Aircraft system, aircraft, movable object and control method thereof

Abstract

A control method of an aircraft system, the aircraft system comprising an aircraft (100), the aircraft (100) being capable of mounting a rope (200), a first end of the rope (200) being connected to the aircraft (100), a second end of the rope (200) being used for bearing a target object; the control method comprises: controlling the aircraft to be located directly above the work area, and controlling the second end to be located in the work area and the length of the rope released by the aircraft to be greater than or equal to the height of the aircraft relative to the work area (S110); the aircraft is controlled to move to a target position except the position over the operation area, so that at least the fuselage of the aircraft is not located over the operation area; wherein, when the aircraft moves to the target position, the second end of the rope is still located within the work area (S120). According to the method, the safety problem occurring when the second end of the rope is operated in the operation area can be prevented. The invention also provides an aircraft, a movable object and a control method thereof.

Description

Aircraft system, aircraft, movable object and control method thereof Technical Field

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

[0002] Aircraft are becoming increasingly popular in various industries, such as aerial photography, power inspection, geological survey, logistics and transportation, agricultural applications, fire fighting and disaster relief, and rescue inspections.

[0003] When an aircraft is used for logistics transportation, a hanging system can be used to load or unload cargo; however, if the aircraft hovers directly above the heads of the loading or unloading personnel, there is a potential safety hazard.

[0004] Summary of the Invention

[0005] Based on this, the present application provides an aircraft system, an aircraft, a movable object, a control method thereof, and a storage medium, which can prevent safety problems from occurring when performing operations in an operating area.

[0006] In a first aspect, embodiments of the present application provide a method for controlling an aircraft system, wherein the aircraft system includes an aircraft capable of mounting a rope, wherein a first end of the rope is connected to the aircraft, and a second end of the rope is used to carry a target object, the method comprising:

[0007] controlling the aircraft to be located directly above a work area, and controlling the second end to be located within the work area and the length of the rope released by the aircraft to be greater than or equal to the height of the aircraft relative to the work area; and

[0008] controlling the aircraft to move to a target position other than directly above the operation area, so that at least the fuselage of the aircraft is not directly above the operation area;

[0009] When the aircraft moves to the target position, the second end of the rope is still located in the operating area.

[0010] In a second aspect, an embodiment of the present application provides a method for controlling a movable object, wherein the movable object is configured to be able to mount a rope, a first end of the rope is connected to the movable object, and a second end of the rope is configured to be able to carry a target object, the method comprising:

[0011] Controlling the movable object to move to a target position;

[0012] controlling the second end to move to an operating area;

[0013] The target position is located above the working area and is at least partially offset from the working area in the horizontal direction. The rope released from the movable object is inclined relative to the working area so that the movable object is not directly above the working area.

[0014] In a third aspect, an embodiment of the present application provides an aircraft capable of carrying a rope, wherein a first end of the rope is connected to the aircraft, and a second end of the rope is used to carry a target object;

[0015] The aircraft includes one or more processors, working individually or collectively, to perform:

[0016] controlling the aircraft to be located directly above a work area, and controlling the second end to be located within the work area and the length of the rope released by the aircraft to be greater than or equal to the height of the aircraft relative to the work area; and

[0017] controlling the aircraft to move to a target position other than directly above the operation area, so that at least the fuselage of the aircraft is not directly above the operation area;

[0018] When the aircraft moves to the target position, the second end of the rope is still located in the operating area.

[0019] In a fourth aspect, an embodiment of the present application provides a movable object capable of carrying a rope, wherein a first end of the rope is connected to the movable object, and a second end of the rope is used to carry a target object;

[0020] The movable object includes one or more processors, which work individually or collectively to execute the steps of the aforementioned movable object control method.

[0021] In a fifth aspect, an embodiment of the present application provides a method for controlling an aircraft system, the method comprising:

[0022] Controlling the aircraft to fly directly above the operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system being capable of releasing a rope, the free end of the rope being used to carry a target object;

[0023] When the aircraft is located directly above the work area, controlling the rope system to release the rope so that the free end of the rope falls to the work area; and

[0024] The aircraft is controlled to deviate from the working area, while the free end of the rope is controlled to remain in the working area.

[0025] In a sixth aspect, an embodiment of the present application provides a method for mounting an aircraft, the method comprising:

[0026] Controlling the aircraft to fly to directly above the operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system being capable of releasing a rope, the free end of the rope being used to mount a target object;

[0027] When the aircraft is located directly above the operation area, controlling the rope system to release the rope;

[0028] controlling the length of the rope released by the rope system so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the work area;

[0029] The aircraft is controlled to deviate from the working area, and the free end of the rope is controlled to remain in the working area, so that the rope can hang the target object.

[0030] In a seventh aspect, an embodiment of the present application provides a method for unloading an aircraft, the method comprising:

[0031] Controlling an aircraft to fly to directly above an operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system being capable of releasing a rope, a free end of which is mounted with a target object;

[0032] When the aircraft is located directly above the operation area, controlling the rope system to release the rope so that the target object hung on the rope falls to the operation area;

[0033] controlling the length of the rope released by the rope system so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the work area;

[0034] The aircraft is controlled to deviate from the working area, while the free end of the rope is controlled to remain in the working area, so as to facilitate unloading the target object from the rope.

[0035] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the above method.

[0036] Embodiments of the present application provide an aircraft system, an aircraft, a movable object, a control method thereof, and a storage medium. The aircraft system includes an aircraft capable of mounting a rope, wherein a first end of the rope is connected to the aircraft and a second end of the rope is used to carry a target object. The method includes: controlling the aircraft to be located directly above an operation area, controlling the second end of the rope to be located within the operation area, and controlling the length of the rope released by the aircraft to be greater than or equal to the height of the aircraft relative to the operation area; and controlling the aircraft to move to a target position other than directly above the operation area, such that at least the fuselage of the aircraft is not directly above the operation area. When the aircraft moves to the target position, the second end of the rope remains within the operation area. By controlling the aircraft to move to a target position other than directly above the operation area after the second end of the rope is located within the operation area, safety issues are prevented when the second end of the rope is operated within the operation area.

[0037] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and do not limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] FIG1 is a schematic flow chart of a method for controlling an aircraft system according to an embodiment of the present application;

[0040] FIG2 is a schematic diagram of an aircraft system according to an embodiment of the present application;

[0041] FIG3 a is a schematic diagram of an aircraft located directly above an operation area in one embodiment of the present application;

[0042] FIG3 b is a schematic diagram of an aircraft moving to a target position in one embodiment of the present application;

[0043] FIG4 a is a schematic diagram of the movable range of the aircraft in one embodiment of the present application;

[0044] FIG4 b is a schematic diagram of an aircraft located at the boundary of its movable range in one embodiment of the present application;

[0045] FIG5 is a schematic flow chart of a method for controlling an aircraft system according to another embodiment of the present application;

[0046] FIG6 is a schematic flow chart of a method for mounting an aircraft according to another embodiment of the present application;

[0047] FIG7 is a schematic flow chart of an aircraft unloading method provided in another embodiment of the present application;

[0048] FIG8 is a flow chart of a method for controlling a movable object according to another embodiment of the present application;

[0049] FIG9 a is a schematic diagram of a movable object located at a target position in one embodiment of the present application;

[0050] FIG9 b is a schematic diagram showing the second end of the rope located in the working area in one embodiment of the present application;

[0051] FIG10 is a schematic block diagram of an aircraft provided in an embodiment of the present application;

[0052] FIG11 is a schematic block diagram of a movable object provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] 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.

[0054] 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.

[0055] 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.

[0056] Please refer to FIG1 , which is a flow chart of a control method for an aircraft system provided in an embodiment of the present application.

[0057] The aircraft system includes an aircraft 100 .

[0058] For example, the aircraft 100 may include an unmanned aerial vehicle. Further, the aircraft 100 may be a rotary-wing drone, such as a quad-rotor drone, a hexacopter drone, or an octo-rotor drone, or a fixed-wing drone.

[0059] As shown in Figure 2, the aircraft 100 can be mounted with a rope 200, wherein the first end of the rope 200 is connected to the aircraft 100, and the second end of the rope 200 is used to carry a target object. The second end of the rope 200 can also be called a free end.

