable object stays is the target position. In this way, the fish-like moving effect of the plurality of movable objects can be achieved. It can be understood that the fish-like moving way means that the plurality of movable objects move to the target position and / or the next waypoint at the same time, rather than waiting for all the previous movable objects to move before the current movable object starts to move, so that the work efficiency of the plurality of movable objects can be greatly improved.

[0023] The plurality of movable objects move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, and the preset flight path includes a plurality of waypoints, each movable object stays at the waypoint for a preset time, and the control station controls the next movable object to move to the waypoint left by the previous movable object when the previous movable object leaves the current waypoint, and the control station controls the next movable object to move to the target position when the previous movable object stays at the target position leaves the target position.

[0024] controlling the previous movable object to keep a stay state to stay at the current waypoint before the previous movable object receives the first signal;

[0025] controlling the previous movable object to switch from the stay state to a moving state to leave the current waypoint when the previous movable object receives the first signal;

[0026] controlling the subsequent movable object to switch from the moving state to the stay state to move to the waypoint left by the previous movable object in the case that the previous movable object leaves the current waypoint;

[0027] controlling the subsequent movable object to switch from the moving state to the stay state to stay in the case that the subsequent movable object moves to the waypoint left by the previous movable object. In this way, controllability of the fish-like movement of the plurality of movable objects is improved.

[0028] The control method of the movable object comprises:

[0029] generating a moving planning route according to the current waypoint, the next waypoint and the expected moving time in the case that the waypoint exists in the direction of the movable object towards the target position;

[0030] controlling the movable object to move from the current waypoint to the next waypoint according to the moving planning route. In this way, collision between the movable objects is avoided.

[0031] The control method of the movable object comprises:

[0032] identifying first light-emitting information emitted by a light-emitting marker to determine the number information of the position to be stayed, in the case that the movable object moves from the waypoint closest to the position to be stayed to the preset position located at the preset direction of the position to be stayed, the light-emitting marker being arranged at the position to be stayed, the movable object storing the number information of the target position;

[0033] determining the position to be stayed as the target position in the case that the number information of the position to be stayed is consistent with the number information of the target position. In this way, the movable object is accurately stayed at the target position.

[0034] identifying first light-emitting information emitted by a light-emitting marker to determine the number information of the position to be stayed, comprising:

[0035] The coding information of the position to be stopped is determined by recognizing a light-emitting layout of a plurality of coding lights, the light-emitting identifier includes the plurality of coding lights, the first light-emitting information is displayed by the plurality of coding lights, the coding information of the position to be stopped corresponds to the light-emitting layout of the plurality of coding lights, and a part of the plurality of coding lights is located on one side of the position to be stopped, and another part of the plurality of coding lights is located on another side of the position to be stopped. In this way, the number information can be quickly identified.

[0036] The control method of the movable object includes:

[0037] In a case where it is determined that the position to be stopped is the target position, a moving posture is adjusted according to the recognized relative position information between the position to be stopped and the movable object. In this way, the movable object can be prevented from being disturbed by structures when stopping.

[0038] The control method of the movable object includes:

[0039] In a case where the movable object moves from the waypoint closest to the position to be stopped to a preset position located at a preset orientation of the position to be stopped, second light-emitting information emitted by a light-emitting identifier is recognized to determine the relative position information. In this way, the time for the movable object to prepare to stop can be reduced.

[0040] The second light-emitting information emitted by the light-emitting identifier is recognized to determine the relative position information, including:

[0041] A plurality of light-emitting feature points of a position indicating light group are recognized by image recognition, the light-emitting identifier includes the position indicating light group, the second light-emitting information is displayed by the position indicating light group, the relative position information corresponds to the plurality of light-emitting feature points of the position indicating light group, a part of the plurality of light-emitting feature points surrounds the position to be stopped, and another part of the plurality of coding lights is located on one side of the position to be stopped.

[0042] The recognized plurality of light-emitting feature points are matched with light-emitting feature points of a preset image, and the relative position information is determined according to the matched preset image. In this way, the movable object can quickly adjust its moving posture.

[0043] The movable object recognizes a plurality of light-emitting feature points of a position indicating light group by image recognition, including:

[0044] A position indicating image is obtained by image acquisition on the position indicating light group, the position indicating light group includes a plurality of position indicating outline lights and at least one positioning light, the plurality of position indicating outline lights are arranged around the position to be stopped, and the at least one positioning light is arranged on one side of the position to be stopped.

[0045] perform image recognition on the image to determine light-emitting feature points of the plurality of outline lamps and light-emitting feature points of the at least one position lamp, the light-emitting feature points of the outline lamps corresponding to shapes of light regions of the outline lamps, and the light-emitting feature points of the position lamp corresponding to a shape of a light region of the position lamp. In this way, relative position information can be obtained conveniently and quickly.

[0046] The shape of the light region of the outline lamp includes a rectangle, and / or,

[0047] The shape of the light region of the position lamp includes a triangle.

[0048] The number of light-emitting feature points of the outline lamps is less than the number of light-emitting feature points of the position lamp.

[0049] The set of position lamps is always on.

[0050] The control method of the movable object includes:

[0051] In a case where it is determined that the position to be stopped is not the target position, the movable object is moved again along the preset direction towards the target position, and the recognition is performed again. In this way, a solution for the movable object to stop at the target position can be provided.

[0052] A plurality of movable objects are arranged in a vertical direction upwards at the preset direction of the target position.

[0053] A control system of a movable object according to the present application includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the control method of the movable object according to any one of the above embodiments when executing the computer program.

[0054] A computer readable storage medium according to the present application stores a computer program, and the computer program implements the steps of the control method of the movable object according to any one of the above embodiments when executed by a processor.

[0055] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0056] The above and / or additional aspects and advantages of the present application will be more apparent by describing certain embodiments, with reference to the accompanying drawings, in which:

[0057] Figure 1 is a structural schematic diagram of a control system of a movable object according to the present application;

[0058] Figure 2 is a partial structural schematic diagram of a tower according to the present application;

[0059] Figure 3 is a schematic diagram of multiple waypoints and landing routes of the present application;

[0060] Figures 4 to 7 is a flowchart of a control method of a movable object of the present application;

[0061] Figure 8 is a module diagram of a control system of a movable object of the present application.

[0062] Main element symbol explanation:

[0063] Unmanned aerial vehicle 100;

[0064] Tower 200;

[0065] Indication light group 210, first identification 211, second identification 212, positioning light 213, profile lamp 214, code light 215, containing bin 220, opening 221;

[0066] Ground station 300;

[0067] Control system 400 of a movable object, memory 410, processor 420. DETAILED DESCRIPTION

[0068] In the description of the present application, some disclosed examples have been shown in the corresponding figures, in which the same or similar reference numbers represent the same or similar elements or elements with the same or similar functions throughout. The following description described by referring to the accompanying drawings is exemplary and is only for the purpose of explaining the present application, and cannot be understood as limiting the present application.

[0069] In the description of the present application, many different cases or examples are disclosed to realize different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and the purpose is not to limit the present application.

[0070] Currently, movable objects, such as aircraft, underwater / overwater robots, ground intelligent cars, cleaning robots, or self-moving ends, are widely used in various fields. In some scenarios, a cluster composed of multiple movable objects can be used to jointly implement a certain task, for example: multiple movable objects perform formation performance, use multiple movable objects for logistics transportation or manned transportation, use multiple movable objects to simultaneously perform different tasks, or schedule multiple movable objects through the same control end to perform different tasks at different times, etc. However, these scenarios will all face a problem, how to quickly, safely take off, recover / store or land control the movable object.

[0071] More specifically, for the convenience of understanding, the movable object is taken as an unmanned aerial vehicle (it can be understood that the unmanned aerial vehicle can include, but is not limited to, any one of manned unmanned aerial vehicle, logistics unmanned aerial vehicle, aerial photography unmanned aerial vehicle, performance unmanned aerial vehicle, combat unmanned aerial vehicle, and agricultural plant protection unmanned aerial vehicle, and the type of the unmanned aerial vehicle is not limited in the embodiments of the present application), and the invention concept of the present application is described by using the unmanned aerial vehicle to complete the formation of a multi-unmanned aerial vehicle formation and then to be recycled, but the embodiments do not limit the invention concept of the present application.

[0072] At present, the unmanned aerial vehicle becomes a more and more popular consumer electronics product. In some application scenarios, such as performance, celebration and the like, a plurality of unmanned aerial vehicles can be formed to fly to complete a specific flight task. Specifically, the formation flight refers to the process that a certain number of unmanned aerial vehicles fly according to a specified formation, however, due to the large number of movable objects in the formation moving process, how to realize the rapid and safe landing / recycling of a plurality of movable objects on the destination / recycling device becomes a problem to be solved urgently.

[0073] In the related art, the unmanned aerial vehicle lands on the ground in a flat manner after the performance ends, and the disadvantage of this manner is that the more unmanned aerial vehicles used in the performance, the larger the corresponding site needs. Therefore, the existing large-scale unmanned aerial vehicle performance is usually limited to landmark buildings in each city, that is, places with open squares. At the same time, in the related art, in order to enable the unmanned aerial vehicle to land safely, the plurality of unmanned aerial vehicles must be staggered on the plane, and therefore a large space is needed to meet the landing demand. Moreover, after the unmanned aerial vehicle lands on the open square, the unmanned aerial vehicles on the ground need to be collected by additional manpower, which is not friendly to non-open squares for large performances such as performances containing thousands of unmanned aerial vehicles.

