Unmanned aerial vehicle, movable platform and control method and system thereof, and storage medium

Abstract

A control method for an unmanned aerial vehicle, comprising: acquiring a waypoint of the unmanned aerial vehicle and a job task corresponding to the waypoint, the job task comprising unloading and / or loading a target object by means of a hanging device, the hanging device being provided on the unmanned aerial vehicle (S110); in response to the unmanned aerial vehicle moving to the waypoint, controlling the descending height of the unmanned aerial vehicle to move to a target position corresponding to the waypoint (S120); and controlling the unmanned aerial vehicle to perform the job task at the target position (S130). The safety and reliability of the operation of the unmanned aerial vehicle can be improved. The invention further provides a control method of the unmanned aerial vehicle, the movable platform, a control method and system of the movable platform and a storage medium.

Description

Unmanned aerial vehicle, movable platform and control method, system and storage medium thereof TECHNICAL FIELD

[0001] The present application relates to the technical field of movable platforms, and in particular to an unmanned aerial vehicle, a movable platform and a control method, system and storage medium thereof. BACKGROUND

[0002] Movable platforms such as unmanned aerial vehicles and unmanned vehicles are increasingly popular in various industries, such as logistics transportation, aerial photography, power inspection, geological survey, agricultural application, fire fighting and disaster relief, and rescue patrol.

[0003] When a movable platform performs a task on a flight path, it may not be able to ensure the reliability or safety of the task due to limitations of the flight path. How to improve the safety or reliability of a movable platform performing a task is a problem to be solved.

[0004] SUMMARY

[0005] Therefore, the present application provides an unmanned aerial vehicle, a movable platform and a control method, system, storage medium and storage medium thereof.

[0006] In a first aspect, the embodiments of the present application provide a control method of an unmanned aerial vehicle, which comprises:

[0007] obtaining a waypoint of the unmanned aerial vehicle and a task corresponding to the waypoint, the task comprising unloading and / or loading a target object by a hanging device, the hanging device being arranged on the unmanned aerial vehicle;

[0008] in response to the unmanned aerial vehicle moving to the waypoint, controlling the unmanned aerial vehicle to descend to a target position corresponding to the waypoint;

[0009] controlling the unmanned aerial vehicle to perform the task at the target position.

[0010] In a second aspect, the embodiments of the present application provide a control method of a movable platform, which comprises:

[0011] obtaining a moving point of the movable platform and a task corresponding to the moving point, the task comprising controlling the movable platform to perform a task by a load carried thereon;

[0012] in response to the movable platform moving to the moving point, controlling the movable platform to move to a target position corresponding to the moving point;

[0013] controlling the movable platform to perform the task at the target position.

[0014] In a third aspect, the embodiments of the present application provide a control method of a movable platform, the movable platform being connected to a target object by a cable, the control method comprising:

[0015] in response to obtaining a moving instruction, controlling the movable platform to move at a first speed;

[0016] in response to the cable being in a preset state, controlling the movable platform to move at a second speed, so that the movable platform drags the target object to move through the cable;

[0017] wherein the first speed is greater than the second speed.

[0018] In a fourth aspect, the embodiments of the present application provide a movable platform, the movable platform being capable of carrying a load;

[0019] The movable platform comprises one or more processors and one or more memories storing computer program codes, and is configured to jointly act to enable the movable platform to perform the following steps:

[0020] obtaining a travel point of the movable platform and a work task corresponding to the travel point, the work task comprising controlling the movable platform to perform work through the carried load;

[0021] in response to the movable platform moving to the travel point, controlling the movable platform to move to a target position corresponding to the travel point;

[0022] controlling the movable platform to perform the work task at the target position.

[0023] In a fifth aspect, the embodiments of the present application provide a movable platform, the movable platform being capable of being connected to a target object by a cable;

[0024] The movable platform comprises one or more processors and one or more memories storing computer program codes, and is configured to jointly act to enable the movable platform to perform the following steps:

[0025] in response to obtaining a moving instruction, controlling the movable platform to move at a first speed;

[0026] in response to the cable being in a preset state, controlling the movable platform to move at a second speed, so that the movable platform drags the target object to move through the cable;

[0027] wherein the first speed is greater than the second speed.

[0028] In a sixth aspect, an embodiment of the present application provides a UAV, the UAV being capable of carrying a hanging device, the UAV comprising one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the UAV to perform the following steps:

[0029] obtaining a waypoint of the UAV and a corresponding operation task of the waypoint, the operation task comprising unloading and / or loading a target object by the hanging device, the hanging device being arranged on the UAV;

[0030] in response to the UAV moving to the waypoint, controlling the UAV to lower a height to move to a target position corresponding to the waypoint;

[0031] controlling the UAV to perform the operation task at the target position.

[0032] In a seventh aspect, an embodiment of the present application provides a movable platform system, the movable platform system comprising a movable platform and a control terminal, the movable platform being capable of carrying a load, and the control terminal being capable of controlling the movable platform;

[0033] the control terminal receiving a user-set travel point and a corresponding operation task of the travel point;

[0034] the control terminal sending the travel point and the operation task to the movable platform;

[0035] the movable platform obtaining the travel point and the corresponding operation task of the travel point, the operation task comprising controlling the movable platform to perform an operation by the carried load;

[0036] in response to the movable platform moving to the travel point, controlling the movable platform to move to a target position corresponding to the travel point;

[0037] controlling the movable platform to perform the operation task at the target position.

[0038] In an eighth aspect, an embodiment of the present application provides a movable platform system, the movable platform system comprising a movable platform and a control terminal, the movable platform being capable of connecting a target object by a cable, and the control terminal being capable of controlling the movable platform;

[0039] the control terminal sending a moving instruction to the movable platform in response to a preset operation of a user;

[0040] the movable platform controlling the movable platform to move at a first speed in response to the moving instruction;

[0041] in response to the cable being in a preset state, controlling the movable platform to move at a second speed, so that the movable platform moves the target object through the cable traction;

[0042] wherein the first speed is greater than the second speed.

[0043] In a ninth aspect, the embodiments of the present application provide a UAV system, the UAV system comprising a UAV and a control terminal, the UAV being capable of carrying a hanging device, and the control terminal being capable of controlling the UAV;

[0044] The control terminal receives a flight point set by a user and a work task corresponding to the flight point;

[0045] The control terminal sends the flight point and the work task to the UAV;

[0046] The UAV acquires the flight point and the work task corresponding to the flight point, and the work task comprises unloading and / or loading a target object through the hanging device;

[0047] In response to the UAV moving to the flight point, the UAV is controlled to descend to a target position corresponding to the flight point;

[0048] The UAV is controlled to perform the work task at the target position.

[0049] In a tenth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing a computer program, and the computer program, when executed by a processor, causes the processor to implement:

[0050] Acquiring a flight point of a UAV and a work task corresponding to the flight point, the work task comprising unloading and / or loading a target object through a hanging device, and the hanging device being arranged on the UAV;

[0051] In response to the UAV moving to the flight point, the UAV is controlled to descend to a target position corresponding to the flight point;

[0052] The UAV is controlled to perform the work task at the target position.

[0053] In an eleventh aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing a computer program, and the computer program, when executed by a processor, causes the processor to implement:

[0054] Acquiring a flight point of a movable platform and a work task corresponding to the flight point, the work task comprising controlling the movable platform to perform work through a carried load;

[0055] in response to the movable platform moving to the travel point, controlling the movable platform to move to a target position corresponding to the travel point;

[0056] controlling the movable platform to perform the job task at the target position.

[0057] In a twelfth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executed by a processor to enable the processor to implement:

[0058] in response to obtaining a moving instruction, controlling the movable platform to move at a first speed, the movable platform being connected to the target object through a cable;

[0059] in response to the cable being in a preset state, controlling the movable platform to move at a second speed, so that the movable platform drags the target object to move through the cable;

[0060] wherein the first speed is greater than the second speed.

[0061] The embodiments of the present application provide a UAV, a movable platform, a control method and system thereof, a storage medium and a storage medium, which can improve the safety and reliability of the movable platform such as the UAV in performing a job task. The control method of the UAV comprises: obtaining a waypoint of the UAV and a job task corresponding to the waypoint, the job task comprising unloading and / or loading a target object through a hanging device, the hanging device being arranged on the UAV; in response to the UAV moving to the waypoint, controlling the UAV to descend to a target position corresponding to the waypoint; and controlling the UAV to perform the job task at the target position.

[0062] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0063] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0064] Fig. 1 is a flow diagram of a control method of a UAV according to an embodiment of the present application;

[0065] Fig. 2 is a scene diagram of a UAV control method according to an embodiment of the present application;

[0066] FIG. 3 is a flowchart of a control method of a movable platform according to an embodiment of the present application;

[0067] FIG. 4 is a schematic diagram of a movable platform system according to an embodiment of the present application;

[0068] FIG. 5 is a schematic diagram of a control method of a movable platform according to an embodiment of the present application;

[0069] FIG. 6 is a flowchart of a control method of a movable platform according to another embodiment of the present application;

[0070] FIG. 7 is a schematic block diagram of a movable platform according to an embodiment of the present application;

[0071] FIG. 8 is a schematic block diagram of a movable platform according to another embodiment of the present application;

[0072] FIG. 9 is a schematic block diagram of a UAV according to an embodiment of the present application;

[0073] FIG. 10 is a schematic block diagram of a UAV system according to an embodiment of the present application. DETAILED DESCRIPTION

[0074] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort belong to the scope of the present application.