[0060] In some embodiments, the length of the rope 200 is adjustable, specifically, the length extending from the aircraft 100 to the target object is adjustable. Alternatively, the length of the rope 200 may be fixed.

[0061] In some embodiments, the aircraft system may include an aircraft 100 and a rope system mounted on the aircraft 100 . The rope system can release a rope 200 . Optionally, the rope system can adjust the length of the released rope 200 and can also retract the rope 200 .

[0062] Optionally, as shown in FIG2 , the aircraft system may further include a control terminal 300 for the aircraft 100. The control terminal 300 may include at least one of a mobile phone, a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, a wearable device, a remote controller, etc., but is not limited thereto and may include, for example, a server.

[0063] Furthermore, as shown in FIG2 , data is transmitted between the control terminal 300 and the aircraft 100 via a wireless channel, but this is not limited thereto. For example, the control terminal 300 may be connected to the aircraft 100 via a cable.

[0064] In some embodiments, the control terminal 300 may be disposed at the second end of the rope 200 and connected to the aircraft 100 via a cable.

[0065] As shown in FIG1 , the control method of the aircraft system according to the embodiment of the present application includes steps S110 to S120 .

[0066] Step S110: Control the aircraft to be located directly above the working area, and control the second end to be located in the working area and the length of the rope released by the aircraft to be greater than or equal to the height of the aircraft relative to the working area.

[0067] Please refer to FIG3 a , the aircraft is located directly above the working area, and the second end of the rope is located in the working area.

[0068] In some embodiments, the aircraft includes a logistics aircraft, and the operation area includes a pre-set loading / unloading area for providing loading / unloading space for the logistics aircraft. The operation area may be a stationary area or an area on a mobile platform. For example, the stationary area may be a loading / unloading area in a mountainous area or on a rooftop. The mobile platform may include, but is not limited to, a ship or a vehicle. The ship may move autonomously and / or under the influence of wind, waves, or rising and falling tides.

[0069] In some embodiments, the rope system can be controlled to release the rope when the aircraft is directly above the work area; the length of the rope is greater than or equal to the height of the aircraft relative to the work area, so that the second end of the rope can be located in the work area.

[0070] Exemplarily, the length of the rope released by the rope system is controlled so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the work area.

[0071] In some embodiments, referring to FIG3a , in response to the aircraft being directly above the work area, the second end vertically drops to the work area under the action of gravity. For example, the rope is a flexible rope, and the second end of the flexible rope can drop to the work area under the action of gravity.

[0072] When the length of the rope is greater than the height of the aircraft relative to the work area, part of the rope may fall into the work area under the action of gravity.

[0073] In some embodiments, the operation area is a static area, and when the aircraft is located directly above the operation area, it hovers directly above the operation area, so that the second end of the control rope is located in the operation area.

[0074] In other embodiments, the working area is an area on a mobile platform, and when the aircraft is located directly above the working area, it remains relatively stationary with the mobile platform, so that the second end of the control rope is located in the working area on the mobile platform.

[0075] For example, the working area may be an area of ​​a preset size, such as a circular area, a rectangular area, etc.; or the working area may be a partial area divided out from a larger area, and the boundary of the working area may be determined based on the boundary marked on the larger area; or the working area may be a flat area in a mountainous area, on a rooftop, or on a ship.

[0076] In the work area, a target object can be mounted on or unmounted from the rope. For example, the second end of the rope may be provided with a placement platform, on which the target object can be placed or removed; or the second end of the rope may be provided with a connecting mechanism, on which the target object can be connected or disconnected. Of course, this is not limited to these examples, and for example, the target object can be directly connected to the second end of the rope.

[0077] In the operation area, the target object can be mounted or unloaded manually, or the placement platform or connection mechanism can be controlled to mount or unload the target object, or the equipment in the target area can be controlled to mount or unload the target object.

[0078] It should be noted that when loading or unloading a target object in an operation area, if the aircraft is directly above the operation area, there is a potential safety hazard. For example, if the aircraft explodes, it may cause damage to personnel or objects in the operation area. To address this technical issue, the embodiments of the present application improve the control method of the aircraft system to prevent safety issues.

[0079] Step S120: Control the aircraft to move to a target position other than directly above the operating area, so that at least the fuselage of the aircraft is not directly above the operating area; wherein, when the aircraft moves to the target position, the second end of the rope is still located within the operating area.

[0080] As shown in Figure 3b, when the aircraft is at the target location, the second end of the rope remains within the operation area, allowing the target object to be loaded or unloaded within the operation area. Even if the aircraft were to explode, no damage would be caused to personnel or objects in the operation area, thus preventing safety issues.

[0081] In some embodiments, the operation area is a stationary area, and when the aircraft is at the target location, it hovers at the target location, thereby preventing the second end from moving due to pulling on the rope due to the change in the position of the aircraft, and facilitating the mounting or unmounting of the target object in the operation area.

[0082] In other embodiments, the operation area is an area on a mobile platform, and the aircraft remains relatively stationary with respect to the mobile platform when located at the target location. This prevents the second end from moving due to the aircraft's position changing and pulling on the rope, thereby facilitating the loading or unloading of the target object in the operation area.

[0083] The aircraft may be moved to the target location such that the geometric center of the aircraft is located at the target location. This is not limiting and may also be done by moving a predetermined portion of the aircraft (e.g., one or more propellers or the nose) to the target location. It is understood that when the aircraft is located at the target location, at least a portion of the aircraft is not directly above the operation area.

[0084] In some embodiments, in response to the aircraft moving to the target location, the fuselage and propellers of the aircraft are not located directly above the operation area. For example, the entire aircraft is not located directly above the operation area, which can improve safety.

[0085] In some embodiments, when the aircraft moves from directly above the operating area to the target position, the height of the aircraft may remain unchanged, that is, the aircraft moves horizontally from directly above the operating area to the target position. In this case, the movement control of the aircraft is relatively simplified.

[0086] In other embodiments, when the aircraft moves from directly above the working area to the target position, the height of the aircraft can be lowered, as shown in Figure 3b, and the aircraft can fly obliquely downward to the target position, which can prevent the second end from moving outside the working area due to the length limitation of the rope.

[0087] In some other embodiments, when the aircraft moves from directly above the working area to the target position, the height of the aircraft can be increased so as to move away from the working area to ensure safety; optionally, when the aircraft moves from directly above the working area to the target position, the length of the rope can be adjusted to increase to prevent the second end from moving outside the working area.

[0088] In some embodiments, when the aircraft is directly above the work area, the length of the rope released by the aircraft can be equal to the height of the aircraft relative to the work area; as the aircraft departs from the work area, the rope length can be adjusted by releasing the rope so that the second end of the rope remains within the work area. For example, the rope system includes a rotating mechanism (such as a winch) and a rope, and the rope can be wound around the rotating mechanism; the rotating mechanism can be controlled to rotate and release the rope to adjust the rope length as the aircraft departs from the work area; or, as the aircraft departs from the work area, the rotating mechanism can rotate under the action of gravity on the released rope to continue releasing the rope to adjust the rope length.

[0089] For ease of explanation, the embodiments of the present application are mainly described by taking the example of the aircraft moving horizontally from directly above the operating area to the target position.

[0090] In some embodiments, referring to FIG. 4a , the target position is configured to be located at one or more positions within a movable range of the aircraft, the movable range representing a range determined by a maximum horizontal distance that the aircraft can fly away from the working area when the second end of the rope is located within the working area; the step of controlling the aircraft to move to a target position other than directly above the working area includes: controlling the aircraft to move out of directly above the working area and the target position being located within the movable range.

[0091] For example, by controlling the position of the aircraft to be within the movable range, it is possible to ensure that the second end of the rope is within the operating area.

[0092] Exemplarily, the movable range is determined according to the length of the released rope and the height of the aircraft relative to the work area.

[0093] For example, when the height of the aircraft relative to the working area is fixed, the longer the length of the rope released by the aircraft, the larger the movable range; when the length of the rope released by the aircraft is fixed, the greater the height of the aircraft relative to the working area, the smaller the movable range.