[0074] In the related art, a vertical collection device is also used to store multiple unmanned aerial vehicles. However, the present inventor has found that, after the previous unmanned aerial vehicle is collected, the current unmanned aerial vehicle needs to move to the vertical collection device, which is inefficient. Therefore, the present application can solve the problem of occupying a large area when multiple unmanned aerial vehicles land and subsequent collection inconvenience. Specifically, in the present application, multiple unmanned aerial vehicles can go to the location of the tower, and when the multiple unmanned aerial vehicles reach the air above the tower, they can land on the tower in turn and stay in the tower to achieve the effect of unmanned aerial vehicle collection. The tower is a common way of expression, which can also be called an airport, a base station, or a service station. It can be understood that the tower is at least used for unmanned aerial vehicle landing / take-off and collection. In some ways, the tower can also be used for charging, maintenance, and other services for multiple unmanned aerial vehicles. In some embodiments, the tower can include multiple accommodation spaces, each of which can be used to place different movable objects to store, charge, or maintain different movable objects. In some embodiments, the tower can be a vertical tower, for example, the tower includes first, second, and n accommodation spaces arranged vertically in turn, where the bottom layer of the n accommodation space is closest to the ground and is used to store multiple unmanned aerial vehicles respectively. In some embodiments, the tower can be a horizontal tower, and multiple towers can be stacked or vertically spaced by a support structure. Specifically, the tower includes first, second, and n accommodation spaces arranged horizontally in turn, and each accommodation space is used to place different movable objects. For example, the horizontal tower can be set as an accommodation / charging / maintenance warehouse for autonomous vehicles for multiple autonomous vehicles. For example, the horizontal tower can be set on a moving vehicle, and multiple unmanned aerial vehicles can move to the horizontal tower for easy storage. Since multiple layers of horizontal towers can be set, it is also beneficial for the storage, movement, and transportation of multiple unmanned aerial vehicles.

[0075] Specifically, please refer to Figure 1 With the case that multiple unmanned aerial vehicles 100 can include a first unmanned aerial vehicle 100a and a second unmanned aerial vehicle 100b, the first unmanned aerial vehicle 100a and the second unmanned aerial vehicle 100b can be arranged and hovered at a preset position of the tower 200 (for example, the preset position is above the tower 200), the first unmanned aerial vehicle 100a is the closest unmanned aerial vehicle 100 to the tower 200, and the second unmanned aerial vehicle 100b is the unmanned aerial vehicle 100 adjacent to the first unmanned aerial vehicle 100a along the arrangement direction.

[0076] When the plurality of unmanned aerial vehicles 100 are recycled / moved / landed by the tower 200, according to the distance between the unmanned aerial vehicle 100 and the tower 200, the first unmanned aerial vehicle 100a will move and land on the tower 200 first (for example, the first unmanned aerial vehicle 100a moves to the top side of the first containing space), so that the position where the first unmanned aerial vehicle 100a originally hovers is vacated. During the movement of the first unmanned aerial vehicle 100a (which can include the time when the first unmanned aerial vehicle 100a starts to move), the second unmanned aerial vehicle 100b will start to move and then hover at the position where the first unmanned aerial vehicle 100a originally hovers. When the first unmanned aerial vehicle 100a is completely recycled / moved / landed by the tower 200 (the first unmanned aerial vehicle 100a is completely moved into the first containing space), the second unmanned aerial vehicle 100b will start to move again from the position where the first unmanned aerial vehicle 100a originally hovers in preparation for landing on the tower 200 (or moving to the top side of the first containing space).

[0077] On the basis of the above, the other unmanned aerial vehicles immediately behind the second unmanned aerial vehicle 100b will also start to move when the second unmanned aerial vehicle 100b starts to move and will hover at the position where the second unmanned aerial vehicle 100b hovers before, that is, along the arrangement direction of the plurality of unmanned aerial vehicles 100, when the unmanned aerial vehicle 100 in front starts to move, the unmanned aerial vehicle 100 behind will start to move accordingly, and when the unmanned aerial vehicle 100 in front stops moving or is being recycled / moved / landed by the tower 200, the unmanned aerial vehicle 100 behind will stop moving accordingly.

[0078] Since the plurality of unmanned aerial vehicles 100 can stay in turn along the corresponding flight route to prepare for landing, it can not be necessary to spread out into multiple planes to prepare for landing, which can greatly reduce the demand for space. The tower 200 can accommodate a plurality of unmanned aerial vehicles 100, by enabling the unmanned aerial vehicles 100 to land in turn inside the tower 200 to be accommodated by the tower 200, relative to all landing on the ground and being recycled by manpower, the demand for manpower recycling can be greatly reduced.

[0079] Moreover, since each unmanned aerial vehicle 100 will move accordingly following the unmanned aerial vehicle 100 in front, the effect of the plurality of unmanned aerial vehicles 100 landing in turn can be achieved, rather than the unmanned aerial vehicle 100 behind starting to move after the unmanned aerial vehicle 100 in front completely lands, so that the length of time that the unmanned aerial vehicle 100 behind waits to stay can be reduced, enabling the unmanned aerial vehicles 100 to be recycled faster, achieving efficient landing of the formation of unmanned aerial vehicles 100, which is conducive to improving the recycling efficiency of the unmanned aerial vehicles 100.

[0080] Additionally, it should be noted that, for ease of understanding, this application will be described using the recovery of drone 100 as an example. It is understood that this application is not limited to this; it can be applied to the recovery of mobile objects, including drone 100, and can achieve the same or similar effects as when recovering drone 100. Furthermore, this application can also be applied to controlling mobile objects to a target location (the location of the entrance to a control tower or other storage / reception facility / dock), so that the target object can be transported by or unloaded from the mobile object. In some cases, the mobile object may include the logistics drone 100.

[0081] In the case of recovering the drone 100 through the control tower 200, in order to ensure that the drone 100 can be recovered by the corresponding control tower 200, the drone 100 needs to have the function of recognizing the control tower 200.

[0082] Please refer to the following in this application: Figure 1 and Figure 2 The control tower 200 may include a position indicator light assembly 210. The drone 100 can perform light recognition on the position indicator light assembly 210 to confirm whether the control tower currently being landed on is the one requiring landing. Figure 1 In the configuration, the position indicator light group 210 is located on one side of the control tower 200 along the A1 direction. The position indicator light group 210 can be located on the top of the control tower 200, so that the drone 100 can easily identify the position indicator light group 210 when it lands from the top of the control tower 200.

[0083] When the drone 100 lands, it can capture images of the position indicator light group 210 to obtain images of the position indicator light group 210 emitting light. By using image recognition, it can determine the relevant information of the control tower 200 based on the illumination of the position indicator light group 210, and thus determine whether the control tower where the drone 100 is currently landing is the control tower where the drone 100 is expected to land, thereby improving the safety of drone recovery.

[0084] exist Figure 1 and Figure 2 In the tower 200, the position indicator light group 210 may include a first indicator 211 and a second indicator 212, which are located on both sides of the tower 200 along the A2 direction. The drone 100 can acquire images of both sides of the tower 200 to determine relevant information of the tower 200 based on the luminous images of the first indicator 211 and the second indicator 212.

[0085] The tower 200 can further include a containing bin 220. The tower 200 can contain the UAV 100 through the containing bin 220. The containing bin 220 has an opening 221. The opening 221 can be located between the first marker 211 and the second marker 212. In the case that the UAV 100 determines that the current landing tower is the intended landing tower, the UAV 100 can directly descend between the first marker 211 and the second marker 212 and pass through the opening 221, thereby being able to be contained in the containing bin 220.

[0086] The position light group 210 can be used to provide positioning and identity recognition functions for the UAV 100. Specifically, in the case that the UAV 100 determines that the current landing tower is the intended landing tower, the UAV 100 can determine the position of the tower 200 through the position light group 210, and determine the number of the tower 200 through the coding light 215. Figure 2 The position light group 210 can include a positioning light 213, a boundary light 214, and a coding light 215. It can be understood that a person skilled in the art can set the number of the positioning light 213, the boundary light 214, and the coding light 215 according to needs. In some embodiments, the number of the positioning light 213 is 1, the number of the boundary light 214 is 4, and the number of the coding light 215 is 8. The 1 positioning light 213 is located in the second marker 212, and the first marker 211 and the second marker 212 each have 2 boundary lights 214 and 4 coding lights 215.

[0087] In the first marker 211, the 2 boundary lights 214 are respectively located at the two ends of the first marker 211 along the A3 direction, and the 4 coding lights 215 are arranged in sequence between the 2 boundary lights 214; the same is true for the second marker 212, and the positioning light 213 is arranged away from other lights in the second marker 212, and in the case that the first marker 211 is located on the left side of the second marker 212, the positioning light 213 is located in the second marker 212 close to the first marker 211. Figure 2

[0088] On the basis of the above, the 4 boundary lights 214 are respectively located in the four corner regions formed by the position light group 210 along the A2 direction and the A3 direction. When the boundary lights 214 emit light, the outline region of the position light group 210 can be determined through the collected image, which facilitates the UAV 100 to confirm the position of the position light group 210. In the case that the position of the position light group 210 is confirmed, the orientation of the position light group 210 can be determined through the light emission of the 1 positioning light 213, so that the UAV 100 can determine the orientation of the tower 200. The 8 coding lights 215 can be configured to partially emit light and partially not emit light according to the number information of the tower 200, so that the UAV 100 can determine the number information of the tower 200 according to the light emission of the coding light 215.

