Task planning method, control method, device and system and storage medium

Abstract

A task planning method, comprising: acquiring an expected position of a load of a movable platform (S111); task data are output, the task data comprise the target position of the movable platform, when the movable platform moves to the target position, the load is made to move to the expected position, the target position is determined according to the expected position and the first target parameter, and the position of the movable platform is not consistent with the position of the load; the first target parameter is used for representing a relative position relationship between the movable platform and the load (S112). The method can accurately control the position of the load.

Description

Task planning method, control method, device, system and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of task planning, and particularly relates to a task planning method, a control method, a device, a system and a storage medium. BACKGROUND

[0002] The movable platform has the ability to carry different loads and is widely used in the fields of agriculture, aerial survey, power line inspection, natural gas (oil) pipeline inspection, forest fire prevention, rescue and disaster relief, smart city, etc., so that the movable platform can meet the operation requirements of different fields. At present, the parameter (such as position or attitude) adjustment of the movable platform is adjusted with the movable platform as the reference benchmark. Since the loads carried by the movable platform are mostly not located at the center position of the movable platform, the position of the movable platform is different from the position of the load carried by the movable platform, so that the parameter adjustment with the movable platform as the reference benchmark will cause the parameter of the load after adjustment to not reach its expected parameter, so that the movable platform cannot meet the scene with accurate requirements for the parameter adjustment of the load, resulting in that the effect of the load performing the task cannot reach the expectation, and the user experience is not good.

[0003] SUMMARY

[0004] Therefore, the embodiments of the present application provide a task planning method, a control method, a device, a system and a storage medium, which are designed to adjust the movable platform based on the expected parameter of the load, accurately control the load to reach its expected parameter, realize the parameter adjustment with the load as the reference benchmark, so that the movable platform can meet the scene with accurate requirements for the expected parameter of the load, ensure the effect of the load performing the task, and improve the user experience.

[0005] In a first aspect, the embodiments of the present application provide a task planning method, comprising:

[0006] obtaining an expected position of a load of a movable platform, the expected position being a position that the load needs to reach;

[0007] outputting task data, the task data comprising a target position of the movable platform, the movable platform moving to the target position causing the load to move to the expected position, the target position being determined according to the expected position and a first target parameter, wherein the position of the movable platform is inconsistent with the position of the load, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0008] The task planning method provided in the first aspect achieves accurate control of the position of the load by obtaining the desired position of the load of the movable platform and outputting task data containing the target position of the movable platform, since the target position is determined according to the desired position of the load of the movable platform and the relative position relationship between the movable platform and the load, when the movable platform moves to the target position, the load can move to the desired position, so that the purpose of position adjustment with the load as a reference benchmark to achieve accurate control of the position of the load is achieved, and the movable platform can meet the scene with accurate requirements on the position of the load, thereby effectively ensuring the effect of the load performing a task.

[0009] In the second aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0010] obtaining task data containing the target position of the movable platform, wherein the target position is determined according to the desired position of the load of the movable platform and a first target parameter, the desired position is a position that the load needs to reach, the position of the movable platform is inconsistent with the position of the load, and the first target parameter is used to represent the relative position relationship between the movable platform and the load;

[0011] controlling the movable platform to move to the target position so that the load moves to the desired position.

[0012] The control method provided in the second aspect achieves accurate control of the position of the load by obtaining task data containing the target position of the movable platform, and since the target position is determined according to the desired position of the load of the movable platform and the relative position relationship between the movable platform and the load, by controlling the movable platform to move to the target position so that the load can move to the desired position, the purpose of position adjustment with the load as a reference benchmark to achieve accurate control of the position of the load is achieved, and the movable platform can meet the scene with accurate requirements on the position of the load, thereby effectively ensuring the effect of the load performing a task.

[0013] In the third aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0014] obtaining the desired position of the load of the movable platform, wherein the desired position is a position that the load needs to reach;

[0015] controlling the movable platform to move to the target position so that the load moves to the desired position, wherein the target position is determined according to the desired position and a first target parameter, the position of the movable platform is inconsistent with the position of the load, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0016] The control method provided in the third aspect takes the position that the load needs to reach as the expected position, and the target position of the movable platform is determined according to the expected position and the relative position relationship between the movable platform and the load, so that the movable platform is controlled to move to the target position to enable the load to move to the expected position, thereby achieving the purpose of accurate control of the position of the load by taking the load as a reference basis to adjust the position, and enabling the movable platform to meet the scene with accurate requirements on the position of the load, and effectively ensuring the effect of the load in performing a task.

[0017] In the fourth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0018] obtaining an expected position of a load of the movable platform, the expected position being a position that the load needs to reach;

[0019] sending the expected position to the movable platform to enable the movable platform to move to a target position to enable the load to move to the expected position, wherein the target position is determined according to the expected position and a first target parameter, the position of the movable platform is inconsistent with the position of the load, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0020] The control method provided in the fourth aspect takes the position that the load needs to reach as the expected position, and sends the expected position of the load to the movable platform to control the movable platform to move to the target position, because the target position is determined according to the expected position and the relative position relationship between the movable platform and the load, so that the load can move to the expected position when the movable platform moves to the target position, thereby achieving the purpose of accurate control of the position of the load by taking the load as a reference basis to adjust the position, and enabling the movable platform to meet the scene with accurate requirements on the position of the load, and effectively ensuring the effect of the load in performing a task.

[0021] In the fifth aspect, the embodiments of the present application further provide a task planning method, comprising:

[0022] obtaining an expected position of a preset part of a movable platform, the expected position being a position that the preset part needs to reach, and the preset part being a load of the movable platform or a part between a main body of the movable platform and the load;

[0023] output task data, the task data comprising a target position of the movable platform, the movable platform moving to the target position causing the preset part to move to the desired position, the target position being determined according to the desired position and a first target parameter, wherein the position of the movable platform is inconsistent with the position of the preset part, and the first target parameter is used to represent the relative position relationship between the movable platform and the preset part.

[0024] The task planning method provided in the fifth aspect achieves position adjustment with the preset part as a reference by obtaining the desired position of the preset part of the movable platform and outputting task data comprising a target position of the movable platform, and the movable platform moving to the target position can cause the preset part to move to the desired position, thereby effectively reducing the deviation between the actual position and the desired position of the load, ensuring the position accuracy of the load, and enabling the movable platform to meet scenarios with precise requirements on the position of the load, thereby ensuring the effect of the load when performing a task.

[0025] In the sixth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0026] obtaining task data, the task data comprising a target position of the movable platform, wherein the target position is determined according to a desired position of a preset part and a first target parameter, the desired position is a position to which the preset part needs to arrive, the preset part is a load of the movable platform or a part between a main body of the movable platform and the load, the position of the movable platform is inconsistent with the position of the preset part, and the first target parameter is used to represent the relative position relationship between the movable platform and the preset part;

[0027] controlling the movable platform to move to the target position to cause the preset part to move to the desired position.

[0028] The control method provided in the sixth aspect is capable of obtaining task data containing a target position of the movable platform, and since the target position is determined according to an expected position of a preset part and a relative position relationship between the movable platform and the preset part, the preset part can be moved to the expected position by controlling the movable platform to move to the target position, so that the position adjustment is performed with the preset part as a reference, and the preset part is a part of a load of the movable platform or between a main body and the load of the movable platform, thereby effectively reducing the deviation between the actual position and the expected position of the load, ensuring the position accuracy of the load, and enabling the movable platform to meet the scene with accurate requirements on the position of the load, and ensuring the effect of the load when performing a task.

[0029] In the seventh aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0030] obtaining an expected position of a preset part of the movable platform, the expected position being a position that the preset part needs to reach, and the preset part being a part of a load of the movable platform or between a main body and the load of the movable platform;

[0031] controlling the movable platform to move to a target position so that the preset part moves to the expected position, wherein the target position is determined according to the expected position and a first target parameter, the position of the movable platform is inconsistent with the position of the preset part, and the first target parameter is used to represent the relative position relationship between the movable platform and the preset part.

[0032] The control method provided in the seventh aspect is capable of taking a position that a preset part needs to reach as an expected position, and a target position of a movable platform is determined according to an expected position of a preset part and a relative position relationship between the movable platform and the preset part, so that the preset part can be moved to the expected position by controlling the movable platform to move to the target position, so that the position adjustment is performed with the preset part as a reference, and the preset part is a part of a load of the movable platform or between a main body and the load of the movable platform, thereby effectively reducing the deviation between the actual position and the expected position of the load, ensuring the position accuracy of the load, and enabling the movable platform to meet the scene with accurate requirements on the position of the load, and ensuring the effect of the load when performing a task.

[0033] In the eighth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0034] obtaining an expected position of a preset part of the movable platform, the expected position being a position that the preset part needs to reach, and the preset part being a part of a load of the movable platform or between a main body and the load of the movable platform;

[0035] sending the expected position to the movable platform, so that the movable platform moves to a target position to make the preset part move to the expected position, wherein the target position is determined according to the expected position and a first target parameter, the position of the movable platform is inconsistent with the position of the preset part, and the first target parameter is used to represent the relative position relationship between the movable platform and the preset part.

[0036] The control method provided in the eighth aspect takes the position that the preset part needs to reach as an expected position, and sends the expected position of the preset part to the movable platform to control the movable platform to move to a target position. Since the target position is determined according to the expected position of the preset part and the relative position relationship between the movable platform and the preset part, when the movable platform moves to the target position, the preset part can move to the expected position, thereby achieving position adjustment with the preset part as a reference benchmark. In addition, the preset part is a part between the load of the movable platform or the main body and the load of the movable platform, thereby effectively reducing the deviation between the actual position of the load and the expected position, ensuring the position accuracy of the load, and making the movable platform meet the scene with accurate requirements on the position of the load, thereby ensuring the effect when the load performs a task.

[0037] In the ninth aspect, the embodiments of the present application further provide a task planning method, comprising:

[0038] obtaining an expected pose of a load of a movable platform;

[0039] determining a target position and a first target pose of the movable platform according to at least the expected pose;

[0040] outputting task data, the task data comprising the target position and the first target pose, wherein the load adjusting to the expected pose is achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose, and the position of the movable platform is inconsistent with the position of the load.

[0041] The task planning method provided in the ninth aspect determines the target position and the first target pose of the movable platform according to the expected pose of the load, and outputs the task data. Since the target position and the first target pose in the task data are determined according to the expected pose of the load, the load adjusting to the expected pose can be achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose, thereby achieving the purpose of adjusting the pose with the load as a reference benchmark to achieve accurate control of the pose of the load, making the movable platform meet the scene with accurate requirements on the pose of the load, and ensuring the effect when the load performs a task.

[0042] In a tenth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0043] obtaining task data comprising a target position and a first target attitude of the movable platform, wherein the target position and the first target attitude are determined based on at least an expected attitude of a load of the movable platform;

[0044] controlling the movable platform to move to the target position and to adjust to the first target attitude to make the load adjust to the expected attitude, wherein the position of the movable platform is inconsistent with the position of the load.

[0045] The control method provided in the tenth aspect can make the load adjust to the expected attitude by obtaining the task data comprising the target position and the first target attitude of the movable platform and by controlling the movable platform to move to the target position and to adjust to the first target attitude, so as to achieve the purpose of adjusting the attitude based on the load as a reference to achieve the precise control of the attitude of the load, and make the movable platform meet the scene with the precise requirement on the attitude of the load, and ensure the effect of the load when performing a task.

[0046] In an eleventh aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0047] obtaining an expected attitude of a load of the movable platform;

[0048] controlling the movable platform to move to a target position and to adjust to a first target attitude to make the load adjust to the expected attitude, wherein the target position and the first target attitude are determined based on at least the expected attitude, and the position of the movable platform is inconsistent with the position of the load.

[0049] The control method provided in the eleventh aspect can make the load adjust to the expected attitude by obtaining the expected attitude and by controlling the movable platform to move to the target position and to adjust to the first target attitude, so as to achieve the purpose of adjusting the attitude based on the load as a reference to achieve the precise control of the attitude of the load, and make the movable platform meet the scene with the precise requirement on the attitude of the load, and effectively ensure the effect of the load when performing a task.

[0050] In a twelfth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0051] obtaining a parameter related to a desired pose of a load of a movable platform;

[0052] sending the parameter related to the desired pose to the movable platform, the load adjusting to the desired pose being achieved by cooperatively controlling the movable platform to move to a target position and to adjust to a first target pose, wherein the target position and the first target pose are determined based at least on the desired pose, and a position of the movable platform is not consistent with a position of the load.

[0053] The control method provided in the twelfth aspect achieves the purpose of precise control of the pose adjustment of the load by taking the load as a reference by sending the parameter related to the desired pose of the load to the movable platform, so that the movable platform cooperatively controls the movable platform to move to the target position and controls the movable platform to adjust to the first target pose, so that the load adjusts to the desired pose, so that the movable platform can meet the scene with precise requirements on the pose of the load, and the effect of the load performing a task is effectively ensured.

[0054] In the thirteenth aspect, the embodiments of the present application further provide a task planning method, comprising:

[0055] obtaining a desired pose of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load;

[0056] determining a target position and a first target pose of the movable platform according to at least the desired pose;

[0057] outputting task data, the task data comprising the target position and the first target pose, wherein the preset part adjusting to the desired pose is achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose, and a position of the movable platform is not consistent with a position of the preset part.

[0058] The task planning method provided in the thirteenth aspect determines the target position and the first target pose of the movable platform according to the desired pose of the preset part and outputs the task data, so that the preset part adjusting to the desired pose can be achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose, thereby achieving the purpose of precise control of the pose adjustment of the preset part by taking the preset part as a reference, so that the movable platform can meet the scene with precise requirements on the pose of the preset part, and the effect of the preset part performing a task is ensured.

[0059] In a fourteenth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0060] obtaining task data, the task data comprising a target position and a first target attitude of the movable platform, wherein the target position and the first target attitude are determined based on at least an expected attitude of a preset part of the movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load;

[0061] controlling the movable platform to move to the target position and to adjust to the first target attitude in coordination so as to adjust the preset part to the expected attitude, wherein the position of the movable platform is not consistent with the position of the preset part.

[0062] The control method provided in the fourteenth aspect can realize accurate control of attitude adjustment of the preset part as the reference by obtaining the task data comprising the target position and the first target attitude of the movable platform, and by controlling the movable platform to move to the target position and to adjust to the first target attitude in coordination so as to adjust the preset part to the expected attitude, since the target position and the first target attitude are determined based on at least the expected attitude of the preset part of the movable platform, thereby making the movable platform meet the scene with accurate requirements for the attitude of the preset part and ensuring the effect of the preset part when performing a task.

[0063] In a fifteenth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0064] obtaining an expected attitude of a preset part of the movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load;

[0065] controlling the movable platform to move to a target position and to adjust to a first target attitude in coordination so as to adjust the preset part to the expected attitude, wherein the target position and the first target attitude are determined based on at least the expected attitude, and the position of the movable platform is not consistent with the position of the preset part.

[0066] The control method provided in the fifteenth aspect achieves the purpose of accurate control of the posture adjustment of the preset part as the reference to achieve the preset part posture, so that the movable platform can meet the scene with accurate requirements for the posture of the preset part, and effectively ensures the execution effect of the preset part.

[0067] In the sixteenth aspect, the embodiments of the present application further provide a control method of a movable platform, including:

[0068] obtaining parameters related to a desired posture of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load;

[0069] sending the parameters related to the desired posture to the movable platform, and adjusting the preset part to the desired posture by cooperatively controlling the movable platform to move to a target position and adjust to a first target posture, wherein the target position and the first target posture are determined based on at least the desired posture, and the position of the movable platform is not consistent with the position of the preset part.

[0070] The control method provided in the sixteenth aspect achieves the purpose of accurate control of the posture adjustment of the preset part as the reference to achieve the preset part posture, so that the movable platform can meet the scene with accurate requirements for the posture of the preset part, and effectively ensures the execution effect of the preset part.

[0071] In the seventeenth aspect, the embodiments of the present application further provide a task planning method, including:

[0072] obtaining a desired posture of a load of a movable platform;

[0073] determining a target position of the movable platform and a second target posture of a posture adjustable mechanism based on at least the desired posture, wherein the posture adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load;

[0074] output task data, the task data comprising the target position and the second target attitude, the load being adjusted to the desired attitude being achieved by cooperatively controlling the movable platform to move to the target position and controlling the attitude-adjustable mechanism to adjust to the second target attitude, the position of the movable platform being inconsistent with the position of the load.

