Control method, control system, aircraft and storage medium

Abstract

The invention relates to the technical field of aircrafts, in particular to a control method, a control system, an aircraft and a storage medium, the control method comprises the steps that a target position point of a slender obstacle is obtained, and the slender obstacle is located in a flight area of the aircraft; obtaining target data corresponding to the target position point; according to the target data, constructing a three-dimensional virtual volume of a space where the slender obstacle is located; according to the three-dimensional virtual volume, generating a flight route of the aircraft in the flight area; and controlling the aircraft to fly according to the route so as to avoid the slender obstacle. According to the control method, the bypassing efficiency and bypassing safety of the aircraft to the slender obstacle can be improved.

Description

Control method, control system, aircraft and storage medium Technical Field

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

[0002] Aircraft can fly at low altitudes, making it easy for them to approach terrain and obstacles above it. This is especially true for long, slender obstacles such as power lines, which have a certain height and width above the ground and can easily cause collisions or entanglement. However, these obstacles are difficult to detect and identify due to their small reflective cross-sectional area and crisscrossing cable paths, seriously affecting flight safety. Improving the efficiency and safety of bypassing long, slender obstacles has always been a pain point in the industry.

[0003] Summary of the Invention

[0004] Based on this, embodiments of the present application provide a control method, a control system, an aircraft, and a storage medium, aiming to improve the efficiency and safety of circumventing slender obstacles.

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

[0006] Obtaining a target location point of an elongated obstacle, wherein the elongated obstacle is located within a flight area of ​​the aircraft;

[0007] Obtaining target data corresponding to the target location point;

[0008] constructing a three-dimensional virtual volume of the space where the elongated obstacle is located according to the target data;

[0009] generating a flight route for the aircraft within the flight area based on the three-dimensional virtual volume; and

[0010] The aircraft is controlled to fly along the route to avoid the elongated obstacle.

[0011] The control method provided in the first aspect pre-calibrates the target location of a slender obstacle before planning an aircraft's route. Based on the target data corresponding to the target location, a three-dimensional virtual volume is constructed for the space surrounding the slender obstacle, providing a reference for subsequent route planning. By pre-calibrating the location and dividing the volume, this control method preempts the problem of avoiding and circumventing slender obstacles, improving the efficiency and safety of the aircraft's circumvention of these obstacles. Furthermore, the construction of the three-dimensional virtual volume maximizes the space surrounding the slender obstacle as a safe passage area.

[0012] In a second aspect, an embodiment of the present application further provides a control method, the method comprising:

[0013] Obtaining target location points of an elongated obstacle, wherein the elongated obstacle is located within a flight area of ​​an aircraft, the target location points including a first location point and a second location point located in a length direction of the elongated obstacle, and a relative height difference between the first location point and the second location point;

[0014] Obtaining target data corresponding to the target location point;

[0015] A no-fly zone is constructed for the space where the elongated obstacle is located according to the target data, wherein the no-fly zone is related to a slope of a first virtual line between the first position point and the second position point.

[0016] The control method provided in the second aspect is for the situation where there is a relative height difference between the target position points of the slender obstacle, and constructs a no-fly zone related to the slope of the first virtual line between the first position point and the second position point, thereby making full use of the space where the slender obstacle is located as a safe passage area as much as possible, especially making full use of the space below the slender obstacle as a safe passage area as much as possible, reducing or avoiding the additional kinetic energy loss caused by large-attitude detours.

[0017] In a third aspect, embodiments of the present application further provide a control system, comprising at least one processor; and

[0018] At least one memory including computer program code, wherein the at least one memory and the computer program code are configured together with at least one processor to enable the system to at least execute the control method of the first aspect or the second aspect.

[0019] In a fourth aspect, an embodiment of the present application further provides an aircraft, comprising:

[0020] body;

[0021] a power system, provided in the body, for providing flight power for the aircraft; and

[0022] The control system is provided in the machine body and is used to implement the control method as described in the first aspect or the second aspect.

[0023] In a fifth aspect, an embodiment of the present application further provides a storage medium for computer-readable storage, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the control method as described in the first aspect or the second aspect.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] FIG1 is a schematic diagram of the steps of implementing the control method provided in an embodiment of the present application;

[0027] FIG2 is a schematic diagram of a three-dimensional virtual volume provided in an embodiment of the present application;

[0028] FIG3 is another schematic diagram of a three-dimensional virtual volume provided in an embodiment of the present application;

[0029] FIG4 is another schematic diagram of a three-dimensional virtual volume provided in an embodiment of the present application;

[0030] FIG5 is another schematic diagram of a three-dimensional virtual volume provided in an embodiment of the present application;

[0031] FIG6 is a schematic diagram of the steps of another control method provided in an embodiment of the present application;

[0032] FIG7 is a schematic diagram of a control system provided in an embodiment of the present application;

[0033] FIG8 is a schematic diagram of an aircraft provided in an embodiment of the present application; DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0035] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0036] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0037] Aircraft can fly at low altitudes, making them prone to approaching terrain and obstacles above it. This is especially true for slender obstacles such as power lines, which are suspended at a certain height above the ground and have a wide span, making them prone to collision or entanglement. However, slender obstacles are difficult to detect and identify due to the small reflective cross-sectional area of ​​the cables and the crisscrossing of their paths. This can seriously affect flight safety and has long been a pain point in the industry. Existing technologies primarily address slender obstacles in two ways: one relies on real-time sensor detection, but due to limitations in sensor capabilities and cost, many practical applications are unable to detect and bypass slender obstacles in a timely manner. The other relies on users to circle and mark slender obstacles. However, this method treats slender obstacles as two-dimensional obstacles, forgoing the use of space in the height direction. The slender obstacle can only be circled as a whole, making it impossible for aircraft to bypass it from above or below. This results in wasted space and low efficiency.

[0038] To solve the above problems, embodiments of the present application provide a control method, a control system, an aircraft, and a storage medium.