[0094] For example, referring to FIG4b , the length of the rope released by the aircraft is represented as L, and the height of the aircraft relative to the working area is represented as H. Then, the maximum horizontal distance R can be determined. The maximum horizontal distance R is represented as:

[0095] A circular range is defined with a position directly above the working position of the working area (e.g., the geometric center of the working area) as the center and a maximum horizontal distance R as the radius. The range of the circular range, excluding the area directly above the working area, can be defined as the movable range. Positioning the aircraft within the movable range ensures that the second end of the rope is within the working area and remains at the working position, allowing for loading or unloading of the target object at the working position.

[0096] It should be noted that when determining the movable range based on the length of the released rope and the height of the aircraft relative to the working area, the movable range can also be determined based on the range of the working area. For example, the larger the working area, the larger the movable range; for example, the second end of the rope can be allowed to move within the working area, as long as the second end is located within the working area.

[0097] In some embodiments, before controlling the aircraft to move to a target position other than directly above the working area, the method further includes: receiving preset operating instructions, the preset operating instructions including instructions for loading the target object and / or unloading the target object at the second end of the rope.

[0098] Exemplarily, when the aircraft is located directly above the working area, the rope is released so that the second end of the rope is located in the working area; after receiving an instruction to load a target object and / or unload a target object, the aircraft can be controlled to move to a target position other than directly above the working area; so that when the aircraft moves to the target position, the target object can be loaded and / or unloaded at the second end of the rope.

[0099] Exemplarily, the preset operation instruction is derived from a first control operation of the user. For example, the preset operation instruction is derived from a first control operation of the user on the control terminal, and the first control operation includes but is not limited to a control operation on a physical control (such as a button or switch) on the control terminal, a control operation on a virtual control on an interactive interface displayed on the control terminal, and the like.

[0100] Exemplarily, the preset operating instructions come from the aircraft itself. For example, the aircraft can independently determine whether the loading and / or unloading conditions of the target object are met, and when it is determined that the loading and / or unloading conditions of the target object are met, the aircraft can be controlled to move to a target location other than directly above the operation area.

[0101] For example, the preset operation instructions may be based on the aircraft's recognition of a landmark. For example, a camera mounted on the aircraft can capture images of the ground below the aircraft and identify whether the image contains preset landmarks corresponding to loading / unloading areas. If a preset landmark corresponding to a loading / unloading area is detected in the image, the aircraft can be controlled to move to a target location other than directly above the operating area.

[0102] For example, after the personnel in the work area have completed the loading and / or unloading preparations for the target object, they can show the preset marker to the aircraft; when the aircraft recognizes the preset marker in the image, it can control the aircraft to move to the target position other than directly above the work area, so that the staff can load and / or unload the target object in the work area.

[0103] For example, a preset marker is set on the target object. When the target object is in the working area, the aircraft can identify the preset marker and move to the target position to load the target object in the working area.

[0104] In some embodiments, before controlling the aircraft to move to a target location other than directly above the work area, the method further includes receiving a second control operation from a user, where the second control operation indicates the target location. Specifically, the aircraft may be controlled to move to the target location corresponding to the second control operation based on the second control operation, such that the aircraft moves to a location other than directly above the work area.

[0105] Exemplarily, the aircraft system is configured to display a movable range of the aircraft. For example, the movable range can be displayed on the aircraft control terminal so that when the user determines the target position through the second control operation, the target position of the aircraft is within the movable range to ensure that the second end of the rope is within the working area.

[0106] Exemplarily, the second control operation may include a user operating a control on a control terminal of the aircraft, the control being used to control the flight direction and / or speed of the aircraft. There may be one or more controls, for example, including a control for controlling forward and backward movement of the aircraft and / or a control for controlling left and right movement of the aircraft. For example, the control may include a physical control (e.g., a joystick) on the control terminal and / or a virtual control on an interactive interface displayed by the control terminal.

[0107] For example, the step of controlling the aircraft to move to a target position other than directly above the work area includes: in response to the target position of the aircraft being within the movable range of the aircraft, controlling the aircraft to move to the target position other than directly above the work area. Referring to FIG. 4a , when the target position corresponding to the second control operation is within the movable range, there is still a significant distance between the aircraft and the boundary of the movable range. The aircraft can be controlled to move to the target position corresponding to the second control operation based on the user's second control operation, away from directly above the work area, thereby ensuring the safety of the work area.

[0108] For example, the step of controlling the aircraft to move to a target position other than directly above the work area includes: in response to the target position of the aircraft being at the boundary of the aircraft's movable range, prohibiting the aircraft from moving outside the aircraft's movable range; for example, in response to the target position of the aircraft being at the boundary of the aircraft's movable range, controlling the aircraft to move in the direction indicated by the target position to the boundary of the movable range; or in response to the target position of the aircraft being at the boundary of the aircraft's movable range, prohibiting the aircraft from moving. Referring to Figure 4b, the target position of the aircraft is at the boundary of the movable range. By prohibiting the aircraft from moving outside the movable range, the second end of the rope can be prevented from moving outside the work area due to the length limitation of the rope.

[0109] The position of the aircraft is located at the boundary of the movable range, which may include being located on the boundary of the movable range, for example, being located on the circle determined with R as the radius in Figure 4b; or it may also include being located within a preset range corresponding to the boundary of the movable range, and the distance between the boundary of the preset range and the boundary of the movable range is less than or equal to the preset distance.

[0110] In some embodiments, the second control operation includes the user determining a target image area on a display screen, and the target image area is used to indicate the target position. For example, the control terminal can obtain an image captured by a camera mounted on an aircraft, and can also display the image through a display screen; based on the target image area determined in the image by the user's second control operation, the spatial position corresponding to the target image area can be determined as the target position. For example, the spatial position corresponding to the target image area can be determined as the target position based on a function model constructed based on pixels in the image according to the camera intrinsic parameters of the camera, the attitude information of the aircraft, the position information of the aircraft (including altitude information), and radar information.

[0111] Exemplarily, in response to the target image area being within the movable range of the aircraft, the step of controlling the aircraft to move to a target position other than directly above the operating area is performed.

[0112] For example, when the target image area determined by the user is within the displayed movable range, for example, when the projection of the target image area onto the plane where the movable range is located is within the boundary of the movable range, it can be determined that the target position corresponding to the target image area is within the movable range of the aircraft, and the aircraft can be controlled to move to the target position corresponding to the target image area to stay away from directly above the working area to ensure the safety of the working area.

[0113] Exemplarily, the control method further includes: in response to the target image area being outside the movable range of the aircraft, controlling the aircraft to move along the direction indicated by the position of the target image area to the boundary of the movable range. When the target image area determined by the user is outside the displayed movable range, for example, when the projection of the target image area onto the plane where the movable range is located is outside the boundary of the movable range, it can be determined that the target position corresponding to the target image area is outside the movable range of the aircraft. By controlling the aircraft to move to the boundary of the movable range, it is possible to prevent the second end from moving outside the operating area due to the length limitation of the rope, and the direction of the aircraft's movement is the same as the direction corresponding to the target image area determined by the user, thereby providing a better user experience.

[0114] Exemplarily, the control method further includes: in response to the target image area being outside the movable range of the aircraft, prohibiting the aircraft from moving. By prohibiting the aircraft from moving when the target position corresponding to the target image area is outside the movable range of the aircraft, the second end of the rope can be prevented from moving outside the operating area due to the length limitation of the rope.

[0115] In some embodiments, the method further includes: outputting a warning message when the distance between the position of the aircraft and the boundary of the movable range of the aircraft is less than or equal to a preset distance threshold.

[0116] For example, when the aircraft is controlled to move away from directly above the working area according to the user's second control operation (operation on the control and / or operation to determine the target image area), the distance between the current position of the aircraft and the boundary of the movable range is obtained; and when the distance is less than or equal to a preset distance threshold, an alarm message is output to prompt the user to stop the second control operation or adjust the second control operation to prevent the erroneous second control operation from causing the second end of the rope to move outside the working area.

[0117] In some embodiments, the method further includes: determining the target position based on a movable range of the aircraft and environmental information of the position of the aircraft.

[0118] For example, the aircraft is equipped with sensors, including but not limited to image sensors, laser sensors, and light sensors; the environmental information may include at least one of the following: obstacle information, terrain information, light intensity information, etc., of course, it is not limited to these, for example, it may also include signal strength information, and the signal strength information may indicate the communication quality of the wireless channel between the aircraft and the control terminal.

[0119] By increasing the influence of the environmental information when determining the target position, for example, when the aircraft determines the target position by itself or determines the target position according to the user's second control operation, the aircraft can be moved safely and reliably to the target position and can hover safely at the target position.