[0075] The seventeenth aspect provides a task planning method. The target position of the movable platform and the second target attitude of the attitude-adjustable mechanism are determined based on the desired attitude of the load, and task data is output. Since the target position and the second target attitude in the task data are determined based on the desired attitude of the load, the load can be adjusted to the desired attitude by cooperatively controlling the movable platform to move to the target position and controlling the attitude-adjustable mechanism to adjust to the second target attitude, so as to achieve precise control of the attitude of the load by taking the load as a reference, and the movable platform can meet the scene with precise requirements on the attitude of the load, and the effect of performing a task at a preset part is ensured.

[0076] The eighteenth aspect provides a control method of a movable platform. The control method comprises the following steps.

[0077] obtaining task data, the task data comprising a target position of a movable platform and a second target attitude of an attitude-adjustable mechanism, wherein the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and a load, and the target position and the second target attitude are determined based on at least a desired attitude of the load of the movable platform;

[0078] cooperatively controlling the movable platform to move to the target position and controlling the attitude-adjustable mechanism to adjust to the second target attitude, so that the load is adjusted to the desired attitude, wherein the position of the movable platform is inconsistent with the position of the load.

[0079] The eighteenth aspect provides a control method. The task data comprising the target position of the movable platform and the second target attitude of the attitude-adjustable mechanism is obtained. Since the target position and the second target attitude are determined based on at least the desired attitude of the load of the movable platform, the load can be adjusted to the desired attitude by cooperatively controlling the movable platform to move to the target position and controlling the attitude-adjustable mechanism to adjust to the second target attitude, so as to achieve precise control of the attitude of the load by taking the load as a reference, and the movable platform can meet the scene with precise requirements on the attitude of the load, and the effect of performing a task at a preset part is ensured.

[0080] The nineteenth aspect provides a control method of a movable platform. The control method comprises the following steps.

[0081] obtaining a desired pose of a load of a movable platform;

[0082] controlling the movable platform to move to a target position and controlling a pose-adjustable mechanism to adjust to a second target pose to make the load adjust to the desired pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose are determined based on at least the desired pose, and a position of the movable platform is inconsistent with a position of the load.

[0083] The control method provided in the nineteenth aspect achieves the purpose of precise control of pose adjustment of the load as a reference to achieve the pose of the load, so that the movable platform can meet the scene with precise requirements for the pose of the load, and effectively ensures the effect of task execution of the load.

[0084] In the twentieth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0085] obtaining a parameter related to a desired pose of a load of a movable platform;

[0086] sending the parameter related to the desired pose to the movable platform, and adjusting the load to the desired pose by controlling the movable platform to move to a target position and controlling a pose-adjustable mechanism to adjust to a second target pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose are determined based on at least the desired pose, and a position of the movable platform is inconsistent with a position of the load.

[0087] The control method provided in the twentieth aspect sends the parameter related to the desired pose to the movable platform to control the movable platform to move to a target position and control a pose-adjustable mechanism to adjust to a second target pose to make the load adjust to the desired pose, thereby achieving the purpose of precise control of pose adjustment of the load as a reference to achieve the pose of the load, so that the movable platform can meet the scene with precise requirements for the pose of the load, and effectively ensures the effect of task execution of the load.

[0088] In the twenty-first aspect, the embodiments of the present application further provide a task planning method, comprising:

[0089] obtaining a desired pose of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load;

[0090] determine a target position of the movable platform and a second target pose of a pose-adjustable mechanism according to the expected pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the preset part;

[0091] output task data, the task data including the target position and the second target pose, and the preset part adjusting to the expected pose is achieved by cooperatively controlling the movable platform to move to the target position and controlling the pose-adjustable mechanism to adjust to the second target pose, and the position of the movable platform is inconsistent with the position of the preset part.

[0092] The task planning method provided in the twenty-first aspect determines the target position of the movable platform and the second target pose of the pose-adjustable mechanism according to the expected pose of the preset part, and outputs task data. Since the target position and the second target pose in the task data are determined according to the expected pose of the preset part, the preset part adjusting to the expected pose can be achieved by cooperatively controlling the movable platform to move to the target position and controlling the pose-adjustable mechanism to adjust to the second target pose, thereby achieving the purpose of precise control of the posture adjustment of the preset part as the reference benchmark to reach the expected pose of the preset part, so that the movable platform can meet the scene with precise requirements for the posture of the preset part, and the effect of the preset part performing a task is ensured.

[0093] In the twenty-second aspect, the embodiments of the present application further provide a control method of a movable platform, including:

[0094] obtain task data, the task data including a target position of a movable platform and a second target pose of a pose-adjustable mechanism, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and a preset part, the target position and the second target pose are determined based on at least an expected pose of a preset part of the movable platform, and the preset part is a load of the movable platform or a part between the main body of the movable platform and the load;

[0095] cooperatively control the movable platform to move to the target position and control the pose-adjustable mechanism to adjust to the second target pose to make the preset part adjust to the expected pose, wherein the position of the movable platform is inconsistent with the position of the preset part.

[0096] The task planning method provided in the twenty-second aspect achieves accurate control of the posture of the preset part by obtaining task data containing a target position of the movable platform and a second target posture of the posture-adjustable mechanism, and adjusting the posture of the preset part to the expected posture by cooperatively controlling the movable platform to move to the target position and controlling the posture-adjustable mechanism to adjust to the second target posture, so that the posture of the preset part is adjusted as a reference to achieve the purpose of accurate control of the posture of the preset part, accurate control of the posture of the preset part is achieved, and the movable platform can meet the scene with accurate requirements for the posture of the preset part, thereby effectively ensuring the effect of the preset part performing a task.

[0097] In the twenty-third aspect, the embodiments of the present application further provide a control method of a movable platform, including:

[0098] obtaining an expected posture of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load;

[0099] cooperatively controlling the movable platform to move to a target position and controlling a posture-adjustable mechanism to adjust to a second target posture so that the preset part adjusts to the expected posture, wherein the posture-adjustable mechanism is a connecting mechanism between the main body of the movable platform and the preset part, the target position and the second target posture are determined based on at least the expected posture, and the position of the movable platform is inconsistent with the position of the preset part.

[0100] The task planning method provided in the twenty-third aspect achieves accurate control of the posture of the preset part by obtaining an expected posture of a preset part of a movable platform, and adjusting the posture of the preset part to the expected posture by cooperatively controlling the movable platform to move to a target position and controlling a posture-adjustable mechanism to adjust to a second target posture, so that the posture of the preset part is adjusted as a reference to achieve the purpose of accurate control of the posture of the preset part, accurate control of the posture of the preset part is achieved, and the movable platform can meet the scene with accurate requirements for the posture of the preset part, thereby effectively ensuring the effect of the preset part performing a task.

[0101] In the twenty-fourth aspect, the embodiments of the present application further provide a control method of a movable platform, including:

[0102] obtaining a parameter related to an expected posture of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load;

[0103] sending a parameter related to the expected pose of the preset part to the movable platform, and controlling the movable platform to move to a target position and the pose-adjustable mechanism to adjust to a second target pose to make the preset part adjust to the expected pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the preset part, the target position and the second target pose are determined based on at least the expected pose, and the position of the movable platform is inconsistent with the position of the preset part.

[0104] The task planning method provided in the twenty-fourth aspect achieves accurate control of the pose of the preset part by sending a parameter related to an expected pose of a preset part of a movable platform to the movable platform, so that the movable platform controls the movable platform to move to a target position and the pose-adjustable mechanism to adjust to a second target pose based on the parameter, to make the preset part adjust to the expected pose. Thus, the accurate control of the pose of the preset part is achieved, the movable platform can meet the scene with accurate requirements for the pose of the preset part, and the effect of the preset part performing a task is effectively ensured.

[0105] In the twenty-fifth aspect, the embodiments of the present application further provide a control method of a movable platform, including:

[0106] obtaining a target path of the movable platform, the target path being determined according to an expected path of a load of the movable platform, and the expected path including one or more expected positions;

[0107] controlling the movable platform to move according to the target path to make the load move according to the expected path, wherein the target path is offset from the expected path by a target distance, the target distance is related to a relative position relationship between the movable platform and the load, and the target path is different from the expected path.

[0108] The control method provided in the twenty-fifth aspect controls the movable platform to move according to a target path determined based on an expected path of a load, so that the load moves according to the expected path, thereby ensuring the consistency of the moving path of the load and the planned expected path, achieving the purpose of accurate control of the position of the load by taking the load as a reference, and making the movable platform meet the scene with accurate requirements for the position of the load, thereby ensuring the effect of the load performing a task.

[0109] In the twenty-sixth aspect, the embodiments of the present application further provide a task planning method, including:

[0110] obtaining an expected path of a load of the movable platform, the expected path including one or more expected positions;

[0111] generate a target path of the movable platform based on the expected path of the load, wherein the target path is different from the expected path, the target path is offset from the expected path by a target distance, the target distance is related to a relative positional relationship between the movable platform and the load, and the load is able to move along the expected path when the movable platform moves along the target path.

[0112] The task planning method provided in the twenty-sixth aspect acquires an expected path of a load of a movable platform, and generates a target path of the movable platform based on the expected path, so that the load is able to move along the expected path when the movable platform moves along the target path, thereby ensuring consistency between the moving path of the load and the planned expected path, and achieving the purpose of position adjustment with the load as a reference benchmark to achieve precise control of the position of the load, so that the movable platform is able to meet scenarios with precise requirements for the position of the load, and ensure the effect when the load performs a task.

[0113] In the twenty-seventh aspect, the embodiments of the present application further provide a task planning method, comprising:

[0114] acquire an expected position of a load of a movable platform, the expected position being a position to which the load needs to arrive;

[0115] output task data, the task data comprising at least one of a first target attitude of the movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform, the load moving to the expected position being achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude and / or controlling the attitude-adjustable mechanism to adjust to the second target attitude, at least one of the first target attitude and the second target attitude and the target position being determined according to the expected position, wherein the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and the position of the movable platform is inconsistent with the position of the load.

[0116] The task planning method provided in the twenty-seventh aspect outputs task data containing at least one of a first target attitude of a movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform from a desired position. Since the at least one of the first target attitude and the second target attitude and the target position of the movable platform are determined at least according to the desired position, the movable platform can be controlled to move to the target position and the movable platform can be controlled to adjust to the first target attitude and / or the attitude-adjustable mechanism can be controlled to adjust to the second target attitude, so that the load moves to the desired position, thereby achieving accurate control of the position of the load, so that the movable platform can meet the scene with accurate requirements for the position of the load, and the effect of the load performing the task is ensured.

[0117] In the twenty-eighth aspect, the embodiments of the present application further provide a control method of a movable platform, including:

[0118] obtaining task data containing at least one of a first target attitude of a movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform, the at least one of the first target attitude and the second target attitude and the target position being determined at least according to a desired position, wherein the desired position is a position to which a load of the movable platform needs to arrive, the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and the position of the movable platform is not consistent with the position of the load;

[0119] controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude and / or controlling the attitude-adjustable mechanism to adjust to the second target attitude, so that the load moves to the desired position.

[0120] The control method provided in the twenty-eighth aspect obtains task data containing at least one of a first target attitude of a movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform, and the at least one of the first target attitude and the second target attitude and the target position of the movable platform are determined according to a desired position of a load. Therefore, the movable platform can be controlled to move to the target position and the movable platform can be controlled to adjust to the first target attitude and / or the attitude-adjustable mechanism can be controlled to adjust to the second target attitude, so that the load moves to the desired position, thereby achieving accurate control of the position of the load, so that the movable platform can meet the scene with accurate requirements for the position of the load, and the effect of the load performing the task is effectively ensured.

[0121] In the twenty-ninth aspect, the embodiments of the present application further provide a control method of a movable platform, including:

[0122] obtaining a desired position of a load of the movable platform, the desired position being a position that the load needs to reach;

[0123] controlling the movable platform to move to a target position and controlling the movable platform to adjust to a first target attitude and / or controlling an attitude-adjustable mechanism to adjust to a second target attitude so that the load moves to the desired position, at least one of the first target attitude and the second target attitude and the target position being determined according to the desired position, the attitude-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, a position of the movable platform being inconsistent with a position of the load.

[0124] At least one of the first target attitude and the second target attitude and the target position of the movable platform in the control method provided in the twenty-ninth aspect are determined according to the desired position, so that the load moves to the desired position by controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude and / or controlling the attitude-adjustable mechanism to adjust to the second target attitude, thereby realizing accurate control of the position of the load and enabling the movable platform to meet a scenario with accurate requirements on the position of the load, and effectively ensuring the effect of task execution of the load.

[0125] In the thirtieth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0126] obtaining a desired position of a load of the movable platform, the desired position being a position that the load needs to reach;

[0127] sending the desired position to the movable platform to control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude-adjustable mechanism to adjust to a second target attitude so that the load moves to the desired position, wherein at least one of the first target attitude and the second target attitude and the target position are determined according to the desired position, the attitude-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, a position of the movable platform being inconsistent with a position of the load.

[0128] The control method provided in the thirtieth aspect can make the load move to the desired position by sending the desired position of the load to the movable platform to control the movable platform to move to the target position and control the movable platform to adjust to the first target attitude and / or control the attitude-adjustable mechanism to adjust to the second target attitude, thereby realizing accurate control of the position of the load and enabling the movable platform to meet a scenario with accurate requirements on the position of the load, and ensuring the effect of task execution of the load.

[0129] In a thirty-first aspect, the embodiments of the present application further provide a task planning device, comprising:

[0130] one or more processors;

[0131] one or more memories for storing computer program instructions, which, when invoked by the one or more processors, cause the one or more processors to perform the steps of the task planning method according to any one of the preceding aspects.

[0132] In a thirty-second aspect, the embodiments of the present application further provide a control device of a movable platform, comprising:

[0133] one or more processors;

[0134] one or more memories for storing computer program instructions, which, when invoked by the one or more processors, cause the one or more processors to perform the steps of the control method of the movable platform according to any one of the preceding aspects.

[0135] In a thirty-third aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0136] the user interface is configured to acquire a desired position of a load of the movable platform, the desired position being a position that the load needs to reach;

[0137] the communication interface is configured to transmit task data, the task data comprising a target position of the movable platform;

[0138] the processor is configured to control the movable platform to move to the target position, so that the load moves to the desired position, the target position being determined according to the desired position and a first target parameter, wherein the position of the movable platform is inconsistent with the position of the load, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0139] In a thirty-fourth aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0140] the user interface is configured to acquire a desired position of a load of the movable platform, the desired position being a position that the load needs to reach;

[0141] the communication interface is configured to transmit the desired position;

[0142] The processor is configured to control the movable platform to move to a target position so as to move the load to the expected position, the target position being determined according to the expected position and a first target parameter, the position of the movable platform being inconsistent with the position of the load, and the first target parameter being used to represent a relative position relationship between the movable platform and the load.

[0143] In a thirty-fifth aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0144] The user interface is configured to acquire an expected pose of a load of the movable platform.

[0145] The communication interface is configured to transmit task data, the task data comprising a target position and a first target pose of the movable platform, the target position and the first target pose being determined based on at least the expected pose of the load of the movable platform.

[0146] The processor is configured to cooperatively control the movable platform to move to the target position and control the movable platform to adjust to the first target pose so as to adjust the load to the expected pose, wherein the position of the movable platform is inconsistent with the position of the load.

[0147] In a thirty-sixth aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0148] The user interface is configured to acquire an expected pose of a load of the movable platform.

[0149] The communication interface is configured to transmit the expected pose.

[0150] The processor is configured to cooperatively control the movable platform to move to a target position and control the movable platform to adjust to a first target pose so as to adjust the load to the expected pose, the target position and the first target pose being determined based on at least the expected pose, and the position of the movable platform being inconsistent with the position of the load.

[0151] In a thirty-seventh aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0152] The user interface is configured to acquire an expected pose of a load of the movable platform.

[0153] The communication interface is configured to transmit task data, the task data comprising a target position of the movable platform and a second target pose of a pose-adjustable mechanism, the pose-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose being determined based on at least an expected pose of the load of the movable platform.