[0089] ​The unmanned aerial vehicle 100 can match the feature points recognized from the outline marker 214 and the feature points recognized from the positioning marker 213 with the corresponding feature points of the real object image according to the collected image, and then determine the relative position relationship between the unmanned aerial vehicle 100 and the tower 200 according to the real object image that meets the matching condition. The light-emitting area of each outline marker 214 can be a rectangle, and the two long sides of the rectangle can be recognized as two feature points, respectively. The light-emitting area of the positioning marker 213 can be a triangle, and the three sides or three vertices of the triangle can be recognized as three feature points, respectively.

[0090] In addition, according to different actual conditions or requirements, the number, shape and position of different lamps can be configured on the basis of the foregoing. The shape of the lamp can correspond to the shape of the light-emitting area. The shapes of all the outline markers 214 can be the same, and the shapes of all the coding markers 215 can also be the same.

[0091] The outline marker 214 and the positioning marker 213 can be always on, so that the unmanned aerial vehicle 100 can conveniently position and recognize the tower 200 at any time. The light-emitting of each coding marker 215 can be represented as 1, and the non-light-emitting can be represented as 0, so that the eight coding markers 215 can encode the number information of the tower 200 by 8 bits (the encoding range is 0 to 255), and display the corresponding encoding value through different light-emitting layouts.

[0092] For the convenience of understanding, please refer to Figure 2 If the number information of the tower 200 is 127, all the coding markers 215 can be configured to not emit light in the first marker 211, and emit light in the second marker 212. For the unmanned aerial vehicle 100, when the coding markers 215 in the first marker 211 are recognized to not emit light, and the coding markers 215 in the second marker 212 are recognized to emit light, it can be determined that the number information of the tower 200 is 127. If the number information of the tower 200 is 0, all the coding markers 215 can be configured to not emit light. For the unmanned aerial vehicle 100, when all the coding markers 215 are recognized to not emit light, it can be determined that the number information of the tower 200 is 0.

[0093] For the unmanned aerial vehicle 100, the number information of the tower where the unmanned aerial vehicle 100 is expected to land can be stored in advance. The tower where the unmanned aerial vehicle 100 is expected to land can be the tower where the unmanned aerial vehicle 100 takes off, and the number information of the tower where the unmanned aerial vehicle 100 is expected to land can be stored when the unmanned aerial vehicle 100 is ready to take off. The unmanned aerial vehicle 100 can also store the position information of the tower where the unmanned aerial vehicle 100 is expected to land in advance. When the unmanned aerial vehicle 100 determines that it needs to land, the position of the tower 200 can be determined according to the position information of the tower where the unmanned aerial vehicle 100 is expected to land, and then the unmanned aerial vehicle 100 can move to the position of the tower 200 to land.

[0094] In addition, for the movable object, a corresponding device or equipment capable of being recognized by the movable object can be arranged at the target position (the entrance of the tower or other storage, storage device / landing station) to which the movable object goes, so that the movable object can accurately identify the target position and will not reach the area outside the target position or cannot identify the target position, thereby achieving the same or similar effect as when the unmanned aerial vehicle 100 identifies the tower.

[0095] In the actual application of the position indicator light group 210, the light of the position indicator light group 210 will be affected by the ambient light, thereby affecting the identification result of the unmanned aerial vehicle 100 to the tower 200.

[0096] In the present application, for the tower 200, the light brightness of the position indicator light group 210 can be adjusted.

[0097] Please refer to Figure 1 In the case that the unmanned aerial vehicle 100 takes off from the tower 200, the unmanned aerial vehicle 100 can move to the position indicator light group 210 to collect images, and set the exposure time during image collection. The average exposure time can be determined according to the exposure time corresponding to the collected image. The unmanned aerial vehicle 100 can send the average exposure time to the ground station 300. The ground station 300 can send a command to adjust the light brightness of the position indicator light group 210 to the tower 200 according to the comparison table of the average exposure time and the reasonable brightness, so that the light brightness of the position indicator light group 210 can adapt to the brightness of the ambient light. It can be understood that the ground station can also pre-set the coding condition of the position indicator light group 210 of different towers, and send the coding condition to the unmanned aerial vehicle 100 when the unmanned aerial vehicle 100 is stored in the tower, to assist the unmanned aerial vehicle 100 to identify whether it is the tower 200 corresponding to the target position; of course, the ground station can also pre-store the final destination tower (which may be inconsistent with the tower of take-off) for a part of the unmanned aerial vehicles 100, and the remaining unmanned aerial vehicles 100 are still recovered to the tower of take-off, or the first unmanned aerial vehicle 100a, the second unmanned aerial vehicle 100b… are recovered to the first tower in the first time by the fish descending method, re-take off and perform the task after charging is completed, and are recovered to the second tower in the second time by the fish descending method. Those skilled in the art can make different combinations or attempts according to needs, and the present application does not limit this.

[0098] In Figure 1 , the ground station 300 can be in communication connection with the tower 200, so as to be able to monitor the state of the tower 200 and be able to adjust the corresponding parameter data of the tower 200. The ground station 300 can also be in communication connection with the unmanned aerial vehicle 100, so as to be able to monitor the state of the unmanned aerial vehicle 100 and be able to send corresponding instructions to the unmanned aerial vehicle 100 according to the state of the unmanned aerial vehicle 100.

[0099] The overall control flow of the UAV 100 can include a take-off stage and a landing stage of the UAV 100, and the specific content can be determined by the following cases.

[0100] When the UAV 100 is ready for take-off, the ground station 300 can send an instruction to the tower 200 to assign a number information, so that the set of position lights 210 of the tower 200 can display corresponding information according to the 8-bit encoding of the number information. The ground station 300 can record the position and / or attitude of all towers 200 and send it to the UAV 100, so that the UAV 100 can determine the position and / or attitude of each tower 200. The ground station 300 can also send the number information of the tower 200 to the UAV 100, and the UAV 100 can set the received number information of the tower 200 as the number information of the tower 200 ready for take-off, or the number information of the tower expected to land.

[0101] In the take-off stage of the UAV 100, the UAV 100 can move to a height interval above the set of position lights 210 (for example, a height interval in a preset position of the entrance of the tower or other storage, storage device / landing station) to determine the average exposure time. The UAV 100 can send the average exposure time to the ground station 300, and the ground station 300 can send a command to adjust the light brightness of the tower 200 according to the comparison table of the exposure time and the reasonable brightness, so that the set of position lights 210 can adapt to the brightness of the ambient light at the adjusted light brightness. The UAV 100 in the height interval above the set of position lights 210 can effectively identify the light of the set of position lights 210, thereby ensuring the identification effect.

[0102] When the UAV 100 needs to be recycled after completing the corresponding task, the UAV 100 can move to the position where the tower expected to land according to the position information of the tower expected to land. When the tower 200 expects to land different UAVs 100, different UAVs 100 can be arranged in order above the tower 200 to be ready to land in an orderly manner. The number of UAVs 100 expected to land in the same tower 200 will be less than the maximum number of UAVs 100 that the tower 200 can accommodate, so that all arranged UAVs 100 can be accommodated.

[0103] In the landing stage of the plurality of unmanned aerial vehicles 100, the plurality of movable objects are controlled to move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, and the preset flight path includes a plurality of waypoints, each movable object stays at a preset time when passing through the waypoint, and more specifically, the unmanned aerial vehicles 100 that plan to land can stay above the tower 200 in sequence, and each unmanned aerial vehicle 100 can stay at a certain waypoint. A plurality of waypoints can be arranged in sequence and at intervals above the tower 200. The trajectory formed between the plurality of waypoints can form a landing flight path.

[0104] In Figure 3 , the plurality of waypoints can be represented as X1, X2, X3, X4, X5 respectively. The plurality of waypoints are arranged in sequence and at intervals, and the waypoint X1 is the closest to the tower 200, and the waypoint X5 is the farthest from the tower 200. Each waypoint can stop one unmanned aerial vehicle 100. The unmanned aerial vehicle 100 located at the waypoint X5 can sequentially pass through the waypoint X4, the waypoint X3, the waypoint X2, and the waypoint X1 to prepare for landing. The landing flight path from the waypoint X5 to the waypoint X1 is represented as L. The landing flight path corresponding to each unmanned aerial vehicle 100 can take the current stopping waypoint as the starting point and the waypoint X1 as the ending point. It can be understood that the unmanned aerial vehicle will also have a corresponding performance flight path or other task flight path, etc., but when landing is needed, the unmanned aerial vehicle will move to the preset flight path (i.e. the landing flight path) based on the performance flight path or the task flight path after receiving the landing instruction.

[0105] Each waypoint can have a corresponding time point. The unmanned aerial vehicle 100 can determine the moving time according to the time points of the adjacent two waypoints during the process of descending along the waypoints, so that the unmanned aerial vehicle 100 can move from one waypoint to another within the determined moving time.

[0106] In addition, it can be understood that each waypoint does not necessarily stop one unmanned aerial vehicle 100, but each unmanned aerial vehicle 100 will stop at a corresponding waypoint; it can be understood that at least two unmanned aerial vehicles 100 close to the target position in the plurality of unmanned aerial vehicles 100 perform this landing method.