[0075] The flowcharts shown in the drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the described order. For example, some operations / steps can be further decomposed, combined or partially merged, so the actual execution order can be changed according to actual situations.

[0076] Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0077] Please refer to FIG. 1, which is a flowchart of a control method of a UAV according to an embodiment of the present application.

[0078] For example, the UAV can be a rotor type UAV, such as a quadcopter, a hexacopter, an octocopter, a fixed-wing UAV or a helicopter.

[0079] As shown in FIG. 1, the control method of the UAV includes steps S110-S130.

[0080] In step S110, the waypoint of the UAV and the operation task corresponding to the waypoint are acquired, the operation task including unloading and / or loading the target object by the hanging device arranged on the UAV.

[0081] Referring to FIG. 2, the hanging device includes a cable, a first end of the cable being connectable to the UAV, and a second end of the cable being used to carry the target object. In some embodiments, the second end of the cable is capable of carrying a hook, and the cable carries the target object through the hook. The hook can be a hook that automatically unhooked when touching the ground, or a hook controlled by a user or a control terminal or a UAV sending an unhooking signal.

[0082] Optionally, the length of the cable is adjustable, specifically, the length between the UAV and the target object is adjustable. Alternatively, the length of the cable can be fixed. For example, the hanging device is capable of releasing the cable, and optionally, the hanging device is also capable of adjusting the length of the released cable, and the hanging device is also capable of retracting the cable. Optionally, the user can set an extension rope at the first end and / or the second end of the cable in the hanging device to increase the length of the cable.

[0083] For example, the UAV can acquire the waypoint of the UAV and the operation task corresponding to the waypoint from a server or a control terminal. For example, the position of the waypoint is different from the position of the control terminal, for example, the server or the control terminal is located in an emergency command center, and the position of the waypoint is a disaster area or a forest rescue point.

[0084] In some cases, the user is not familiar with the information at the waypoint or the known information is deviated from the actual situation, for example, the geographical environment at the waypoint has changed, so that the state information of the carrying platform for carrying the target object has changed, for example, the height information of the ground is missing or inaccurate. For example, the above-mentioned carrying platform is used to carry the target object so that the UAV loads or unloads the above-mentioned target object on the carrying platform. In this case, a rough position can be set as the waypoint corresponding to the operation task.

[0085] In step S120, in response to the UAV moving to the waypoint, the UAV is controlled to descend to a target position corresponding to the waypoint.

[0086] In step S130, the UAV is controlled to perform the operation task at the target position.

[0087] Referring to FIG. 2, after the UAV moves to the waypoint, the UAV can perform the operation task after moving to the target position corresponding to the waypoint. Compared with directly performing the operation task at the preset waypoint, the safety and / or the success of the operation are higher when the operation task is performed at the target position.

[0088] Exemplarily, after the UAV moves to the waypoint, information of the geographical environment at the waypoint can be acquired to determine height information of the carrying platform capable of carrying the target object; the UAV is controlled to descend to the target position corresponding to the waypoint according to the height information of the carrying platform, so that the second end of the cable can fall on the carrying platform to unload the target object on the cable to the carrying platform or load the target object on the carrying platform to the cable. It should be noted that, in the process of moving to the waypoint, the UAV is at a high flight height to ensure flight safety, and the height of the UAV when moving to the waypoint is also high. If the UAV directly performs the operation task at the preset waypoint, sometimes the length of the cable is insufficient to fall on the carrying platform, and the target object cannot be successfully unloaded and / or loaded. If the UAV performs the operation task after descending to a non-target position at the waypoint, the operation task cannot be safely and successfully performed sometimes; for example, when the non-target position is too high compared with the height of the carrying platform, the length of the cable is insufficient to fall on the carrying platform, and the target object cannot be automatically connected with the cable; or when the UAV descends to a large height at the waypoint, the target object carried by the second end of the cable can collide with an obstacle on the ground, and even the UAV can collide with the obstacle.

[0089] The embodiments of the present application can improve the reliability and safety of performing the operation task by moving to the target position corresponding to the waypoint to perform the operation task after the UAV moves to the preset waypoint. For example, when the height information between the carrying platform of the target object and the waypoint is missing or inaccurate, the height can be descended to move to the target position, and the operation task can be safely and reliably performed at the target position.

[0090] In addition, exemplarily, it should be noted that, in the field of logistics transportation such as UAVs, in order to ensure the flight safety of the UAV, the route used by the UAV must be confirmed by a regulatory agency. For example, after a user plans a route, the route is approved by the regulatory agency, and the route is allowed to be used, or the regulatory agency directly allocates a suitable route to the UAV. However, there is a possible situation that the geographical position of the waypoint on the approved route, such as height or latitude and longitude, is not suitable for the UAV to perform the hoisting operation. Therefore, the UAV is controlled to descend to the target position suitable for the UAV to perform the hoisting operation after reaching the operation waypoint. In this way, the safety and reliability of the hoisting operation of the UAV can be improved.

[0091] Please refer to FIG. 3, which is a flowchart of a control method of a movable platform provided by an embodiment of the present application.

[0092] The movable platform can include at least one of an aerial vehicle, a vehicle, a ship, a working robot, and the like. For example, the aerial vehicle can be a drone, the vehicle can be a self-driving vehicle, and the ship can be a self-driving ship. For ease of illustration, embodiments of the present application are mainly described by taking the movable platform as an aerial vehicle, such as a drone.

[0093] In some embodiments, as shown in FIG. 4, a schematic diagram of a movable platform system is provided. The movable platform system includes a movable platform and a control terminal capable of controlling the movable platform. The steps of the control method of the movable platform can be executed by the movable platform or by the movable platform and the control terminal together.

[0094] As shown in FIG. 4, the movable platform can be in communication connection with the control terminal, such as transmitting data through a wireless channel. The wireless channel from the movable platform to the control terminal is referred to as a downlink channel, which is used to transmit data collected by the movable platform, such as video, pictures, sensor data, and telemetry data of the movable platform, such as an unmanned aerial vehicle (OSD) and the like. The wireless channel from the control terminal to the movable platform is referred to as an uplink channel, which is used to transmit remote control data. For example, when the movable platform is an aerial vehicle, the uplink channel is used to transmit flight control instructions and control instructions for taking pictures, recording videos, and returning.

[0095] For example, the control terminal can include at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, a wearable device, a remote controller, a server, and the like.

[0096] As shown in FIG. 3, the control method of the movable platform includes steps S210 to S230.

[0097] In step S210, the travel point of the movable platform and the corresponding work task are obtained. The work task includes controlling the movable platform to work through the carried load.

[0098] For example, the load carried by the movable platform can include at least one of a hanging device, a mechanical arm, a sensor, and the like. The sensor can include at least one of a visual sensor, a radar, a laser sensor, a temperature sensor, and a gas sensor. The work task can include at least one of unloading and / or loading target objects through the hanging device, moving target objects through the mechanical arm, and obtaining sensor information detected by the camera and the like.

[0099] For ease of illustration, embodiments of the present application are mainly described by taking the load carried by the movable platform as a hanging device, and more specifically, by taking the movable platform as an aerial vehicle and the load as a hanging device.

[0100] In an example, the moving point can be a waypoint of the UAV.

[0101] In some embodiments, it is uncertain whether the movable platform can safely and reliably complete the task at the waypoint; for example, due to missing or inaccurate information about the geographical environment at the waypoint, the movable platform may, when executing the task at the waypoint, sometimes be at risk or fail to complete the task.

[0102] In some embodiments, the obtaining the moving point of the movable platform comprises: obtaining a preset moving path of the movable platform; and determining the moving point on the preset moving path.

[0103] In an example, the movable platform can obtain a preset moving path set by a user from the control terminal, or can obtain a preset moving path automatically assigned from the control terminal.

[0104] In an example, the preset moving path is determined by a supervision center, which is used to supervise the movable platform. For example, the supervision center can be a supervising agency with public power or a supervision center of a fleet to which the user belongs. Optionally, the moving point on the preset moving path can also be approved and determined by the supervision center. Generally, the preset moving path and the moving point on the preset moving path approved by the supervision center are not allowed to be modified by the user privately.

[0105] In an example, the determining the moving point on the preset moving path comprises: outputting candidate moving points according to the preset moving path; and determining the moving point from the candidate moving points according to a selection of a user. Of course, the example is not limited thereto, for example, the user can also directly select a position on the preset moving path displayed on the control terminal as the moving point. By outputting the candidate moving points for the user to determine the moving point, the user can more efficiently determine the moving point, and the user can determine one or more moving points on the preset moving path.