[0120] Illustratively, the environmental information includes obstacle information, and determining the target position based on the movable range of the aircraft and the environmental information regarding the aircraft's location includes determining the target position based on the positions of obstacles within the movable range of the aircraft, wherein the position of the target position is different from the position of the obstacles. This allows the aircraft to avoid obstacles and ensure safety while moving away from directly above the operating area.

[0121] An embodiment of the present application provides a control method for an aircraft system, comprising an aircraft capable of carrying a rope, wherein a first end of the rope is connected to the aircraft and a second end of the rope is used to carry a target object. The method comprises: controlling the aircraft to be positioned directly above an operation area, controlling the second end of the rope to be positioned within the operation area, and controlling the length of the rope released by the aircraft to be greater than or equal to the height of the aircraft relative to the operation area; and controlling the aircraft to move to a target position other than directly above the operation area, such that at least the fuselage of the aircraft is not directly above the operation area; wherein when the aircraft moves to the target position, the second end of the rope remains within the operation area. By controlling the aircraft to move to the target position other than directly above the operation area after the second end of the rope is positioned within the operation area, safety issues are prevented when operating on the second end of the rope within the operation area.

[0122] Please refer to FIG. 5 in conjunction with the aforementioned embodiment. FIG. 5 is a flow chart of a control method for an aircraft system provided by another embodiment of the present application.

[0123] As shown in FIG5 , the method includes steps S210 to S230 .

[0124] Step S210: Control the aircraft to fly to directly above the working area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system can release a rope, and the free end of the rope is used to carry the target object.

[0125] For example, the aircraft includes a logistics aircraft, and the operation area includes a preset loading / unloading area for providing loading / unloading space for the logistics aircraft.

[0126] Please refer to FIG3 a , the aircraft is located directly above the working area, and the free end (or second end, ie, the end away from the aircraft) of the rope released by the rope system is located in the working area.

[0127] Step S220: When the aircraft is located directly above the working area, control the rope system to release the rope so that the free end of the rope falls to the working area.

[0128] In some embodiments, the rope system includes a rotating mechanism (e.g., a winch) and a rope, which can be wound around the rotating mechanism. Releasing the rope from the rope system can include controlling the rotating mechanism to rotate to release the rope, or can include releasing a restriction on the rotating mechanism to allow the rotating mechanism to rotate under the force of gravity of the rope to release the rope. The free end of the rope can fall to the work area under the force of gravity.

[0129] Step S230: Control the aircraft to deviate from the operation area, and at the same time control the free end of the rope to remain in the operation area.

[0130] In some embodiments, the aircraft may deviate from the operating area on its own, or may deviate from the operating area in response to a user's control operation. For example, the aircraft may deviate from the operating area in response to a first user control operation, and the distance and / or direction of the deviation from the operating area may be determined in response to a second user control operation.

[0131] Please refer to Figure 4b. The aircraft deviates from the operation area so that at least the fuselage of the aircraft is not directly above the operation area. This allows for loading or unloading of target objects in the operation area. Even if the aircraft explodes, it will not cause damage to the personnel or objects in the operation area, thus preventing safety issues.

[0132] In some embodiments, controlling the aircraft to deviate from the working area while controlling the free end of the rope to remain in the working area includes: releasing the rope so that the free end of the rope remains in the working area during the process of the aircraft deviating from the working area.

[0133] For example, when the aircraft deviates from the working area, the target length of the release rope can be determined based on the distance the aircraft deviates from the working area and the height of the aircraft relative to the working area, and the actual length of the released rope can be controlled to be greater than or equal to the target length so that the free end of the rope remains in the working area.

[0134] For example, the target length is determined according to the square root of the sum of the distance of the aircraft from the working position in the working area (such as the geometric center of the working area) and the height of the aircraft relative to the working area.

[0135] For example, the length of the released rope can be obtained. When the length of the released rope is greater than or equal to a preset length threshold, control of the aircraft to further deviate from the operating area is stopped, and a prompt message can be output. Stopping control of the aircraft to further deviate from the operating area includes, for example, stopping responding to the user's second control operation and outputting a prompt message prompting the user to stop or adjust the second control operation. For example, the length threshold can be between 80% and 100% of the total rope length. This prevents the second end from moving outside the operating area due to the rope's length limitation.

[0136] In some embodiments, controlling the aircraft to deviate from the operating area while controlling the free end of the rope to remain within the operating area includes: obtaining the tension of the rope, and determining whether the free end of the rope has moved within the operating area based on the tension of the rope; for example, if the tension of the rope suddenly changes, such as suddenly decreasing, controlling the aircraft to deviate from the operating area is stopped, and a prompt message may be output. The sudden change in the tension of the rope may include a change in the tension within a preset time period that is greater than or equal to a sudden change threshold.

[0137] In some embodiments, the operation area is a stationary area. When the aircraft is directly above the operation area, it hovers directly above the operation area. After the aircraft departs from the operation area, it can hover at the position after departure. Alternatively, the operation area is an area on a mobile platform. When the aircraft is directly above the operation area, it remains stationary relative to the mobile platform. After the aircraft departs from the operation area, it can remain stationary relative to the mobile platform.

[0138] An embodiment of the present application provides a method for controlling an aircraft system, comprising: controlling an aircraft to fly directly above an operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system being capable of releasing a rope, the free end of the rope being used to carry a target object; when the aircraft is directly above the operation area, controlling the rope system to release the rope so that the free end of the rope falls into the operation area; and controlling the aircraft to deviate from the operation area while controlling the free end of the rope to remain in the operation area. By releasing the rope when the aircraft is directly above the operation area so that the free end of the rope falls into the operation area, and then controlling the aircraft to deviate from the operation area, damage to personnel or objects in the operation area can be prevented, and maintaining the free end of the rope in the operation area facilitates operations in the operation area.

[0139] Please refer to FIG. 6 in conjunction with the aforementioned embodiment. FIG. 6 is a flow chart of a method for mounting an aircraft provided in another embodiment of the present application.

[0140] As shown in FIG6 , the method includes steps S310 to S340 .

[0141] Step S310: Control the aircraft to fly to directly above the working area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system can release a rope, and the free end of the rope is used to mount the target object.

[0142] The description of step S310 may refer to step S210 of the aforementioned embodiment, and will not be repeated here.

[0143] Step S320: When the aircraft is located directly above the operation area, control the rope system to release the rope.

[0144] Step S330: Control the length of the rope released by the rope system so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the work area.

[0145] In some embodiments, the rope system includes a rotating mechanism (e.g., a winch) and a rope. The rope can be wound around the rotating mechanism, and the rotating mechanism can be controlled to adjust the length of the released rope. The length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the work area, so that the free end of the rope can fall to the work area.

[0146] Step S340: Control the aircraft to deviate from the operation area, and at the same time control the free end of the rope to remain in the operation area, so that the rope can hang the target object.

[0147] For example, the length of the rope released by the aircraft is greater than the height of the aircraft relative to the work area, so that the free end of the rope remains in the work area when the aircraft deviates from the work area.

[0148] Exemplarily, controlling the aircraft to deviate from the work area while controlling the free end of the rope to remain in the work area includes: releasing the rope so that the free end of the rope remains in the work area during the aircraft's departure from the work area. For example, when the length of the rope released by the aircraft is equal to the aircraft's height relative to the work area, the rope may be released as the aircraft departs from the work area so that the free end of the rope remains in the work area. For example, a rotation mechanism may be controlled to rotate to release the rope, thereby increasing the rope's length, or the rotation mechanism may rotate under the action of gravity of the released rope to continue releasing the rope, thereby increasing the rope's length.

[0149] For example, the aircraft may be lowered in altitude when it departs from the operating area, or the free end of the rope may be maintained within the operating area when the aircraft departs from the operating area. For example, if the length of the rope released by the aircraft is equal to the height of the aircraft relative to the operating area, the aircraft may be lowered in altitude when it departs from the operating area.

[0150] In some implementations, the description of step S340 may also refer to the aforementioned step S230 and will not be repeated here.