[0107] The unmanned aerial vehicle 100 can have different states, which can specifically include a hovering waiting state and a landing flight state. In the hovering waiting state, the unmanned aerial vehicle 100 can stay at one of the waypoints by hovering. In the landing flight state, the unmanned aerial vehicle 100 can move from one waypoint to another by flying.

[0108] In Figure 3In combination, in some cases, for the UAV 100 staying at the waypoint X5, if there is another UAV 100 staying at the waypoint X4 or the waypoint X4 is currently inaccessible, the UAV 100 can switch to the hovering waiting state to hover at the waypoint X5; if the UAV 100 staying at the waypoint X4 is leaving the waypoint X4 or the waypoint X4 is currently accessible, the UAV 100 can switch to the landing flight state to go to the waypoint X4. When reaching the waypoint X4, if there is another UAV 100 staying at the waypoint X3 or the waypoint X3 is currently inaccessible, the UAV 100 can again switch to the hovering waiting state to hover at the waypoint X4; and the cycle continues until the UAV 100 can reach the waypoint X1 and land on the tower 200.

[0109] That is, by setting two different states of the UAV 100, the UAV 100 switches between the two different states to achieve the effect that the UAV 100 can stay at the waypoints and the effect that the UAV 100 can move between the waypoints.

[0110] In Figure 3 In the above, each UAV 100 can feed back the switching of the state to the ground station 300. The ground station 300 can determine the state of the UAV 100 at the waypoint X1 and can first send a landing instruction to the UAV 100 at the waypoint X1. Upon receiving the landing instruction, the UAV 100 at the waypoint X1 can switch the current state to the landing flight state to directly prepare to land on the tower 200 from the waypoint X1. Upon receiving the feedback of the switching of the state of the UAV 100 at the waypoint X1, the ground station 300 can send a landing instruction to the UAV 100 at the waypoint X2. Upon receiving the landing instruction, the UAV 100 at the waypoint X2 can also switch the current state to the landing flight state to move from the waypoint X2 to the waypoint X1 and can switch the current state to the hovering waiting state again when moving to the waypoint X1, and then wait for the next landing instruction from the ground station 300. Upon receiving the feedback of the switching of the state of the UAV 100 at the waypoint X2, the ground station 300 can send a landing instruction to the UAV 100 at the waypoint X3. The cycle continues until all the UAVs 100 can land on the tower 200. The ground station 300 can send a landing instruction to other UAVs 100 immediately after receiving the feedback of the switching of the state, so that the waiting time of the other UAVs 100 can be reduced.

[0111] The drone 100 can employ Model Predictive Control (MPC) technology to plan its trajectory between two adjacent waypoints. The planned trajectory takes into account the locations and trajectories of other drones 100. Based on the planned trajectory, the drone 100 can avoid significant overshoot, thus preventing collisions with other drones 100.

[0112] Specifically, the UAV 100 can obtain the location and expected arrival time of the next waypoint based on the landing route, and then fly from the current waypoint to the next waypoint according to the planned movement trajectory. When the UAV 100 is about to reach the next waypoint, it can decelerate in time to stop precisely at the next waypoint.

[0113] exist Figure 3 During the process of UAV 100 landing at tower 200 from waypoint X1, it can identify tower 200 to determine whether the tower it is currently landing at is the tower it is expected to land at.

[0114] Under normal circumstances, when UAV 100 arrives at the location of the intended landing tower, the tower 200 at that location becomes the intended landing tower. However, in practical applications, UAV 100 may experience positioning anomalies or be interfered with by strong winds, causing it to deviate from its original route and move to a different tower 200 when preparing to land at waypoint X1. In this situation, if UAV 100 does not identify the tower 200, it may land directly on the wrong tower, potentially leading to malfunctions in its recovery.

[0115] In addition, for the UAV 100 that needs to move between waypoints, even if it is affected during the movement, it can still move to the next waypoint according to the determined movement trajectory after it returns to normal.

[0116] Please combine Figure 3 Upon reaching waypoint X1, if the UAV 100 receives a landing instruction from ground station 300, it will begin preparing to land on control tower 200 from waypoint X1. Waypoint X1 can be located directly above control tower 200, allowing the UAV 100 to move vertically downwards from waypoint X1 to land on control tower 200 without requiring adjustments in other directions, thus reducing landing time. In some cases, the UAV 100 can begin tower identification from a position 2 meters directly above the top of control tower 200.

[0117] When the UAV 100 moves from the waypoint X1 to a certain height above the tower 200, the UAV 100 can effectively identify the light of the beacon light group 210 of the tower 200, and thus the tower identification can be started. The certain height above the tower 200 can be within the height range above the beacon light group 210.

[0118] The UAV 100 can collect the image of the light of the beacon light group 210, and after the image is collected, the relative position between the UAV 100 and the beacon light group 210 and the code value displayed by the beacon light group 210 can be determined through image recognition. The UAV 100 can compare the code value displayed by the beacon light group 210 with the pre-stored number information, and if the comparison result is consistent, it can be determined that the current landing tower is the expected landing tower, and thus the landing position and / or the landing attitude of the UAV 100 can be adjusted according to the relative position between the UAV 100 and the beacon light group 210, so as to continue to land on the tower 200; if the comparison result is inconsistent, it can be determined that the current landing tower is not the expected landing tower, and the spatial position and the orientation of the expected landing tower can be determined according to the relative position and pose of the expected landing tower. The UAV 100 can move to the spatial position of the expected landing tower, and the attitude of the UAV 100 can be adjusted according to the orientation of the expected landing tower, and then the tower identification can be re-performed. The UAV 100 can calculate the relative position and pose of the expected landing tower according to the position and pose of all towers 200 stored when the UAV 100 is ready for takeoff.

[0119] When the UAV 100 successfully lands on the tower 200, the UAV 100 can feed back the landing success information to the ground station 300. When the ground station 300 receives the landing success information fed back by the UAV 100, the ground station 300 can send a landing instruction to the UAV 100 currently located at the waypoint X1. This cycle continues until all the UAVs 100 land on the tower 200.

[0120] In addition, on the basis of the foregoing, the UAV 100 can use the RTK (Real-time kinematic, carrier phase dynamic real-time difference) positioning technology for dynamic positioning, and can use the image recognition technology to determine the relative position between the UAV 100 and the beacon light group 210, so as to realize the accurate landing of the UAV 100 when the UAV 100 lands on the tower 200.

[0121] Moreover, on the basis of the foregoing, the application can also achieve the effect of three-dimensional landing. Specifically, the UAVs 100 can be arranged in a three-dimensional formation, and for all UAVs 100 on any horizontal plane, there is a corresponding tower below which the UAVs 100 are expected to land, so that the UAVs 100 on each horizontal plane can be arranged in a planar formation for landing, and the UAVs 100 on the horizontal plane above can be arranged in a planar formation for descending. In this way, all horizontal planes in the three-dimensional formation will descend in turn until all UAVs 100 land on a corresponding tower, and the effect of three-dimensional landing can be finally achieved.

[0122] In addition, for the UAV 100, when identifying whether the current landing tower is the expected landing tower, the top of the UAV 100 below can also be identified. All UAVs 100 staying on the same tower can be bound to each other, so that all UAVs 100 do not need to identify the tower, but can identify between the UAVs 100.

[0123] In addition, on the basis of the foregoing, for the marker light group 210 arranged on both sides of the tower 200, the position of the tower 200 for landing the UAV 100 is basically rectangular, so the area of the tower 200 can be fully utilized, and the marker light group 210 can be configured to have a large enough size, which is beneficial to improve the effective identification range of the UAV 100 to the marker light group 210.

[0124] It can be understood that on the basis of the foregoing, the landing time of multiple UAVs 100 can be significantly reduced. Compared with the related art, in order to avoid collision with the aircraft below, each UAV 100 needs to wait for all the aircraft below to land before descending, and the landing height of each UAV 100 is only the distance between the last waypoint and the tower 200, so that the overall landing time is greatly reduced.

[0125] On the basis of the foregoing, the technical concept of the application can also be embodied by the following cases. For some cases, the specific implementation principle may be the same as or similar to that of other contents, and in order to avoid repetition, it will not be expanded.

[0126] For reference Figure 4 The control method of the application can include:

[0127] 011: In response to the first signal, the plurality of movable objects are controlled to move along a preset direction towards the target position according to the information of the target position;

[0128] 012: controlling the plurality of movable objects to move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, the preset flight path comprises a plurality of waypoints, each movable object stays at the waypoint for a preset time, when a previous movable object leaves a current waypoint, a next movable object is controlled to move to the waypoint left by the previous movable object;

[0129] 013: in response to the previous movable object staying at the target position leaving the target position, controlling the next movable object staying at the waypoint close to the target position to move to the target position.