[0039] Slender obstacles are widely distributed at low altitudes. Due to their characteristics of being difficult to detect, they pose a great threat to aircraft that are widely used in aerial photography, mapping, plant protection, rescue and other operational scenarios. The slender obstacles in the embodiments of the present application include transmission lines, such as power cables, control cables, signal cables, etc., non-powered cables, or thin branches, etc. In most cases, the slender obstacles have a certain sag characteristic, that is, they are suspended in a catenary structure. In a few cases, there are also nearly rigid slender obstacles with very small sag characteristics. In order to fix the slender obstacles, supports are usually used to support them in the air. The supports can be any possible structure, such as a rod-shaped structure or a tower-shaped structure. The slender obstacles in the embodiments of the present application refer to obstacles with a small reflective cross-sectional area. Obstacles that meet this characteristic are within the scope of protection of this application regardless of their shape and size, and this application does not limit this.

[0040] Aircraft include both manned and unmanned aircraft. These include, but are not limited to, fixed-wing and rotary-wing aircraft. The present embodiments do not limit the type of aircraft. Unmanned aircraft typically also include a remote control device that establishes a communication connection with the unmanned aircraft and controls the flight of the unmanned aircraft. Remote control devices include, but are not limited to, remote controls, smartphones, computers, wearable devices, and the like. The present embodiments are not limited thereto.

[0041] For the sake of convenience, the following text uses transmission lines and agricultural drone operation scenarios as examples to illustrate the solutions of the embodiments of the present invention. Other types of application scenarios are similar and will not be described in detail.

[0042] For example, agricultural drones often need to perform repeated operations, such as spraying or seeding, on designated plots. These operations are typically relatively fixed, and the power lines within these areas are often long-standing and spatially fixed. Relying on real-time sensing and timely response during every flight poses significant challenges to sensor performance and cost. Furthermore, each flight requires one or more measurements and calculations, which significantly increases the drone's processing power. Furthermore, even with multiple successful attempts, a single perception failure or untimely response can easily lead to a crash, causing irreparable damage to the user.

[0043] Please refer to FIG1 , which is a schematic diagram of a control method according to an embodiment of the present application.

[0044] As shown in FIG1 , the control method includes the following steps:

[0045] S101: Obtaining a target position point of a slender obstacle, wherein the slender obstacle is located within a flight area of ​​an aircraft;

[0046] Target points are key points that characterize the characteristics of a transmission line. In some embodiments, the target points include a first point A and a second point B. The transmission line has a first end and a second end, with the first point A located at the first end and the second point B located at the second end. Exemplarily, the first point A and the second point B represent the locations corresponding to the highest points at either end of the transmission line, respectively.

[0047] In some embodiments, the first end corresponds to a first support, and the second end corresponds to a second support. The first support and the second support are used together to support the power line. Exemplarily, the first support and the second support are support poles or tower-like structures. Exemplarily, the first position point A and the second position point B respectively represent the locations where the power line contacts the left and right towers.

[0048] In some embodiments, the target location further includes a third location C located between the first location A and the second location B. Exemplarily, the third location corresponds to the location where the transmission line sag is greatest. When the first location A and the second location B are at the same height, the third location is typically located midway between the first support and the second support. When the first location A and the second location B are at different heights, the third location C is typically closer to the tower supporting the target location at the lower height.

[0049] In some embodiments, a method for obtaining a target location point of a transmission line includes: receiving a point selection instruction; and obtaining the target location point in response to the point selection instruction.

[0050] In some embodiments, the point selection instruction is issued by the user, relying on the user's observation and judgment of the real physical environment to determine whether the selected position corresponds to the target position point. Exemplarily, the point selection instruction comes from at least one of the following methods: RTK point marking operation, remote control point marking operation, aircraft point marking operation or ranging sensor point marking operation. Taking RTK point marking as an example, network RTK can also be used to control the drone to start the RTK module. The drone first flies near the power line. The user fine-tunes the position of the drone so that the drone is near the target position point of the power line and then marks the point. Of course, a handheld RTK rod can also be used. The user holds the RTK rod and walks to the target position point and then marks the point. The point marking operation can be a physical operation, such as pressing or clicking, or it can be a virtual operation, such as a touch operation on the interactive interface.

[0051] In other embodiments, to reduce user workload and conserve human resources, FPV (First Person View) images or point cloud images captured by drone cameras can be used to identify and predict transmission lines, thereby assisting in determining the target location of the transmission line. Taking FPV as an example, the reference point can be determined in response to a user selection on the FPV image, or in response to automatic recognition technology applied to the FPV image. Alternatively, a combination of the two methods can be employed, such as initial positioning through user selection to lock onto a smaller area, followed by fine-tuning positioning using image recognition technology to lock onto the reference point within a smaller area. The aforementioned automatic recognition technology can be used, as long as it can identify the target location, and is not limited here. The reference point corresponds to the pixel area of ​​the target location in the FPV image. This approach reduces user workload, as users do not need to precisely observe and determine the actual physical environment. Instead, they simply observe the FPV image to see if the target location of the transmission line appears, and then determine the target location by selecting the location within the image. In some scenarios, the user doesn't even need to precisely select pixels on the target location. Even if the pixels are near the target location, the target location can be quickly determined with the help of image recognition technology. In other scenarios, image recognition technology or point cloud recognition technology can automatically identify reference points, and the target location can be quickly determined without the user having to perform any selection operations. The above methods greatly reduce the user's workload and do not rely on the user's observation and judgment of the real physical environment. For example, FPV images can be obtained based on visual sensors, and for example, point cloud images can be obtained based on the fusion of radar detectors and visual sensors.

[0052] It is important to note that, considering the actual working environment, there may be certain errors in the determination of the target position point, especially the way the user marks the point. It is impossible to guarantee that the point will be marked only after it is accurately located at the target position point. Therefore, according to the application needs, a certain safety margin can be added to the measured or calculated value of the target position point to eliminate the uncertainty of the result.

[0053] S102: Obtain target data corresponding to the target location point;

[0054] In some embodiments, the target data may include three-dimensional location information, for example, two-dimensional location coordinates and altitude information. The target data may also include semantic information, which may be automatically tagged or manually tagged by the user.