[0154] The processor is configured to control the movable platform to move to the target position and control the pose-adjustable mechanism to adjust to the second target pose so as to enable the load to adjust to the expected pose, wherein the position of the movable platform is inconsistent with the position of the load.

[0155] In a thirty-eighth aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0156] The user interface is configured to acquire an expected pose of a load of the movable platform.

[0157] The communication interface is configured to transmit the expected pose.

[0158] The processor is configured to cooperatively control the movable platform to move to a target position and control a pose-adjustable mechanism to adjust to a second target pose so as to enable the load to adjust to the expected pose, the pose-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose being determined based on at least the expected pose, and the position of the movable platform being inconsistent with the position of the load.

[0159] In a thirty-ninth aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0160] The user interface is configured to acquire a target path of the movable platform, the target path being determined according to an expected path of a load of the movable platform, the expected path comprising one or more expected positions.

[0161] The communication interface is configured to transmit the target path.

[0162] The processor is configured to control the movable platform to move according to the target path so as to enable the load to move according to the expected path, wherein the target path is offset from the expected path by a target distance, the target distance being related to a relative positional relationship between the movable platform and the load, and the target path is different from the expected path.

[0163] In a fortyth aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0164] The user interface is configured to acquire a desired path of a load of the movable platform, the desired path comprising one or more desired positions.

[0165] The communication interface is configured to transmit the desired path.

[0166] The processor is configured to generate a target path of the movable platform based on the desired path of the load, wherein the target path is different from the desired path, the target path is offset from the desired path by a target distance, the target distance is related to a relative position relationship between the movable platform and the load, and the movable platform moves according to the target path so as to enable the load to move according to the desired path.

[0167] In a fortyfirst aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0168] The user interface is configured to acquire a desired position of a load of the movable platform, the desired position being a position to which the load needs to arrive.

[0169] The communication interface is configured to transmit task data, the task data comprising a target position of the movable platform and a first target attitude of the movable platform and / or a second target attitude of an attitude-adjustable mechanism, the target position, the first target attitude or the second target attitude being determined at least according to the desired position, wherein the position of the movable platform is inconsistent with the position of the load.

[0170] The processor is configured to control the movable platform to move to the target position and control the movable platform to adjust to the first target attitude and / or control the attitude-adjustable mechanism to adjust to the second target attitude so as to enable the load to move to the desired position.

[0171] In a fortysecond aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a user interface, a communication interface and a processor, wherein:

[0172] The user interface is configured to acquire a desired position, the desired position being a position to which a load of the movable platform needs to arrive.

[0173] The communication interface is configured to transmit the desired position.

[0174] The processor is configured to control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude-adjustable mechanism of the movable platform to adjust to a second target attitude, so that the load moves to the expected position, and the target position, the first target attitude or the second target attitude is determined at least according to the expected position, and the position of the movable platform is inconsistent with the position of the load.

[0175] In a forty-third aspect, the embodiments of the present application further provide a computer readable storage medium for storing computer program instructions, which, when executed by a processor, cause the processor to implement the steps of the task planning method or the control method of the movable platform according to any one of the above aspects.

[0176] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0177] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0178] FIG. 1 is a step schematic flow chart of a task planning method according to an embodiment of the present application;

[0179] FIG. 2 is an example diagram of a scenario in which a movable platform executes a task using the same target load;

[0180] FIG. 3 is an example diagram of a scenario in which a movable platform executes a task using different target loads;

[0181] FIG. 4 is a comparison schematic diagram of the movement paths of a movable platform and a load;

[0182] FIG. 5 is a comparison schematic diagram of the movement trajectories of an aircraft and a gimbal;

[0183] FIG. 6 is an example diagram of an overall system for implementing the task planning method or the control method according to the present application;

[0184] FIG. 7 is another example diagram of an overall system for implementing the task planning method or the control method according to the present application;

[0185] FIG. 8 is a step schematic flow chart of a control method of a movable platform according to an embodiment of the present application;

[0186] FIG. 9 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0187] FIG. 10 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0188] FIG. 11 is a step schematic flow chart of another task planning method according to an embodiment of the present application;

[0189] FIG. 12 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0190] FIG. 13 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0191] FIG. 14 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0192] FIG. 15 is a step schematic flow chart of another task planning method according to an embodiment of the present application;

[0193] FIG. 16 is another overall system example diagram for implementing the task planning method or the control method according to the present application;

[0194] FIG. 17 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0195] FIG. 18 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0196] FIG. 19 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0197] FIG. 20 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0198] FIG. 21 is a step schematic flow chart of another task planning method according to an embodiment of the present application;

[0199] FIG. 22 is a step schematic flow chart of another task planning method according to an embodiment of the present application;

[0200] FIG. 23 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0201] FIG. 24 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0202] FIG. 25 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0203] FIG. 26 is a structural schematic block diagram of a task planning device according to an embodiment of the present application;

[0204] FIG. 27 is a structural schematic block diagram of a control device of a movable platform according to an embodiment of the present application;

[0205] FIG. 28 is a structural schematic block diagram of a control system of a movable platform according to an embodiment of the present application. DETAILED DESCRIPTION

[0206] 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. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0207] The flowcharts shown in the drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they necessarily need to be executed in the order described. For example, some operations / steps can be further decomposed, combined or partially merged, so the actual execution order can be changed according to the actual situation.

[0208] At present, in the related art, the position of the load in the movable platform is adjusted with the movable platform as the reference benchmark. Since the load carried by the movable platform is mostly not arranged at the center position of the movable platform, the position of the movable platform is different from the position of the load carried by the movable platform. Thus, the position adjustment with the movable platform as the reference benchmark will cause the position of the load after adjustment to fail to reach the expected position, so that the movable platform cannot meet the scene with accurate requirements for the position adjustment of the load, resulting in that the effect of the load executing the task fails to reach the expectation and the user experience is not good.

[0209] To solve the above problems, the embodiments of the present application provide a task planning method, a control method, a device, a system and a storage medium. The embodiments of the present application obtain the expected position of the load of the movable platform and output task data containing the target position of the movable platform. Since the target position is determined according to the expected position of the load of the movable platform and the relative position relationship between the movable platform and the load, when the movable platform moves to the target position, the load can move to the expected position, so that the position adjustment with the load as the reference benchmark can accurately control the load to reach the expected position, so that the movable platform can meet the scene with accurate requirements for the position of the load, effectively guarantee the effect of the load executing the task and improve the user experience.

[0210] Any movable platform in the present application can include an aircraft, a vehicle, a ship, a mobile robot (e.g., a floor cleaning robot), etc. The aircraft can include an unmanned aerial vehicle or a manned aircraft, etc., and the unmanned aerial vehicle includes a fixed-wing unmanned aerial vehicle, a rotary-wing unmanned aerial vehicle, or a rotary-wing and fixed-wing combined unmanned aerial vehicle, and the rotary-wing unmanned aerial vehicle can be a dual-rotor unmanned aerial vehicle, a quad-rotor unmanned aerial vehicle, a hexa-rotor unmanned aerial vehicle, or an octo-rotor unmanned aerial vehicle. The unmanned aerial vehicle can be classified into an agricultural unmanned aerial vehicle, an industrial unmanned aerial vehicle, a photography unmanned aerial vehicle, a logistics unmanned aerial vehicle, etc. according to application industries.

[0211] Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following examples and features in the examples can be combined with each other without conflict.

[0212] Please refer to FIG. 1, which is a step schematic flow chart of a task planning method provided by an embodiment of the present application. The task planning method is applied to a planning device.

[0213] As shown in FIG. 1, the task planning method includes steps S111 to S112.

[0214] In step S111, an expected position of a load of a movable platform is acquired, the expected position being a position that the load needs to reach.

[0215] In step S112, task data is output, the task data including a target position of the movable platform, the movable platform moving to the target position causing the load to move to the expected position, the target position being determined according to the expected position and a first target parameter, wherein the position of the movable platform is not consistent with the position of the load, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0216] The embodiment of the present application acquires the expected position of the load of the movable platform and outputs the task data including the target position of the movable platform. Since the target position is determined according to the expected position of the load of the movable platform and the relative position relationship between the movable platform and the load, the movable platform moving to the target position can cause the load to move to the expected position. By adjusting the position of the movable platform based on the expected position of the load, the load can be precisely controlled to reach the expected position, thereby achieving the purpose of precisely controlling the position of the load by taking the load as a reference benchmark, so that the movable platform can meet the scene with precise requirements on the position of the load, and effectively ensure the effect of the load performing a task.

[0217] The task planning method provided by the embodiments of the present application can be applied to a planning device, which can include a terminal device or a server. The terminal device can include a mobile phone, a tablet computer, a notebook computer, a personal computer, a remote controller, etc. For example, the server obtains an expected position of a load of a movable platform input by a user through a webpage or an APP, generates task data according to the expected position, and outputs the task data to a storage for storage. Alternatively, the terminal device can download the task data from the server, and send the task data to the movable platform, so that the movable platform performs a task based on the obtained task data. For another example, the terminal device obtains an expected position of a load of a movable platform, generates task data according to the expected position, and sends the task data to the movable platform, so that the movable platform performs a task according to the task data. Alternatively, the terminal device obtains an expected position of a load of a movable platform, generates task data according to the expected position, stores the task data on an external storage card, takes down the external storage card and then inserts the external storage card into the movable platform, the movable platform reads the task data in the external storage card, and performs a task according to the task data.

[0218] In the embodiments, the expected position can be determined by user input, or the expected position can be automatically set by the planning device. For example, the user can input an expected position to which the load needs to arrive through an interface. In one implementation, the user can select a position point on the content displayed on the interface to input the expected position to which the load needs to arrive, wherein the displayed content can be a map or a picture collected by an image sensor. Alternatively, the user can manually control the movable platform or the load to move to a specified position, and the planning device records the position of the load at this time as the expected position to which the load needs to arrive. For another example, the execution subject can automatically identify the expected position to which the load needs to arrive. For example, the planning device can identify the content in a map or a picture collected by an image sensor to automatically determine the expected position to which the load needs to arrive.

[0219] The expected position can be a position to which the load needs to arrive to perform a task. The load of the movable platform can include a shooting load or a working load, and can also be another type of load. The shooting load can include a camera (for example, a single camera or a camera with a gimbal), and the working load can include a radar, a spraying mechanism (for example, a spray head), a sowing mechanism, a material conveying mechanism, a material throwing mechanism or a gripper. The execution task can be shooting, distance measurement, spraying, sowing, conveying material, throwing material or grabbing an object, etc.

[0220] In this embodiment, the expected position can include one or more positions. In some embodiments, obtaining the expected position of the load of the movable platform can include: obtaining all expected positions required to be reached by the load before the movable platform moves according to the target position, planning all target expected positions of the movable platform based on all expected positions, and then controlling the movable platform to start moving to all expected positions, so that the planning of all positions can be completed at one time, which is more efficient.

[0221] In some embodiments, obtaining the expected position of the load of the movable platform can also include: obtaining the expected position of the load of the movable platform during the movement of the movable platform based on the expected path of the load. This implementation can obtain the expected position of the load in real time, so as to be able to adjust the position of the movable platform in time. Wherein, after the movable platform completes the movement according to the expected path, the movement path of the load is the same as the expected path. In this embodiment, the expected position of the load is obtained in real time during the movement of the movable platform based on the expected path of the load, so that when the movable platform moves to the corresponding target position, the load can be ensured to move to the expected position, thereby ensuring the consistency between the movement path of the load and the expected path, and improving the effect of the movable platform performing the task.

[0222] In some embodiments, the expected position is the position of the target object, and the load is used to perform a work task on the target object at the expected position. Wherein, the work task includes ranging, spraying, sowing, conveying material, delivering material or grabbing object, and the target object includes crops or objects to be grabbed. Further, the target object includes a specific part of the crops. In this embodiment, the position of the target object is taken as the position to be reached by the load, so that when the movable platform moves to the corresponding target position, the load can be ensured to move to the position of the target object, thereby enabling the load to perform the work task on the target object, and effectively ensuring the effect of the movable platform using the load to perform the task.

[0223] For example, the crops include fruit trees, and the specific part of the crops is the core position of the fruit trees, that is, the core position of the fruit trees is taken as the expected position, so that when the movable platform moves to the corresponding target position, the spraying mechanism can be ensured to move to the core position of the fruit trees, thereby enabling the spraying mechanism to perform the precise spraying task on the core position of the fruit trees, and effectively ensuring the effect of the movable platform using the spraying mechanism to spray.

[0224] In some embodiments, the desired position is a position that a specific part of the load of the movable platform needs to reach. For example, the desired position is a horizontal position and / or a vertical position that a specific part of the load needs to reach. In this embodiment, the position that the specific part of the load needs to reach is taken as the desired position, so that when the movable platform moves to the corresponding target position, the specific part of the load can be guaranteed to move to the desired position, so that the movable platform can meet scenarios where the position of the specific part of the load is required to be accurate, and the effect of the movable platform using the load to perform a task is effectively guaranteed.

[0225] In some embodiments, the specific part of the load of the movable platform includes a center position of the load of the movable platform. In this embodiment, the position that the center position of the load needs to reach is taken as the desired position, so that when the movable platform moves to the corresponding target position, the center position of the load can be guaranteed to move to the desired position, so that the movable platform can meet scenarios where the center position of the load is required to be accurate, and the effect of the movable platform using the load to perform a task is effectively guaranteed. For example, the load includes a gimbal and a camera connected to the gimbal, the center position of the load includes a center position of the gimbal, a center position of the camera, or a center position of an overall mechanism formed by the gimbal and the camera, or the load only includes the camera, and the specific part of the load is the center position of the camera.

[0226] For example, in a aerial photography scenario, in the related art, the waypoint position is set with the center position of the aircraft as a reference, but the center position of the aircraft is not consistent with the center position of the camera, which causes a deviation between the actual position of the camera and the waypoint position when the aircraft flies to the waypoint position, and if the object to be photographed is very close to the aircraft or the camera is a high-magnification camera, the deviation of the position will cause the size, composition, perspective, etc. of the object to be photographed not to meet the aerial photography requirements, and the aerial photography effect is poor. Compared with setting the waypoint position with the center position of the aircraft as a reference, in this embodiment, the waypoint position is set with the center position of the camera as a reference, and the position of the aircraft is changed so that the center position of the camera is at the waypoint position, so that the size, composition, perspective, etc. of the object to be photographed can meet the aerial photography requirements, and the aerial photography effect is guaranteed.

[0227] For example, for fruit trees or palm trees that need to be sprayed at a specific point, in the spraying process, the related art controls the aircraft to fly to the tree center position with the center position of the aircraft as the reference, but the center position of the aircraft is not consistent with the center position of the spraying mechanism (such as a spray head), which causes a deviation between the actual position of the spraying mechanism and the tree center position when the aircraft flies to the tree center position, and the spraying mechanism cannot accurately aim at the tree center position, the spraying effect cannot meet the user's expectation, the spraying effect is not good, and the work efficiency is affected. Compared with controlling the aircraft to fly to the tree center position with the center position of the aircraft as the reference, the embodiment controls the aircraft to change the position with the center position of the spraying mechanism as the reference, so that the spraying mechanism is at the tree center position, thereby accurately aiming at the tree center position for spraying, and improving the spraying effect and spraying efficiency.

[0228] In some embodiments, the specific part of the load of the movable platform includes an end position of the load of the movable platform. The end position of the load is taken as the desired position in the embodiment, so that the movable platform can move to the target position to ensure that the end position of the load moves to the desired position, thereby meeting the application requirements of the position accuracy of the end of the load in various task scenarios, and effectively ensuring the effect of the movable platform using the load for tasks.

[0229] For example, in a scenario where the material needs to be grabbed, the grabbing position is set with the center position of the movable platform as the reference, but the center position of the movable platform is not consistent with the end position of the grabbing load, which causes a deviation between the actual position of the end position of the grabbing load and the grabbing position when the movable platform moves to the grabbing position, resulting in that the grabbing load cannot accurately grab the to-be-grabbed object, the grabbing effect is not good, and the grabbing efficiency is affected. Compared with setting the grabbing position with the center position of the movable platform as the reference, the embodiment sets the grabbing position with the end position of the grabbing load as the reference, changes the position of the movable platform, so that the end position of the grabbing load is at the grabbing position, thereby accurately grabbing the to-be-grabbed object at the grabbing position, and improving the grabbing effect and the grabbing efficiency. The grabbing load can be a gripper.