[0130] The target position can include the position of the entrance of the tower, the airport, the base station, the service station and the like, and the preset orientation of the target position can include the orientation corresponding to the entrance of the tower, the airport, the base station, the service station and the like, for example, if the tower is a vertical tower, the entrance is in the vertical direction, the preset orientation of the target position can include the upper side of the vertical tower entrance, such as the vertical or approximately vertical upper side; in some three-dimensional tower with guiding arrangement, the preset orientation can also be the oblique upper side of the target tower, for example, the three-dimensional tower is provided with a guiding member extending outward, and the unmanned aerial vehicle only needs to stay on the guiding member, and the guiding member can assist the completion of the recovery of the unmanned aerial vehicle and the like. It can be understood that in some other embodiments, the preset orientation of the target position can also be the left side, the right side and the like of the tower entrance, and those skilled in the art can set it according to the needs, and the present application does not limit it. It can be understood that if the previous movable object has reached the target position and left the target position, it can enter the tower from the target position, and the next movable object can move to the target position to continue to enter the tower. If the movable object can fly directly from the target position to the bottom of the tower, the next movable object can move to the previous movable object after reaching the target position; in some embodiments, if the recovery of the movable object is completed by means of the guiding member, the next movable object moves to the target position after the previous movable object moves one movable object storage position through the guiding member to the direction of the bottom of the tower, and then falls on the back of the previous movable object, and the recovery of a plurality of movable objects can be completed after the next movable object lands in sequence.

[0131] The control method of the movable object of the present application can be realized by the movable object of the present application. Please combine Figure 1 and Figure 3 The movable object can be used for:

[0132] In response to the first signal, the plurality of movable objects are controlled to move along a preset direction towards the target position according to information of the target position; the plurality of movable objects are controlled to move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, the preset flight path comprises a plurality of waypoints, each movable object stays at the waypoint for a preset time, when a previous movable object leaves the current waypoint, a subsequent movable object is controlled to move to the waypoint left by the previous movable object; in response to the previous movable object staying at the target position leaving the target position, the subsequent movable object staying at the waypoint close to the target position is controlled to move to the target position.

[0133] The above control method of the movable object can control a plurality of movable objects to land at a target position, and all the movable objects are sequentially and gradually lowered, when the movable object below starts to lower, the movable object above also lowers accordingly, so that the effect of landing at the destination by the entire formation can be achieved, and the total time for all the movable objects to land can be reduced, which is beneficial to improve the landing efficiency of the movable object.

[0134] Specifically, in Figure 1 and Figure 3 , the unmanned aerial vehicle 100 can be used as a movable object, the location of the tower 200 can be used as a target position, and the route formed by connecting all the waypoints in sequence can be used as a preset flight path.

[0135] The first signal can be sent by the ground station 300 or by a terminal device operated by a user.

[0136] For the case of only one movable object, the movable object can directly move to the waypoint on the preset flight path closest to the target position to be able to directly prepare to stay at the target position.

[0137] For the case of only one movable object, the movable object can directly move to the waypoint on the preset flight path closest to the target position to be able to directly prepare to stay at the target position. Figure 5 , a control method of a movable object can comprise:

[0138] 021: sending a first signal to the plurality of movable objects to control the plurality of movable objects to move along a preset direction towards a target position according to information of the target position;

[0139] 022: controlling the plurality of movable objects to move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, and the preset flight path comprises a plurality of waypoints, each movable object stays at the waypoint for a preset time, when a previous movable object leaves a current waypoint, a next movable object is controlled to move to the waypoint left by the previous movable object;

[0140] 023: when a previous movable object staying at the target position leaves the target position, a next movable object staying at the waypoint close to the target position is controlled to move to the target position.

[0141] The control method of the movable object can be implemented by the ground station 300 of the present application. Please refer to Figure 1 and Figure 3 The ground station 300 can be used to: send a first signal to the plurality of movable objects to control the plurality of movable objects to move along a preset direction towards the target position according to the information of the target position; control the plurality of movable objects to move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, and the preset flight path comprises a plurality of waypoints, each movable object stays at the waypoint for a preset time, when a previous movable object leaves a current waypoint, a next movable object is controlled to move to the waypoint left by the previous movable object; when a previous movable object staying at the target position leaves the target position, a next movable object staying at the waypoint close to the target position is controlled to move to the target position.

[0142] The control method of the movable object can be implemented by the ground station 300 of the present application. Please refer to

[0143] Please refer to Figure 6 The control method of the movable object can be implemented by the ground station 300 of the present application. Please refer to

[0144] 031: in the case that the movable object is ready to stay at the to-be-stayed position, identifying the to-be-stayed position;

[0145] 032: in the case that the movable object identifies that the to-be-stayed position is the target position, determining to stay at the to-be-stayed position.

[0146] The control method of the movable object can be implemented by the movable object of the present application. Please refer to Figure 1 and Figure 3 The movable object can be used to: identify the to-be-stopped position in preparation for stopping at the to-be-stopped position; and determine to stop at the to-be-stopped position in the case that the to-be-stopped position is identified as the target position.

[0147] The control method of the movable object described above can ensure that the movable object will not stop at the wrong position and cause the problem of increased stopping time caused by the need to re-move or manually move, by identifying whether the to-be-stopped position is the target position and determining to stop the movable object at the to-be-stopped position, thereby facilitating to improve the landing efficiency of the movable object.

[0148] Specifically, in Figure 1 and Figure 3 , the unmanned aerial vehicle 100 can be used as the movable object, the position where the tower station currently landed by the unmanned aerial vehicle 100 can be used as the to-be-stopped position, and the position where the tower station expected to be landed by the unmanned aerial vehicle 100 can be used as the target position.

[0149] Please refer to Figure 7 , the control method of the movable object of the present application can include:

[0150] 041: The control station sends a first signal to a plurality of movable objects;

[0151] 042: The plurality of movable objects move along a preset direction towards the target position according to the information of the target position in response to the first signal;

[0152] 043: The plurality of movable objects move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, the preset flight path includes a plurality of waypoints, each movable object stops at a preset time when passing through the waypoint, and the control station controls the next movable object to move to the waypoint left by the previous movable object when the previous movable object leaves the current waypoint;

[0153] 044: The control station controls the next movable object that stops at the waypoint near the target position to move to the target position when the previous movable object that stops at the target position leaves the target position.

[0154] The control method of the movable object of the present application can be implemented by the control system 400 of the movable object of the present application. Please refer to Figure 1 and Figure 3The control system 400 of the movable objects can comprise the ground station 300 and a plurality of movable objects. The ground station 300 can be configured to send a first signal to the plurality of movable objects. The plurality of movable objects can be configured to move along a preset orientation towards a target location according to information of the target location in response to the first signal. The plurality of movable objects can be configured to move along a preset flight path, wherein the preset flight path is configured to guide the plurality of movable objects to the target location in sequence, and the preset flight path comprises a plurality of waypoints, and each movable object can be configured to stay at each waypoint for a preset time. The control station can be further configured to control the plurality of movable objects to stay at the target location in sequence along the preset flight path, and to control a movable object to move to a waypoint left by a previous movable object when the previous movable object leaves the waypoint.

[0155] The control method of the movable objects can be configured to control the plurality of movable objects to land at the target location, and all the movable objects can be configured to land in sequence step by step. When a movable object below starts to land, a movable object above can also start to land accordingly, so that the entire formation can land at the target location, and the total time for all the movable objects to land can be reduced, which is beneficial to improve the landing efficiency of the movable objects.

[0156] Specifically, in the above examples of the control method of the movable objects, Figure 1 and Figure 3 The control system 400 of the movable objects can comprise the tower station 200 or not. In the case of only involving communication and control between the movable objects and the ground station 300, the control system 400 of the movable objects can be considered not to comprise the tower station 200. In the case of involving communication and control between the ground station 300 and the tower station 200, and / or, between the movable objects and the tower station 200, the control system 400 of the movable objects can be considered to comprise the tower station 200.

[0157] The control method of the movable objects can comprise:

[0158] For example, in the case of realizing the fish landing manner, the control method of the movable objects can comprise:

[0159] The movable object closest to the target location (for example, the movable object at the bottom) can be controlled to leave the waypoint first.

[0160] The movable object at the bottom can be controlled to leave the waypoint first, which can be realized by one of the movable objects and the ground station 300.

[0161] In this way, the fish landing manner of the plurality of movable objects can be realized.

[0162] For example, in the case of realizing the fish landing manner, the control method of the movable objects can comprise: Figure 3In the middle, A1 direction can be represented as the upper, or in other words, the farthest waypoint along the reverse direction of A1 (in Figure 3 In the middle, A1 direction can be represented as the upper, or in other words, the farthest waypoint along the reverse direction of A1 (in Figure 3 In the middle, A1 direction can be represented as the upper, or in other words, the farthest waypoint along the reverse direction of A1 (in

[0163] The control method of the movable object can comprise:

[0164] In the case that the movable object leaves the target position, the pose information of at least one device is acquired, and the target position is located in one of the devices.

[0165] In the case that the movable object leaves the target position, the pose information of at least one device is acquired, and the target position is located in one of the devices.

[0166] In this way, it is convenient for the movable object to return to the target position in time.

[0167] Specifically, in Figure 1 and Figure 3 The tower 200 can be used as a device. The movable object leaving the target position can correspond to the case that the movable object leaves the device. The pose information acquired by the movable object can be the pose information of the device currently left by the movable object, or the pose information of the device subsequently expected to be reached by the movable object.

[0168] When the movable object leaves, the pose information of the device is acquired, and when it needs to stay, the position of the device corresponding to the pose information can be directly determined as the position expected to be stayed according to the pose information, so that the movable object can not need to communicate with other communicable devices (such as the ground station 300) to acquire the pose information, thereby avoiding the problem that the movable object cannot temporarily determine the position expected to be stayed.