[0055] In some embodiments, when the target position point is determined by using RTK dot operations, remote control dot operations, aircraft dot operations or ranging sensor dot operations, the target data is directly determined using the positioning result at the target position point, for example, the target data is determined using the RTK positioning result at the target position, the positioning result of the built-in GPS of the remote control, the GPS positioning result of the aircraft or the measurement result of the ranging sensor.

[0056] In other embodiments, when a target location is determined using an FPV image, global positioning information of the target at a specified location and local positioning information of the reference point relative to the target are obtained in response to the determination of a reference point in the image. The target includes any one of the fuselage of the aircraft, the camera, or the gimbal carrying the camera. The specified location includes a first specified location P1 and a second specified location P2 different from the first specified location. Target data (x, y, z) of the target location is obtained based on the global positioning information and the local positioning information. For example, the global positioning information includes (x1, y1, z1) at P1 and (x2, y2, z2) at P2.

[0057] Furthermore, the position of the reference point in the image is obtained; the posture of the reference point relative to the target object is obtained;

[0058] Local positioning information is obtained based on the position of the reference point in the image and the posture of the reference point relative to the target object.

[0059] Furthermore, the position of the reference point in the image is obtained; the attitude and relative height of the reference point relative to the target object are obtained; and local positioning information is obtained based on the position of the reference point in the image and the attitude and relative height of the reference point relative to the target object. The relative height can be measured by the altitude sensor on the drone.

[0060] S103: Constructing a three-dimensional virtual volume of the space where the elongated obstacle is located according to the target data;

[0061] In some embodiments, the three-dimensional virtual volume includes a no-fly zone, which represents an area where drones are prohibited from passing.

[0062] In some embodiments, the three-dimensional virtual volume includes a safety zone, and the safety zone represents an area where drones are allowed to pass. The safety zone includes an area outside the no-fly zone, such as at least one of the upper area, lower area, left area, and right area outside the no-fly zone. In the embodiment of the present application, it is precisely because the space where the power transmission line is located is divided into a three-dimensional virtual volume, compared to the prior art that treats the power transmission line as a two-dimensional obstacle and crosses out the entire no-fly zone, at least the upper area or lower area outside the no-fly zone is more feasible as a detour space, which significantly improves the detour efficiency. When passing through the upper area or lower area outside the no-fly zone, a large detour radius is not required to reduce kinetic energy damage, and the operator can choose to continue working while passing, which will not result in missing the working area or interrupting the working process. In the scenario of agricultural drones, the operating area itself is limited in size, and the transmission lines in the operating area are often arranged in a complex manner. If the entire area is marked as a no-fly zone, on the one hand, the area where operations should be carried out near the transmission lines will not be able to be operated, resulting in poor operating results; on the other hand, the drone will need a large detour radius to avoid the transmission lines, which will cause a large loss of kinetic energy of the drone, and sometimes there will be nowhere to go. It is easy for the drone to fly out of the user's own plot, or fly to other plots or non-operating plots, resulting in unexpected interruption of the operation process and affecting operation efficiency. If the spray load is not shut down in time and leakage occurs, it may even cause pesticide damage.

[0063] In some embodiments, there is a safety margin of a certain volume between the safe zone and the no-fly zone to ensure operational safety, which is more in line with safety considerations in real operational scenarios. Exemplarily, the three-dimensional virtual volume also includes a buffer zone, which is located between the safe zone and the no-fly zone.

[0064] In some embodiments, differentiated identification is used between the safety zone, the no-fly zone or the buffer zone, for example, by using different colors, different grayscale values, different graphic identification, etc., so that the user can have an intuitive experience.

[0065] In some embodiments, when the safety zone includes a lower area outside the no-fly zone, the distance between the lower area and a specific object is greater than a set threshold, and the specific object includes at least one of an operating object, the ground, or a building. Furthermore, the set threshold is positively correlated with at least one of the size of the drone's safety envelope or the drone's operating altitude. In some scenarios, when a drone passes through the safety zone of the lower area, there are power lines above the drone and operating objects, such as crops, below. The drone needs to maintain a certain safety distance from the power lines upward and a certain operating distance from the operating objects downward. Exemplarily, the drone's safety envelope is related to factors such as the size of the drone, the type of drone or the type of drone operating mission, and user settings.

[0066] In some embodiments, as shown in Figure 2, L1 and R1 represent the left and right supports of a power line. Point A1 is the fulcrum of the power line on the left support L1, point B1 is the fulcrum of the power line on the right support R1, and point C1 is the point of maximum sag of the power line. When L1 and R1 are located on the same reference plane, point C is typically the point of the power line closest to the reference plane. Thus, the no-fly zone is defined by a first virtual line A1B1 (shown as a dashed line, similarly below) between first point A1 and second point B1, and a second virtual line passing through third point C1 and parallel to the first virtual line.

[0067] In some embodiments, the no-fly zone is enclosed by a first virtual line A1B1 between a first position point A1 and a second position point B1, a second virtual line 1 passing through a third position point and parallel to the first virtual line, a first support L1, and a second support L2. Furthermore, the second virtual line intersects with the outward ends of the left and right towers at points D1 and E1, respectively. D1 and E1 can be the inner intersection points with the left and right towers, or the outer intersection points with the left and right towers, respectively. In some cases, such as when the support is a utility pole, the utility pole can be abstracted into a straight line, and D1 and E1 are the intersection points of the left and right utility poles, respectively. A1, B1, D1, and E1 form the boundary points of the no-fly zone.

[0068] In some embodiments, the no-fly zone also includes the location of the tower itself, for example, as shown in Figure 3, the area indicated by the diagonal shading. In some cases, the location of the tower can be marked in advance. In other cases, considering that the tower itself is much larger than the power line and is easily detected by the drone's perception module, the pre-marked three-dimensional virtual volume information can be combined with real-time perception information during navigation to improve the safety of avoiding slender obstacles.