[0230] In some embodiments, the position of the movable platform being inconsistent with the position of the load includes: the horizontal position of the movable platform being inconsistent with the horizontal position of the load and / or the vertical position of the movable platform being inconsistent with the vertical position of the load. That is, the present application can be applied to the case where the body of the movable platform and the load are different in horizontal position, to the case where the body of the movable platform and the load are different in vertical position, and of course, to the case where the body of the movable platform and the load are different in both horizontal and vertical positions. Alternatively, the position of the movable platform being inconsistent with the position of the load includes: the position of a specific part of the movable platform being inconsistent with the position of a specific part of the load. Wherein, the specific part of the movable platform is the center of the movable platform, and the specific part of the load is the center of the load, or the specific part of the movable platform is the center of the movable platform, and the specific part of the load is the end of the load.

[0231] In some embodiments, the relative position relationship between the movable platform and the load can include the relative distance and / or the relative orientation between the movable platform and the load. The relative distance and / or the relative orientation between the movable platform and the load can accurately represent the relative position relationship between the movable platform and the load, so that the load is accurately moved to the desired position when the movable platform is moved to the target position determined based on the desired position and the relative position relationship, thereby improving the position control accuracy of the load.

[0232] In some embodiments, the relative position relationship between the movable platform and the load includes the relative distance and / or the relative orientation between a specific part of the movable platform and a specific part of the load. Wherein, the specific part of the movable platform includes the center position of the movable platform, and / or the specific part of the load includes the center position of the load, for example, the load is a camera, and this way can be used to determine the relative position relationship between the movable platform and the load. Alternatively, the specific part of the movable platform includes the center position of the movable platform, and the specific part of the load includes the end position of the load, for example, the load is a gripper, and this way can be used to determine the relative position relationship between the movable platform and the load. The relative distance and / or the relative orientation between the specific part of the movable platform and the specific part of the load can more accurately represent the relative position relationship between the movable platform and the load.

[0233] In some embodiments, the relative positional relationship between the movable platform and the load can include a relative distance and / or a relative orientation between a first projection of the movable platform on a reference surface and a second projection of the load on the reference surface, where the reference surface includes a horizontal surface and / or a vertical surface. That is, the relative positional relationship in the present disclosure can include a relative positional relationship between the movable platform and the load projected on a horizontal surface, or a relative positional relationship between the movable platform and the load projected on a vertical surface. The present embodiment characterizes the relative positional relationship between the movable platform and the load by a relative distance and / or a relative orientation between a first projection of the movable platform on a reference surface and a second projection of the load on the reference surface.

[0234] In some embodiments, the relative positional relationship between the movable platform and the load includes a relative distance and / or a relative orientation between a first projection of a specific part of the movable platform on a reference surface and a second projection of a specific part of the load on the reference surface, where the specific part of the movable platform includes a center position of the movable platform, and / or the specific part of the load includes a center position of the load. Alternatively, the specific part of the movable platform includes a center position of the movable platform, and / or the specific part of the load includes an end position of the load. The present embodiment can more accurately characterize the relative positional relationship between the movable platform and the load by a relative distance and / or a relative orientation between a first projection of a specific part of the movable platform on a reference surface and a second projection of a specific part of the load on the reference surface.

[0235] In some embodiments, the relative positional relationship between the movable platform and the load includes an attitude and / or a length of an attitude-adjustable mechanism between a main body of the movable platform and the load, where the relative positional relationship between the movable platform and the load can be adjusted based on the attitude-adjustable mechanism between the main body of the movable platform and the load, and the attitude-adjustable mechanism includes a mechanical arm or a gimbal. The present embodiment can accurately characterize the relative positional relationship between the movable platform and the load by an attitude and / or a length of an attitude-adjustable mechanism between a main body of the movable platform and the load.

[0236] In some embodiments, the relative positional relationship between the movable platform and the load includes a projection of an attitude and / or a length of an attitude-adjustable mechanism between the movable platform and the load on a reference surface, where the reference surface includes a horizontal surface and / or a vertical surface. The present embodiment characterizes the relative positional relationship between the movable platform and the load by a projection of an attitude and / or a length of an attitude-adjustable mechanism between the movable platform and the load on a reference surface.

[0237] In some embodiments, the load performs the task when in the desired position. This embodiment controls the load to perform the task when in the desired position, thereby ensuring accurate execution of the task and further improving the effect of the movable platform performing the task. Further, the load performs the task when in the desired position and suspends the task when in the undesired position. This embodiment controls the load to perform the task only when in the desired position, thereby achieving point execution of the task to ensure accurate execution of the task, and controls the load to suspend the task when in the undesired position, thereby reducing material consumption or power consumption.

[0238] In some embodiments, the load performs the task using preset task parameters when in the desired position. The preset task parameters include at least one of a shooting parameter, a grabbing action, a working range, a working strength, or a working duration. For example, the task performed includes shooting, and the preset task parameters include a shooting parameter. For another example, the task performed includes grabbing, and the preset task parameters include a grabbing action. For another example, the task performed includes sowing, and the preset task parameters include at least one of a sowing range, a sowing strength, or a sowing duration. For another example, the task performed includes spraying, and the preset task parameters include at least one of a spraying range, a spraying pressure, or a spraying duration. This embodiment controls the load to perform the task using the set working parameters when in the desired position, thereby ensuring accurate execution of the task and further improving the effect of task execution.

[0239] In some embodiments, the spraying range is related to the atomization function of the centrifugal motor of the movable platform, the movable platform closes the atomization function of the centrifugal motor when the load is in the desired position, and the spraying range of the load when the movable platform opens the atomization function of the centrifugal motor is greater than the spraying range of the load when the movable platform closes the atomization function of the centrifugal motor. For example, in a scenario where it is necessary to perform spraying work on trees in a land plot, the tree core position is the position where the load (spray head) needs to reach to perform spraying work, i.e., the desired position. Thus, the movable platform closes the atomization function of the centrifugal motor when the load is in the tree core position, so that the load performs accurate spraying on the trees at the tree core position with a smaller spraying range. This embodiment controls the movable platform to close the atomization function of the centrifugal motor when the load is in the desired position, and the load performs spraying when in the desired position, so that the load can perform spraying on plants at the desired position with a smaller spraying range, thereby avoiding phytotoxicity to plants, water sources, or the land plot near the desired position.

[0240] For example, in the agricultural operation scene, in the related art, the center of the aircraft is located at the planned waypoint during spraying, instead of the spraying mechanism, the waypoint cannot be accurately aligned with the operation point, and the spraying effect cannot meet the user's expectation. In the present application, the aircraft has a fixed-point spraying mode, in the fixed-point spraying mode, the initial path planned with the center of the aircraft as a reference is automatically corrected according to the relative position relationship between the aircraft and the spraying mechanism to obtain a target path, and the nozzle of the spraying mechanism is aligned with the tree core position during the flight of the aircraft along the target path. During the spraying task performed by the aircraft based on the target path, the nozzle can only start spraying at the tree core position.

[0241] In addition, in the fixed-point spraying mode, the atomization function of the centrifugal motor can be turned off, and the columnar water flow is sprayed in the spraying mode to avoid the influence of droplet drift, and only a small range of accurate spraying (spraying of pesticides and insect repellents) is performed on the tree core position. In addition, during fixed-point spraying, the nozzle for fixed-point operation can be switched at the turning point to achieve the purpose of optimizing the path of the aircraft and improve the efficiency of spraying. In the ordinary spraying mode (non-fixed-point spraying mode), the path is planned with the center of the aircraft as a reference, the operation path is designed, the operation path does not need to be corrected, and the atomization function of the centrifugal motor needs to be turned on. The spraying range and spraying radius when the atomization function of the centrifugal motor is turned on are different from those when the atomization function of the centrifugal motor is turned off.

[0242] After entering the fixed-point spraying mode, the user manually selects the tree core position or the webpage automatically identifies the tree core position and selects the plot boundary by the user, starts path planning, and if the fixed-point spraying mode is selected, the initial path planned with the center of the aircraft as a reference is automatically corrected according to the relative position relationship between the aircraft and the spraying mechanism to obtain a target path, and if the ordinary spraying mode (large-range spraying mode) is selected, the operation path is planned with the center of the aircraft as a reference. Among them, the user can manually select whether to use the ordinary spraying mode or the fixed-point spraying mode, or can automatically select the ordinary spraying mode (large-range spraying mode) or the fixed-point spraying mode by identifying the specific tree type and the tree core position through the camera. In addition, the fixed-point spraying mode provided in the present embodiment can fix a specified nozzle, or the user can select a nozzle.

[0243] In some embodiments, the load performing the task at the desired position is a target load among a plurality of loads included in the movable platform. Among them, the target load is a load selected by the user from the plurality of loads included in the movable platform, or the target load is a default setting. The present embodiment can select the load performing the task at the desired position based on the actual task demand, so that the load performing the task can meet different task demands, and the effect of the task is improved.

[0244] In some embodiments, the expected positions include a plurality of first positions, and the task data further includes first indication information, the first indication information being used to indicate that the movable platform performs the task using a same target load when the load is at the plurality of first positions. For example, as shown in FIG. 2, the expected positions include position d1, position d2, position d3, and position d4, the movable platform includes load A, load B, load C, and load D, and the movable platform performs the task using load A at position d1, position d2, position d3, and position d4. This embodiment can ensure consistency of task execution and improve the effect of task execution by performing the task using a same target load when the load is at a plurality of first positions.

[0245] In some embodiments, the plurality of first positions include a plurality of positions on a first route and a plurality of positions on a second route, the second route is consecutive to the first route but the second route is not collinear with the first route, and the first indication information is used to indicate that the movable platform performs the task using a same target load when the load is at the plurality of positions on the first route and the plurality of positions on the second route. For example, as shown in FIG. 2, the expected positions include position d1 and position d2 on a first route 11 and position d3 and position d4 on a second route 12, the second route 12 is consecutive to the first route 11 but the second route 12 is not collinear with the first route 11, the movable platform includes load A, load B, load C, and load D, and the movable platform performs the task using load A at position d1 and position d2 on the first route 11 and at position d3 and position d4 on the second route 12.

[0246] In some embodiments, the expected positions include a plurality of first positions, and the task data further includes second indication information, the second indication information being used to indicate that the movable platform performs the task using different target loads when the load is at the plurality of first positions. The movable platform performs the task using different target loads when the load is at the plurality of first positions includes that at least two target loads used by the movable platform to perform the task when the load is at the plurality of first positions are different. For example, as shown in FIG. 3, the expected positions include position d1, position d2, position d3, and position d4, the movable platform includes load A, load B, load C, and load D, and the movable platform performs the task using load A at position d1 and position d2 and using load C at position d3 and position d4. This embodiment can avoid that the movable platform saves some path length at a turning point by performing the task using different target loads when the load is at a plurality of first positions, and compared with the implementation manner shown in FIG. 2, the moving path of the movable platform can be shorter in this embodiment, thereby improving the efficiency of task execution.

[0247] In some embodiments, the plurality of first positions comprises a plurality of positions on the first route and a plurality of positions on a second route, the second route is consecutive to the first route but the second route is not collinear with the first route; the second indication information is used to indicate that the movable platform uses the first target load to perform the task when the load is at the plurality of positions on the first route, and uses the second target load to perform the task when the load is at the plurality of positions on the second route, the first target load is different from the second target load. For example, as shown in FIG. 3, the desired positions comprise position d1 and position d2 on the first route 11 and position d3 and position d4 on the second route 12, the second route 12 is consecutive to the first route 11 but the second route 12 is not collinear with the first route 11, the movable platform comprises load A, load B, load C and load D, the movable platform uses load A to perform the task at position d1 and position d2 on the first route 11, and uses load C to perform the task at position d3 and position d4.

[0248] In some embodiments, the length of the first movement path of the movable platform is shorter than the length of the second movement path of the movable platform, the first movement path is a movement path corresponding to the movable platform using different target loads to perform the task when the load is at the plurality of first positions, and the second movement path is a movement path corresponding to the movable platform using the same target load to perform the task when the load is at the plurality of first positions. For example, as shown in FIG. 2 and FIG. 3, the length of the first movement path 22 of the movable platform is shorter than the length of the second movement path 21 of the movable platform. In actual application, one of the two implementation manners can be selected as needed.

[0249] In some embodiments, the desired positions comprise a plurality of first positions, and the moving direction of the load when moving along the plurality of first positions is consistent with the target direction. The target positions comprise a plurality of second positions, and the plurality of second positions are determined according to the plurality of first positions of the load and the first target parameter, the movable platform moves to each second position so that the load is at the corresponding first position, and the moving direction of the load when moving along the plurality of first positions is consistent with the target direction. This embodiment realizes the directional movement of the load, so as to ensure that the moving direction of the load is always the target direction in the process of performing the task, and the effect of the movable platform performing the task can be improved.

[0250] In some embodiments, the target direction is the current head direction of the movable platform. For example, if the current head direction of the movable platform is α, then α is the target direction, so that the moving direction of the load is always α in the process of performing the task. This embodiment takes the current head direction of the movable platform as the target direction of the load movement, so that the target direction can be automatically set, and the convenience of setting the target direction is improved.

[0251] In some embodiments, the target direction is decoupled from the current head direction of the movable platform, i.e., the target direction does not change with the change of the current head direction of the movable platform. This embodiment decouples the target direction of the load movement from the head direction of the movable platform, so that the movement direction of the load does not change with the change of the head direction of the movable platform, thereby ensuring that the load always moves along the target direction. The target direction can be self-defined or determined based on a mode. For example, the mode is a heading lock mode, and the direction of the head of the movable platform when entering the heading lock mode is the target direction. During the execution of the heading lock mode, the head direction of the movable platform can be adjusted arbitrarily, and the adjusted head direction does not affect the target direction, i.e., the target direction in the heading lock mode is always the initial head direction. Alternatively, the target direction can be a direction related to the home point of the movable platform, such as the direction of the line connecting the current position of the movable platform and the home point, which can be irrelevant to the actual head direction of the movable platform.

[0252] In some embodiments, the target direction is related to the direction of the line connecting the current position of the movable platform and a preset position. For example, the target direction is substantially the same as the direction of the line connecting the current position of the movable platform and the preset position. This embodiment enables the load to always move along a movement direction associated with the direction of the line connecting the current position of the movable platform and the preset position during the movement of the movable platform to the preset position.

[0253] In some embodiments, the target direction is related to the direction of the line connecting the current position of the movable platform and a preset position, and the preset position is the home position of the movable platform, i.e., the target direction is related to the direction of the line connecting the current position of the movable platform and the home position. For example, the target direction is substantially the same as the direction of the line connecting the current position of the movable platform and the home position. This embodiment enables the load to always move along a movement direction associated with the direction of the line connecting the current position of the movable platform and the home position during the movement of the movable platform to the home position.

[0254] In some embodiments, the target direction is a pre-set default direction. For example, the target direction is a default direction manually pre-set by a user. For another example, the target direction is a default direction automatically pre-set by the system.

[0255] In some embodiments, the target direction is the current head direction of the movable platform when entering a preset lock mode. After entering the preset lock mode, the user's swing operation is used to control the movement direction of the load. The preset lock mode includes the heading lock mode. This embodiment sets the current head direction of the movable platform when entering the preset lock mode as the target direction of the load movement, which can realize automatic setting of the target direction and improve the convenience of setting the target direction.

[0256] For example, when the movable platform enters the heading lock mode, the current heading direction of the movable platform is set as the target direction. In the heading lock mode, the moving direction of the load always keeps consistent with the target direction regardless of the change of the heading direction of the movable platform.

[0257] In some embodiments, the desired positions of the load include a plurality of first positions, the target positions of the movable platform include a plurality of second positions, and the plurality of second positions of the movable platform are determined according to the plurality of first positions of the load and the first target parameter. In this embodiment, the plurality of second positions of the movable platform are determined according to the plurality of first positions of the load and the first target parameter, so that the movable platform can move to each second position to make the load move to the corresponding first position, thereby achieving accurate control of the position of the load and enabling the movable platform to meet the scene with accurate requirements for the position of the load and ensuring the effect of the movable platform when performing a task.

[0258] In some embodiments, the plurality of second positions of the movable platform are determined according to the plurality of first positions of the load and the first target parameter, including that the plurality of second positions of the movable platform are determined according to an initial path and the first target parameter, and the initial path is determined according to the plurality of first positions.