[0169] The control method of the movable object can comprise:

[0170] In the case that the movable object first leaves the target location, the number information of the target location is acquired, which is used by the movable object to determine whether the location where the movable object stays is the target location. It can be understood that the first leaving of the target location refers to the case that the movable object leaves the tower station when flying away from the ground station to perform a show or execute a task.

[0171] In the case that the movable object first leaves the target location, the number information of the target location is acquired, which is used by the movable object to determine whether the location where the movable object stays is the target location. It can be understood that the first leaving of the target location refers to the case that the movable object leaves the tower station when flying away from the ground station to perform a show or execute a task.

[0172] In this way, the movable object can be prevented from staying at a wrong location.

[0173] Specifically, in the case that the movable object needs to stay at the target location, the number information of the target location is used to determine whether the location where the movable object stays is the target location, so that the movable object can be prevented from staying at a region other than the target location. Figure 1 Figure 3 In the case that the movable object needs to stay at the target location, the number information of the target location is used to determine whether the location where the movable object stays is the target location, so that the movable object can be prevented from staying at a region other than the target location.

[0174] In the present application, the plurality of movable objects are controlled to move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target location in sequence, and the preset flight path comprises a plurality of waypoints, and each movable object stays at each waypoint for a preset time, which can comprise:

[0175] Before the first signal is received by the previous movable object, the previous movable object is controlled to stay at the current waypoint in a staying state;

[0176] When the first signal is received by the previous movable object, the previous movable object is controlled to switch from the staying state to a moving state to leave the current waypoint;

[0177] In the case that the previous movable object leaves the current waypoint, the next movable object is controlled to switch from the moving state to the staying state to move to the waypoint left by the previous movable object;

[0178] In the case that the next movable object moves to the waypoint left by the previous movable object, the next movable object is controlled to switch from the moving state to the staying state to stay.

[0179] ​The following steps can be implemented by one of the movable object and the ground station 300: before the previous movable object receives the first signal, controlling the previous movable object to keep the stay state to stay at the current waypoint; when the previous movable object receives the first signal, controlling the previous movable object to switch from the stay state to the moving state to leave the current waypoint; in the case that the previous movable object leaves the current waypoint, controlling the subsequent movable object to switch from the moving state to the stay state to move to the waypoint left by the previous movable object; in the case that the subsequent movable object moves to the waypoint left by the previous movable object, controlling the subsequent movable object to switch from the moving state to the stay state to stay.

[0180] In this way, the controllability of the plurality of movable objects when performing the fish-like movement is improved.

[0181] Specifically, on the basis of the foregoing, the hovering waiting state can be the stay state, and the landing flight state can be the moving state. The previous movable object can be the movable object that stays at the target position first among the two movable objects adjacent along the preset flight line. The subsequent movable object can be the movable object that stays at the target position later among the two movable objects adjacent along the preset flight line.

[0182] The control method of the movable object can include:

[0183] When the target position exists in the direction of the current waypoint, generating a moving planning route according to the current waypoint, the next waypoint, and the expected moving time;

[0184] According to the moving planning route, controlling the movable object to move from the current waypoint to the next waypoint.

[0185] The following steps can be implemented by one of the movable object and the ground station 300: when the target position exists below the movable object, generating a moving planning route according to the current waypoint, the next waypoint, and the expected moving time; according to the moving planning route, controlling the movable object to move from the current waypoint to the next waypoint.

[0186] In this way, the collision between the movable objects is avoided.

[0187] Specifically, on the basis of the foregoing, the time difference of the time points between the two adjacent waypoints can be the expected moving time, and the moving trajectory planned by the movable object between the two adjacent waypoints can be the moving planning route.

[0188] The control method of the movable object can include:

[0189] In a case that the movable object moves from the waypoint closest to the position to be stayed to a preset position above the position to be stayed, the first light-emitting information emitted by the light-emitting identifier is recognized to determine the number information of the position to be stayed, the light-emitting identifier is arranged at the position to be stayed, and the movable object stores the number information of the target position.

[0190] In a case that the number information of the position to be stayed is consistent with the number information of the target position, the position to be stayed is determined as the target position.

[0191] In a case that the number information of the position to be stayed is consistent with the number information of the target position, the position to be stayed is determined as the target position.

[0192] In this way, the movable object can be accurately stayed at the target position.

[0193] Specifically, on the basis of the foregoing, the waypoint X1 can be the waypoint closest to the position to be stayed, the light-emitting of the pilot lamp group 210 can be the light-emitting identifier, the light-emitting layout of the coded light 215 of the pilot lamp group 210 can be the first light-emitting information, the number information of the tower where the unmanned aerial vehicle 100 currently lands can be the number information of the position to be stayed, and the position in the height interval above the light-emitting identifier of the tower 200 can be the preset position above the position to be stayed.

[0194] In the present application, the first light-emitting information emitted by the light-emitting identifier is recognized to determine the number information of the position to be stayed, which can include:

[0195] The coded information of the position to be stayed is determined by recognizing the light-emitting layout of the plurality of coded lights 215, the light-emitting identifier can include the plurality of coded lights 215, the first light-emitting information is displayed by the plurality of coded lights 215, the coded information of the position to be stayed corresponds to the light-emitting layout of the plurality of coded lights 215, a part of the plurality of coded lights 215 is located at one side of the position to be stayed, and another part of the plurality of coded lights 215 is located at the other side of the position to be stayed.

[0196] The step of determining the coded information of the position to be stayed by identifying the light-emitting layout of the plurality of coded lights 215 can be implemented by one of the movable object and the ground station 300. The light-emitting identifier can include the plurality of coded lights 215. The first light-emitting information is displayed by the plurality of coded lights 215. The coded information of the position to be stayed corresponds to the light-emitting layout of the plurality of coded lights 215. A part of the plurality of coded lights 215 is located on one side of the position to be stayed. Another part of the plurality of coded lights 215 is located on another side of the position to be stayed.

[0197] In this way, the coded information can be quickly identified.

[0198] The control method of the movable object can include:

[0199] In a case where the position to be stayed is determined as the target position, the moving posture is adjusted according to the identified relative position information between the position to be stayed and the movable object.

[0200] The step of adjusting the moving posture according to the identified relative position information between the position to be stayed and the movable object in a case where the position to be stayed is determined as the target position can be implemented by one of the movable object and the ground station 300.

[0201] In this way, the movable object can be prevented from being disturbed by structures when staying.

[0202] Specifically, on the basis of the foregoing, the relative position between the unmanned aerial vehicle 100 and the tower 200 determined by the unmanned aerial vehicle 100 through image recognition can be used as the relative position information between the position to be stayed and the movable object.

[0203] In a case where it is determined to stay at the target position, according to the relative position information, if there is a structure disturbance, the movable object can adjust its moving posture to avoid collision between the movable object and objects around the target position during the staying process.

[0204] The control method of the movable object can include:

[0205] In a case where the movable object moves from the waypoint closest to the position to be stayed to the preset position located above the position to be stayed, the second light-emitting information emitted by the light-emitting identifier is identified to determine the relative position information.

[0206] The step of identifying the second light-emitting information emitted by the light-emitting identifier to determine the relative position information in a case where the movable object moves from the waypoint closest to the position to be stayed to the preset position located above the position to be stayed can be implemented by one of the movable object and the ground station 300.

[0207] In this way, the time for the movable object to prepare for staying can be reduced.

[0208] Specifically, in Figure 2 the second light-emitting information can be determined by the light-emitting layout of the positioning lamp 213 and the outline lamp 214.

[0209] The first light-emitting information and the second light-emitting information can be collected at the same time. When the position to be parked is determined as the target position, the second light-emitting information can be identified according to the light emitted by the light-emitting identifier, so that the first light-emitting information does not need to be collected first. After the position to be parked is determined as the target position, the image is collected again to identify the second light-emitting information, so that the movable object can adjust its moving posture more quickly.

[0210] In the present application, identifying the second light-emitting information emitted by the light-emitting identifier to determine the relative position information can include:

[0211] The light-emitting identifier can include the position indicating lamp group 210, and the second light-emitting information is displayed by the position indicating lamp group 210. The relative position information corresponds to the plurality of light-emitting feature points of the position indicating lamp group 210. Part of the plurality of light-emitting feature points surrounds the position to be parked, and another part of the plurality of coded lamps 215 is located on one side of the position to be parked.

[0212] The plurality of light-emitting feature points identified are matched with the light-emitting feature points of the preset image, and the relative position information is determined according to the matched preset image.

[0213] Among them, one of the movable object and the ground station 300 can implement the following steps: identifying the plurality of light-emitting feature points of the position indicating lamp group 210 by image recognition. The light-emitting identifier can include the position indicating lamp group 210, and the second light-emitting information is displayed by the position indicating lamp group 210. The relative position information corresponds to the plurality of light-emitting feature points of the position indicating lamp group 210. Part of the plurality of light-emitting feature points surrounds the position to be parked, and another part of the plurality of coded lamps 215 is located on one side of the position to be parked. The plurality of light-emitting feature points identified are matched with the light-emitting feature points of the preset image, and the relative position information is determined according to the matched preset image.

[0214] In this way, it is beneficial for the movable object to quickly adjust its moving posture.

[0215] Specifically, in Figure 2 the second light-emitting information can be determined by the light-emitting layout of the positioning lamp 213 and the outline lamp 214. The feature points recognized by the positioning lamp 213 and the feature points recognized by the outline lamp 214 can be used as the plurality of light-emitting feature points, and the corresponding feature points of the physical diagram can be used as the light-emitting feature points of the preset image.