[0151] An embodiment of the present application provides a method for mounting an aircraft, comprising: controlling an aircraft to fly directly above an operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system being capable of releasing a rope, the free end of the rope being used to mount a target object; controlling the rope system to release the rope when the aircraft is directly above the operation area; controlling the length of the rope released by the rope system so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the operation area; and controlling the aircraft to deviate from the operation area while controlling the free end of the rope to remain within the operation area so that the rope can mount the target object. By releasing the rope when the aircraft is directly above the operation area and releasing a length greater than or equal to the height of the aircraft relative to the operation area, the aircraft is controlled to deviate from the operation area, thereby preventing damage to personnel or objects in the operation area. Maintaining the free end of the rope within the operation area facilitates operations within the operation area.

[0152] Please refer to FIG. 7 in conjunction with the aforementioned embodiment. FIG. 7 is a flow chart of an aircraft unloading method provided by another embodiment of the present application.

[0153] As shown in FIG. 7 , the method includes steps S410 to S440 .

[0154] Step S410: Control the aircraft to fly to directly above the operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system can release a rope, and the free end of the rope is mounted with a target object.

[0155] The description of step S410 may refer to step S210 of the aforementioned embodiment and will not be repeated here.

[0156] Step S420: When the aircraft is located directly above the operation area, control the rope system to release the rope, so that the target object mounted on the rope falls to the operation area.

[0157] Step S430: Control the length of the rope released by the rope system so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the work area.

[0158] In some embodiments, the rope system includes a rotating mechanism (e.g., a winch) and a rope. The rope can be wound around the rotating mechanism, and the rotating mechanism can be controlled to adjust the length of the released rope. The length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the work area, so that the target object at the free end of the rope can be dropped to the work area.

[0159] Step S440: Control the aircraft to deviate from the working area, and at the same time control the free end of the rope to remain in the working area, so as to facilitate unloading the target object from the rope.

[0160] In some embodiments, controlling the aircraft to deviate from the working area while controlling the free end of the rope to remain in the working area includes: releasing the rope so that the free end of the rope remains in the working area during the process of the aircraft deviating from the working area.

[0161] In some implementations, the description of step S440 may also refer to the aforementioned step S230 and will not be repeated here.

[0162] An unloading method for an aircraft provided in an embodiment of the present application includes: controlling an aircraft to fly directly above an operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system being capable of releasing a rope with a target object mounted on a free end of the rope; when the aircraft is directly above the operation area, controlling the rope system to release the rope so that the target object mounted on the rope falls into the operation area; controlling the length of the rope released by the rope system so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the operation area; controlling the aircraft to deviate from the operation area while controlling the free end of the rope to remain in the operation area to facilitate unloading of the target object from the rope; by releasing the rope when the aircraft is directly above the operation area so that the target object falls into the operation area, and after the length of the released rope is greater than or equal to the height of the aircraft relative to the operation area, controlling the aircraft to deviate from the operation area, thereby preventing damage to personnel or objects in the operation area; and maintaining the free end of the rope in the operation area facilitates operations in the operation area.

[0163] Please refer to FIG. 8 in conjunction with the aforementioned embodiment. FIG. 8 is a flow chart of a method for controlling a movable object provided by another embodiment of the present application.

[0164] For example, the movable object may be an aircraft, but is not limited thereto. For example, it may be a crane. The aircraft may be an unmanned aerial vehicle. Furthermore, the aircraft may be a rotary-wing drone, such as a quad-rotor drone, a hexacopter drone, or an octo-rotor drone, or a fixed-wing drone. For ease of explanation, the embodiments of this application primarily utilize an aircraft as an example.

[0165] The movable object is configured to carry a rope, a first end of the rope is connected to the movable object, and a second end of the rope is configured to carry a target object.

[0166] As shown in FIG8 , the method for controlling a movable object in this embodiment includes steps S510 to S520 .

[0167] Step S510: Control the movable object to move to a target position.

[0168] In some embodiments, in response to the movable object moving to the target position, the body and propeller of the movable object are not directly above the operation area. Referring to FIG. 9 a , the movable object moves to the target position, which is a position other than directly above the operation area.

[0169] In some embodiments, the movable object includes a logistics movable object, such as a logistics aircraft; the operation area includes a preset loading / unloading area for providing loading / unloading space for the logistics movable object.

[0170] The operation area can be a stationary area or an area on a mobile platform. For example, if the operation area is a stationary area, the aircraft will hover at the target location when it is at the target location; if the operation area is an area on a mobile platform, the aircraft will remain stationary relative to the mobile platform when it is at the target location.

[0171] Step S520, controlling the second end to move to the working area; wherein, the target position is located above the working area and is at least partially offset from the working area in the horizontal direction, and the rope released from the movable object is inclined relative to the working area so that the movable object is not directly above the working area.

[0172] In some embodiments, the step of controlling the second end to move to the work area includes: in response to the movable object being located at the target location and the second end being located directly below the target location, controlling a traction device to traction the second end to the work area. Referring to Figure 9b , the second end of the rope is traction-moved to the work area to facilitate operations such as loading or unloading the target object at the work area. For example, the traction device may include an unmanned vehicle, but this is not limited to such a vehicle. For example, the traction device may be mounted on a target object transport device.

[0173] In other embodiments, the step of controlling the second end to move to the work area includes: before the step of controlling the movable object to move to the target position, controlling the movable object to move directly above the work area so that the second end falls into the work area under the action of gravity, and the length of the rope released by the movable object is greater than the height of the movable object relative to the work area. Referring to Figure 3a, the movable object (such as an aircraft) is directly above the work area, and the second end of the rope is located in the work area; then, as shown in Figure 3b, the movable object (such as an aircraft) moves to the target position. When the aircraft is at the target position, the second end of the rope is still located in the work area, so that the target object can be mounted or unloaded in the work area.

[0174] Exemplarily, referring to FIG. 3 a , in response to the movable object being located directly above the working area, the second end falls vertically into the working area under the action of gravity.

[0175] In some embodiments, the target position is configured to be located at one or more positions within the movable range of the movable object, the movable range representing a range determined by a maximum horizontal distance that the movable object can deviate from the working area when the second end of the rope is located within the working area; the step of controlling the movable object to move to a target position other than directly above the working area includes: controlling the movable object to move out of directly above the working area and the target position being located within the movable range.

[0176] Exemplarily, the movable range is determined according to the length of the released rope and the height of the movable object relative to the working area.

[0177] In some embodiments, before controlling the movable object to move to a target position other than directly above the working area, the method further includes: receiving a preset operating instruction, wherein the preset operating instruction includes an instruction to load the target object and / or unload the target object at the second end of the rope.

[0178] Exemplarily, the preset operation instruction comes from a first control operation of the user.

[0179] Exemplarily, the preset operation instruction comes from the movable object itself.

[0180] For example, the preset operation instruction comes from the movable object's recognition of a marker.

[0181] In some embodiments, before the step of controlling the movable object to move to a target position other than directly above the working area, the method further includes: receiving a second control operation from a user, where the second control operation is used to indicate the target position.

[0182] Exemplarily, it is configured to be able to display the movable range of the movable object. For example, the movable range can be displayed on a control terminal of the movable object.

[0183] Exemplarily, the second control operation includes a user determining a target image area on a display screen, where the target image area is used to indicate the target position.

[0184] Exemplarily, in response to the target image area being located within the movable range of the movable object, the step of controlling the movable object to move to a target position other than directly above the working area is performed.

[0185] Exemplarily, the method further includes: in response to the target image area being outside the movable range of the movable object, controlling the movable object to move to the boundary of the movable range along the direction indicated by the position of the target image area.

[0186] Exemplarily, the method further includes: in response to the target image area being outside the movable range of the movable object, prohibiting the movable object from moving.

[0187] Exemplarily, the second control operation includes a user's operation on a control unit of a control terminal of the movable object, where the control unit is used to control the flight direction and / or flight speed of the movable object.

[0188] Exemplarily, the step of controlling the movable object to move to a target position other than directly above the working area includes: in response to the target position of the movable object being within the movable range of the movable object, controlling the movable object to move to a target position other than directly above the working area; and / or in response to the target position of the movable object being at the boundary of the movable range of the movable object, prohibiting the movable object from moving outside the movable range of the movable object.

[0189] In some embodiments, the method further includes: outputting an alarm message when the distance between the position of the movable object and the boundary of the movable range of the movable object is less than or equal to a preset distance threshold.