[0259] In some embodiments, the initial path is determined using the plurality of first positions with the load as a reference, and the plurality of second positions of the movable platform are determined according to the initial path and the first target parameter. In this embodiment, the load as a reference includes a specific part of the load as a reference, and the specific part of the load includes a center position of the load or an end position of the load.

[0260] In some embodiments, the initial path is determined using the plurality of first positions with the movable platform as a reference, and the plurality of second positions of the movable platform are determined according to the initial path and the first target parameter. In this embodiment, the movable platform as a reference includes a specific part of the movable platform as a reference, and the specific part of the movable platform includes a center position of the movable platform.

[0261] In some embodiments, the task planning method further includes displaying the initial path and / or displaying the target path.

[0262] In some embodiments, the desired positions of the load include a plurality of first positions, the target positions of the movable platform include a plurality of second positions, and the moving path of the movable platform after the movable platform moves to the plurality of second positions is a first path and the moving path of the load is a second path, and the first path and the second path are not completely the same.

[0263] In some embodiments, the first path and the second path are not completely identical includes that the included positions of the first path and the second path are not completely identical, or the trajectory shapes of the first path and the second path are not completely identical. Wherein, the included positions of the first path and the second path are not completely identical can include that the plurality of positions included by the first path and the plurality of positions included by the second path are partially identical and the remaining part is different.

[0264] In some embodiments, at least part of the first path and the second path are parallel to each other.

[0265] In some embodiments, each of the expected positions corresponds to a desired attitude of the load, each of the target positions corresponds to a target attitude of the movable platform, the trajectory of the second path is a straight line, and the first path is a curve. Wherein, the target attitude is determined according to the desired attitude of the load and the relative attitude relationship between the movable platform and the load. For example, the desired attitude can be related to the position of the target object, and the target object is the object of interest of the movable platform, that is, the desired attitude of the load when at each expected position can be determined according to the position of the object of interest locked by the movable platform. This embodiment realizes that the movable platform moves to the target position and is in the target attitude, so that the load moves to the expected position and is in the expected attitude, thereby realizing accurate control of the position and attitude of the load, so that the movable platform can meet the scene with accurate requirements for the position and attitude of the load, and ensure the effect when the movable platform performs a task.

[0266] For example, as shown in FIG. 4, when the gimbal camera is continuously locked on an object of interest (the object of interest can be a stationary or moving target) for shooting while being driven by the movable platform to move along the preset moving trajectory 32, the position and attitude of the movable platform are adjusted to ensure that the gimbal camera moves to the expected position (such as each position on the moving trajectory 32) and is in the expected attitude when the movable platform moves to the target position (such as each position on the moving trajectory 31) and is in the target attitude. In this way, the gimbal camera can accurately shoot the target object. After the shooting is completed, the moving path of the movable platform is the first path 31, and the moving path of the gimbal camera is the second path 32. At this time, the trajectory of the second path 32 is a straight line, and the trajectory of the first path 31 is a curve.

[0267] In some embodiments, before step S111, the method further comprises: obtaining a current reference datum of the movable platform, wherein the current reference datum comprises a reference datum of the movable platform or a reference datum of the load; when the current reference datum is the reference datum of the position of the load, performing step S111 to obtain the expected position of the load, the expected position being a position to which the load needs to reach; and when the current reference datum is the reference datum of the movable platform, obtaining the expected position of the movable platform. This embodiment adaptively obtains the expected position of the load or the expected position of the movable platform based on the current reference datum of the movable platform, so that the movable platform can meet the application requirements of various task scenarios, and the application range of the movable platform is improved.

[0268] In some embodiments, the reference datum of the movable platform comprises a reference datum of a specific part of the movable platform, and the specific part of the movable platform comprises a center position of the movable platform. The reference datum of the load comprises a reference datum of a specific part of the load, and the specific part of the load comprises a center position of the load. For example, the load comprises a gimbal and a camera connected to the gimbal, and the center position of the load comprises a center position of the gimbal, a center position of the camera, or a center position of an overall mechanism formed by the gimbal and the camera. For another example, the load comprises a single camera, and the center position of the load is the center position of the camera. Alternatively, the specific part of the load comprises an end position of the load. For example, the load comprises a gripper.

[0269] For example, when the position and / or attitude (for example, heading) of the aircraft changes, the reference datum is switched from the aircraft (for example, the center position of the aircraft) to the load, so that the movable platform can meet the application requirements of various task scenarios, for example, meet the shooting requirements. The load can comprise a camera and a gimbal connected to the camera, and the center position of the gimbal can be used as the reference datum, or the center position of the camera can be used as the reference datum, or the center position of an overall mechanism formed by the gimbal and the camera can be used as the reference datum. An IMU sensor can be arranged on each of the gimbal and the camera.

[0270] The control of the aircraft taking the load as the reference benchmark in the embodiment can be applied to: waypoint (route planning and route playback), heading lock function, headless mode function and other scenarios involving the need to individually adjust the position, attitude or direction of the gimbal camera when the aircraft performs tasks according to a preset trajectory. It is also applicable to direct stick operation or motion sensing operation of the user. For the waypoint function, the original route / waypoint designed with the center of the aircraft as the reference benchmark is changed to the route / waypoint designed with the load as the reference benchmark. At this time, the position of the load moves according to the designed heading, and the orientation of the load can also be changed by changing the position and attitude of the aircraft. For the heading lock / return flight and other headless modes, the original heading of the aircraft controlled by the stick is changed to the direction of the movement of the load (which can be decoupled from the orientation of the load and is only the direction of the trajectory formed after the movement of the load), and the position of the load moves according to the designed heading. The orientation of the load can also be changed by modifying the position and attitude of the aircraft.

[0271] For example, in the scenario of locking an interesting object when performing the waypoint function, the aircraft heading and yaw are controlled with the center position of the aircraft as the reference benchmark, and the movement trajectory of the aircraft and the movement trajectory of the gimbal can be as shown in the left area of FIG. 5. The movement trajectory of the aircraft shown in the left area of FIG. 5 is a straight line, and the movement trajectory of the gimbal is a curve. When the aircraft heading and yaw are controlled with the center position of the gimbal camera as the reference benchmark, the movement trajectory of the aircraft and the movement trajectory of the gimbal can be as shown in the right area of FIG. 5. The movement trajectory of the aircraft shown in the right area of FIG. 5 is a curve, and the movement trajectory of the gimbal is a straight line. In the implementation of the left side of FIG. 5, when the aircraft moves to the position close to the interesting object on the route, the deviation between the gimbal camera and the center position of the aircraft causes the gimbal camera to be very close to the interesting object at this time, resulting in a very large change in the size of the interesting object captured by the gimbal camera. In the implementation of the right side of FIG. 5, the preset route is followed with the gimbal camera as the reference benchmark, and the route of the aircraft is adjusted to keep the gimbal camera on the preset route. When the gimbal camera moves to the position close to the interesting object on the route, it is consistent with the real situation and does not produce the problem of the left side of FIG. 5. The implementation of the right side of FIG. 5 is more consistent with the position relationship between the camera and the interesting object in the real physical world.

[0272] In some embodiments, before step S111, the method further includes: in response to a first preset condition being met, entering a first setting mode, and in the first setting mode, the expected position is set with the load as a reference; and in response to a second preset condition being met, entering a second setting mode, and in the second setting mode, the expected position is set with the movable platform as a reference. The first preset condition is different from the second preset condition. This embodiment determines whether to plan the expected position with the load as a reference or to plan the expected position with the movable platform as a reference by entering different setting modes under different conditions, so that the movable platform can meet the application requirements of various task scenarios, and the application range of the movable platform is improved. In addition, the expected position of the load set with the load as a reference is more accurate than the expected position of the load set with the movable platform as a reference, and the position of the load can be more accurately controlled.

[0273] In some embodiments, the first preset condition being met includes: receiving a first mode selection instruction input by a user, and the first mode selection instruction is used to indicate that the expected position is set with the load as a reference. In this embodiment, the terminal device enters the second setting mode by default when entering the task planning, and enters the first setting mode when receiving the first mode selection instruction input by the user. This embodiment facilitates the user to select the first setting mode in a task scenario with high accuracy requirement for the position of the load, and improves the user experience.

[0274] In some embodiments, the second preset condition being met includes: receiving a second mode selection instruction input by a user, and the second mode selection instruction is used to indicate that the expected position is set with the movable platform as a reference. The first mode selection instruction is different from the second mode selection instruction. For example, this embodiment facilitates the user to select the second setting mode in a task scenario with low accuracy requirement for the position of the load, and improves the user experience.

[0275] In some embodiments, the first preset condition being met includes: a task type of a task to be executed by the movable platform is a preset task type; or, it is detected that a current working environment of the movable platform meets a preset working environment. The preset working environment is a working environment that requires the position accuracy of the load to be greater than or equal to a preset position accuracy. For example, the preset working environment is an environment corresponding to a shooting task, an environment corresponding to a surveying task, an environment corresponding to an inspection task, or an environment corresponding to fruit tree spraying, etc. This embodiment automatically enters the first setting mode when it is detected that the task type of the task to be executed by the movable platform is the preset task type or it is detected that the current working environment of the movable platform meets the preset working environment, so that the set position is with the load as a reference, which can more effectively ensure that the position accuracy of the load can meet the accuracy requirements of the task scenario, and effectively ensure the effect of the work.

[0276] For example, in the fruit tree spraying scenario, the first setting mode is entered, and the user dots or the system automatically dots on the interface to determine that the tree core position is set as a reference based on the load, and the tree core position is the expected position of the spraying mechanism (the position that needs to be reached for spraying operation). In this way, the spraying mechanism can accurately spray the tree core position, improving the spraying effect. For another example, in the shooting operation scenario, the first setting mode is entered, and the user dots or the system automatically dots on the interface to determine that the shooting position is set as a reference based on the load, and the shooting position is the expected position of the gimbal camera (the position that needs to be reached for shooting operation). In this way, the gimbal camera can accurately and effectively shoot the object at the shooting position, effectively ensuring the shooting effect.

[0277] In some embodiments, the task parameters set for the movable platform in the first setting mode can be the same as the task parameters set for the movable platform in the second setting mode.

[0278] In some embodiments, the task parameters set for the movable platform in the first setting mode are different from the task parameters set for the movable platform in the second setting mode. The task parameters include at least one of the operation range, the operation intensity, and the operation time length. In this embodiment, different task parameters are set for the movable platform in different setting modes, so that the load performs the task according to the set task parameters, and the effect is better, further improving the effect of the movable platform performing the task.

[0279] In some embodiments, the operation range set for the movable platform in the first setting mode is smaller than the operation range set for the movable platform in the second setting mode, and the operation intensity set for the movable platform in the first setting mode is greater than the operation intensity set for the movable platform in the second setting mode. Or the operation range set for the movable platform in the first setting mode is smaller than the operation range set for the movable platform in the second setting mode, and the operation time length set for the movable platform in the first setting mode is longer than the operation time length set for the movable platform in the second setting mode.

[0280] In addition to the above-mentioned problem that adjusting the position with the movable platform as the reference benchmark causes the position of the load to deviate from the expected position, in the related art, the attitude adjustment of the load on the movable platform depends on the attitude adjustment of the movable platform. For example, if the yaw angle of the gimbal camera in the movable platform needs to be adjusted, the yaw angle of the movable platform is adjusted with the movable platform as the reference benchmark (for example, the center position of the movable platform is taken as the reference benchmark). Since the position of the movable platform is inconsistent with the position of the load, after the yaw angle of the movable platform is adjusted, the position of the gimbal camera changes, resulting in a large deviation between the actual position and the expected position of the gimbal camera, which cannot meet the scene with accurate requirements for the position of the load. For example, taking the left side of the schematic diagram in FIG. 5 as an example, the aircraft flies along the preset route and the camera continuously locks the interesting object. When the aircraft flies to the position close to the interesting object on the route, since there is a deviation between the camera and the center position of the aircraft, the camera is very close to the interesting object at this time, which causes the size of the interesting object in the camera to change greatly, resulting in poor aerial photography effect.

[0281] To solve the above-mentioned problem, the embodiment provides a task planning method, which comprises: acquiring an expected position of a load of a movable platform; and acquiring an expected attitude of the load; outputting task data, the task data comprising a target position of the movable platform and a first target attitude, the movable platform moving to the target position and being in the first target attitude so that the load moves to the expected position and is in the expected attitude, the target position being determined according to the expected position, the expected attitude and a first target parameter, and the first target attitude being determined according to the expected attitude and a second target parameter, wherein the position of the movable platform is inconsistent with the position of the load, the first target parameter is used to represent the relative position relationship between the movable platform and the load, and the second target parameter is used to represent the relative attitude relationship between the movable platform and the load.

[0282] The above-mentioned embodiment acquires the expected position and the expected attitude of the load and outputs the task data. Since the target position in the task data is determined based on the expected position of the load and the relative position relationship between the movable platform and the load, and the first target attitude in the task data is determined based on the expected attitude of the load and the relative attitude relationship between the movable platform and the load, the movable platform can move to the target position and be in the first target attitude so that the load moves to the expected position and is in the expected attitude, thereby achieving the purpose of accurately controlling the position and the attitude of the load with the load as the reference benchmark, avoiding the problem that adjusting the position and the attitude with the movable platform as the reference benchmark causes the actual position of the load to deviate from the expected position, and enabling the movable platform to meet the scene with accurate requirements for the position of the load and ensuring the effect of the load performing the task.

[0283] For example, as shown in FIG. 6, the desired position of the load, the desired yaw angle of the load, the relative position relationship between the movable platform and the load, and the relative attitude relationship between the movable platform and the load are input to the task planning device or the control device of the movable platform, and the target position and the target yaw angle of the movable platform are output by the task planning device or the control device of the movable platform based on the desired position, the desired yaw angle, the relative position relationship between the movable platform and the load, and the relative attitude relationship between the movable platform and the load. Specifically, only considering a simplified example of horizontal motion: the aircraft has a gimbal, and the adjustable range of the yaw axis (yaw angle) is small, in order to make the yaw angle of the gimbal reach a value outside the adjustable range, it is necessary to adjust the position and attitude of the aircraft, assuming that the relative position relationship of the gimbal relative to the aircraft is d1, and the relative attitude relationship is d2, if the desired position of the gimbal is (x, y), and the desired yaw angle is yaw, then the target position of the aircraft is (X = x + sin(yaw) * d1, Y = y + sin(yaw) * d1), and the target yaw angle is Yaw = yaw + d2 or Yaw = yaw - d2.

[0284] For another example, as shown in FIG. 7, the desired position of the load, the desired yaw angle of the load, the desired roll angle, the desired pitch angle, the relative position relationship between the movable platform and the load, and the relative attitude relationship between the movable platform and the load are input to the task planning device or the control device of the movable platform, and the target position, the target yaw angle, the target roll angle, and the target pitch angle of the movable platform are output by the task planning device or the control device of the movable platform based on the desired position, the desired yaw angle, the desired roll angle, the desired pitch angle, the relative position relationship between the movable platform and the load, and the relative attitude relationship between the movable platform and the load.

[0285] In some embodiments, the desired attitude of the load is the attitude that needs to be reached by a specific part of the load. Wherein, the specific part of the load includes the center position of the load or the end position of the load. For example, the load includes a gimbal and a camera connected to the gimbal, the center position of the load includes the center position of the gimbal, the center position of the camera, or the center position of the overall mechanism constituted by the gimbal and the camera, or the load only includes the camera, and the specific part of the load is the center position of the camera. Alternatively, the load is a gripper, and the specific part of the load includes the end position of the gripper.

[0286] In some embodiments, the desired pose of the load is related to the position of the target object, and the target object is an object of interest of the movable platform, i.e., the desired pose of the load can be determined according to the position of the object of interest that needs to be locked by the load. For example, taking a scene shooting as an example, the load includes a camera, and the object of interest needs to be kept at a preset position in the shooting picture, such as a central position of the picture, during the movement of the movable platform. Therefore, the pose of the camera needs to be adjusted to achieve the purpose of locking the object of interest by the camera during the movement of the movable platform. Therefore, the desired pose of the load can be determined according to the position of the object of interest in the picture. In this embodiment, the pose related to the position of the object of interest of the movable platform is the desired pose of the load, so that the load can accurately perform the relevant task operation (such as shooting) on the object of interest when the load is in the desired pose, thereby improving the execution effect of the task.