[0216] The relative position information is determined through the multiple light-emitting feature points recognized by the position indicating light group 210, and then the moving posture of the movable object is adjusted through the relative position information. The whole process takes a short time, which is beneficial to the fast adjustment of the moving posture of the movable object.

[0217] In the present application, the movable object can recognize the multiple light-emitting feature points of the position indicating light group 210 through image recognition, which can include:

[0218] The position indicating image is obtained through image acquisition of the position indicating light group 210. The position indicating light group 210 can include multiple outline lights 214 and at least one positioning light 213. The multiple outline lights 214 are arranged around the position to be stayed, and the at least one positioning light 213 is arranged on one side of the position to be stayed.

[0219] The light-emitting feature points of the multiple outline lights 214 and the light-emitting feature points of the at least one positioning light 213 are determined through image recognition of the position indicating image. The light-emitting feature points of the outline lights 214 correspond to the shape of the light region of the outline lights 214, and the light-emitting feature points of the positioning light 213 correspond to the shape of the light region of the positioning light 213.

[0220] Among them, one of the movable object and the ground station 300 can implement the following steps: obtaining the position indicating image through image acquisition of the position indicating light group 210. The position indicating light group 210 can include multiple outline lights 214 and at least one positioning light 213. The multiple outline lights 214 are arranged around the position to be stayed, and the at least one positioning light 213 is arranged on one side of the position to be stayed. The light-emitting feature points of the multiple outline lights 214 and the light-emitting feature points of the at least one positioning light 213 are determined through image recognition of the position indicating image. The light-emitting feature points of the outline lights 214 correspond to the shape of the light region of the outline lights 214, and the light-emitting feature points of the positioning light 213 correspond to the shape of the light region of the positioning light 213.

[0221] In this way, the relative position information can be obtained conveniently and quickly.

[0222] The shape of the light region of the outline light 214 can include a rectangle. The shape of the light region of the positioning light 213 can include a triangle.

[0223] The light region with a simple shape can facilitate the quick recognition of the corresponding feature points during image recognition.

[0224] The number of light-emitting feature points of the outline light 214 is less than the number of light-emitting feature points of the positioning light 213.

[0225] Specifically, in a case where the light region of the position light 214 is in a rectangular shape, the number of corresponding light-emitting feature points is 2. In a case where the light region of the position light 213 is in a triangular shape, the number of corresponding light-emitting feature points is 3. The number of light-emitting feature points of the position light 214 is less than the number of light-emitting feature points of the position light 213, so that the position light 214 and the position light 213 can be distinguished during image recognition.

[0226] The position light group 210 can be displayed constantly, so that the movable object can capture images of the position light group 210 at any time.

[0227] The control method of the movable object can include:

[0228] In a case where it is determined that the position to be stayed is not the target position, the movable object moves along the preset direction towards the target position again, and identification is performed again.

[0229] In a case where it is determined that the position to be stayed is not the target position, the movable object moves along the preset direction towards the target position again, and identification is performed again.

[0230] In this way, the movable object can be provided with a solution to stay at the target position.

[0231] Specifically, on the basis of the foregoing, in a case where the unmanned aerial vehicle 100 determines that the tower on which the unmanned aerial vehicle 100 currently lands is not the tower on which the unmanned aerial vehicle 100 is expected to land, the movable object can determine that the position to be stayed is not the target position.

[0232] The plurality of movable objects can be arranged in a vertical direction upwards or in an oblique upward direction at the preset direction of the target position.

[0233] Please refer to Figure 8 The control system 400 of the movable object can include a memory 410 and a processor 420. The memory 410 stores a computer program. When the processor 420 executes the computer program, the steps of the control method of the movable object of any one of the foregoing embodiments can be implemented.

[0234] For example, in a case where the computer program is executed, the following steps can be implemented:

[0235] 011: In response to the first signal, the plurality of movable objects move along a preset direction towards the target position according to information of the target position;

[0236] 012: controlling the plurality of movable objects to move along a preset route, wherein the preset route is used to guide the plurality of movable objects to the target position in sequence, and the preset route comprises a plurality of waypoints, each movable object stays at the waypoint for a preset time, and when a previous movable object leaves a current waypoint, a next movable object is controlled to move to the waypoint left by the previous movable object;

[0237] 013: in response to the previous movable object staying at the target position leaving the target position, controlling the next movable object staying at the waypoint close to the target position to move to the target position.

[0238] And the following steps can be implemented:

[0239] 021: sending a first signal to the plurality of movable objects to control the plurality of movable objects to move along a preset direction towards the target position according to information of the target position;

[0240] 022: controlling the plurality of movable objects to move along a preset route, wherein the preset route is used to guide the plurality of movable objects to the target position in sequence, and the preset route comprises a plurality of waypoints, each movable object stays at the waypoint for a preset time, and when a previous movable object leaves a current waypoint, a next movable object is controlled to move to the waypoint left by the previous movable object;

[0241] 023: when the previous movable object staying at the target position leaves the target position, controlling the next movable object staying at the waypoint close to the target position to move to the target position.

[0242] And the following steps can be implemented:

[0243] 041: the control station sends a first signal to the plurality of movable objects;

[0244] 042: the plurality of movable objects move along a preset direction towards the target position according to information of the target position in response to the first signal;

[0245] 043: the plurality of movable objects move along a preset route, wherein the preset route is used to guide the plurality of movable objects to the target position in sequence, and the preset route comprises a plurality of waypoints, each movable object stays at the waypoint for a preset time, and when a previous movable object leaves a current waypoint, a next movable object is controlled to move to the waypoint left by the previous movable object;

[0246] 044: The control station controls a last movable object to move to the target position when the last movable object stays at the target position.

[0247] The control method of the movable object can make all the movable objects land at the target position in turn, and when a lower movable object starts to land, an upper movable object also starts to land accordingly, so that the entire formation can land at the target position, and the total time for all the movable objects to land can be reduced, thereby improving the landing efficiency of the movable objects.

[0248] For example, the following steps can be implemented when the computer program is executed:

[0249] 031: The movable object identifies the to-be-stayed position when preparing to stay at the to-be-stayed position;

[0250] 032: The movable object stays at the to-be-stayed position when determining that the to-be-stayed position is the target position.

[0251] The control method of the movable object can determine whether the to-be-stayed position is the target position, and make the movable object stay at the to-be-stayed position when determining that the to-be-stayed position is the target position, so that the problem of increasing the staying time caused by the movable object staying at the wrong position and then moving again or being manually moved can be avoided, thereby improving the landing efficiency of the movable objects.

[0252] The computer readable storage medium of the present application stores a computer program. The computer program can implement the steps of the control method of the movable object when executed by the processor 420.

[0253] For example, the following steps can be implemented when the computer program is executed:

[0254] 011: In response to the first signal, the plurality of movable objects are controlled to move along a preset direction towards the target position according to the information of the target position;

[0255] 012: The plurality of movable objects are controlled to move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in turn, and the preset flight path includes a plurality of waypoints, each movable object stays at the waypoint for a preset time, and when a last movable object stays at a current waypoint, a next movable object is controlled to move to the waypoint left by the last movable object;

[0256] 013: in response to a previous movable object staying at the target position leaving the target position, controlling a subsequent movable object staying at the waypoint close to the target position to move to the target position.

[0257] and the following steps can be implemented:

[0258] 021: sending a first signal to a plurality of movable objects to control the plurality of movable objects to move along a preset direction towards a target position according to information of the target position;

[0259] 022: controlling the plurality of movable objects to move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, and the preset flight path comprises a plurality of waypoints, each movable object stays at the waypoint for a preset time, and when a previous movable object leaves a current waypoint, a subsequent movable object is controlled to move to the waypoint left by the previous movable object;

[0260] 023: when a previous movable object staying at the target position leaves the target position, controlling a subsequent movable object staying at the waypoint close to the target position to move to the target position.

[0261] and the following steps can be implemented:

[0262] 041: a control station sends a first signal to a plurality of movable objects;

[0263] 042: in response to the first signal, the plurality of movable objects move along a preset direction towards a target position according to information of the target position;

[0264] 043: the plurality of movable objects move along a preset flight path, wherein the preset flight path is used to guide the plurality of movable objects to the target position in sequence, and the preset flight path comprises a plurality of waypoints, each movable object stays at the waypoint for a preset time, and when a previous movable object leaves a current waypoint, a subsequent movable object is controlled to move to the waypoint left by the previous movable object;

[0265] 044: the control station controls a subsequent movable object staying at the waypoint close to the target position to move to the target position when a previous movable object staying at the target position leaves the target position.

[0266] The control method of the movable object can make all the movable objects land at the target position in sequence, and when the movable object below starts to land, the movable object above also starts to land, so that the whole formation can land at the target position, and the total time of landing of all the movable objects can be reduced, and the landing efficiency of the movable object can be improved.

[0267] For example, in the case of computer programs being executed, the following steps can also be implemented:

[0268] 031: In the case of the movable object being ready to stay at the to-be-stayed position, the to-be-stayed position is identified;

[0269] 032: In the case of the to-be-stayed position being determined as the target position, the movable object is determined to stay at the to-be-stayed position.

[0270] The control method of the movable object can identify whether the to-be-stayed position is the target position, and make the movable object stay at the to-be-stayed position when it is determined, so that the problem of increased staying time caused by the movable object staying at the wrong position and then moving again or being manually moved can be avoided, and the landing efficiency of the movable object can be improved.