[0190] In some embodiments, the method further includes: determining the target position according to a movable range of the movable object and environmental information of a location of the movable object.

[0191] Exemplarily, the environmental information includes obstacle information, and determining the target position based on the movable range of the movable object and the environmental information of the position of the movable object includes: determining the target position based on the position of the obstacle within the movable range of the movable object, the position of the target position being different from the position of the obstacle.

[0192] In some embodiments, the working area is a static area, and when the movable object is located directly above the working area, it hovers directly above the working area; when the movable object is located at the target position, it hovers at the target position.

[0193] In other embodiments, the working area is an area on a mobile platform, and when the movable object is located directly above the working area, it remains relatively stationary with respect to the mobile platform; when the movable object is located at the target position, it remains relatively stationary with respect to the mobile platform.

[0194] An embodiment of the present application provides a method for controlling a movable object, wherein the movable object is configured to be able to mount a rope, the first end of the rope being connected to the movable object, and the second end of the rope being configured to be able to carry a target object, and the method comprising: controlling the movable object to move to a target position; controlling the second end to move to an operating area; wherein the target position is located above the operating area and is at least partially offset from the operating area in the horizontal direction, and the rope released from the movable object is tilted relative to the operating area so that the movable object is not located directly above the operating area. By controlling the movable object to move to the target position, the target position being located above the operating area and at least partially offset from the operating area in the horizontal direction so that the movable object is not located directly above the operating area, safety issues can be prevented when operating the second end of the rope in the operating area.

[0195] In some embodiments, the aircraft can automatically determine the target location and move to it, reducing user workload and pilot requirements. The aircraft can also determine the target location based on a second user control operation. By displaying the movable range or determining the response to the second control operation based on the movable range, this can prevent the user from mistakenly moving the second end of the rope outside the operating area, thereby reducing operational difficulty and improving efficiency.

[0196] The specific principles and implementation methods of the control method provided in the embodiment of the present application are at least partially similar to the control method of the embodiment shown in Figure 1, and will not be repeated here.

[0197] Please refer to FIG. 10 in conjunction with the aforementioned embodiment. FIG. 10 is a schematic block diagram of an aircraft 600 provided in another embodiment of the present application.

[0198] The aircraft 600 is capable of carrying a rope, wherein a first end of the rope is connected to the aircraft 600 and a second end of the rope is used to carry a target object;

[0199] The aircraft 600 includes one or more processors 601 , which work individually or collectively to execute the steps of the control method of the aforementioned embodiment.

[0200] For example, the aircraft 600 may further include a memory 602 .

[0201] Exemplarily, the processor 601 and the memory 602 are connected via a bus 603 , which is, for example, an I 2 C (Inter-integrated Circuit) bus.

[0202] Specifically, the processor 601 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0203] Specifically, the memory 602 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0204] The processor 601 is configured to run a computer program stored in the memory 602 and implement the steps of the aforementioned method when executing the computer program.

[0205] In some embodiments, the processor 601 is configured to run a computer program stored in the memory 602 and implement the following steps when executing the computer program:

[0206] controlling the aircraft to be located directly above a work area, and controlling the second end to be located within the work area and the length of the rope released by the aircraft to be greater than or equal to the height of the aircraft relative to the work area; and

[0207] controlling the aircraft to move to a target position other than directly above the operation area, so that at least the fuselage of the aircraft is not directly above the operation area;

[0208] When the aircraft moves to the target position, the second end of the rope is still located in the operating area.

[0209] In some embodiments, the processor 601 is configured to run a computer program stored in the memory 602 and implement the following steps when executing the computer program:

[0210] Controlling the aircraft to fly directly above the operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system being capable of releasing a rope, the free end of the rope being used to carry a target object;

[0211] When the aircraft is located directly above the work area, controlling the rope system to release the rope so that the free end of the rope falls to the work area; and

[0212] The aircraft is controlled to deviate from the working area, while the free end of the rope is controlled to remain in the working area.

[0213] In some embodiments, the processor 601 is configured to run a computer program stored in the memory 602 and implement the following steps when executing the computer program:

[0214] Controlling the aircraft to fly to directly above the operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system being capable of releasing a rope, the free end of the rope being used to mount a target object;

[0215] When the aircraft is located directly above the operation area, controlling the rope system to release the rope;

[0216] controlling the length of the rope released by the rope system so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the work area;

[0217] The aircraft is controlled to deviate from the working area, and the free end of the rope is controlled to remain in the working area, so that the rope can hang the target object.

[0218] In some embodiments, the processor 601 is configured to run a computer program stored in the memory 602 and implement the following steps when executing the computer program:

[0219] Controlling an aircraft to fly to directly above an operation area, wherein the aircraft system includes the aircraft and a rope system mounted on the aircraft, the rope system being capable of releasing a rope, a free end of which is mounted with a target object;

[0220] When the aircraft is located directly above the operation area, controlling the rope system to release the rope so that the target object hung on the rope falls to the operation area;

[0221] controlling the length of the rope released by the rope system so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the work area;

[0222] The aircraft is controlled to deviate from the working area, while the free end of the rope is controlled to remain in the working area, so as to facilitate unloading the target object from the rope.

[0223] The specific principles and implementation methods of the aircraft provided in the embodiments of the present application are similar to the control methods of the aforementioned embodiments and will not be repeated here.

[0224] Please refer to FIG. 11 in conjunction with the aforementioned embodiment. FIG. 11 is a schematic block diagram of a movable object 700 provided in another embodiment of the present application.

[0225] The movable object 700 can be mounted with a rope, a first end of the rope is connected to the movable object 700, and a second end of the rope is used to carry a target object;

[0226] The movable object 700 includes one or more processors 701 , which work individually or collectively to execute the steps of the movable object control method of the aforementioned embodiment.

[0227] For example, the movable object 700 may further include a memory 702 .

[0228] Exemplarily, the processor 701 and the memory 702 are connected via a bus 703 , which is, for example, an I 2 C (Inter-integrated Circuit) bus.

[0229] Specifically, the processor 701 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0230] Specifically, the memory 702 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0231] The processor 701 is configured to run a computer program stored in the memory 702 and implement the steps of the aforementioned method for controlling a movable object when executing the computer program.

[0232] In some embodiments, the processor 701 is configured to run a computer program stored in the memory 702 and implement the following steps when executing the computer program:

[0233] Controlling the movable object to move to a target position;

[0234] controlling the second end to move to an operating area;

[0235] The target position is located above the working area and is at least partially offset from the working area in the horizontal direction. The rope released from the movable object is inclined relative to the working area so that the movable object is not directly above the working area.

[0236] The specific principles and implementation methods of the movable object provided in the embodiments of the present application are similar to the control method of the movable object in the aforementioned embodiments, and will not be repeated here.

[0237] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the method provided in the above embodiment.

[0238] The computer-readable storage medium may be an internal storage unit of the aircraft or the movable object described in any of the aforementioned embodiments, such as a hard disk or memory of the aircraft. The computer-readable storage medium may also be an external storage device of the aircraft or the movable object, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc. equipped on the aircraft.

[0239] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0240] It will also be understood that the term "and / or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0241] 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 method for an aircraft system, the aircraft system including an aircraft, characterized in that, The aircraft can carry a rope. The first end of the rope is connected to the aircraft, and the second end of the rope is used to carry a target object. The method includes: Controlling the aircraft to be directly above the operation area, and controlling the second end to be within the operation area and the length of the rope released by the aircraft to be greater than or equal to the height of the aircraft relative to the operation area; and Controlling the aircraft to move to a target position outside directly above the operation area, so that at least the fuselage of the aircraft is not directly above the operation area; Wherein, when the aircraft moves to the target position, the second end of the rope is still within the operation area.

2. The control method of the aircraft system according to claim 1, wherein The target position is configured as one or more positions within the movable range of the aircraft. The movable range is determined by the maximum horizontal distance that the aircraft can fly away from the operation area when the second end of the rope is within the operation area; The step of controlling the aircraft to move to a target position outside directly above the operation area includes: Controlling the aircraft to move out of directly above the operation area and the target position is within the movable range.

3. The control method of the aircraft system according to claim 2, wherein, The movable range is determined according to the length of the released rope and the height of the aircraft relative to the operation area.