[0069] In some embodiments, for example, in scenarios with mountain slopes, or scenarios with towers of different heights, there is often a relative height difference between the first position point and the second position point in the length direction of the elongated obstacle, for example, the two have different altitudes. For example, referring to FIG4 , L2 and R2 represent the left and right supports of the transmission line, and the no-fly zone is enclosed by a first virtual line A2B2 between the first position point A2 and the second position point B2, a second virtual line passing through the third position point C2 and parallel to the first virtual line A2B2, the first support L2, and the second support L2. Furthermore, the second virtual line intersects the left and right towers at points D2 and E2, respectively. A2, B2, D2, and E2 form the boundary points of the no-fly zone. For example, the no-fly zone is basically a three-dimensional parallelogram area existing in space.

[0070] When there is a relative height difference between the supports at both ends of a slender obstacle, the above-mentioned no-fly zone planning method can effectively improve the utilization rate of the permitted passage area. Please refer to Figure 5. It should be noted that Figure 5 also covers the scope of this application for marking slender obstacles. Compared to demarcating the no-fly zone as a rectangular no-fly zone formed by A2, F2, B2, and G2, or a triangular no-fly zone formed by A2, G2, and B2, both of which greatly reduce the safe passage properties of the area enclosed by B2, G2, and C2, the parallelogram division method in Figure 5 opens up more safe areas for drones to pass, especially the passage area between power lines and mountains. This part of the passage area is more important for drones because it eliminates the need for aircraft to bypass from the side or above, and to perform some large-scale circumvention maneuvers such as turning, climbing, and ascending, thereby reducing the loss of drone kinetic energy and improving passage efficiency. In addition, compared with the rectangular or triangular division method, the parallelogram division method has a larger horizontal span of the passage area between the power lines and the mountain, providing greater freedom of lateral movement, which is conducive to the efficient passage of drones.

[0071] In some cases, considering safety, additional safety margins can be added to the above-mentioned no-fly zones as a no-fly zone setting in real scenarios.

[0072] In some embodiments, after the three-dimensional virtual volume is constructed, it is stored to form a reusable database. This database can be bound to the operating area. The next time a drone operates in that area, or when other drones operate in that area, they can access the three-dimensional virtual volume information of the space where the power lines are located in that area for reference when planning routes. Even if the drone lacks powerful sensors, it can still achieve safe and efficient power line obstacle avoidance, thereby increasing information reuse.

[0073] In some embodiments, the three-dimensional virtual volume includes the tower itself. For example, in some cases, there may be more than one transmission line or strand, and multiple towers may be connected to support multiple sections of the transmission line. In such cases, in addition to the three-dimensional virtual volume, obstacle avoidance must also be considered between adjacent no-fly zones and the spaces between intermediate towers to ensure collision avoidance.

[0074] S104: generating a flight route of the aircraft within the flight area according to the three-dimensional virtual volume;

[0075] S105: Control the aircraft to fly along the route to avoid the elongated obstacle.

[0076] In the embodiment of the present application, before route planning, the three-dimensional virtual volume of the space where the transmission line is located has been constructed in advance, which is equivalent to putting the problem in front. Since the three-dimensional virtual volume factor has been taken into account during route planning, the generated route is relatively safe. The drone can effectively avoid the transmission line by operating according to the route, avoiding collision, entanglement or even explosion of the transmission line, reducing the active perception load during flight, reducing the processing power of the drone, improving the operating efficiency of the drone, and improving the drone's ability to fly autonomously outdoors.

[0077] In some embodiments, the route may be automatically planned by the drone's flight control module or manually planned by the user. If at least part of the planned route crosses a no-fly zone, a warning may be issued or the route may be automatically replanned.

[0078] In some embodiments, referring to FIG6 , FIG6 is a schematic diagram of another control method provided by an embodiment of the present application. The method includes the following steps:

[0079] S201: Obtain target location points of an elongated obstacle, wherein the elongated obstacle is located within a flight area of ​​an aircraft, and the target location points include a first location point and a second location point located in a length direction of the elongated obstacle, and there is a relative height difference between the first location point and the second location point;

[0080] S202: Obtain target data corresponding to the target location point;

[0081] S203: Constructing a no-fly zone for the space where the elongated obstacle is located based on the target data, wherein the no-fly zone is related to a slope of a first virtual line between the first location point and the second location point;

[0082] S204: generating a flight route for the aircraft within the flight area according to the no-fly zone; and

[0083] S205: Control the aircraft to fly along the route to avoid the long and narrow obstacle.

[0084] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control method described above can refer to the corresponding process in the aforementioned embodiment and will not be repeated here.

[0085] In some embodiments, the aircraft includes a power system, which may include one or more propulsion devices, one or more actuators corresponding to the one or more propulsion devices, and one or more electronic speed regulators. For a rotorcraft, the propulsion device includes a propeller, and the electronic speed regulator is used to receive a drive signal generated by a control system and provide a drive current to the actuator according to the drive signal to control the rotation speed of the actuator. The actuator is used to drive the propeller to rotate, thereby providing power for the movement of the aircraft, and the power enables the aircraft to achieve one or more degrees of freedom. In some embodiments, the aircraft can rotate around one or more rotation axes. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the actuator may be electric drive, oil drive, or oil-powered hybrid.

[0086] In some embodiments, the control system includes a controller and a sensing system. The sensing system is used to measure the attitude information of the aircraft, that is, the position information and state information of the aircraft in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a visual sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (GPS). The controller is used to control the movement of the aircraft. For example, the movement of the aircraft may be controlled based on the attitude information measured by the sensing system. It should be understood that the controller may control the aircraft according to pre-programmed instructions.

[0087] Please refer to FIG. 7 , which is a schematic diagram of a control system provided in an embodiment of the present application.

[0088] As shown in Figure 7, the control system 130 includes a processor 131 and a memory 132. The processor 131 and the memory 132 are connected via a bus 133. The bus 133 is, for example, an I2C (Inter-Integrated Circuit) bus.

[0089] Specifically, the processor 131 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0090] Specifically, the memory 132 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0091] The processor 131 is configured to run the computer program stored in the memory 132 and implement the following steps when executing the computer program:

[0092] Obtaining a target location point of an elongated obstacle, wherein the elongated obstacle is located within a flight area of ​​the aircraft;

[0093] Obtaining target data corresponding to the target location point;

[0094] constructing a three-dimensional virtual volume of the space where the elongated obstacle is located according to the target data;

[0095] generating a flight route for the aircraft within the flight area based on the three-dimensional virtual volume; and

[0096] The aircraft is controlled to fly along the route to avoid the elongated obstacle.