[0287] In some embodiments, the desired pose of the load is outside the decoupled pose range of the load. Therefore, if the pose of the load needs to be adjusted, the pose of the movable platform needs to be adjusted or relied on. The poses included in the decoupled pose range of the load can be adjusted without changing the position and / or pose of the movable platform. For example, the load includes a gimbal and a camera connected to the gimbal, and the poses included in the decoupled pose range of the camera can be obtained by adjusting the gimbal without changing the position and / or pose of the movable platform.

[0288] In some embodiments, the desired pose of the load includes a desired yaw angle, and the decoupled pose range of the load includes a decoupled yaw angle range of the load. The yaw angles included in the decoupled yaw angle range of the load can be adjusted without changing the position and / or pose of the movable platform. For example, the load includes a gimbal and a camera connected to the gimbal, and the yaw angles included in the decoupled yaw angle range of the camera can be obtained by adjusting the gimbal without changing the position and / or pose of the movable platform.

[0289] In some embodiments, obtaining the desired pose of the load can include: obtaining all the desired poses of the load before the movable platform moves according to the target position, planning all the target positions and target poses of the movable platform based on all the desired poses and the desired position, and then controlling the movable platform to start executing the position and pose adjustment. In this way, all the planning can be completed at one time, which is more efficient.

[0290] The expected pose of the load can be obtained during movement of the movable platform according to an expected path of the load. After the movable platform completes movement according to the expected path, the movement path of the load is the same as the expected path, and the movement path of the movable platform is different from the expected path. The expected path of the load is a path planned with the load as a reference. Specifically, the expected path of the load is a path planned with a specific part of the load as a reference. For example, the specific part of the load includes a center position of the load. This implementation manner can obtain the expected pose of the load in real time, so as to timely adjust the position and pose of the movable platform to achieve the purpose of accurately adjusting the pose of the load.

[0291] It should be noted that the embodiments of the present application can be applied in various application scenarios, including but not limited to: shooting, agricultural operation, industry surveying and mapping, industry inspection, logistics transportation, etc., and the above load can be replaced by a load required in the related application scenario.

[0292] Please refer to FIG. 8, which is a step schematic flow chart of a control method of a movable platform provided by an embodiment of the present application. The control method is applied to the movable platform.

[0293] As shown in FIG. 8, the control method includes steps S121 to S122.

[0294] In step S121, task data is obtained, and the task data includes a target position of the movable platform. The target position is determined according to an expected position of a load of the movable platform and a first target parameter. The expected position is a position to which the load needs to reach. The position of the movable platform is different from the position of the load. The first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0295] In this embodiment, obtaining the task data can include obtaining the task data sent by the terminal device. Or obtaining the task data from an external storage card. Or downloading the task data from the cloud.

[0296] In step S122, the movable platform is controlled to move to the target position so as to make the load move to the expected position.

[0297] The embodiment obtains task data containing a target position of the movable platform, and since the target position is determined according to the expected position of the load and the relative position relationship between the movable platform and the load, the movable platform is controlled to move to the target position so that the load can move to the expected position. By adjusting the position of the movable platform based on the expected position of the load, the load can be accurately controlled to reach the expected position, thereby achieving the purpose of accurately controlling the position of the load based on the load as a reference, so that the movable platform can meet the scene with accurate requirements for the position of the load, and effectively ensure the effect of the load performing the task.

[0298] In some embodiments, the control method of the movable platform includes: obtaining task data, the task data including a target position of the movable platform and a first target attitude, the target position being determined according to an expected position, an expected attitude and a first target parameter, and the first target attitude being determined according to the expected attitude and a second target parameter, wherein the expected position is a position that the load needs to reach, the expected attitude is an attitude of the load when reaching the expected position, the position of the movable platform is inconsistent with the position of the load, the first target parameter is used to represent the relative position relationship between the movable platform and the load, and the second target parameter is used to represent the relative attitude relationship between the movable platform and the load; and cooperatively controlling the movable platform to move to the target position and adjust to the first target attitude, so that the load moves to the expected position and is in the expected attitude.

[0299] The above embodiment obtains task data containing a target position of the movable platform and a first target attitude, since the target position is determined based on the expected position of the load, the expected attitude and the relative position relationship between the movable platform and the load, and the first target attitude is determined based on the expected attitude of the load and the relative attitude relationship between the movable platform and the load, the load can be moved to the expected position and be in the expected attitude when the movable platform is cooperatively controlled to move to the target position and be in the first target attitude, thereby achieving the purpose of accurately controlling the position and attitude of the load based on the load as a reference, avoiding the problem that the actual position of the load deviates from the expected position when the position and attitude are adjusted based on the movable platform as a reference, so that the movable platform can meet the scene with accurate requirements for the position of the load, and ensure the effect of the load performing the task.

[0300] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the movable platform provided in the embodiment can refer to the corresponding process in the foregoing task planning method embodiment, which will not be described here.

[0301] Please refer to FIG. 9, which is a step schematic flow chart of another control method of a movable platform provided in the embodiment of the application. The control method is applied to a movable platform.

[0302] As shown in FIG. 9, the control method includes steps S131-S132.

[0303] In step S131, a desired position of the load of the movable platform is acquired, the desired position being a position that the load needs to reach.

[0304] In this embodiment, the desired position of the load of the movable platform can be sent by a terminal device in communication connection with the movable platform, acquired from an external storage card, or downloaded from the cloud, or acquired in other manners.

[0305] In step S132, the movable platform is controlled to move to a target position so as to move the load to the desired position, the target position being determined according to the desired position and a first target parameter, the position of the movable platform being inconsistent with the position of the load, the first target parameter being used to represent the relative position relationship between the movable platform and the load.

[0306] This embodiment takes the position that the load needs to reach as the desired position, and adjusts the position of the movable platform based on the desired position of the load, so as to accurately control the load to reach the desired position, thereby achieving the purpose of position adjustment based on the load as the reference benchmark to accurately control the position of the load, so that the movable platform can meet the scene with accurate requirements on the position of the load, and effectively ensure the effect of the load to perform a task.

[0307] In some embodiments, the control method of the movable platform includes: acquiring a desired position of a load of the movable platform; and acquiring a parameter related to a desired attitude of the load, the desired attitude being an attitude of the load when reaching the desired position; and cooperatively controlling the movable platform to move to a target position and adjust to a first target attitude, so as to move the load to the desired position and be in the desired attitude, wherein the target position is determined according to the desired position, the desired attitude, and a first target parameter, the first target attitude is determined according to the desired attitude and a second target parameter, the position of the movable platform is inconsistent with the position of the load, the first target parameter is used to represent the relative position relationship between the movable platform and the load, and the second target parameter is used to represent the relative attitude relationship between the movable platform and the load.

[0308] The above embodiment obtains the expected position of the load and the parameter related to the expected attitude of the load, and cooperatively controls the movable platform to move to the target position and adjust to the first target attitude. Since the target position is determined based on the expected position of the load, the expected attitude, and the relative position relationship between the movable platform and the load, and the first target attitude is determined based on the expected attitude of the load and the relative attitude relationship between the movable platform and the load, the load can be moved to the expected position and the expected attitude when the movable platform is cooperatively controlled to move to the target position and be in the first target attitude, the purpose of taking the load as a reference to achieve accurate control of the position and attitude of the load is achieved, the problem that there is a deviation between the actual position of the load and the expected position caused by taking the movable platform as a reference for position and attitude adjustment is avoided, and the movable platform can meet the scene with accurate requirements on the position of the load, and the effect of the load when performing a task is ensured.

[0309] The parameter related to the expected attitude of the load can include the expected attitude, or can include a parameter from which the expected attitude can be derived. For example, in a shooting scene, the parameter related to the expected attitude of the load can include picture information of an object of interest to be locked by a camera or position information of the object of interest.

[0310] It should be noted that specific implementation processes not mentioned in the control method of the movable platform provided in this embodiment can refer to the corresponding processes in the foregoing task planning method embodiments, which will not be described here again.

[0311] Please refer to FIG. 10, which is a step schematic flowchart of another control method of a movable platform provided in an embodiment of the present application, in the case of no conflict. The control method is applied to a planning device.

[0312] As shown in FIG. 10, the control method includes steps S141 to S142.

[0313] In step S141, an expected position of a load of a movable platform is obtained, the expected position being a position to which the load needs to reach.

[0314] In this embodiment, the expected position of the load of the movable platform can be manually set by a user, or automatically set by the system, which is not specifically limited in this embodiment. The manual setting can be input through an operation lever of a remote controller, or input a somatosensory attitude through a somatosensory remote controller, or input through an interface.

[0315] In step S142, the expected position is sent to the movable platform, so that the load is moved to the expected position when the movable platform moves to a target position, wherein the target position is determined according to the expected position and a first target parameter, the position of the movable platform is inconsistent with the position of the load, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0316] The embodiment achieves the purpose of position adjustment with the load as the reference to achieve precise control of the position of the load by taking the position that the load needs to reach as the expected position, and sending the expected position of the load to the movable platform to make the movable platform move to the target position to achieve the purpose of moving the load to the expected position. Since the target position is determined according to the expected position and the relative position relationship between the movable platform and the load, the load can be moved to the expected position when the movable platform moves to the target position. By adjusting the position of the movable platform based on the expected position of the load, the load can be precisely controlled to reach the expected position, thereby achieving the purpose of position adjustment with the load as the reference to achieve precise control of the position of the load, so that the movable platform can meet the scene with precise requirements for the position of the load, and effectively ensure the effect of the load performing the task.

[0317] In some embodiments, the control method of the movable platform comprises: obtaining an expected position of a load of the movable platform; and a parameter related to an expected attitude of the load, the expected attitude being an attitude of the load when reaching the expected position; sending the expected position and the parameter related to the expected attitude of the load to the movable platform to cooperatively control the movable platform to move to a target position and adjust to a first target attitude to make the load move to the expected position and be in the expected attitude. The parameter related to the expected attitude of the load can include the expected attitude, or can include parameters from which the expected attitude can be derived, for example, in a shooting scene, the parameter related to the expected attitude of the load can include picture information of an object of interest that needs to be locked by a camera or position information of the object of interest. The above embodiment cooperatively controls the movable platform to move to the target position and adjust to the first target attitude by sending the expected position of the load and the parameter related to the expected attitude of the load to the movable platform. Since the target position is determined based on the expected position of the load, the expected attitude, and the relative position relationship between the movable platform and the load, and the first target attitude is determined based on the expected attitude of the load and the relative attitude relationship between the movable platform and the load, the load can be moved to the expected position and be in the expected attitude when the movable platform is cooperatively controlled to move to the target position and be in the first target attitude, thereby achieving the purpose of precise control of the position and attitude of the load with the load as the reference, avoiding the problem that position and attitude adjustment with the movable platform as the reference causes deviation between the actual position of the load and the expected position, so that the movable platform can meet the scene with precise requirements for the position of the load, and ensure the effect of the load performing the task.

[0318] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the movable platform provided by the embodiment can refer to the corresponding process in the foregoing task planning method embodiment, which will not be described here in detail.

[0319] In some embodiments, the load described in the method embodiments corresponding to FIG. 1, FIG. 8-FIG. 10 can be replaced by a preset position. In the embodiments of the present application, the desired position mentioned in the method embodiments corresponding to FIG. 1, FIG. 8-FIG. 10 is the position that the preset position needs to reach, and the desired attitude is the attitude that the preset position needs to reach. In the embodiments of the present application, the preset position can be a load of the movable platform or a position between the body of the movable platform and the load. In the case of no conflict, the remaining parts not mentioned can refer to the related description of the method embodiments corresponding to FIG. 1, FIG. 8-FIG. 10, which will not be repeated here.

[0320] In the embodiments of the present application, the position between the body of the movable platform and the load can include a mechanical arm or a gimbal. For example, the load includes a camera, and the position between the body of the movable platform and the camera is a gimbal. For another example, the load includes a gripper, and the position between the body of the movable platform and the gripper is a mechanical arm. For another example, the load is a gimbal camera, and the position between the movable platform and the gimbal camera can be a mechanical arm. It should be noted that the position between the body of the movable platform and the load can be a position in a three-dimensional space region between the body of the movable platform and the load.

[0321] In the embodiments of the present application, the desired position of the preset position of the movable platform is obtained, and the position of the movable platform is adjusted with the preset position as the reference datum. Compared with the control and planning with the movable platform as the reference datum, the embodiments of the present application can ensure that the preset position is at the desired position. Since the preset position is closer to the load than the body of the movable platform, the deviation between the actual position and the desired position of the load can be effectively reduced, so as to ensure the position accuracy of the load, so that the movable platform can meet the scene with accurate requirements for the position of the load, and ensure the effect when the load performs a task.

[0322] Please refer to FIG. 11, which is a step schematic flow chart of another task planning method provided by the embodiments of the present application. The control method is applied to a planning device.

[0323] As shown in FIG. 11, the task planning method includes steps S211-S213.

[0324] Step S211, obtaining a desired attitude of a load of a movable platform.

[0325] Step S212, determining a target position and a first target attitude of the movable platform according to at least the desired attitude.

[0326] In step S213, the task data is output, and the task data includes the target position and the first target attitude. The load is adjusted to the expected attitude by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude. The position of the movable platform is not consistent with the position of the load.

[0327] In the related art, if the attitude of the load needs to be adjusted, the attitude of the movable platform is adjusted to achieve the adjustment of the attitude of the load. In the embodiment of the present application, another adjustment mode of the attitude of the load is provided, that is, the adjustment of the attitude of the load needs to be cooperatively controlled to move the movable platform to the target position and to control the movable platform to adjust to the first target attitude, so as to achieve accurate control of the attitude of the load, so that the movable platform can meet the scene with accurate requirements on the attitude of the load, and the effect of the load when performing a task is ensured.

[0328] In the related art, the adjustment of the attitude of the load on the movable platform depends on the adjustment of the attitude of the movable platform. For example, if the attitude of the gimbal camera needs to be adjusted, the attitude of the movable platform is adjusted to achieve the adjustment of the attitude of the gimbal camera. Since the position of the movable platform is not consistent with the position of the load, the position of the load will deviate before and after the adjustment of the attitude of the movable platform when the attitude of the movable platform is adjusted based on the center position of the movable platform as a reference, which cannot meet the scene with accurate requirements on the position of the load. For example, taking the left side of the schematic diagram in FIG. 5 as an example, the aircraft flies along a preset route and the camera continuously locks the interesting object. When the aircraft flies to the position close to the interesting object on the route, since the camera deviates from the center position of the aircraft, the camera is very close to the interesting object at this time, which causes the size of the interesting object in the camera to change greatly, resulting in poor aerial photography effect.

[0329] In the embodiment of the present application, the load can reach the expected position when the load is adjusted to the expected attitude, that is, the load can reach the expected position when the load is adjusted to the expected attitude by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude. In the embodiment, the target position and the first target attitude of the movable platform are adjusted based on the load as a reference, so that the load can reach the expected position when the load is adjusted to the expected attitude, thereby achieving adjustment of the attitude of the load without affecting the position of the load, so that the movable platform can meet the scene with accurate requirements on the position of the load, and the effect of the load when performing a task is ensured.

[0330] It should be noted that the task planning method provided in the embodiments of the present application can be applied to a planning device, and the planning device can include a terminal device or a server. The terminal device can include a mobile phone, a tablet computer, a notebook computer, a personal computer, a remote controller, etc. For example, a user inputs an expected pose of a load of a movable platform to a server through a webpage or an APP. The server obtains the expected pose of the load of the movable platform, and determines a target position and a first target pose of the movable platform according to at least the expected pose. The server outputs task data to a storage for storage. The terminal device downloads the task data from the server, and sends the task data to the movable platform, so that the movable platform performs a task based on the obtained task data. For another example, the terminal device obtains an expected pose of a load of a movable platform, and determines a target position and a first target pose of the movable platform according to at least the expected pose. The terminal device outputs task data to the movable platform, so that the movable platform performs a task according to the task data. Or the terminal device obtains an expected pose of a load of a movable platform, and determines a target position and a first target pose of the movable platform according to at least the expected pose. The terminal device outputs the task data to an external storage card. The external storage card is taken off and then inserted into the movable platform. The movable platform reads the task data in the external storage card, and performs a task according to the task data.