[0106] Optionally, the candidate moving points can be determined based on historical task data of the movable platform and / or based on geographical conditions around the preset moving path.

[0107] In an example, a place where the task is successfully executed for multiple times can be determined as a candidate moving point, and the candidate moving point can also be adjusted according to a place where the task is not successfully executed and / or geographical conditions around the candidate moving point. By determining the candidate moving point based on the historical task data of the movable platform, the accuracy of the candidate moving point can be improved.

[0108] The candidate travel point is determined according to geographical conditions around the preset movement path, for example, map information determines a position with flat terrain and no obstacles as the candidate travel point, so as to improve the safety of the work task corresponding to the travel point.

[0109] In step S220, in response to the movable platform moving to the travel point, the movable platform is controlled to move to a target position corresponding to the travel point.

[0110] In step S230, the movable platform is controlled to perform the work task at the target position.

[0111] After the movable platform moves to the travel point, the work task can be performed after moving to the target position corresponding to the travel point. Compared with directly performing the work task at the travel point, the safety of performing the work task at the target position is higher and / or the success of the work task is higher.

[0112] In some embodiments, the information at the travel point obtained in step S210 is not comprehensive or accurate enough, for example, the information of the geographical environment at the travel point is missing, or the geographical environment has changed. If the movable platform performs the work task at the travel point, sometimes it will be dangerous or unable to successfully perform the work task. For example, when a drone directly performs the work task at the preset waypoint, sometimes the length of the cable is not enough to fall on the carrying platform, which cannot successfully unload and / or load the target object; or for example, when an unmanned vehicle moves to the travel point, the obstacle at the travel point is located within the working range of the mechanical arm of the unmanned vehicle or blocks the vision sensor of the unmanned vehicle, so that the unmanned vehicle collides with the obstacle when performing the work task at the travel point.

[0113] Embodiments of the present application can improve the reliability and safety of performing the work task by moving to the target position corresponding to the travel point after the movable platform moves to the travel point to perform the work task. For example, when the height information between the carrying platform of the target object and the waypoint of the drone is missing or inaccurate, the drone can move to the target position by descending in height, and perform the work task at the target position safely and reliably. Or for example, when the unmanned vehicle moves to the travel point, the unmanned vehicle can move to the corresponding target position to work, for example, to prevent the unmanned vehicle from colliding with the obstacle when performing the work task at the travel point.

[0114] In some embodiments, the target position corresponding to the travel point in step S220 is within a preset range of the travel point. For example, the preset range can include a circular range or a spherical range with the travel point as the center and a preset distance as the radius, and the preset distance can include 1 meter, 5 meters, 10 meters, 50 meters, etc. Alternatively, the preset range can also be a rectangle, a cube, or an irregular shape, etc. that includes the travel point, without limitation on the specific shape. By limiting the target position to be within the preset range of the travel point, the actual target position at which the movable platform performs the task can be prevented from deviating too far from the travel point, and the user's expectation can be better met.

[0115] For example, the target position corresponding to the travel point is within a preset range of the travel point in the horizontal direction.

[0116] For example, in step S220, the movable platform can be controlled to move to the target position corresponding to the travel point in the horizontal direction. For example, if there are obstacles below the waypoint of the unmanned aerial vehicle, or the terrain is uneven, the unmanned aerial vehicle can be controlled to move to the target position corresponding to the waypoint in the horizontal direction to perform the task, and the absence of obstacles below the target position can ensure safe and reliable performance of the task.

[0117] For example, the target position corresponding to the travel point is within a preset range of the travel point in the vertical direction. For example, the target position can be above the travel point, or below the travel point. For example, in a forest fire area, the target position can be above the waypoint of the unmanned aerial vehicle, and when the unmanned aerial vehicle obtains images of the ground below the target position, the unmanned aerial vehicle can be prevented from being in danger caused by high temperature smoke on the ground, so that images of the ground below the target position can be safely and clearly obtained. For example, when the task of the unmanned aerial vehicle includes unloading and / or loading target objects by a hanging device, the unmanned aerial vehicle can move to the waypoint and then descend to a target position below the waypoint, so that the second end of the cable can fall on the carrying platform, so as to unload the target objects on the cable to the carrying platform or load the target objects on the carrying platform to the cable.

[0118] For example, the target position corresponding to the travel point is within a preset range of the travel point in the horizontal direction, and within a preset range of the travel point in the vertical direction. For example, in step S220, the target position corresponding to the travel point is within a spherical range with the travel point as the center and a preset distance as the radius.

[0119] In some embodiments, the step S220 of controlling the movable platform to move to the target position corresponding to the progress point comprises: determining the target position corresponding to the progress point; and controlling the movable platform to move to the target position. It is to be understood that there is no sequence between the step of moving the movable platform to the progress point and the step of determining the target position corresponding to the progress point. The target position can be determined after the movable platform reaches the progress point, or the target position can be determined before the movable platform reaches the progress point. In this way, the accuracy of the target position can be improved, so that the work task can be performed safely and reliably at the target position.

[0120] For example, the target position can be determined according to the position of the progress point and a preset distance and / or a preset direction.

[0121] Optionally, the preset relationship can comprise a preset relationship between the progress point and the target position, i.e. the relationship between the target position and the position of the progress point can be determined, for example, the distance between the target position and the position of the progress point is determined, and / or the direction of the target position relative to the progress point is determined, so as to improve the safety and reliability of performing the work task at the target position. Optionally, in the case that the movable platform comprises an aircraft, the position at a preset distance below the progress point can be determined as the target position. By limiting the distance and / or direction of the target position relative to the progress point, the safety and reliability of performing the work task at the target position can be improved.

[0122] Optionally, the preset relationship can comprise a preset relationship between the progress point corresponding preset target and the target position, i.e. the relationship between the target position and the progress point corresponding preset target can be determined, so as to improve the safety and reliability of performing the work task at the target position. For example, the load comprises a hanging device, and the preset relationship can be used to indicate the distance and / or direction between the target position and the carrying platform corresponding to the progress point, wherein the carrying platform comprises a platform capable of carrying the target object. Specifically, the carrying platform can be a platform on which the target object is hung by the hanging device or a platform on which the target object hung by the hanging device is unloaded. For example, after the unmanned aerial vehicle moves to the progress point, the height is lowered to move to a preset height above the carrying platform corresponding to the progress point to perform the work task, so as to safely and accurately perform the work task at the target position at the preset height above the carrying platform.

[0123] For example, the preset relationship can be determined based on information input by the user. For example, the preset relationship can be determined directly by the user, for example, the user can directly define the preset relationship as a target position including a position ten meters below the travel point; the preset relationship can also be determined by the unmanned aerial vehicle system based on the overview information input by the user, for example, the user can define the preset relationship as a certain overview mapping relationship determined according to the geographical environment around the travel point and / or the performance parameters of the movable platform. For example, the user defines the preset relationship as a target position including a position on the ground below the travel point within a horizontal direction of 5 meters, and the unmanned aerial vehicle system can determine the target position based on the above overview information defined by the user.

[0124] In some embodiments, the movable platform and / or the control terminal can autonomously determine the target position according to the geographical environment around the travel point and / or the performance parameters of the movable platform. The safety and reliability of performing the work task at the target position can be improved.

[0125] Optionally, the geographical environment around the travel point can include the geographical environment actually obtained by the movable platform at the travel point, and / or the performance parameters of the movable platform can be the performance parameters obtained by the movable platform after the movable platform starts to move to the travel point, but are not limited thereto. For example, the geographical environment around the travel point and / or the performance parameters of the movable platform can also be preset.

[0126] For example, the geographical environment includes at least one of the flatness of the ground and the terrain height. The terrain height can be the height of the ground, or can be the height of the ground plus the height of the ground attachments such as trees, buildings, etc. Optionally, in the case of uneven ground and / or high terrain height, the distance between the determined target position and the travel point is smaller; and in the case of flat ground and / or low terrain height, the distance between the determined target position and the travel point can be larger. The safety and reliability of performing the work task at the target position can be further improved.

[0127] For example, the performance parameters can include the moving speed of the movable platform, the safe obstacle avoidance distance, the working range of the load, etc. For example, the load of the movable platform includes a mechanical arm, and the performance parameters can include the working range of the mechanical arm and / or the weight of the target object corresponding to the mechanical arm.

[0128] For example, the movable platform comprises an aerial vehicle, the load comprises a hanging device, and the performance parameter comprises at least one of a safe flight height of the aerial vehicle, a safe obstacle avoidance distance of the aerial vehicle, and a rope length that can be released by the hanging device. By determining the target position according to the safe flight height of the aerial vehicle, it can be ensured that the aerial vehicle does not fly too low and cause danger during operation. By determining the target position according to the safe obstacle avoidance distance of the aerial vehicle, it can be ensured that the aerial vehicle does not collide with obstacles during operation. By determining the target position according to the rope length that can be released by the hanging device, it can be ensured that the second end of the cable released by the hanging device can fall on the carrying platform to successfully perform the operation task.