[0097] In some embodiments, the processor 131 is configured to run a computer program stored in the memory 132 and implement the following steps when executing the computer program:

[0098] Obtaining target location points of an elongated obstacle, wherein the elongated obstacle is located within a flight area of ​​an aircraft, the target location points including a first location point and a second location point located in a length direction of the elongated obstacle, and a relative height difference between the first location point and the second location point;

[0099] Obtaining target data corresponding to the target location point;

[0100] A no-fly zone is constructed for the space where the elongated obstacle is located according to the target data, wherein the no-fly zone is related to a slope of a first virtual line between the first position point and the second position point.

[0101] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control system described above can refer to the corresponding process in the aforementioned control method embodiment, and will not be repeated here.

[0102] Please refer to Figure 8, which is a schematic diagram of the aircraft provided in an embodiment of the present application.

[0103] As shown in FIG8 , the aircraft 100 includes an airframe 110 , a power system 120 , and a control system 130 . The power system 120 is provided on the airframe 110 to provide flight power for the aircraft 100 , and the control system 130 is provided on the airframe 110 to control the aircraft 100 .

[0104] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity of description, the specific working process of the aircraft described above can refer to the corresponding process in the aforementioned control method embodiment and will not be repeated here.

[0105] An embodiment of the present application further provides a storage medium for computer-readable storage, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the control method provided in the above embodiment.

[0106] The storage medium may be an internal storage unit of the control system or aircraft described in any of the aforementioned embodiments, such as a hard disk or memory of the control system or aircraft. The storage medium may also be an external storage device of the control system or aircraft, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the control system or aircraft.

[0107] The functions of the elements disclosed in the embodiments of the present application can be implemented by circuits or processing circuits, which include general-purpose processors, special-purpose processors, integrated circuits, ASICs ("application-specific integrated circuits"), traditional circuits and / or combinations thereof, which are configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuits. In the present disclosure, a circuit, unit or device is hardware that performs or is programmed to perform the functions described. The hardware can be any hardware disclosed herein or other known hardware that can be programmed or configured to perform the functions described. When the hardware is a processor that can be considered a circuit type, the circuit, device or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0108] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0109] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0110] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A control system, characterized in that, Comprising: At least one processor; And At least one memory including computer program code, wherein the at least one memory and the computer program code are configured together with the at least one processor to enable the system to at least perform the following operations: Obtain a target position point of the slender obstacle, wherein the slender obstacle is located within the flight area of the aircraft; Obtain target data corresponding to the target position point; Construct a three-dimensional virtual volume of the space where the slender obstacle is located according to the target data; Generate a flight route for the aircraft to fly within the flight area according to the three-dimensional virtual volume; and Control the aircraft to fly along the flight route to avoid the slender obstacle.

2. The system according to claim 1, wherein The three-dimensional virtual volume includes a no-fly zone, and the no-fly zone represents an area where the aircraft is prohibited from passing through.

3. The system according to claim 2, wherein, The three-dimensional virtual volume further includes a safety zone, and the safety zone represents an area where the aircraft is allowed to pass through.

4. The system according to claim 3, wherein, There is a certain volume of safety margin between the safety zone and the no-fly zone.

5. The system according to claim 3, wherein, The safety zone includes an upper area outside the no-fly zone and / or a lower area outside the no-fly zone.

6. The system according to claim 5, wherein, In the case where the safety zone includes a lower area outside the no-fly zone, the distance between the boundary of the lower area and a specific object is greater than a set threshold, and the specific object includes at least one of an operation object, the ground surface, and an object on the ground surface.

7. The system according to claim 6, wherein, The set threshold is positively correlated with at least one of the size of the safety envelope area of the aircraft or the operation height of the aircraft.

8. The system according to any one of claims 2-7, wherein, The target position point includes a first position point and a second position point, the slender obstacle has a first end and a second end, the first position point is located at the first end, and the second position point is located at the second end.

9. The system according to claim 8, wherein, The first end corresponds to a first support, the second end corresponds to a second support, and the first support and the second support are jointly used to support the slender obstacle.

10. The system according to claim 9, wherein, The no-fly zone includes the positions where the first support and the second support are located themselves.

11. The system according to claim 8, wherein, The target position point further includes a third position point, and the third position point is located in the area between the first position point and the second position point.

12. The system according to claim 11, wherein, The third position point corresponds to the position where the sag of the slender obstacle is the largest.

13. The system according to claim 8, wherein The no-fly zone is enclosed by a first virtual connection line between the first position point and the second position point and a second virtual connection line passing through the third position point and parallel to the first virtual connection line.

14. The system according to claim 9, wherein The no-fly zone is enclosed by a first virtual connection line between the first position point and the second position point, a second virtual connection line passing through the third position point and parallel to the first virtual connection line, the first support, and the second support.

15. The system according to claim 1, wherein the obtaining of the target position point of the slender obstacle includes: Receiving a point selection instruction issued by a user; In response to the point selection instruction, obtaining the target position point.

16. The system according to claim 15, wherein, The point selection instruction comes from at least one of the following methods: the dotting operation of RTK, the dotting operation of the remote controller, the dotting operation of the aircraft, the dotting operation of the ranging sensor, or the selection operation on the interaction interface.

17. The system according to claim 1, wherein The target position point is determined in response to an automatic recognition technology for an image, and the image is derived from detection information of a sensor of the aircraft.

18. The system according to claim 17, wherein, The image includes at least one of an FPV image or a point cloud image.

19. The system according to claim 1, wherein obtaining the target data corresponding to the target position point includes: In response to the determination of a reference point in the image, obtaining global positioning information of the target object at a specified position and local positioning information of the reference point relative to the target object, wherein the image is captured by a photographing device of the aircraft, the target object includes any one of the fuselage of the aircraft, the photographing device, or a gimbal carrying the photographing device, the reference point corresponds to the target position point, and the specified position includes a first specified position and a second specified position different from the first specified position; Obtaining the target data of the target position point according to the global positioning information and the local positioning information.