[0331] In the embodiments, the expected pose of the load is a pose that the load needs to reach, which can be set by a user or automatically set by the planning device. For example, the planning device can set the expected pose of the load in combination with an interest object selected by the user, and the embodiments are not limited in this regard. The load of the movable platform can include a shooting load or a working load. The shooting load can include a camera (which can be with or without a gimbal), and the working load can include a radar, a spraying mechanism, a sowing mechanism, a material conveying mechanism, a material dispensing mechanism or a gripper.

[0332] In some embodiments, the expected pose of the load is related to a position of a target object, and the target object is an interest object of the movable platform. In the embodiments, the expected pose of the load is related to the position of the interest object of the movable platform, so that the load can accurately perform a related task operation on the interest object when in the expected pose, and the execution effect of the task is improved. For example, taking a shooting scene as an example, the load includes a camera, and the interest object needs to be continuously kept at a preset position in a shooting picture (for example, a central position of the picture) during movement of the movable platform. Therefore, the pose of the camera needs to be adjusted to achieve the purpose of continuously locking the interest object by the camera during movement of the movable platform. Therefore, the expected pose that the load needs to reach can be determined according to the position of the interest object in the picture.

[0333] In some embodiments, the desired pose of the payload is outside the decoupled pose range of the payload, and thus if the pose of the payload needs to be adjusted, the pose of the movable platform needs to be adjusted or relied on. The decoupled pose range of the payload includes poses that can be adjusted without changing the position and / or pose of the movable platform. For example, the payload includes a gimbal and a camera connected to the gimbal, and the decoupled pose range of the camera includes poses that can be adjusted without changing the position and / or pose of the movable platform, but directly by adjusting the gimbal.

[0334] In some embodiments, the desired pose of the payload includes a desired yaw angle, and the decoupled pose range of the payload includes a decoupled yaw angle range of the payload, and the decoupled yaw angle range of the payload includes yaw angles that can be adjusted without changing the position and / or pose of the movable platform. For example, the payload includes a gimbal and a camera connected to the gimbal, and the decoupled yaw angle range of the camera includes yaw angles that can be adjusted without changing the position and / or pose of the movable platform, but directly by adjusting the gimbal.

[0335] In some embodiments, obtaining the desired pose of the payload can include obtaining all the desired poses of the payload before the movable platform moves according to the target positions, planning all the target positions and target poses of the movable platform based on all the desired poses and the desired position, and then controlling the movable platform to start executing the position and pose adjustment, which can achieve all the planning at one time and be more efficient.

[0336] In some embodiments, obtaining the desired pose of the payload of the movable platform can include obtaining the desired pose of the payload during the movement of the movable platform according to the desired path of the payload. This implementation can obtain the desired pose of the payload in real time, so as to be able to timely adjust the position and pose of the movable platform to achieve the purpose of accurately adjusting the pose of the payload.

[0337] In some embodiments, the desired pose is the pose that a specific part of the payload needs to reach. This embodiment takes the pose that a specific part of the payload needs to reach as the desired pose, so that when the movable platform moves to the corresponding target position and adjusts to the corresponding first target pose, the specific part of the payload can be guaranteed to be in the desired pose, so that the movable platform can meet the scene where the pose of the specific part of the payload has accurate requirements, and effectively guarantees the effect when the movable platform uses the payload to perform a task.

[0338] In some embodiments, the specific part of the load includes a center position of the load. For example, in the aerial photography scene, the desired pose of the camera in the related art is set with reference to the center position of the aircraft, but the center position of the aircraft is inconsistent with the center position of the camera, and the pose of the camera depends on the pose of the aircraft, which causes the position of the camera to change before and after the aircraft adjusts the pose, for example, as shown in the left schematic diagram of FIG. 5, the aircraft flies along the preset flight line and the camera continuously locks the object of interest, when the aircraft flies to the position on the flight line close to the object of interest, due to the deviation between the camera and the center position of the aircraft, the camera is very close to the object of interest at this time, which causes the size of the object of interest photographed by the camera to change greatly, resulting in poor aerial photography effect. Compared with setting the desired pose with reference to the center position of the aircraft, the embodiment sets the desired pose with reference to the center position of the camera, changes the position and pose of the aircraft, so that the pose of the camera is in the desired pose and keeps the desired position, thereby ensuring the aerial photography effect. For example, as shown in the right schematic diagram of FIG. 5, the camera is used as the reference to move along the preset flight line, the flight line of the aircraft is adjusted to realize that the camera is always on the preset flight line, so that when the camera moves to the position on the flight line close to the object of interest, it is still consistent with the actual situation.

[0339] In some embodiments, the specific part of the load includes an end position of the load. For example, in the scene where the material needs to be grabbed, the desired pose of the grabbing load is set with reference to the center position of the movable platform, but the center position of the movable platform is inconsistent with the end position of the grabbing load, and the pose of the grabbing load depends on the pose of the aircraft, which causes the position of the end position of the grabbing load to change before and after the movable platform adjusts the pose, resulting in that the grabbing load cannot accurately grab the object to be grabbed, the grabbing effect is poor, and the grabbing efficiency is affected. Compared with setting the desired pose of the grabbing load with reference to the center position of the movable platform, the embodiment sets the desired pose with reference to the end position of the grabbing load, changes the position and pose of the movable platform, so that the pose of the grabbing load is in the desired pose and keeps the desired position, thereby accurately grabbing the object to be grabbed, improving the grabbing effect and the grabbing efficiency.

[0340] In some embodiments, determining the target position and the first target pose of the movable platform according to the desired pose can include: determining the target position of the movable platform according to the desired pose and a first target parameter, the first target parameter being used to represent a relative position relationship between the movable platform and the load; and determining the first target pose of the movable platform according to the desired pose and a second target parameter, the second target parameter being used to represent a relative pose relationship between the movable platform and the load. The relative position relationship between the movable platform and the load can be a fixed position relationship.

[0341] In some embodiments, the reference for adjusting the current posture of the movable platform is a load reference. The load reference includes a specific part of the load, for example, a center position of the load.

[0342] In some embodiments, before step S211, the method further includes: in response to a preset condition being met, configuring the reference for adjusting the current posture of the movable platform as a load reference. This embodiment configures the reference for adjusting the current posture of the movable platform as a load reference, so that the expected posture of the load is more accurate, and the posture of the load can be more accurately controlled compared with the case where the movable platform is used as the reference.

[0343] In some embodiments, the preset condition being met includes: receiving a mode selection instruction input by a user, the mode selection instruction being used to indicate that the reference for adjusting the current posture of the movable platform is configured as a load reference. For example, in response to receiving the mode selection instruction input by the user, the reference for adjusting the current posture of the movable platform is configured as a load reference. This embodiment facilitates the user to manually configure the reference for adjusting the current posture of the movable platform as a load reference.

[0344] In some embodiments, the preset condition being met includes: a task type of a task to be performed by the movable platform is a preset task type; or, it is detected that a current working environment of the movable platform meets a preset working environment.

[0345] In some embodiments, before step S211, the method further includes: obtaining the reference for adjusting the current posture of the movable platform, where the reference for adjusting the current posture of the movable platform includes a movable platform reference or a load reference; in the case where the reference for adjusting the current posture of the movable platform is a load reference, performing step S211 to obtain the expected posture of the load of the movable platform; in the case where the reference for adjusting the current posture of the movable platform is a movable platform reference, obtaining the expected posture of the movable platform. This embodiment adaptively obtains the expected posture of the load or the expected posture of the movable platform based on the reference for adjusting the current posture of the movable platform, so that the movable platform can meet the application requirements of various task scenarios, and the application range of the movable platform is improved.

[0346] It should be noted that, in the case of no conflict, the parts not mentioned in the embodiment can refer to the relevant explanations and descriptions of the aforementioned embodiments of FIG. 1, FIG. 8-FIG. 10, which will not be repeated here.

[0347] Please refer to FIG. 12, which is a step schematic flowchart of another control method of a movable platform provided by an embodiment of the present application. The control method is applied to a movable platform.

[0348] As shown in FIG. 12, the control method comprises steps S221 to S222.

[0349] In step S221, task data is acquired, the task data comprising a target position of the movable platform and a first target attitude, wherein the target position and the first target attitude are determined based on at least an expected attitude of a load of the movable platform.

[0350] In this embodiment, the task data can be acquired from a terminal device, or from an external memory card, or downloaded from a cloud.

[0351] In step S222, the movable platform is cooperatively controlled to move to the target position and the movable platform is controlled to adjust to the first target attitude so that the load adjusts to the expected attitude, wherein the position of the movable platform is not consistent with the position of the load.

[0352] In this embodiment, the task data comprising the target position of the movable platform and the first target attitude is acquired, and since the target position and the first target attitude are determined based on at least the expected attitude of the load of the movable platform, the load can be adjusted to the expected attitude by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude, thereby achieving precise control of the attitude of the load, so that the movable platform can meet scenarios with precise requirements for the attitude of the load, and the effect of the load performing a task is ensured.

[0353] In some embodiments, the load can reach an expected position when adjusting to the expected attitude, that is, the load can reach the expected position while adjusting to the expected attitude by cooperatively controlling the movable platform to move to the target position and the first target attitude. In this embodiment, the target position and the first target attitude of the movable platform are adjusted based on the load as a reference, so that the load can reach the expected position while adjusting to the expected attitude, thereby achieving adjustment of the attitude of the load without affecting the position of the load, so that the movable platform can meet scenarios with precise requirements for the position of the load, and the effect of the load performing a task is ensured.

[0354] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the movable platform provided in this embodiment can refer to the corresponding process in the foregoing task planning method embodiment shown in FIG. 11, which will not be described here again.

[0355] Please refer to FIG. 13, which is a step schematic flow chart of another control method of a movable platform provided in an embodiment of the present application. The control method is applied to a movable platform.

[0356] As shown in FIG. 13, the control method comprises steps S231 to S232.

[0357] In step S231, a desired pose of the load of the movable platform is acquired.

[0358] In this embodiment, the desired pose of the load of the movable platform can be sent to the movable platform by a terminal device in communication connection with the movable platform. For example, the movable platform receives the desired pose of the load sent by the terminal device. The desired pose of the load of the movable platform can also be downloaded from an external memory card or a cloud server.

[0359] In step S232, the movable platform is controlled to move to a target position and the movable platform is controlled to adjust to a first target pose so as to adjust the load to the desired pose, wherein the target position and the first target pose are determined based on at least the desired pose, and the position of the movable platform is not consistent with the position of the load.

[0360] This embodiment acquires the desired pose and controls the movable platform to move to the target position and the movable platform to adjust to the first target pose so as to adjust the load to the desired pose, thereby realizing accurate control of the pose of the load, enabling the movable platform to meet scenarios with accurate requirements on the pose of the load and effectively ensuring the effect of the load performing a task.

[0361] In some embodiments, the load can reach a desired position when adjusting to the desired pose, that is, the movable platform is controlled to move to the target position and the first target pose, so as to enable the load to adjust to the desired pose while reaching the desired position. This embodiment adjusts the target position and the first target pose of the movable platform with reference to the load, so as to enable the load to adjust to the desired pose while reaching the desired position, thereby realizing adjustment of the pose of the load without affecting the position of the load, enabling the movable platform to meet scenarios with accurate requirements on the position of the load and ensuring the effect of the load performing a task.

[0362] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the movable platform provided in this embodiment can refer to the corresponding process in the aforementioned task planning method embodiment shown in FIG. 11, which will not be described here again.

[0363] Please refer to FIG. 14, which is a step schematic flow chart of another control method of a movable platform provided in an embodiment of the present application. The control method is applied to a planning device.

[0364] As shown in FIG. 14, the control method comprises steps S241 to S242.

[0365] Step S241, obtaining a parameter related to the expected pose of the load of the movable platform.

[0366] In this embodiment, the parameter related to the expected pose of the load of the movable platform can include the expected pose of the load of the movable platform or an object of interest. For example, the object of interest is an interest object, and the expected pose of the camera can be determined through the position of the interest object, so that the position and pose of the movable platform can be adjusted to make the camera in the expected pose, thereby enabling the camera to accurately capture the interest object.

[0367] Step S242, sending the parameter related to the expected pose to the movable platform, and the load adjusting to the expected pose is achieved by cooperatively controlling the movable platform to move to a target position and adjust to a first target pose, wherein the target position and the first target pose are determined based on at least the expected pose, and the position of the movable platform is inconsistent with the position of the load.

[0368] This embodiment cooperatively controls the movable platform to move to a target position and adjust to a first target pose to make the load adjust to the expected pose by sending the parameter related to the expected pose of the load to the movable platform, thereby achieving accurate control of the pose of the load, enabling the movable platform to meet scenarios with accurate requirements for the pose of the load, and effectively ensuring the effect of the load performing a task.

[0369] In some embodiments, the load can reach an expected position when adjusting to the expected pose, that is, the load can adjust to the expected pose while reaching the expected position by cooperatively controlling the movable platform to move to a target position and a first target pose. This embodiment adjusts the target position and the first target pose of the movable platform with the load as a reference, so that the load can adjust to the expected pose while reaching the expected position, thereby achieving adjustment of the pose of the load without affecting the position of the load, enabling the movable platform to meet scenarios with accurate requirements for the position of the load, and ensuring the effect of the load performing a task.

[0370] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the movable platform provided in this embodiment can refer to the corresponding process in the foregoing task planning method embodiment shown in FIG. 11, which will not be described here.

[0371] In some embodiments, the load described in the method embodiments corresponding to FIG. 11-FIG. 14 can be replaced by a preset part. In the embodiments of the present application, the expected pose mentioned in the method embodiments corresponding to FIG. 11-FIG. 14 is the pose that the preset part needs to reach, and the expected position is the position that the preset part needs to reach. In the embodiments of the present application, the preset part can be a load of the movable platform or a part between the body of the movable platform and the load. In the case of no conflict, the remaining parts not mentioned can refer to the related description of the method embodiments corresponding to FIG. 11-FIG. 14, which will not be repeated here.

[0372] In the embodiments of the present application, the part between the body of the movable platform and the load can include a mechanical arm or a gimbal. For example, the load includes a camera, and the part between the body of the movable platform and the camera is a gimbal. For another example, the load includes a gripper, and the part between the body of the movable platform and the gripper is a mechanical arm. For another example, the load is a gimbal camera, and the part between the movable platform and the gimbal camera can be a mechanical arm. It should be noted that the part between the body of the movable platform and the load can be a part in a three-dimensional space region between the body of the movable platform and the load.

[0373] In the embodiments of the present application, the expected pose of the preset part of the movable platform is obtained, and the position and the pose of the movable platform are adjusted with the preset part as a reference datum to adjust the pose of the preset part. That is, the pose adjustment of the preset part needs to control the movable platform to move to a target position and control the movable platform to adjust to a first target pose, so as to realize the accurate control of the pose of the preset part. The movable platform can meet the scene with accurate requirements for the pose of the preset part, and the effect of the preset part when performing a task is ensured.

[0374] Please refer to FIG. 15, which is a step schematic flow chart of another task planning method provided by the embodiments of the present application. The task planning method is applied to a planning device.

[0375] As shown in FIG. 15, the task planning method includes steps S311-S313.

[0376] In step S311, an expected pose of a load of a movable platform is obtained.

[0377] In step S312, a target position of the movable platform and a second target pose of a pose-adjustable mechanism are determined according to the expected pose, wherein the pose-adjustable mechanism is a connecting mechanism between the body of the movable platform and the load.

[0378] In step S313, the task data is output, the task data includes the target position and the second target attitude, and the load adjusting to the expected attitude is achieved by cooperatively controlling the movable platform to move to the target position and controlling the attitude adjustable mechanism to adjust to the second target attitude, wherein the position of the movable platform is not consistent with the position of the load.

[0379] In the related art, if it is necessary to adjust the attitude of the load, the attitude of the movable platform can be adjusted to achieve the adjustment of the attitude of the load. In the embodiments of the present application, another attitude adjustment mode of the load is provided, that is, the attitude adjustment of the load needs to cooperatively control the movable platform to move to the target position and control the attitude adjustable mechanism of the movable platform to adjust to the second target attitude, so as to achieve the accurate control of the attitude of the load, so that the movable platform can meet the scene with accurate requirements for the attitude of the load, and ensure the effect when the load performs a task.