[0129] For example, the target position is determined according to the geographical environment around the travel point and / or the performance parameter of the movable platform, and the target position is determined according to the terrain height around the travel point, the safe obstacle avoidance distance, and the rope length that can be released by the hanging device, wherein the target position is directly below the travel point. For example, in response to the aerial vehicle moving to the waypoint, the aerial vehicle is controlled to descend in height to move to the target position corresponding to the waypoint. This can ensure the safety of the aerial vehicle during the process of descending in height to move to the target position corresponding to the travel point, and the safety and reliability of the aerial vehicle during operation at the target position.

[0130] For example, the target position is determined according to the geographical environment around the travel point and / or the performance parameter of the movable platform, and the target position is determined according to the flatness of the ground around the travel point, the terrain height, the safe obstacle avoidance distance, and the rope length that can be released by the hanging device, wherein the target position is laterally below the travel point. For example, when the aerial vehicle moves to the waypoint, the aerial vehicle can move laterally in addition to descending in height vertically, for example, to a target position where the terrain below is relatively flat, or to a target position corresponding to the carrying platform of the target object, to improve the safety and reliability of operation at the target position. It should be noted that the target position can be directly above the carrying platform of the target object, or laterally above the carrying platform. When the target position is laterally above the carrying platform, it can ensure the safety of the operator at the carrying platform.

[0131] For example, the target position can also be above the travel point, or laterally to the travel point. For example, in a forest fire area, the target position can be above the waypoint of the aerial vehicle. When the aerial vehicle acquires images of the ground below at the target position, it can prevent the aerial vehicle from being in danger due to high temperature smoke on the ground, to safely and clearly acquire images of the ground below at the target position.

[0132] In some embodiments, the method further comprises: in response to the job task related parameter meeting a corresponding prompt condition, outputting prompt information. For example, the prompt information can be outputted by the movable platform and / or outputted by a control terminal of the movable platform. By outputting the prompt information, the user can be facilitated to timely adjust the job task related parameter, so as to improve the safety and reliability of the job task.

[0133] For example, the job task related parameter comprises at least one of a geographical condition of the travel point, a geographical condition of the target position, and a performance parameter of the movable platform.

[0134] For example, the job task related parameter comprises a geographical condition of the target position, and the response to the job task related parameter meeting a corresponding prompt condition, outputting prompt information, comprises: in response to the target position being surrounded by obstacles, outputting prompt information. For example, the user can be prompted to adjust the target position, so that the movable platform can perform the job task safely and reliably at the adjusted target position.

[0135] For example, the performance parameter comprises a cruising parameter of the movable platform, such as an electric quantity. The response to the job task related parameter meeting a corresponding prompt condition, outputting prompt information, comprises: in response to an estimated remaining cruising parameter of the movable platform when moving to the travel point being less than or equal to a cruising parameter threshold, outputting prompt information. For example, when the preset moving path of the movable platform and the travel points corresponding to the preset moving path are acquired, whether the estimated remaining cruising parameter of the movable platform when moving to each of the travel points is less than or equal to the cruising parameter threshold can be determined, and the outputted prompt information can indicate which travel points have the remaining cruising parameter less than or equal to the cruising parameter threshold, so that the user can adjust the preset moving path and / or the travel points.

[0136] For example, the performance parameter comprises a performance parameter of a load carried by the movable platform. The load can have an effective working range, for example, a working object of the load, i.e., a target object, is within a distance range of the load, and / or a weight of the target object is within a weight range of the load, so that the movable platform can successfully perform a corresponding job task by using the load. By responding to the performance parameter of the load meeting a corresponding prompt condition, outputting prompt information, the user can be facilitated to timely adjust the load and / or the target object, so as to improve the reliability of performing the job task.

[0137] For example, the movable platform comprises an aircraft, and the load comprises a hanging device, and the performance parameter comprises a performance parameter related to the hanging device.

[0138] For example, the performance parameter related to the hanging device includes a weight threshold of the hanging device. For example, when the hook carried by the hanging device is in a form of automatic ground contact unhooking, in order to ensure the success of automatic unhooking of the target object, the target object itself needs to have a certain weight. When the weight of the target object is greater than the weight threshold of the hanging device, the target object can be successfully unhooked. Therefore, in some embodiments, the response to the parameter related to the work task meeting the corresponding prompt condition, the output prompt information includes: in response to the weight of the target object carried by the hanging device being less than or equal to the weight threshold, outputting prompt information.

[0139] The weight of the target object can be input by the user, or can be determined according to the force of the cable when the unmanned aerial vehicle pulls the target object away from the ground by the cable, of course, not limited to this.

[0140] By outputting prompt information when the weight of the target object is less than or equal to the weight threshold, the prompt information for example includes increasing the weight of the target object or increasing the counterweight; it can prevent the target object from colliding with other objects due to the weight of the target object being too small, and / or the target object cannot be reliably separated from the cable.

[0141] For example, the performance parameter related to the hanging device includes the length of the cable used by the hanging device, and the response to the parameter related to the work task meeting the corresponding prompt condition, the output prompt information includes: in response to the estimated height of the target position being greater than the length of the cable used by the hanging device, outputting prompt information.

[0142] The length of the cable used by the hanging device can be input by the user, or can be pre-set, or can be determined according to the force of the cable when the unmanned aerial vehicle pulls the target object away from the ground by the cable, for example, the length of the cable can be determined according to the height information of the unmanned aerial vehicle when the cable starts to be tensioned.

[0143] For example, in the case where the height of the target position is greater than the length of the cable used by the hanging device, the output prompt information can prompt the user to adjust the target position so that the movable platform can work safely and reliably at the adjusted target position.

[0144] For example, in the case where the height of the target position is greater than the length of the cable used by the hanging device, the output prompt information can prompt the user to adjust the length of the cable, for example, the hanging device is configured with an extension rope, so that the movable platform can work safely and reliably at the target position.

[0145] In some embodiments, the movable platform is connected to the target object by a cable; for example, the unmanned aerial vehicle, unmanned vehicle or unmanned ship is connected to the target object by a cable, and can drag the target object to move. For example, the target object is dragged to move when the unmanned aerial vehicle takes off after loading the target object and starts to move towards the destination, and / or the target object is dragged to move when the unmanned aerial vehicle returns after loading the target object or starts to move towards another destination when performing the task at the target position.

[0146] The method can further include: in response to obtaining the movement instruction, controlling the movable platform to move at a first speed; in response to the cable being in a preset state, controlling the movable platform to move at a second speed, so that the movable platform drags the target object to move through the cable; wherein the first speed is greater than the second speed.

[0147] By controlling the movable platform to move at a larger first speed before dragging the target object to move, the work efficiency of the movable platform can be improved; by controlling the movable platform to move at a smaller second speed after the cable is in the preset state, the sudden change of the force of the cable on the movable platform under the action of the target object can be prevented, and / or the movable platform can be prevented from losing stability and / or the cable can be prevented from breaking, the connection between the cable and the target object can be prevented from breaking, and the connection between the cable and the unmanned aerial vehicle can be prevented from breaking.

[0148] For example, the preset state includes state information related to the stretching degree of the cable satisfying a preset condition. For example, in response to the change of the stretching degree of the cable, the speed of the movable platform can be controlled to ensure the safety and reliability of the movable platform dragging the target object to move.

[0149] For example, the state information related to the stretching degree of the cable includes the stretching length of the cable, and the stretching length of the cable can be determined based on the moving distance of the movable platform.

[0150] For example, in response to the movable platform moving at the second speed in response to the movable platform moving a preset length threshold, the movable platform is controlled to move at the second speed so that the movable platform drags the target object to move through the cable.

[0151] For example, the preset length threshold can be determined according to the length of the cable. For example, the movable platform can be controlled to move at the second speed before the cable is tensioned, so that the movable platform can be prevented from losing stability under the action of the cable being pulled away.

[0152] The length of the cable can be determined based on user inputted information, such as the length of the original cable of the hoisting device, and the length of the extension cable. The length of the cable can be the sum of the length of the original cable of the hoisting device and the length of the extension cable.

[0153] For example, the state information related to the stretching degree of the cable includes the tension of the cable. By controlling the speed of the movable platform in response to the change of the tension of the cable, the safety and reliability of the movable platform dragging the target object to move can be ensured.

[0154] Optionally, the controlling the movable platform to move at the second speed in response to the cable being in the preset state can include: controlling the movable platform to move at the second speed in response to the tension of the cable being greater than a preset tension threshold. For example, the movable platform is controlled to move at the first speed in response to the acquisition of the movement instruction, and the tension of the cable is detected. When the tension of the cable is greater than the preset tension threshold, the movable platform is controlled to move at the second speed, so that the movable platform drags the target object to move through the cable. By adjusting the speed of the movable platform according to the actual tension of the cable, the sudden change of the force of the cable on the movable platform under the action of the target object can be prevented more accurately and timely, and the movable platform can be prevented from losing stability and / or the cable from being broken, the connection between the cable and the target object from being broken, and the connection between the cable and the unmanned aerial vehicle from being broken.