20. The system according to claim 19, wherein obtaining the local positioning information of the reference point relative to the target object includes: Obtaining the position of the reference point in the image; Obtaining the attitude of the reference point relative to the target object; Obtaining the local positioning information according to the position of the reference point in the image and the attitude of the reference point relative to the target object.

21. The system according to claim 19, wherein obtaining the local positioning information of the reference point relative to the target object includes: Obtaining the position of the reference point in the image; Obtaining the attitude and relative height of the reference point relative to the target object; Obtaining the local positioning information according to the position of the reference point in the image and the attitude and relative height of the reference point relative to the target object.

22. The system according to claim 19, wherein, The global positioning information includes GPS positioning information.

23. The system according to claim 1, wherein, The slender obstacle is a slender obstacle with a sag characteristic.

24. The system according to claim 1, wherein The slender obstacle is a power transmission line.

25. The system according to claim 1, wherein, The target data includes semantic information.

26. The system according to claim 1, wherein at least one memory and computer program code are configured together with at least one processor such that the system is further capable of at least performing the following operations: Storing the three-dimensional virtual volume to form a database that can be repeatedly called.

27. The system according to claim 26, wherein The database is stored in association with the flight area.

28. The system according to claim 2, wherein at least one memory and computer program code are configured together with at least one processor such that the system is further capable of at least performing the following operations: If at least part of the planned flight path will pass through the no-fly zone, then issuing a prompt and / or automatically re-planning the flight path.

29. A control method, characterized in that, including: Obtaining a target position point of a slender obstacle, wherein the slender obstacle is located in the flight area of the aircraft; Obtaining target data corresponding to the target position point; Constructing a three-dimensional virtual volume of the space where the slender obstacle is located according to the target data; Generating a flight path for the aircraft to fly in the flight area according to the three-dimensional virtual volume; and Controlling the aircraft to fly according to the flight path to avoid the slender obstacle.

30. The method according to claim 29, wherein, The three-dimensional virtual volume includes a no-fly zone, and the no-fly zone represents an area where the aircraft is prohibited from passing through.

31. The method according to claim 29, wherein, The three-dimensional virtual volume further includes a safety zone, and the safety zone represents an area where the aircraft is allowed to pass through.

32. The method according to claim 30, wherein, There is a certain volume of safety margin between the safety zone and the no-fly zone.

33. The method according to claim 31, wherein, The safety zone includes the upper area outside the no-fly zone and / or the lower area outside the no-fly zone.

34. The method according to claim 33, wherein In the case where the safety zone includes the lower area outside the no-fly zone, the distance between the boundary of the lower area and a specific object is greater than a set threshold, and the specific object includes at least one of an operation object, the ground surface, and an object on the ground surface.

35. The method according to claim 34, wherein, The set threshold is positively correlated with at least one of the size of the safety envelope area of the aircraft or the operation height of the aircraft.

36. The method according to any one of claims 30-35, wherein, The target position points include a first position point and a second position point, the slender obstacle has a first end and a second end, the first position point is located at the first end, and the second position point is located at the second end.

37. The method according to claim 36, wherein, The first end corresponds to a first support, the second end corresponds to a second support, and the first support and the second support are jointly used to support the slender obstacle.

38. The method according to claim 37, wherein, The no-fly zone includes the positions where the first support and the second support are located themselves.

39. The method according to claim 36, wherein, The target position points further include a third position point, and the third position point is located in the area between the first position point and the second position point.

40. The method according to claim 39, wherein, The third position point corresponds to the position where the sag of the slender obstacle is the largest.

41. The method according to claim 36, wherein, The no-fly zone is enclosed by a first virtual connection line between the first position point and the second position point and a second virtual connection line passing through the third position point and parallel to the first virtual connection line.

42. The method according to claim 41, wherein, The no-fly zone is enclosed by a first virtual connection line between the first position point and the second position point, a second virtual connection line passing through the third position point and parallel to the first virtual connection line, the first support, and the second support.

43. According to the method described in claim 29, the obtaining of the target position points of the slender obstacle includes: Receiving a point selection instruction issued by a user; In response to the point selection instruction, obtaining the target position points.

44. The method according to claim 43, wherein, The point selection instruction comes from at least one of the following methods: the dotting operation of RTK, the dotting operation of the remote controller, the dotting operation of the aircraft, the dotting operation of the ranging sensor, or the selection operation on the interaction interface.

45. The method according to claim 29, wherein The target position points are determined in response to an automatic recognition technology for an image, and the image is derived from the detection information of the sensors of the aircraft.

46. The method according to claim 45, wherein, The image includes at least one of FPV images or point cloud images.

47. According to the method described in claim 29, the obtaining of the target data corresponding to the target position points includes: In response to the determination of a reference point in the image, global positioning information of the target object at a specified position and local positioning information of the reference point relative to the target object are obtained, where the image is captured by a photographing device of the aircraft, the target object includes any one of the fuselage of the aircraft, the photographing device, or the gimbal carrying the photographing device, the reference point corresponds to the target position point, and the specified position includes a first specified position and a second specified position different from the first specified position; Based on the global positioning information and the local positioning information, target data of the target position point is obtained.

48. The method according to claim 47, wherein obtaining the local positioning information of the reference point relative to the target object includes: Obtaining the position of the reference point in the image; Obtaining the attitude of the reference point relative to the target object; Based on the position of the reference point in the image and the attitude of the reference point relative to the target object, the local positioning information is obtained.

49. The method according to claim 47, wherein obtaining the local positioning information of the reference point relative to the target object includes: Obtaining the position of the reference point in the image; Obtaining the attitude and relative height of the reference point relative to the target object; Based on the position of the reference point in the image and the attitude and relative height of the reference point relative to the target object, the local positioning information is obtained.