4. The control method of the aircraft system according to any one of claims 1-3, characterized in that, Before the step of controlling the aircraft to move to a target position outside directly above the operation area, the method further includes: Receiving a preset operation instruction, and the preset operation instruction includes an instruction to load the target object and / or unload the target object at the second end of the rope.

5. The control method of the aircraft system according to claim 4, characterized in that, The preset operation instruction comes from a first control operation of the user.

6. The control method of the aircraft system according to claim 4, characterized in that The preset operation instruction comes from the aircraft itself.

7. The control method of the aircraft system according to claim 6, characterized in that, The preset operation instruction comes from the aircraft's recognition of a marker.

8. The control method of the aircraft system according to any one of claims 1-7, characterized in that, Before the step of controlling the aircraft to move to a target position outside directly above the operation area, the method further includes: Receiving a second control operation from the user, and the second control operation is used to indicate the target position.

9. The control method of the aircraft system according to claim 8, wherein, Is configured to be able to display the movable range of the aircraft.

10. The control method of the aircraft system according to claim 8, wherein The second control operation includes the user determining a target image area on the display screen, and the target image area is used to indicate the target position.

11. The control method of the aircraft system according to claim 10, wherein, In response to the target image area being within the movable range of the aircraft, the step of controlling the aircraft to move to a target position outside directly above the operation area is executed.

12. The control method of the aircraft system according to claim 10, characterized in that, Further includes: In response to the target image area being outside the movable range of the aircraft, controlling the aircraft to move to the boundary of the movable range along the direction indicated by the position of the target image area.

13. The control method of the aircraft system according to claim 10, characterized in that, Further includes: In response to the target image area being outside the movable range of the aircraft, prohibiting the aircraft from moving.

14. The control method of the aircraft system according to claim 8, characterized in that, The second control operation includes the user's operation on a control of the control terminal of the aircraft, and the control is used to control the flight direction and / or flight speed of the aircraft.

15. The control method of the aircraft system according to claim 14, wherein, The step of controlling the aircraft to move to a target position other than directly above the operation area includes: In response to the target position of the aircraft being within the movable range of the aircraft, controlling the aircraft to move to a target position other than directly above the operation area; In response to the target position of the aircraft being at the boundary of the movable range of the aircraft, prohibiting the aircraft from moving outside the movable range of the aircraft.

16. The control method of the aircraft system according to any one of claims 1-15, characterized in that, The method further includes: When the distance between the position of the aircraft and the boundary of the movable range of the aircraft is less than or equal to a preset distance threshold, outputting an alarm message.

17. The control method of the aircraft system according to any one of claims 1-16, characterized in that, The method further includes: Determining the target position according to the movable range of the aircraft and the environmental information of the position where the aircraft is located.

18. The control method of the aircraft system according to claim 17, wherein The environmental information includes obstacle information. The determining the target position according to the movable range of the aircraft and the environmental information of the position where the aircraft is located includes: Determining the target position according to the positions of the obstacles within the movable range of the aircraft, and the position of the target position is different from the positions of the obstacles.

19. The control method of the aircraft system according to any one of claims 1-18, characterized in that, The operation area is a stationary area. When the aircraft is directly above the operation area, it hovers directly above the operation area; When the aircraft is at the target position, it hovers at the target position.

20. The control method of the aircraft system according to any one of claims 1-18, characterized in that, The operation area is an area on a moving platform. When the aircraft is directly above the operation area, it remains relatively stationary with the moving platform; When the aircraft is at the target position, it remains relatively stationary with the moving platform.

21. The control method of the aircraft system according to any one of claims 1-20, characterized in that, The aircraft includes a logistics aircraft, and the operation area includes a preset loading / unloading area for providing a loading / unloading space for the logistics aircraft.

22. The control method of the aircraft system according to any one of claims 1-20, characterized in that, In response to the aircraft moving to the target position, neither the fuselage nor the propellers of the aircraft are directly above the operation area.

23. The control method of the aircraft system according to any one of claims 1-20, characterized in that, In response to the aircraft being directly above the operation area, the second end vertically falls onto the operation area under the action of gravity.

24. A control method for a movable object, characterized in that, The movable object is configured to be able to hang a rope. The first end of the rope is connected to the movable object, and the second end of the rope is configured to be able to carry a target object. The method includes: Controlling the movable object to move to the target position; Controlling the second end to move to the operation area; Wherein, the target position is above the operation area and is at least partially staggered from the operation area in the horizontal direction. The rope released from the movable object is inclined with respect to the operation area so that the movable object is not directly above the operation area.

25. The control method of a movable object according to claim 24, characterized in that , The step of controlling the second end to move to the operation area includes: Before the step of controlling the movable object to move to the target position, controlling the movable object to move directly above the operation area so that the second end falls onto the operation area under the action of gravity, and the length of the rope released by the movable object is greater than the height of the movable object relative to the operation area.

26. The control method of a movable object according to claim 24, characterized in that , The step of controlling the second end to move to the operation area includes: In response to the movable object being located at the target position, with the second end located directly below the target position, control the traction device to move the second end to the operation area.

27. The control method of a movable object according to claim 25, characterized in that, The target position is configured to be one or more positions within the movable range of the movable object. The movable range is determined by the maximum horizontal distance that the movable object can deviate from the operation area when the second end of the rope is within the operation area. The step of controlling the movable object to move to a target position other than directly above the operation area includes: Controlling the movable object to move out of directly above the operation area and the target position is within the movable range.

28. The control method for a movable object according to claim 25, characterized in that, The movable range is determined according to the length of the released rope and the height of the movable object relative to the operation area.

29. The control method for a movable object according to any one of claims 24-25, 27-28, characterized in that, Before the step of controlling the movable object to move to a target position other than directly above the operation area, the method further includes: Receiving a preset operation instruction, where the preset operation instruction includes an instruction to load and / or unload the target object at the second end of the rope.

30. The control method for a movable object according to claim 29, wherein, The preset operation instruction comes from the user's first control operation.

31. The control method of a movable object according to claim 29, characterized in that, The preset operation instruction comes from the movable object itself.

32. The control method of a movable object according to claim 31, characterized in that, The preset operation instruction comes from the movable object's recognition of a marker.

33. The control method of a movable object according to any one of claims 24-25, 27-32, characterized in that, Before the step of controlling the movable object to move to a target position other than directly above the operation area, the method further includes: Receiving a second control operation from the user, where the second control operation is used to indicate the target position.

34. The control method for a movable object according to claim 33, wherein Is configured to be able to display the movable range of the movable object.

35. The control method of a movable object according to claim 33, wherein, The second control operation includes the user determining a target image area on the display screen, and the target image area is used to indicate the target position.

36. The control method of the movable object according to claim 35, characterized in that In response to the target image area being within the movable range of the movable object, execute the step of controlling the movable object to move to a target position other than directly above the operation area.

37. The control method for a movable object according to claim 35, characterized in that, Further includes: In response to the target image area being outside the movable range of the movable object, control the movable object to move to the boundary of the movable range along the direction indicated by the position of the target image area.

38. The control method of a movable object according to claim 35, characterized in that, Further includes: In response to the target image area being outside the movable range of the movable object, prohibit the movable object from moving.

39. The control method of a movable object according to claim 33, characterized in that, The second control operation includes the user's operation on a control of the control terminal of the movable object, and the control is used to control the flight direction and / or flight speed of the movable object.

40. The control method of a movable object according to claim 39, characterized in that, The step of controlling the movable object to move to a target position other than directly above the operation area includes: In response to the target position of the movable object being within the movable range of the movable object, control the movable object to move to a target position other than directly above the operation area; In response to the target position of the movable object being located at the boundary of the movable range of the movable object, the movable object is prohibited from moving outside the movable range of the movable object.

41. The control method of a movable object according to any one of claims 24-25, 27-40, characterized in that, The method further includes: When the distance between the position of the movable object and the boundary of the movable range of the movable object is less than or equal to a preset distance threshold, an alarm message is output.

42. The control method of a movable object according to any one of claims 24-25, 27-41, characterized in that, The method further includes: Determine the target position according to the movable range of the movable object and the environmental information of the position where the movable object is located.

43. The control method of a movable object according to claim 42, characterized in that, The environmental information includes obstacle information. The determining the target position according to the movable range of the movable object and the environmental information of the position where the movable object is located includes: Determine the target position according to the positions of the obstacles within the movable range of the movable object, and the position of the target position is different from the positions of the obstacles.