[0155] In some embodiments, the controlling the movable platform to move to the target position corresponding to the travel point in response to the movable platform moving to the travel point can include: controlling the movable platform to move to a preset position between the travel point and the target position at a third speed in response to the movable platform moving to the travel point; and controlling the movable platform to move to the target position at a fourth speed in response to the movable platform moving to the preset position, the fourth speed being less than the third speed. The movable platform can move to the target position more accurately while improving the work efficiency, and the target object can be prevented from deviating from the target position under the action of inertia when the movable platform moves to the target position.

[0156] In some embodiments, the length of the cable of the hoisting device carried by the movable platform is fixed. The movable platform can quickly lower the height until the target object hung by the cable approaches the carrying platform, and then slowly raise the height until the target object is carried by the carrying platform. In this way, the work efficiency and safety of the work of the movable platform can be improved.

[0157] In some embodiments, the method further comprises: in response to the movable platform disconnecting the communication connection with the control terminal, moving to the travel point based on the positioning information of the movable platform. The communication connection includes at least one of the following: a 4G network connection, a 5G network connection, a SDR (Software Defined Radio) connection, a WiFi network connection, and the like, but is not limited thereto.

[0158] The movable platform can pre-acquire information of a preset moving path and the travel point. After disconnecting the communication connection with the control terminal, for example, in an emergency scenario, the movable platform can move to the travel point based on the positioning information of its own GNSS (Global Navigation Satellite System) according to the information of the travel point, in response to the movable platform moving to the travel point, control the movable platform to move to a target position corresponding to the travel point, and perform the work task at the target position.

[0159] After the movable platform performs the work task at the target position, it can return according to the pre-acquired preset moving path or can move to the next travel point to perform the work task corresponding to the travel point.

[0160] In some embodiments, the method further comprises: in response to the movable platform moving to the travel point and connecting the communication connection with the control terminal of the movable platform, outputting prompt information to the user so that the user selects to automatically perform the work task by the movable platform or manually controls the movable platform to perform the work task.

[0161] For example, in the case where the movable platform is in communication connection with the control terminal, in response to the selection to automatically perform the work task by the movable platform, the movable platform can automatically determine the target position according to the geographical environment around the travel point and / or the performance parameters of the movable platform, and move to the target position corresponding to the travel point to perform the work task at the target position. The target position can be automatically determined by the movable platform, and the work task can be automatically performed by the movable platform through the load, which can improve the work efficiency and prevent the risk caused by user misoperation, such as the risk of cable deviation and collision with the propeller of the unmanned aerial vehicle.

[0162] For example, in the case that the movable platform is communicatively connected with the control terminal, in response to the selection of manually controlling the movable platform to perform the job task, the movable platform can move to the target position according to the control operation of the user at the control terminal, and perform the job task at the target position. Of course, the present application is not limited to this. For example, in response to the selection of manually controlling the movable platform to perform the job task, the movable platform can automatically determine the target position according to the geographical environment around the travel point and / or the performance parameters of the movable platform, move to the target position corresponding to the travel point, and control the load of the movable platform to perform the job task according to the control operation of the user at the control terminal. This can prevent users who are not familiar with the operation from controlling the movable platform to move to a position that is not suitable for the job, and can improve the efficiency of the job of the movable platform.

[0163] In some embodiments, the method further comprises: in response to the movable platform being communicatively connected with the control terminal, triggering the control terminal to output the relevant information of the target position and / or the execution status of the job task. This facilitates the user to monitor the target position and / or the execution status of the job task, and the user can also adjust the target position and / or intervene in the execution of the job task in a timely manner, so as to ensure the safe and successful execution of the job task.

[0164] In some embodiments, the method further comprises: in response to a preset control operation of the user at the control terminal, controlling the movable platform to stop moving or stop performing the job task.

[0165] For example, in response to the geographical environment around the travel point being unsuitable for performing the job task after the movable platform moves to the travel point, the control terminal can be triggered to output prompt information, and the user can control the movable platform to stop moving to the target position corresponding to the travel point according to the prompt information.

[0166] For example, in response to the job task not being successfully performed after the movable platform moves to the target position, such as the target object not being separated from the cable, the control terminal can be triggered to output prompt information, and the user can control the movable platform to stop performing the job task according to the prompt information; or the user can also adjust the target position according to the prompt information, so that the movable platform successfully performs the job task when moving to the adjusted target position.

[0167] In some embodiments, referring to FIG. 5, taking the movable platform as an aircraft, the load as a hanging device, and the target object as cargo as an example, the control method of the movable platform of the embodiments of the present application can include the following stages: aircraft and cargo preparation stage, pre-flight route inspection, and execution of the route waypoint task.

[0168] In the aircraft and cargo preparation stage, the aircraft, cargo, and waypoints can be checked. If the cargo is relatively large, the extension rope can be connected to the hanging device to tighten the cargo using the extension rope, so as to prevent the cargo from being too close to the aircraft and causing abnormal behavior. If there are obstacles such as trees, power towers, and high-rise buildings around the waypoint, it is not easy to land, and the extension rope can be connected to the hanging device to release the cargo more safely at the target position corresponding to the waypoint.

[0169] The aircraft can slowly pull up the cargo when taking off to ensure the safety of the cargo. Alternatively, the aircraft can take off quickly to a height close to the length of the extension rope, and then slowly pull up the cargo to ensure safe operation. The length of the extension rope can be set by the user, or can be determined according to the force on the extension rope when the aircraft takes off.

[0170] In the pre-delivery route inspection stage, the control terminal (such as a remote controller) creates a route (i.e., a preset moving path) and sets the empty hanging action and the cargo release height corresponding to the waypoint. The aircraft and the control terminal can check the current route, waypoint, cargo release height (such as the height between the target position and the bearing platform corresponding to the waypoint), cargo weight, battery power, and the like: if the conditions are not met, a prompt message can be output to allow the user to make adjustments. In the case of failed inspection, the aircraft does not perform the route and waypoint task. For example, in the case where the cargo release height is greater than the total length of the extension rope and the original cable of the empty hanging device, the aircraft does not perform the route and waypoint task; in the case where the cargo weight is too low (such as less than 4 kg), the aircraft does not perform the route and waypoint task; in the case where the battery power is too low or cannot complete part or all of the route task, the aircraft does not perform the route and waypoint task.

[0171] In the route and waypoint task execution stage, the aircraft flies to the waypoint according to the route, lands at the target position corresponding to the cargo release height, and performs the empty hanging action to release the cargo. In the case of communication connection between the aircraft and the control terminal, the aircraft can return the empty hanging action execution progress to the control terminal and the cloud, and the control terminal and the cloud can view the empty hanging execution progress in real time. In the case of emergency, the control terminal or the cloud can pause the route action at any time by pressing the emergency stop button; in the case where there is no emergency, the aircraft can continue to perform the waypoint and route action. In the case of disconnection between the aircraft and the control terminal, the aircraft can fly according to the set route and waypoint information, land at the target position corresponding to the cargo release height when flying to the waypoint, perform the empty hanging action to release the cargo, and continue to perform the route or complete the route action, such as returning, after successful release. If the cargo release fails, the aircraft can retry the release action to improve the success rate of the cargo release.

[0172] Please refer to FIG. 6 in combination with the foregoing embodiments, which is a flowchart of a control method of a movable platform according to an embodiment of the present application.

[0173] The movable platform is connected to the target object by a cable,

[0174] As shown in FIG. 6, the control method of the movable platform according to the embodiments of the present application includes steps S310-S320.

[0175] In step S310, in response to obtaining a moving instruction, the movable platform is controlled to move at a first speed.

[0176] In step S320, in response to the cable being in a preset state, the movable platform is controlled to move at a second speed, so that the movable platform drags the target object to move through the cable; and the first speed is greater than the second speed.

[0177] For example, the preset state includes state information related to a stretching degree of the cable satisfying a preset condition.

[0178] For example, the state information related to the stretching degree of the cable includes a stretching length of the cable, and the stretching length of the cable is determined based on a moving distance of the movable platform.

[0179] For example, the state information related to the stretching degree of the cable includes a tension condition of the cable.

[0180] Optionally, the step of controlling the movable platform to move at the second speed in response to the cable being in the preset state includes:

[0181] controlling the movable platform to move at the second speed in response to the tension of the cable being greater than a preset tension threshold.

[0182] For example, the step of controlling the movable platform to move at the second speed in response to the cable being in the preset state includes:

[0183] controlling the movable platform to move at the second speed in response to a moving distance of the movable platform being greater than a preset length threshold.

[0184] For example, the preset length threshold is determined according to a length of the cable, and the length of the cable is determined based on information input by a user.