50. The method according to claim 47, wherein The global positioning information includes GPS positioning information.

51. The method according to claim 29, wherein, The slender obstacle is a slender obstacle with sag characteristics.

52. The method according to claim 29, wherein, The slender obstacle is a power transmission line.

53. The method according to claim 29, wherein The target data includes semantic information.

54. The method according to claim 29, wherein at least one memory and computer program code are configured together with at least one processor such that the method is further capable of performing at least the following operations: Storing the three-dimensional virtual volume to form a database that can be repeatedly called.

55. The method according to claim 54, wherein The database is stored in association with the flight area.

56. The method according to claim 30, wherein at least one memory and computer program code are configured together with at least one processor such that the method is further capable of performing at least the following operations: If at least part of the planned flight path will pass through the no-fly zone, then a prompt is issued and / or the flight path is automatically re-planned.

57. A control system, characterized in that, Including: At least one processor; And At least one memory including computer program code, wherein at least one memory and computer program code are configured together with at least one processor such that the system is at least capable of performing the following operations: Obtaining target position points of a slender obstacle, where the slender obstacle is located in the flight area of the aircraft, the target position points include a first position point and a second position point on the length direction of the slender obstacle, and there is a relative height difference between the first position point and the second position point; Obtaining target data corresponding to the target position points; Based on the target data, a no-fly zone for the space where the slender obstacle is located is constructed, where the no-fly zone is related to the slope of the first virtual connection line between the first position point and the second position point.

58. The system according to claim 57, wherein at least one memory and computer program code are configured together with at least one processor to enable the system to at least further perform the following operations: Generate a flight route for the aircraft to fly within the flight area according to the no-fly zone; and Control the aircraft to fly along the route to avoid the slender obstacle.

59. The system according to claim 57, wherein, The three-dimensional virtual volume includes a no-fly zone, which characterizes an area where the passage of the aircraft is prohibited.

60. The system according to claim 59, wherein, The no-fly zone is generally in the shape of a parallelogram.

61. The system according to claim 59, wherein, The three-dimensional virtual volume further includes a safety zone, which characterizes an area where the passage of the aircraft is allowed.

62. The system according to claim 61, wherein, There is a certain volume of safety margin between the safety zone and the no-fly zone.

63. The system according to claim 61, wherein, The safety zone includes the upper area outside the no-fly zone and / or the lower area outside the no-fly zone.

64. The system according to claim 63, wherein, In the case where the safety zone includes the lower area outside the no-fly zone, the distance between the boundary of the lower area and a specific object is greater than a set threshold, and the specific object includes at least one of an operation object, the ground surface, and an object on the ground surface.

65. The system according to claim 64, wherein The set threshold is positively correlated with at least one of the size of the safety envelope area of the aircraft or the operation height of the aircraft.

66. The system according to any one of claims 59-65, wherein, The target position points include a first position point and a second position point. The slender obstacle has a first end and a second end. The first position point is located at the first end, and the second position point is located at the second end.

67. The system according to claim 66, wherein, The first end corresponds to a first support, and the second end corresponds to a second support. The first support and the second support are jointly used to support the slender obstacle.

68. The system according to claim 67, wherein, The first support and the second support are respectively located at two places on the ground surface with a height difference.

69. The system according to claim 67, wherein, The no-fly zone includes the positions where the first support and the second support are located themselves.

70. The system according to claim 66, wherein, The target position points further include a third position point, which is located in the area between the first position point and the second position point.

71. The system according to claim 70, wherein, The third position point corresponds to the position where the sag of the slender obstacle is the largest.

72. The system according to claim 66, wherein, The no-fly zone is enclosed by a first virtual connection line between the first position point and the second position point and a second virtual connection line passing through the third position point and parallel to the first virtual connection line.

73. The system according to claim 67, wherein, The no-fly zone is enclosed by a first virtual connection line between the first position point and the second position point, a second virtual connection line passing through the third position point and parallel to the first virtual connection line, the first support, and the second support.

74. The system according to claim 57, wherein obtaining the target position points of the slender obstacle includes: Receiving a point selection instruction issued by a user; In response to the point selection instruction, obtaining the target position points.

75. The system according to claim 74, wherein, The point selection instruction comes from at least one of the following methods: the dotting operation of RTK, the dotting operation of a remote controller, the dotting operation of the aircraft, the dotting operation of a ranging sensor, or the selection operation on an interaction interface.

76. The system according to claim 57, wherein, The target position points are determined in response to an automatic recognition technology for an image, and the image is derived from the detection information of the sensors of the aircraft.

77. The system according to claim 76, wherein, The image includes at least one of an FPV image or a point cloud image.

78. The system according to claim 57, wherein obtaining the target data corresponding to the target position point includes: In response to the determination of the reference point in the image, obtaining the global positioning information of the target object at the specified position and the local positioning information of the reference point relative to the target object, wherein the image is captured by the imaging device of the aircraft, the target object includes any one of the fuselage of the aircraft, the imaging device, or the gimbal carrying the imaging device, the reference point corresponds to the target position point, and the specified position includes a first specified position and a second specified position different from the first specified position; According to the global positioning information and the local positioning information, obtaining the target data of the target position point.

79. The system according to claim 78, wherein obtaining the local positioning information of the reference point relative to the target object includes: Obtaining the position of the reference point in the image; Obtaining the attitude of the reference point relative to the target object; According to the position of the reference point in the image and the attitude of the reference point relative to the target object, obtaining the local positioning information.

80. The system according to claim 78, wherein obtaining the local positioning information of the reference point relative to the target object includes: Obtaining the position of the reference point in the image; Obtaining the attitude and relative height of the reference point relative to the target object; According to the position of the reference point in the image and the attitude and relative height of the reference point relative to the target object, obtaining the local positioning information.

81. The system according to claim 78, wherein, The global positioning information includes GPS positioning information.

82. The system according to claim 57, wherein, The slender obstacle is a slender obstacle with sag characteristics.

83. The system according to claim 57, wherein, The slender obstacle is a transmission line.

84. The system according to claim 57, wherein, The target data includes semantic information.

85. The system according to claim 57, wherein at least one memory and computer program code are configured together with at least one processor to enable the system to at least further perform the following operations: Storing the three-dimensional virtual volume to form a database that can be repeatedly called.