[0271] The computer-readable storage medium can be arranged on the movable object and / or the ground station, or on other terminals, and the movable object and / or the ground station can communicate with the other terminals to obtain the corresponding program.

[0272] It can be understood that the computer-readable storage medium can include any entity or device capable of carrying computer programs, recording media, U disks, mobile hard disks, magnetic disks, optical disks, computer memories, read-only memories (ROMs), random access memories (RAMs), and software distribution media. The computer program includes computer program code. The computer program code can be in the form of source code, object code, executable files, or some intermediate forms. The computer-readable storage medium can include any entity or device capable of carrying computer program code, recording media, U disks, mobile hard disks, magnetic disks, optical disks, computer memories, read-only memories (ROMs), random access memories (RAMs), and software distribution media.

[0273] In some cases of the present application, the processor can be a central processing unit (CPU), can be a graphic processing unit (GPU), can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc.

[0274] Any procedural or methodological descriptions in flow charts or otherwise described herein can be understood as representing modules, segments or portions of code that include one or more executable instructions for implementing the specified logical function or process, and it is within the preferred scope of the present application to implement the additional implementation in which the functions can be performed in an order other than that shown or discussed, including in a substantially simultaneous manner or in reverse order, in accordance with the functionality involved, as would be understood by those skilled in the art to which embodiments of the present application pertain.

[0275] The logic and / or steps represented in flow charts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing the logic function, which can be specifically embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system including a processing module or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instructions.

[0276] In addition, the terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0277] In the description of the present application, it needs to be understood that the terms used to indicate the orientation or positional relationship (such as "center", "lengthwise", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc.) are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and facilitating the understanding of the corresponding situation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms used to indicate the orientation or positional relationship cannot be understood as a limitation of the present application.

[0278] In the description of the present application, unless otherwise explicitly specified and limited, "on" or "under" of the first feature to the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "above" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. "Below", "under" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0279] Although the present application has been shown and described, those of ordinary skill in the art can understand that various changes, modifications, replacements and variations can be made to the present application without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for controlling a movable object, characterized in that, include: In response to a first signal, multiple movable objects are controlled to move along a preset direction toward the target position based on information about the target position. Controlling multiple movable objects to move along a preset route, wherein the preset route guides the multiple movable objects sequentially to the target location, the preset route includes multiple waypoints, each movable object stays at a waypoint for a preset time, and when a previous movable object leaves the current waypoint, controlling the next movable object to move to the waypoint left by the previous movable object; and In response to the previous movable object remaining at the target location leaving the target location, the next movable object remaining at the waypoint near the target location is controlled to move to the target location.

2. A method for controlling a movable object, characterized in that, include: Send a first signal to the plurality of movable objects to control the plurality of movable objects to move along a preset direction toward the target position according to the target position information; Control multiple movable objects to move along a preset route, wherein the preset route is used to guide the multiple movable objects to the target position in sequence, the preset route includes multiple waypoints, each movable object stays for a preset time when passing the waypoint, and when the previous movable object leaves the current waypoint, control the next movable object to move to the waypoint left by the previous movable object; When the previous movable object that was stationed at the target location leaves the target location, the next movable object that was stationed at the waypoint near the target location is controlled to move to the target location.

3. A method for controlling a movable object, characterized in that, include: When the movable object is about to stop at the desired stopping position, the desired stopping position is identified; If the movable object recognizes the desired stopping position as the target position, it determines to stop at the desired stopping position.

4. A method for controlling a movable object, characterized in that, include: The control station sends a first signal to the multiple movable objects; In response to the first signal, the plurality of movable objects move along a preset direction toward the target position according to the target position information; Multiple movable objects move along a preset route, wherein the preset route guides the multiple movable objects sequentially to the target location, the preset route includes multiple waypoints, each movable object stays at a waypoint for a preset time, and the control station controls the next movable object to move to the waypoint from which the previous movable object left the current waypoint when the previous movable object leaves the current waypoint; and When the preceding movable object leaves the target location, the control station controls the following movable object, which is currently at a waypoint near the target location, to move to the target location.

5. The method for controlling a movable object according to any one of claims 1, 2, and 4, characterized in that, The control method for the movable object includes: Control the movable object closest to the target position to leave its waypoint first, and / or; In the event that the movable object first leaves the target position, the pose information of at least one device is acquired, wherein the target position is located at one of the devices, and / or; When the movable object leaves the target location for the first time, the number information of the target location is obtained. The number information is used by the movable object to determine whether the location where it is staying is the target location.

6. The method for controlling a movable object according to any one of claims 1, 2, and 4, characterized in that, The control involves moving multiple movable objects along a preset route, wherein the preset route guides the multiple movable objects sequentially to the target location, the preset route includes multiple waypoints, and each movable object stays at a waypoint for a preset time, including: Before the preceding movable object receives the first signal, control the preceding movable object to remain stationary at the current waypoint; When the preceding movable object receives the first signal, control the preceding movable object to switch from the stationary state to the moving state to leave the current waypoint; If the previous movable object leaves the current waypoint, control the next movable object to switch from the moving state to the stationary state so as to move to the waypoint left by the previous movable object; When the latter movable object moves to the waypoint from which the former movable object left, the latter movable object is controlled to switch from the moving state to the stationary state to stay.

7. The method for controlling a movable object according to any one of claims 1, 2, and 4, characterized in that, The control method for the movable object includes: When the waypoint exists in the direction of the movable object toward the target location, a movement planning route is generated based on the current waypoint, the next waypoint, and the expected movement time. According to the planned movement route, control the movable object to move from the current waypoint to the next waypoint.

8. The method for controlling a movable object according to any one of claims 1, 2, 3, and 4, characterized in that, The control method for the movable object includes: When moving from the waypoint closest to the desired stop location to a preset location at a preset orientation of the desired stop location, the first luminous information emitted by the luminous marker is identified to determine the number information of the desired stop location. The luminous marker is set at the desired stop location, and the movable object stores the number information of the target location. If the number information of the location to be stopped and the number information of the target location are consistent, the location to be stopped is determined to be the target location.

9. The control method for a movable object according to claim 8, characterized in that, Identifying the first luminous information emitted by the luminous marker to determine the numbering information of the location to be stopped includes: The coding information of the location to be stopped is determined by identifying the light-emitting layout of multiple coding lights. The light-emitting mark includes the multiple coding lights. The first light-emitting information is displayed through the multiple coding lights. The coding information of the location to be stopped corresponds to the light-emitting layout of the multiple coding lights. A portion of the multiple coding lights is located on one side of the location to be stopped, and another portion of the multiple coding lights is located on the other side of the location to be stopped.

10. The control method for a movable object according to claim 8, characterized in that, The control method for the movable object includes: If the location to be stopped is determined to be the target location, the movement posture is adjusted according to the relative position information between the identified location to be stopped and the movable object.

11. The control method for a movable object according to claim 10, characterized in that, The control method for the movable object includes: When moving from the waypoint closest to the desired stop location to a preset location at a preset orientation of the desired stop location, the second luminous information emitted by the luminous marker is identified to determine the relative position information.

12. The control method for a movable object according to claim 11, characterized in that, Identifying the second luminous information emitted by the luminous marker to determine the relative position information includes: Multiple luminous feature points of the position indicator light group are identified by image recognition. The luminous marker includes the position indicator light group. The second luminous information is displayed through the position indicator light group. The relative position information corresponds to multiple luminous feature points of the position indicator light group. A portion of the multiple luminous feature points is located around the position to be stopped, and another portion of the multiple coded lights is located on one side of the position to be stopped. The identified multiple luminous feature points are matched with luminous feature points of a preset image, and the relative position information is determined based on the matched preset image.

13. The control method for a movable object according to claim 12, characterized in that, The movable object identifies multiple luminous feature points of the position indicator light group through image recognition, including: A positional image is obtained by identifying and capturing images of the positional light group. The positional light group includes multiple outline lights and at least one positioning light. The multiple outline lights are arranged around the position to be stopped, and the at least one positioning light is arranged on one side of the position to be stopped. Image recognition is performed on the positioning image to determine the luminous feature points of the plurality of marker lights and the luminous feature points of at least one positioning light. The luminous feature points of the marker lights correspond to the shape of the light area of ​​the marker lights, and the luminous feature points of the positioning lights correspond to the shape of the light area of ​​the positioning lights.

14. The control method for a movable object according to claim 13, characterized in that, The shape of the illuminated area of ​​the marker light includes a rectangle, and / or... The shape of the illuminated area of ​​the positioning light includes a triangle.

15. The control method for a movable object according to claim 13, characterized in that, The number of luminous feature points of the marker light is less than the number of luminous feature points of the positioning light.

16. The control method for a movable object according to claim 12, characterized in that, The indicator lights are constantly on.

17. The method for controlling a movable object according to claim 8, characterized in that, The control method for the movable object includes: If it is determined that the location to be stopped is not the target location, the vehicle moves again along a preset direction toward the target location and is re-identified.

18. The method for controlling a movable object according to any one of claims 1, 2, 3, and 4, characterized in that, The multiple movable objects are arranged vertically upward at a predetermined orientation at the target location.

19. A control system for a movable object, characterized in that, The device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the control method for a movable object according to any one of claims 1-18.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the control method for a movable object according to any one of claims 1-18.

Images