[0185] The control method of the movable platform provided in the embodiments of the present application can improve the work efficiency of the movable platform by controlling the movable platform to move at a first speed before the target object is pulled to move; and can prevent the force of the cable on the movable platform from suddenly changing under the action of the target object, so that the movable platform loses stability and / or the cable breaks, the connection between the cable and the target object breaks, the connection between the cable and the unmanned aerial vehicle breaks, or the target object cannot be successfully hoisted by the cable, etc., by controlling the movable platform to move at a second speed after the cable is in the preset state.

[0186] The specific principles and implementation manners of the control method of the movable platform provided in the embodiments of the present application are similar to those of the control method of the movable platform in the foregoing embodiments, and will not be described here.

[0187] Please refer to FIG. 7 in combination with the foregoing embodiments, which is a schematic block diagram of a movable platform according to an embodiment of the present application.

[0188] The movable platform can carry a load; and the movable platform comprises one or more processors and one or more memories storing computer program codes, which are configured to jointly act to enable the movable platform to perform the following steps:

[0189] Obtaining a travel point of the movable platform and a work task corresponding to the travel point, the work task comprising controlling the movable platform to perform work through the carried load;

[0190] In response to the movable platform moving to the travel point, controlling the movable platform to move to a target position corresponding to the travel point;

[0191] Controlling the movable platform to perform the work task at the target position.

[0192] By moving the movable platform to the target position corresponding to the travel point to perform the work task after the movable platform moves to the travel point, the reliability and safety of performing the work task can be improved. For example, when the height information between the carrying platform of the target object and the unmanned aerial vehicle waypoint is missing or inaccurate, the unmanned aerial vehicle can move to the target position by descending in height, and perform the work task at the target position safely and reliably.

[0193] The specific principles and implementation manners of the movable platform provided in the embodiments of the present application are similar to those of the control method of the movable platform in the foregoing embodiments, and will not be described here.

[0194] Please refer to FIG. 8 in combination with the foregoing embodiments, which is a schematic block diagram of a movable platform according to an embodiment of the present application.

[0195] The movable platform can connect the target object through a cable; and the movable platform comprises one or more processors and one or more memories storing computer program codes, which are configured to jointly act to enable the movable platform to perform the following steps:

[0196] In response to obtaining the moving instruction, the movable platform is controlled to move at a first speed;

[0197] In response to the cable being in a preset state, the movable platform is controlled to move at a second speed, so that the movable platform moves the target object through the cable;

[0198] The first speed is greater than the second speed.

[0199] The movable platform provided by the embodiments of the present application can move at a greater first speed before moving the target object, so as to improve the work efficiency of the movable platform; and the movable platform can move at a smaller second speed after the cable is in the preset state, so as to prevent the movable platform from losing stability and / or the cable from being broken, the connection between the cable and the target object from being broken, and the connection between the cable and the unmanned aerial vehicle from being broken due to the sudden change of the force of the cable on the movable platform under the action of the target object.

[0200] Please refer to FIG. 9 in combination with the foregoing embodiments, which is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present application.

[0201] The unmanned aerial vehicle can carry a hanging device, and the unmanned aerial vehicle comprises one or more processors and one or more memories storing computer program codes, which are configured to jointly act to enable the unmanned aerial vehicle to perform the following steps:

[0202] Obtaining a waypoint of the unmanned aerial vehicle and a work task corresponding to the waypoint, the work task comprising unloading and / or loading a target object through the hanging device, the hanging device being arranged on the unmanned aerial vehicle;

[0203] In response to the unmanned aerial vehicle moving to the waypoint, the unmanned aerial vehicle is controlled to descend to a target position corresponding to the waypoint;

[0204] The unmanned aerial vehicle is controlled to perform the work task at the target position.

[0205] The embodiments of the present application can improve the reliability and safety of performing the work task by moving the unmanned aerial vehicle to a target position corresponding to a preset waypoint to perform the work task. For example, when the height information between the bearing platform of the target object and the waypoint is missing or inaccurate, the unmanned aerial vehicle can be controlled to descend to the target position to perform the work task safely and reliably.

[0206] The specific principles and implementation manners of the unmanned aerial vehicle system provided in the embodiments of the present application are similar to the control method of the movable platform, the control method of the unmanned aerial vehicle, and the like of the foregoing embodiments, and thus will not be described herein.

[0207] Please refer to FIG. 10 in combination with the foregoing embodiments, which is a schematic diagram of an unmanned aerial vehicle system according to an embodiment of the present application.

[0208] The unmanned aerial vehicle system comprises an unmanned aerial vehicle and a control terminal, the unmanned aerial vehicle is capable of carrying a hanging device, and the control terminal is capable of controlling the unmanned aerial vehicle;

[0209] The control terminal receives a flight point set by a user and a work task corresponding to the flight point;

[0210] The control terminal sends the flight point and the work task to the unmanned aerial vehicle;

[0211] The unmanned aerial vehicle acquires the flight point and the work task corresponding to the flight point, and the work task comprises unloading and / or loading a target object by the hanging device;

[0212] In response to the unmanned aerial vehicle moving to the flight point, the unmanned aerial vehicle is controlled to descend to a target position corresponding to the flight point;

[0213] The unmanned aerial vehicle is controlled to perform the work task at the target position.

[0214] The specific principles and implementation manners of the unmanned aerial vehicle system provided in the embodiments of the present application are similar to the control method of the movable platform, the control method of the unmanned aerial vehicle, and the like of the foregoing embodiments, and thus will not be described herein.

[0215] Please refer to FIG. 4 in combination with the foregoing embodiments, which is a movable platform system according to an embodiment of the present application. The movable platform system comprises a movable platform and a control terminal, the movable platform is capable of carrying a load, and the control terminal is capable of controlling the movable platform;

[0216] The control terminal receives a travel point set by a user and a work task corresponding to the travel point;

[0217] The control terminal sends the travel point and the work task to the movable platform;

[0218] The movable platform acquires the travel point and the work task corresponding to the travel point, and the work task comprises controlling the movable platform to perform work by the carried load;

[0219] In response to the movable platform moving to the travel point, the movable platform is controlled to move to a target position corresponding to the travel point;

[0220] control the movable platform to perform the task at the target position.

[0221] By moving the movable platform to the target position after moving to the travel point, the reliability and safety of performing the task can be improved. For example, when the height information between the target object's carrying platform and the UAV waypoint is missing or inaccurate, the UAV can move to the target position at a lower height, and perform the task safely and reliably at the target position.

[0222] The specific principles and implementation manners of the movable platform provided in the embodiments of the present application are similar to the control method of the movable platform in the foregoing embodiments, and will not be repeated here.

[0223] Please refer to FIG. 4 in combination with the foregoing embodiments. The embodiments of the present application further provide a movable platform system, which comprises a movable platform and a control terminal. The movable platform can be connected to a target object through a cable, and the control terminal can control the movable platform.

[0224] The control terminal sends a movement instruction to the movable platform in response to a preset operation of a user.

[0225] The movable platform controls the movable platform to move at a first speed in response to the movement instruction.

[0226] In response to the cable being in a preset state, the movable platform is controlled to move at a second speed, so that the movable platform moves by pulling the target object through the cable.

[0227] The first speed is greater than the second speed.

[0228] By controlling the movable platform to move at a larger first speed before pulling the target object to move, the work efficiency of the movable platform can be improved. By controlling the movable platform to move at a smaller second speed after the cable is in the preset state, the sudden change of the force of the cable on the movable platform under the action of the target object can be prevented, and the movable platform can be prevented from losing stability and / or the cable from breaking, the connection between the cable and the target object from breaking, and the connection between the cable and the UAV from breaking.

[0229] The specific principles and implementation manners of the movable platform provided in the embodiments of the present application are similar to the control method of the movable platform in the foregoing embodiments, and will not be repeated here.

[0230] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to enable the processor to implement the steps of the control method of the movable platform or the control method of the unmanned aerial vehicle.

[0231] For example, the computer program is executed by the processor to enable the processor to implement the following steps:

[0232] obtaining a waypoint of the unmanned aerial vehicle and a work task corresponding to the waypoint, the work task including unloading and / or loading a target object by a hanging device, and the hanging device being arranged on the unmanned aerial vehicle;

[0233] in response to the unmanned aerial vehicle moving to the waypoint, controlling the unmanned aerial vehicle to lower a height to move to a target position corresponding to the waypoint;

[0234] controlling the unmanned aerial vehicle to perform the work task at the target position.

[0235] For example, the computer program is executed by the processor to enable the processor to implement the following steps:

[0236] obtaining a waypoint of the movable platform and a work task corresponding to the waypoint, the work task including controlling the movable platform to perform work by a carried load;

[0237] in response to the movable platform moving to the waypoint, controlling the movable platform to move to a target position corresponding to the waypoint;

[0238] controlling the movable platform to perform the work task at the target position.

[0239] For example, the computer program is executed by the processor to enable the processor to implement the following steps:

[0240] in response to obtaining a moving instruction, controlling the movable platform to move at a first speed, and the movable platform being connected to a target object through a cable;

[0241] in response to the cable being in a preset state, controlling the movable platform to move at a second speed, so that the movable platform drags the target object to move through the cable;

[0242] wherein the first speed is greater than the second speed.