86. The system according to claim 85, wherein, The database is associated and stored with the flight area.

87. The system according to claim 58, wherein at least one memory and computer program code are configured together with at least one processor to enable the system to at least further perform the following operations: If at least part of the planned flight path will pass through the no-fly zone, then issue a prompt and / or automatically re-plan the flight path.

88. A control method, characterized in that, Including: Obtaining the target position points of the slender obstacle, wherein the slender obstacle is located in the flight area of the aircraft, the target position points include a first position point and a second position point on the length direction of the slender obstacle, and there is a relative height difference between the first position point and the second position point; Obtaining the target data corresponding to the target position point; According to the target data, constructing a no-fly zone for the space where the slender obstacle is located, wherein the no-fly zone is related to the slope of the first virtual connection line between the first position point and the second position point.

89. The method according to claim 88, further including: Generate a flight route for the aircraft to fly within the flight area according to the no-fly zone; and Control the aircraft to fly according to the route to avoid the slender obstacle.

90. The method according to claim 88, wherein, The three-dimensional virtual volume includes a no-fly zone, and the no-fly zone represents an area where the aircraft is prohibited from passing through.

91. The method according to claim 90, wherein, The no-fly zone is generally in the shape of a parallelogram.

92. The method according to claim 90, wherein The three-dimensional virtual volume further includes a safety zone, and the safety zone represents an area where the aircraft is allowed to pass through.

93. The method according to claim 92, wherein, There is a certain volume of safety margin between the safety zone and the no-fly zone.

94. The method according to claim 92, wherein, The safety zone includes an upper area outside the no-fly zone and / or a lower area outside the no-fly zone.

95. The method according to claim 94, wherein, In the case where the safety zone includes a lower area outside the no-fly zone, the distance between the boundary of the lower area and a specific object is greater than a set threshold, and the specific object includes at least one of an operation object, the ground surface, and an object on the ground surface.

96. The method according to claim 95, wherein, The set threshold is positively correlated with at least one of the size of the safety envelope area of the aircraft or the operation height of the aircraft.

97. The method according to any one of claims 88 to 96, wherein, The target position points include a first position point and a second position point, the slender obstacle has a first end and a second end, the first position point is located at the first end, and the second position point is located at the second end.

98. The method according to claim 97, wherein, The first end corresponds to a first support, and the second end corresponds to a second support, and the first support and the second support are jointly used to support the slender obstacle.

99. The method according to claim 98, wherein, The first support and the second support are respectively located at two places on the ground surface with a terrain difference.

100. The method according to claim 99, wherein, The no-fly zone includes the positions where the first support and the second support are located themselves.

101. The method according to claim 97, wherein, The target position points further include a third position point, and the third position point is located in the area between the first position point and the second position point.

102. The method according to claim 101, wherein, The third position point corresponds to the position where the sag of the slender obstacle is the largest.

103. The method according to claim 97, wherein, The no-fly zone is enclosed by a first virtual connection line between the first position point and the second position point and a second virtual connection line passing through the third position point and parallel to the first virtual connection line.

104. The method according to claim 98, wherein, The no-fly zone is enclosed by a first virtual connection line between the first position point and the second position point, a second virtual connection line passing through the third position point and parallel to the first virtual connection line, the first support, and the second support.

105. According to the method of claim 88, the obtaining of the target position points of the slender obstacle includes: Receiving a point selection instruction issued by a user; In response to the point selection instruction, obtaining the target position points.

106. The method according to claim 105, wherein, The point selection instruction comes from at least one of the following methods: RTK's point marking operation, the remote controller's point marking operation, the aircraft's point marking operation, the distance measuring sensor's point marking operation, or the selection operation on the interaction interface.

107. The method according to claim 88, wherein, The target position points are determined in response to an automatic recognition technology for an image, and the image is from the detection information of the aircraft's sensor.

108. The method according to claim 107, wherein, The image includes at least one of an FPV image or a point cloud image.

109. According to the method of claim 88, the obtaining of the target data corresponding to the target position points includes: In response to the determination of a reference point in an image, global positioning information of an object at a specified position and local positioning information of the reference point relative to the object are obtained, where the image is acquired by a photographing device of the aircraft, the object includes any one of the fuselage of the aircraft, the photographing device, or a pan-tilt head carrying the photographing device, the reference point corresponds to the target position point, and the specified position includes a first specified position and a second specified position different from the first specified position; Based on the global positioning information and the local positioning information, target data of the target position point is obtained.

110. The method according to claim 109, wherein obtaining the local positioning information of the reference point relative to the object includes: Obtaining the position of the reference point in the image; Obtaining the attitude of the reference point relative to the object; Based on the position of the reference point in the image and the attitude of the reference point relative to the object, the local positioning information is obtained.

111. The method according to claim 109, wherein obtaining the local positioning information of the reference point relative to the object includes: Obtaining the position of the reference point in the image; Obtaining the attitude and relative height of the reference point relative to the object; Based on the position of the reference point in the image and the attitude and relative height of the reference point relative to the object, the local positioning information is obtained.

112. The method according to claim 109, wherein, The global positioning information includes GPS positioning information.

113. The method according to claim 88, wherein, The slender obstacle is a slender obstacle with a sag characteristic.

114. The method according to claim 88, wherein, The slender obstacle is a power transmission line.

115. The method according to claim 88, wherein The target data includes semantic information.

116. The method according to claim 88, further comprising: Storing the three-dimensional virtual volume to form a database that can be repeatedly called.

117. The method according to claim 116, wherein, The database is stored in association with the flight area.

118. The method according to claim 89, further comprising: If at least part of the planned flight path will pass through the no-fly zone, a prompt is issued and / or the flight path is automatically re-planned.

119. An aircraft, comprising: A fuselage; A power system provided on the fuselage for providing flight power for the aircraft; And The control system according to any one of claims 1-28, 57-87, provided on the fuselage.

120. A storage medium for computer-readable storage, characterized in that, The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the control method according to any one of claims 29-56, 88-118.

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