44. The control method for a movable object according to any one of claims 24-25, 27-43, characterized in that, The operation area is a stationary area. When the movable object is located directly above the operation area, it hovers directly above the operation area; When the movable object is located at the target position, it hovers at the target position.

45. The control method of a movable object according to any one of claims 24-25, 27-43, characterized in that, The operation area is an area on a moving platform. When the movable object is located directly above the operation area, it remains relatively stationary with the moving platform; When the movable object is located at the target position, it remains relatively stationary with the moving platform.

46. The control method of a movable object according to any one of claims 24-25, 27-45, characterized in that, The movable object includes a logistics movable object, and the operation area includes a preset loading / unloading area for providing a loading / unloading space for the logistics movable object.

47. The control method of a movable object according to any one of claims 24-25, 27-45, characterized in that, In response to the movable object moving to the target position, neither the fuselage nor the propellers of the movable object are located directly above the operation area.

48. The control method of a movable object according to any one of claims 24-25, 27-45, characterized in that, In response to the movable object being located directly above the operation area, the second end vertically falls onto the operation area under the action of gravity.

49. An aircraft, characterized in that, The aircraft can carry a rope. The first end of the rope is connected to the aircraft, and the second end of the rope is used to carry a target object; The aircraft includes one or more processors, working individually or jointly, for performing: Controlling the aircraft to be located directly above the operation area, and controlling the second end to be located in the operation area and the length of the rope released by the aircraft to be greater than or equal to the height of the aircraft relative to the operation area; And Controlling the aircraft to move to a target position outside directly above the operation area, so that at least the fuselage of the aircraft is not located directly above the operation area; Wherein, when the aircraft moves to the target position, the second end of the rope remains within the operation area.

50. The aircraft according to claim 49, characterized in that, The target position is configured to be one or more positions within the movable range of the aircraft. The movable range is determined by the maximum horizontal distance that the aircraft can fly away from the operation area when the second end of the rope is located within the operation area; The step of controlling the aircraft to move to a target position outside directly above the operation area includes: Control the aircraft to move out directly above the operation area and the target position is within the movable range.

51. The aircraft according to claim 50, characterized in that, The movable range is determined according to the length of the released rope and the height of the aircraft relative to the operation area.

52. The aircraft according to any one of claims 49 - 51, characterized in that, Before controlling the aircraft to move to a target position other than directly above the operation area, the processor is further configured to: Receive a preset operation instruction, where the preset operation instruction includes an instruction to load and / or unload the target object at the second end of the rope.

53. The aircraft according to claim 52, wherein, The preset operation instruction comes from a first control operation of the user.

54. The aircraft according to claim 52, characterized in that, The preset operation instruction comes from the aircraft itself.

55. The aircraft according to claim 54, characterized in that, The preset operation instruction comes from the aircraft's recognition of a marker.

56. The aircraft according to any one of claims 49 - 55, characterized in that, Before the step of controlling the aircraft to move to a target position other than directly above the operation area, the processor is further configured to: Receive a second control operation from the user, where the second control operation is used to indicate the target position.

57. The aircraft according to claim 56, characterized in that, Be configured to be able to display the movable range of the aircraft.

58. The aircraft according to claim 56, characterized in that, The second control operation includes the user determining a target image area on the display screen, and the target image area is used to indicate the target position.

59. The aircraft according to claim 58, characterized in that, If the processor determines that the target image area is within the movable range of the aircraft, it executes the step of controlling the aircraft to move to a target position other than directly above the operation area.

60. The aircraft according to claim 58, characterized in that, The processor is further configured to: If the target image area is outside the movable range of the aircraft, control the aircraft to move to the boundary of the movable range along the direction indicated by the position of the target image area.

61. The aircraft according to claim 58, characterized in that, The processor is further configured to: If the target image area is outside the movable range of the aircraft, prohibit the aircraft from moving.

62. The aircraft according to claim 56, wherein, The second control operation includes the user operating a control on the control terminal of the aircraft, and the control is used to control the flight direction and / or flight speed of the aircraft.

63. The aircraft according to claim 62, wherein, The step of controlling the aircraft to move to a target position other than directly above the operation area includes: If the target position of the aircraft is within the movable range of the aircraft, control the aircraft to move to a target position other than directly above the operation area; If the target position of the aircraft is at the boundary of the movable range of the aircraft, prohibit the aircraft from moving outside the movable range of the aircraft.

64. The aircraft according to any one of claims 49 - 63, characterized in that, The processor is further configured to: When the distance between the position of the aircraft and the boundary of the movable range of the aircraft is less than or equal to a preset distance threshold, output an alarm message.

65. The aircraft according to any one of claims 49 - 64, characterized in that, The processor is further configured to: Determine the target position according to the movable range of the aircraft and the environmental information of the position where the aircraft is located.

66. The aircraft according to claim 65, characterized in that, The environmental information includes obstacle information. Determining the target position according to the movable range of the aircraft and the environmental information of the position where the aircraft is located includes: Determine the target position according to the position of the obstacle within the movable range of the aircraft, and the position of the target position is different from the position of the obstacle.

67. The aircraft according to any one of claims 49 - 66, characterized in that, The operation area is a stationary area. When the aircraft is directly above the operation area, it hovers directly above the operation area; When the aircraft is at the target position, it hovers at the target position.

68. The aircraft according to any one of claims 49 - 66, characterized in that, The operation area is an area on a mobile platform. When the aircraft is directly above the operation area, it remains relatively stationary with respect to the mobile platform; When the aircraft is at the target position, it remains relatively stationary with respect to the mobile platform.

69. The aircraft according to any one of claims 49 to 68, characterized in that, The aircraft includes a logistics aircraft, and the operation area includes a preset loading / unloading area for providing a loading / unloading space for the logistics aircraft.

70. The aircraft according to any one of claims 49 - 68, characterized in that, In response to the aircraft moving to the target position, neither the fuselage nor the propellers of the aircraft are directly above the operation area.

71. The aircraft according to any one of claims 49 - 68, characterized in that, In response to the aircraft being directly above the operation area, the second end vertically drops onto the operation area under the action of gravity.

72. A movable object, characterized in that, The movable object can be equipped with a rope. The first end of the rope is connected to the movable object, and the second end of the rope is used to carry a target object; The movable object includes one or more processors that work individually or jointly to perform the steps of the control method of the movable object as described in any one of claims 24 - 48.

73. A control method for an aircraft system, characterized in that, The method includes: Controlling the aircraft to fly directly above the operation area, where the aircraft system includes the aircraft and a rope system mounted on the aircraft. The rope system can release a rope, and the free end of the rope is used to carry a target object; When the aircraft is directly above the operation area, controlling the rope system to release the rope so that the free end of the rope drops to the operation area; and Controlling the aircraft to deviate from the operation area while controlling the free end of the rope to remain in the operation area.

74. A mounting method for an aircraft, characterized in that, The method includes: Controlling the aircraft to fly directly above the operation area, where the aircraft system includes the aircraft and a rope system mounted on the aircraft. The rope system can release a rope, and the free end of the rope is used to mount a target object; When the aircraft is directly above the operation area, controlling the rope system to release the rope; Controlling the length of the rope released by the rope system so that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the operation area; Controlling the aircraft to deviate from the operation area while controlling the free end of the rope to remain in the operation area so as to facilitate the rope to mount the target object.

75. A method for unloading an aircraft, characterized in that, The method includes: Controlling the aircraft to fly directly above the operation area, where the aircraft system includes the aircraft and a rope system mounted on the aircraft. The rope system can release a rope, and the free end of the rope is mounted with a target object; When the aircraft is directly above the operation area, controlling the rope system to release the rope so that the target object mounted by the rope drops to the operation area; Control the length of the rope that controls the release of the rope system such that the length of the rope released by the aircraft is greater than or equal to the height of the aircraft relative to the operation area; Control the aircraft to deviate from the operation area while controlling the free end of the rope to remain in the operation area to facilitate unloading the target object from the rope.

76. The control method of a movable object according to any one of claims 73-75, characterized in that, The controlling the aircraft to deviate from the operation area while controlling the free end of the rope to remain in the operation area includes: During the process of the aircraft deviating from the operation area, release the rope so that the free end of the rope remains in the operation area.

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