[0243] Optionally, the processor of the embodiment of the present application can be a micro-controller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP), etc. The memory can be a flash chip, a read-only memory (ROM) disk, an optical disk, a U disk or a mobile hard disk, etc. Of course, it is not limited to this. The processor and the memory can be connected through a bus, such as an I2C (Inter-integrated Circuit) bus, of course, it is not limited to this.

[0244] The computer readable storage medium can be an internal storage unit of the movable platform, such as a hard disk or a memory of the unmanned aerial vehicle, according to any one of the foregoing embodiments. The computer readable storage medium can also be an external storage device of the movable platform, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0245] It should be understood that the terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the application.

[0246] It should also be understood that the term "and / or" used in the present application and the appended claims means any combination of one or more of the associated listed terms and all possible combinations, and includes these combinations.

[0247] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of controlling a drone, the method comprising: The control method comprises: obtaining a waypoint of the unmanned aerial vehicle and a work task corresponding to the waypoint, the work task comprising unloading and / or loading a target object by a hanging device, the hanging device being arranged on the unmanned aerial vehicle; in response to the unmanned aerial vehicle moving to the waypoint, controlling the unmanned aerial vehicle to descend to a target position corresponding to the waypoint; controlling the unmanned aerial vehicle to perform the work task at the target position.

2. A control method of a movable platform, characterized by, The control method comprises: obtaining a waypoint of the movable platform and a work task corresponding to the waypoint, the work task comprising controlling the movable platform to perform work by a load carried by the movable platform; in response to the movable platform moving to the waypoint, controlling the movable platform to move to a target position corresponding to the waypoint; controlling the movable platform to perform the work task at the target position.

3. The control method according to claim 2, characterized by, The target position corresponding to the waypoint is within a preset range of the waypoint.

4. The control method according to claim 3, characterized by, The target position corresponding to the waypoint is within a preset range of the waypoint in a horizontal direction.

5. The control method according to claim 3, characterized by, The target position corresponding to the waypoint is within a preset range of the waypoint in a vertical direction.

6. The control method according to claim 2, characterized by The control of the movable platform to move to the target position corresponding to the waypoint comprises: determining the target position corresponding to the waypoint; and controlling the movable platform to move to the target position.

7. The control method according to claim 6, characterized by The determination of the target position corresponding to the waypoint comprises: determining the target position according to a position of the waypoint and a preset relationship.

8. The control method according to claim 7, characterized by The preset relationship is determined based on information input by a user.

9. The control method according to claim 7, characterized by, The load comprises a hanging device, and the preset relationship can be used to indicate a distance and / or a direction between a bearing platform corresponding to the waypoint and the target position, the bearing platform comprising a platform capable of bearing the target object.

10. The control method according to claim 7, characterized by, The determination of the target position according to the position of the waypoint and the preset relationship comprises: determining the target position according to the position of the waypoint and a preset distance and / or a preset direction.

11. The control method according to claim 10, characterized by, The movable platform comprises an aircraft, and the determination of the target position according to the position of the waypoint and the preset distance and / or the preset direction comprises: determining a position at a preset distance below the waypoint as the target position.

12. The control method according to any one of claims 6-11, characterized by, The determination of the target position corresponding to the waypoint comprises: determining the target position according to a geographical environment around the waypoint and / or a performance parameter of the movable platform.

13. The control method according to claim 12, characterized by, The geographical environment comprises at least one of a flatness of the ground and a terrain height.

14. The control method according to claim 12, characterized by, The movable platform comprises an aircraft, the load comprises a hanging device, and the performance parameter comprises at least one of a safe flight height of the aircraft, a safe obstacle avoidance distance, and a length of a rope that can be released by the hanging device.

15. The control method according to claim 14, characterized by, The determination of the target position according to the geographical environment around the waypoint and / or the performance parameter of the movable platform comprises: determining the target position according to a terrain height around the waypoint, the safe obstacle avoidance distance, and the length of the rope that can be released by the hanging device, wherein the target position is directly below the waypoint.

16. The control method according to claim 14, characterized by The target position is determined according to a geographical environment around the travelling point and / or a performance parameter of the movable platform, including: The target position is determined according to a flatness of a ground surface around the travelling point, a terrain height, the safe obstacle avoidance distance, and a length of a rope that can be released by the hanging device, wherein the target position is located below the travelling point.

17. The control method according to claim 2, characterized by, The travelling point of the movable platform is acquired, including: A preset moving path of the movable platform is acquired; The travelling point is determined on the preset moving path.

18. The control method according to claim 17, characterized by, The preset moving path is determined by a supervision center for supervising the movable platform.

19. The control method according to claim 17, wherein The travelling point is determined on the preset moving path, including: A candidate travelling point is output according to the preset moving path; The travelling point is determined from the candidate travelling point according to a user selection.

20. The control method according to claim 19, characterized by, The candidate travelling point is determined based on historical operation data of the movable platform.

21. The control method according to claim 19, characterized by, The candidate travelling point is determined based on geographical conditions around the preset moving path.

22. The control method according to claim 2, characterized by, The method further includes: In response to a parameter related to the operation task meeting a corresponding prompt condition, prompt information is output.

23. The control method according to claim 22, wherein The parameter related to the operation task includes at least one of a geographical condition of the travelling point, a geographical condition of the target position, and a performance parameter of the movable platform.

24. The control method according to claim 23, characterized by, The performance parameter includes a cruising parameter of the movable platform, and the response to the parameter related to the operation task meeting the corresponding prompt condition includes: In response to an estimated remaining cruising parameter of the movable platform when moving to the travelling point being less than or equal to a cruising parameter threshold, the prompt information is output.

25. The control method according to claim 23, wherein The movable platform includes an aircraft, the load includes a hanging device, and the performance parameter includes a performance parameter related to the hanging device.

26. The control method according to claim 25, wherein The performance parameter related to the hanging device includes a weight of a target object loaded by the hanging device, and the response to the parameter related to the operation task meeting the corresponding prompt condition includes: In response to the weight of the target object loaded by the hanging device being less than or equal to a weight threshold, the prompt information is output.

27. The control method according to claim 25, wherein The performance parameter related to the hanging device includes a length of a cable used by the hanging device, and the response to the parameter related to the operation task meeting the corresponding prompt condition includes: In response to an estimated height of the target position being greater than the length of the cable used by the hanging device, the prompt information is output.

28. The control method according to claim 22, wherein The parameter related to the operation task includes the geographical condition of the target position, and the response to the parameter related to the operation task meeting the corresponding prompt condition includes: In response to an obstacle existing around the target position, the prompt information is output.

29. The control method according to any one of claims 2-28, characterized by, The movable platform connects the target object through a cable. The method further includes: In response to acquiring a moving instruction, the movable platform is controlled to move at a first speed; In response to the cable being in a preset state, the movable platform is controlled to move at a second speed, so that the movable platform drags the target object to move through the cable; The first speed is greater than the second speed.

30. The control method according to claim 29, wherein The preset state includes that state information related to the cable stretching degree meets a preset condition.

31. The control method according to claim 30, wherein The state information related to the cable stretching degree includes a stretching length of the cable, and the stretching length of the cable is determined based on a moving distance of the movable platform.

32. The control method according to claim 30, wherein The state information related to the cable stretching degree includes a tension condition of the cable.

33. The control method according to claim 32, wherein The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

34. The control method according to claim 29, wherein The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

35. The control method according to claim 34, wherein The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

36. The control method of any one of claims 2-28, wherein, The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

37. The control method according to any one of claims 2-28, characterized by, The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

38. The control method of any one of claims 2-28, wherein, The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

39. The control method of any one of claims 2-28, wherein, The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

40. A method of controlling a movable platform, the method comprising: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

41. The control method according to claim 40, wherein The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

42. The control method of claim 41, wherein The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

43. The control method of claim 41, wherein The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

44. The control method according to claim 43, wherein The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

45. The control method of claim 40, wherein The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at 46. The control method of claim 45, wherein The preset length threshold is determined according to a length of the cable, and the length of the cable is determined based on user input information.

47. A movable platform, characterized by The movable platform is capable of carrying a load; The movable platform comprises one or more processors and one or more memories storing computer program codes, which are configured to jointly act to cause the movable platform to perform the following steps: obtaining a travel point of the movable platform and a work task corresponding to the travel point, the work task comprising controlling the movable platform to perform work through the carried load; in response to the movable platform moving to the travel point, controlling the movable platform to move to a target position corresponding to the travel point; controlling the movable platform to perform the work task at the target position.

48. The moveable platform of claim 47, wherein, The target position corresponding to the travel point is within a preset range of the travel point.

49. The moveable platform of claim 48, wherein, The target position corresponding to the travel point is within a preset range of the travel point in a horizontal direction.

50. The movable platform of claim 48, wherein, The target position corresponding to the travel point is within a preset range of the travel point in a vertical direction.

51. The movable platform of claim 47, wherein, The control of the movable platform moving to the target position corresponding to the travel point comprises: determining the target position corresponding to the travel point; and controlling the movable platform to move to the target position.

52. The moveable platform of claim 51, wherein, The determination of the target position corresponding to the travel point comprises: determining the target position according to the position of the travel point and a preset relationship.

53. The moveable platform of claim 52, wherein, The preset relationship is determined based on user input information.

54. The moveable platform of claim 52, wherein, The load comprises a hanging device, and the preset relationship can be used to indicate a distance and / or direction between a load-carrying platform corresponding to the travel point and the target position, the load-carrying platform comprising a platform capable of carrying the target object.

55. The movable platform of claim 52, wherein, The determination of the target position according to the position of the travel point and a preset relationship comprises: determining the target position according to the position of the travel point and a preset distance and / or preset direction.

56. The moveable platform of claim 55, wherein, The movable platform comprises an aircraft, and the determination of the target position according to the position of the travel point and a preset distance and / or preset direction comprises: determining a position at a preset distance below the travel point as the target position.

57. The moveable platform of any one of claims 51-56, wherein, The determination of the target position corresponding to the travel point comprises: determining the target position according to a geographical environment around the travel point and / or a performance parameter of the movable platform.

58. The moveable platform of claim 57, wherein, The geographical environment comprises at least one of a flatness of the ground and a terrain height.

59. The movable platform of claim 57, wherein, The movable platform comprises an aircraft, the load comprises a hanging device, and the performance parameter comprises at least one of a safe flight height of the aircraft, a safe obstacle avoidance distance, and a rope length that can be released by the hanging device.

60. The movable platform of claim 59, wherein, The determination of the target position according to the geographical environment around the travel point and / or the performance parameter of the movable platform comprises: determining the target position according to the terrain height around the travel point, the safe obstacle avoidance distance, and the rope length that can be released by the hanging device, wherein the target position is directly below the travel point.

61. The movable platform of claim 59, wherein, The determination of the target position according to the geographical environment around the travel point and / or the performance parameter of the movable platform comprises: The target position is determined according to a flatness of a ground around the travel point, a terrain height, the safe obstacle avoidance distance, and a length of a rope that can be released by the hanging device, wherein the target position is located below the travel point.

62. The movable platform of claim 47, wherein, The travel point of the movable platform is obtained by: The movable platform further performs the following steps: The travel point of the movable platform is obtained by:

63. The moveable platform of claim 62, wherein, The travel point of the movable platform is obtained by:

64. The movable platform of claim 62, wherein, The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by:

65. The moveable platform of claim 64, wherein, The travel point of the movable platform is obtained by:

66. The movable platform of claim 64, wherein, The travel point of the movable platform is obtained by:

67. The movable platform of claim 47, wherein, The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by:

68. The moveable platform of claim 67, wherein, The travel point of the movable platform is obtained by:

69. The moveable platform of claim 68, wherein, The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by:

70. The movable platform of claim 68, wherein, The travel point of the movable platform is obtained by:

71. The moveable platform of claim 70, wherein, The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by:

72. The movable platform of claim 70, wherein, The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by:

73. The movable platform of claim 67, wherein, The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by:

74. The moveable platform of any one of claims 47-73, wherein, The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by:

75. The moveable platform of claim 74, wherein, The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the movable platform is obtained by: The travel point of the 76. The moveable platform of claim 75, wherein, The cable stretch degree related state information includes a stretch length of the cable, and the stretch length of the cable is determined based on a moving distance of the movable platform.

77. The moveable platform of claim 75, wherein, The cable stretch degree related state information includes a tension force borne by the cable.

78. The moveable platform of claim 77, wherein, The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

79. The movable platform of claim 74, wherein, The control of the movable platform to move at the second speed in response to the cable being in the preset state includes: The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

80. The moveable platform of claim 79, wherein, The control of the movable platform to move at the second speed in response to the cable being in the preset state includes:

81. The movable platform of any one of claims 47-73, wherein, The preset length threshold is determined according to a length of the cable, and the length of the cable is determined based on user input information.

82. The movable platform of any one of claims 47-73, wherein, The movable platform further performs the following step: moving to the travel point based on positioning information of the movable platform in response to the movable platform being disconnected from the communication connection with the control terminal. The movable platform further performs the following step:

83. The movable platform of any one of claims 47-73, wherein, In response to the movable platform moving to the travel point and being connected to the control terminal, the movable platform outputs prompt information to the user so that the user selects whether to automatically execute the work task by the movable platform or manually control the movable platform to execute the work task. The movable platform further performs the following step:

84. The movable platform of any one of claims 47-73, wherein, In response to the movable platform being connected to the control terminal, the control terminal is triggered to output relevant information of the target position and / or execution status of the work task. The movable platform further performs the following step:

85. A movable platform, characterized by In response to a preset control operation of the user on the control terminal, the movable platform is controlled to stop moving or executing the work task. The movable platform is capable of connecting to a target object through a cable; The movable platform includes one or more processors and one or more memories storing computer program codes, which are configured to jointly act to enable the movable platform to perform the following steps: In response to obtaining a moving instruction, the movable platform is controlled to move at a first speed; In response to the cable being in a preset state, the movable platform is controlled to move at a second speed, so that the movable platform drags the target object to move through the cable; 86. A drone, comprising: The first speed is greater than the second speed. The unmanned aerial vehicle is capable of carrying a hanging device, and the unmanned aerial vehicle includes one or more processors and one or more memories storing computer program codes, which are configured to jointly act to enable the unmanned aerial vehicle to perform the following steps: Obtaining a waypoint of the unmanned aerial vehicle and a work task corresponding to the waypoint, the work task including unloading and / or loading a target object through the hanging device, and the hanging device being arranged on the unmanned aerial vehicle; In response to the unmanned aerial vehicle moving to the waypoint, the unmanned aerial vehicle is controlled to descend to a height to move to a target position corresponding to the waypoint; The unmanned aerial vehicle is controlled to execute the work task at the target position.

87. A moveable platform system, comprising: The movable platform system comprises a movable platform and a control terminal, the movable platform is capable of carrying a load, and the control terminal is capable of controlling the movable platform; The control terminal receives a user-set travel point and a work task corresponding to the travel point; The control terminal sends the travel point and the work task to the movable platform; The movable platform acquires the travel point and the work task corresponding to the travel point, and the work task comprises controlling the movable platform to perform work through the carried load; In response to the movable platform moving to the travel point, the movable platform is controlled to move to a target position corresponding to the travel point; The movable platform is controlled to perform the work task at the target position.

88. A moveable platform system, comprising: The movable platform system comprises a movable platform and a control terminal, the movable platform is capable of connecting a target object through a cable, and the control terminal is capable of controlling the movable platform; The control terminal sends a moving instruction to the movable platform in response to a preset operation of a user; The movable platform controls the movable platform to move at a first speed in response to the moving instruction; In response to the cable being in a preset state, the movable platform is controlled to move at a second speed, so that the movable platform drags the target object to move through the cable; The first speed is greater than the second speed.

89. A drone system, comprising: The unmanned aerial vehicle system comprises an unmanned aerial vehicle and a control terminal, the unmanned aerial vehicle is capable of carrying a hanging device, and the control terminal is capable of controlling the unmanned aerial vehicle; The control terminal receives a user-set waypoint and a work task corresponding to the waypoint; The control terminal sends the waypoint and the work task to the unmanned aerial vehicle; The unmanned aerial vehicle acquires the waypoint and the work task corresponding to the waypoint, and the work task comprises unloading and / or loading a target object through the hanging device; In response to the unmanned aerial vehicle moving to the waypoint, the unmanned aerial vehicle is controlled to descend to a target position corresponding to the waypoint; The unmanned aerial vehicle is controlled to perform the work task at the target position.

90. A computer-readable storage medium, comprising: The computer readable storage medium stores a computer program, and the computer program is executed by a processor to enable the processor to: Acquire a waypoint of an unmanned aerial vehicle and a work task corresponding to the waypoint, the work task comprising unloading and / or loading a target object through a hanging device arranged on the unmanned aerial vehicle; In response to the unmanned aerial vehicle moving to the waypoint, the unmanned aerial vehicle is controlled to descend to a target position corresponding to the waypoint; The unmanned aerial vehicle is controlled to perform the work task at the target position.

91. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by a processor to enable the processor to: Acquire a travel point of a movable platform and a work task corresponding to the travel point, the work task comprising controlling the movable platform to perform work through a carried load; In response to the movable platform moving to the travel point, the movable platform is controlled to move to a target position corresponding to the travel point; The movable platform is controlled to perform the job task at the target position.

92. A computer-readable storage medium, comprising: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to enable the processor to implement: In response to obtaining a moving instruction, the movable platform is controlled to move at a first speed, and the movable platform is connected to the target object through a cable; In response to the cable being in a preset state, the movable platform is controlled to move at a second speed, so that the movable platform moves the target object through the cable; Wherein, the first speed is greater than the second speed.

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