[0380] In the related art, the attitude adjustment of the load on the movable platform depends on the attitude adjustment of the movable platform. For example, if it is necessary to adjust the attitude of the gimbal camera, the attitude of the movable platform is adjusted to achieve the adjustment of the attitude of the gimbal camera. Since the position of the movable platform is not consistent with the position of the load, the position of the load will deviate before and after the attitude adjustment of the movable platform when the attitude of the movable platform is adjusted based on the center position of the movable platform as a reference, which cannot meet the scene with accurate requirements for the position of the load. For example, as shown in the left schematic diagram of FIG. 5, the aircraft flies along a preset route and the camera continuously locks the interesting object. When the aircraft flies to the position close to the interesting object on the route, since there is a deviation between the camera and the center position of the aircraft, the camera is very close to the interesting object at this time, which causes the size of the interesting object in the camera to change greatly, resulting in a poor aerial photography effect.

[0381] In the embodiments of the present application, the load adjusting to the expected attitude can reach the expected position, that is, the cooperative control of the movable platform moving to the target position and the attitude adjustable mechanism adjusting to the second target attitude can achieve the load adjusting to the expected attitude while reaching the expected position. In the embodiments, the movable platform is adjusted to move to the target position and the attitude adjustable mechanism is adjusted to move to the second target attitude based on the load as a reference, so that the load adjusting to the expected attitude can reach the expected position at the same time, thereby achieving the attitude adjustment of the load without affecting the position of the load, so that the movable platform can meet the scene with accurate requirements for the position of the load, and ensure the effect when the load performs a task.

[0382] In some embodiments, the target position is determined according to the expected attitude and a first target parameter. The first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0383] In some embodiments, the task data further comprises a first target pose of the movable platform, and the adjusting of the load to the desired pose is achieved by cooperatively controlling the movable platform to move to the target position and adjust to the first target pose, and controlling the pose-adjustable mechanism to adjust to the second target pose, the first target pose being determined according to the desired pose.

[0384] In some embodiments, the target position of the movable platform, the first target pose of the movable platform, and the second target pose of the pose-adjustable mechanism are determined according to at least the desired pose of the load.

[0385] In some embodiments, the task planning method comprises: obtaining a desired position of a load of a movable platform; obtaining a desired pose of the load of the movable platform; determining a target position of the movable platform and a second target pose of a pose-adjustable mechanism according to at least the desired pose and the desired position; and outputting task data, the task data comprising the target position and the second target pose, the adjusting of the load to the desired pose being achieved by cooperatively controlling the movable platform to move to the target position and controlling the pose-adjustable mechanism to adjust to the second target pose, and the load being at the desired position when the load is adjusted to the desired pose. This embodiment can avoid the deviation between the actual position of the load and the desired position caused by adjusting the pose of the load, and achieve accurate control of the position and pose of the load.

[0386] For example, as shown in FIG. 16, the desired pose and the desired position of the load are input into a task planning device or a control device of the movable platform, the target position of the movable platform and the second target pose of the pose-adjustable mechanism are output by the task planning device or the control device of the movable platform based on the desired pose and the desired position of the load, and task data is output.

[0387] In some embodiments, the target position is determined according to at least the desired pose and the desired position.

[0388] In some embodiments, the target position is determined according to the desired position, the desired pose, and a first target parameter, the first target parameter being used to represent the relative position relationship between the movable platform and the load.

[0389] In some embodiments, determining the target position of the movable platform and the second target pose of the pose-adjustable mechanism according to at least the desired pose and the desired position can comprise: determining the target position of the movable platform, the first target pose of the movable platform, and the second target pose of the pose-adjustable mechanism according to at least the desired pose and the desired position, wherein the load being at the desired pose when the load is adjusted to the desired position is achieved by cooperatively controlling the movable platform to move to the target position and adjust to the first target pose, and controlling the pose-adjustable mechanism to adjust to the second target pose.

[0390] In some embodiments, the target position, the first target pose, and the second target pose are determined at least according to the expected pose and the expected position.

[0391] It should be noted that the detailed description of the expected position of the load in the embodiment can refer to the corresponding embodiment in the foregoing task planning method for reference, and will not be described here. The parts not mentioned in the embodiments of the present application can refer to the related description of the embodiments in the task planning method shown in FIG. 1 or FIG. 11.

[0392] Please refer to FIG. 17, which is a step schematic flow chart of another control method of a movable platform provided by the embodiments of the present application. The control method is applied to a movable platform.

[0393] As shown in FIG. 17, the control method comprises steps S321 to S322.

[0394] Step S321, obtaining task data, the task data comprising a target position of the movable platform and a second target pose of a pose adjustable mechanism, wherein the pose adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and the target position and the second target pose are determined at least based on an expected pose of the load of the movable platform.

[0395] In the embodiment, obtaining the task data can comprise obtaining the task data sent by the terminal device. Or obtaining the task data from the external storage card. Or downloading the task data from the cloud.

[0396] Step S322, cooperatively controlling the movable platform to move to the target position and controlling the pose adjustable mechanism to adjust to the second target pose so as to make the load adjust to the expected pose, wherein the position of the movable platform is not consistent with the position of the load.

[0397] The embodiment obtains the task data comprising the target position of the movable platform and the second target pose of the pose adjustable mechanism. Since the target position and the second target pose are determined at least based on the expected pose of the load of the movable platform, by cooperatively controlling the movable platform to move to the target position and controlling the pose adjustable mechanism to adjust to the second target pose, the load can be adjusted to the expected pose, thereby realizing the accurate control of the pose of the load, making the movable platform meet the scene with accurate requirements for the pose of the load, and ensuring the effect when the load performs the task.

[0398] In the embodiment of the present application, the load can reach the desired position when the load is adjusted to the desired posture, that is, the movable platform is controlled to move to the target position and the posture adjustable mechanism is controlled to adjust to the second target posture, so that the load is adjusted to the desired posture and can reach the desired position. In this embodiment, the target position of the movable platform and the posture of the posture adjustable mechanism are adjusted with the load as the reference, so that the load can be adjusted to the desired posture while reaching the desired position, thereby realizing the adjustment of the load posture without affecting the position of the load, so that the movable platform can meet the scene with accurate requirements for the position of the load, and ensure the effect when the load performs a task.

[0399] In some embodiments, the control of the movable platform to move to the target position and the control of the posture adjustable mechanism to adjust to the second target posture so that the load is adjusted to the desired posture can include: the control of the movable platform to move to the target position and adjust to the first target posture and the control of the posture adjustable mechanism to adjust to the second target posture so that the load is adjusted to the desired posture. The first target posture is determined according to the desired posture.

[0400] In some embodiments, the control of the movable platform to move to the target position and the control of the posture adjustable mechanism to adjust to the second target posture so that the load is adjusted to the desired posture can include: the control of the movable platform to move to the target position and adjust to the first target posture and the control of the posture adjustable mechanism to adjust to the second target posture so that the load is adjusted to the desired posture. The first target posture is determined according to the desired posture.

[0401] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the movable platform provided in the embodiment can refer to the corresponding process in the foregoing task planning method embodiments of FIG. 1, FIG. 11 or FIG. 15, which will not be described here.

[0402] Please refer to FIG. 18, which is a step schematic flow chart of another control method of a movable platform provided in an embodiment of the present application. The control method is applied to a movable platform.

[0403] As shown in FIG. 18, the control method includes steps S331 to S332.

[0404] Step S331, obtaining a desired posture of a load of the movable platform.

[0405] In this embodiment, the desired pose of the load of the movable platform can be sent to the movable platform by a terminal device in communication connection with the movable platform. For example, the movable platform receives the desired pose of the load sent by the terminal device. The desired pose of the load can also be downloaded by the movable platform from an external memory and a cloud server.

[0406] In step S332, the movable platform is cooperatively controlled to move to a target position and the pose-adjustable mechanism is controlled to adjust to a second target pose so that the load adjusts to the desired pose, wherein the pose-adjustable mechanism is a connecting mechanism between the main body of the movable platform and the load, the target position and the second target pose are determined based on at least the desired pose, and the position of the movable platform is not consistent with the position of the load.

[0407] In this embodiment, the desired pose of the load is obtained, and the movable platform is cooperatively controlled to move to a target position and the pose-adjustable mechanism is controlled to adjust to a second target pose so that the load adjusts to the desired pose, thereby realizing accurate control of the pose of the load, enabling the movable platform to meet scenarios with accurate requirements for the pose of the load, and effectively ensuring the effect of the movable platform performing a task.

[0408] In the embodiments of the present application, the load adjusts to the desired pose to reach the desired position, that is, through cooperative control of the movable platform moving to a target position and the pose-adjustable mechanism adjusting to a second target pose, the load can adjust to the desired pose while reaching the desired position. In this embodiment, the target position of the movable platform and the pose of the pose-adjustable mechanism are adjusted based on the load as a reference datum, so that the load adjusts to the desired pose while reaching the desired position, thereby realizing adjustment of the pose of the load without affecting the position of the load, enabling the movable platform to meet scenarios with accurate requirements for the position of the load, and ensuring the effect of the load performing a task.

[0409] In some embodiments, the control method further includes: obtaining a desired position of the load of the movable platform; and cooperatively controlling the movable platform to move to a target position and the pose-adjustable mechanism to adjust to a second target pose so that the load moves to the desired position while being in the desired pose, wherein the target position is determined based on at least the desired pose and the desired position, and the second target pose is determined based on at least the desired pose. This embodiment can avoid deviation between the actual position of the load and the desired position caused by adjusting the pose of the load, and realizes accurate control of the position and the pose of the load.

[0410] In some embodiments, the target position is determined according to the desired position, the desired pose, and a first target parameter, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0411] In some embodiments, the method for controlling the movable platform to move to the target position and control the posture adjustable mechanism to adjust to the second target posture so that the load adjusts to the expected posture can comprise: controlling the movable platform to move to the target position and adjust to the first target posture, and controlling the posture adjustable mechanism to adjust to the second target posture so that the load adjusts to the expected posture. The first target posture and the second target posture are determined according to the expected posture. In this embodiment, the position and posture of the movable platform and the posture of the posture adjustable mechanism are adjusted with the load as a reference, so that the load adjusts to the expected posture while reaching the expected position, thereby achieving the adjustment of the load posture without affecting the position of the load, so that the movable platform can meet the scene with accurate requirements for the position of the load, and ensure the effect of the load when performing a task.

[0412] It should be noted that the specific implementation process of the method for controlling the movable platform provided in this embodiment can refer to the corresponding process in the aforementioned task planning method embodiments of FIG. 1, FIG. 11 or FIG. 15, which will not be described here again.

[0413] Please refer to FIG. 19, which is a step schematic flow chart of another method for controlling a movable platform provided in an embodiment of the present application. The control method is applied to a planning device.

[0414] As shown in FIG. 19, the control method comprises steps S341 to S342.

[0415] Step S341, obtaining parameters related to the expected posture of the load of the movable platform.

[0416] In this embodiment, the parameters related to the expected posture of the load of the movable platform can comprise the expected posture of the load of the movable platform or an object of interest. For example, the object of interest is an interest object, and the expected posture of the camera can be determined through the position of the interest object, so that the position and posture of the movable platform can be adjusted to make the camera in the expected posture, thereby enabling the camera to accurately shoot the interest object.

[0417] Step S342, sending the parameters related to the expected posture to the movable platform, and the load adjusts to the expected posture by controlling the movable platform to move to the target position and controlling the posture adjustable mechanism to adjust to the second target posture, wherein the posture adjustable mechanism is a connecting mechanism between the main body of the movable platform and the load, the target position and the second target posture are determined based on at least the expected posture, and the position of the movable platform is not consistent with the position of the load.

[0418] The embodiment achieves accurate control of the attitude of the load by sending parameters related to the expected attitude to the movable platform to cooperatively control the movable platform to move to the target position and control the attitude-adjustable mechanism to adjust to the second target attitude so that the load adjusts to the expected attitude, so that the movable platform can meet scenarios with accurate requirements for the attitude of the load, and effectively ensures the effect of the movable platform in performing tasks.

[0419] In some embodiments, the control method further includes: obtaining an expected position of the load of the movable platform; and sending the expected position to the movable platform, wherein the load is in the expected attitude when moving to the expected position is achieved by cooperatively controlling the movable platform to move to the target position and controlling the attitude-adjustable mechanism to adjust to the second target attitude. The embodiment can avoid deviation between the actual position of the load and the expected position caused by adjusting the attitude of the load, and achieve accurate control of the position and attitude of the load.

[0420] It should be noted that the specific implementation process of the control method of the movable platform provided in the embodiment can refer to the corresponding process in the task planning method embodiments shown in FIG. 1, FIG. 15, or FIG. 23, which will not be described here.

[0421] In some embodiments, the load described in the method embodiments corresponding to FIG. 15, FIG. 17-FIG. 19 can be replaced by a preset part. In the embodiments of the present application, the expected attitude mentioned in the method embodiments corresponding to FIG. 15, FIG. 17-FIG. 19 is the attitude that the preset part needs to reach, and the expected position is the position that the preset part needs to reach. The preset part can be the load of the movable platform or the part between the main body and the load of the movable platform. In the case of no conflict, the remaining parts not mentioned can refer to the related description of the method embodiments corresponding to FIG. 15, FIG. 17-FIG. 19, which will not be described here.

[0422] In the embodiment, the part between the main body and the load of the movable platform can include a mechanical arm or a gimbal. For example, the load includes a camera, and the part between the main body and the camera of the movable platform is a gimbal. For another example, the load includes a gripper, and the part between the main body and the gripper of the movable platform is a mechanical arm. For another example, the load is a gimbal camera, and the part between the movable platform and the gimbal camera can be a mechanical arm. It should be noted that the part between the main body and the load of the movable platform can be a part in the three-dimensional space between the main body and the load of the movable platform.

[0423] The embodiment adjusts the position and posture of the movable platform by taking the expected posture of the preset position of the movable platform and taking the preset position as a reference datum, and adjusts the posture of the preset position, that is, the posture adjustment of the preset position is realized by controlling the movable platform to move to a target position and controlling the posture adjustable mechanism of the movable platform to adjust to a second target posture, so that the posture of the preset position is accurately controlled, and the movable platform can meet the scene with accurate requirements on the posture of the preset position, and the effect of the preset position in performing a task is ensured.

[0424] Please refer to FIG. 20, which is a step schematic flowchart of another control method of a movable platform provided by the embodiment of the application. The control method can be applied to a terminal device, a server or a movable platform.

[0425] As shown in FIG. 20, the control method comprises steps S411 to S412.

[0426] In step S411, a target path of the movable platform is acquired, the target path is determined according to an expected path of a load of the movable platform, the expected path comprises one or more expected positions, and the target path is different from the expected path.

[0427] In step S412, the movable platform is controlled to move according to the target path so that the load moves according to the expected path, wherein the target path is offset from the expected path by a target distance, and the target distance is related to a relative position relationship between the movable platform and the load.

[0428] The embodiment controls the movable platform to move according to the target path determined based on the expected path of the load, so that the load moves according to the expected path, which ensures the consistency between the moving path of the load and the expected path, thereby achieving the purpose of position adjustment with the load as a reference datum to achieve accurate control of the position of the load, so that the movable platform can meet the scene with accurate requirements on the position of the load, and effectively ensure the effect of the load in performing a task.

[0429] It should be noted that the control method of the movable platform provided by the embodiment of the application can be applied to a terminal device, a server or a movable platform. For example, the terminal device acquires an expected path of a load, generates a target path of a movable platform according to the expected path, and sends the target path to the movable platform to control the movable platform to move according to the target path so that the load moves according to the expected path. For another example, the movable platform acquires an expected path of a load, generates a target path of the movable platform according to the expected path, and then moves according to the generated target path so that the load moves according to the expected path. For another example, the movable platform acquires a target path of the movable platform sent by a terminal device, and then moves according to the generated target path so that the load moves according to the expected path.

[0430] In this embodiment, the desired path of the load can be a preset path, for example, the desired path of the load can be manually set by a user or autonomously planned by the system based on the identified content. The load of the movable platform can include a shooting load or a working load. The shooting load can include a camera (for example, a single camera or a camera with a gimbal), and the working load can include a radar, a spraying mechanism, a sowing mechanism, a material conveying mechanism, a material dispensing mechanism or a gripper. The desired path of the load can be input by a joystick of a remote controller, or by setting the posture of a somatosensory remote controller, or by an interface. For example, the desired path of the load can be a path determined by a plurality of discrete positions input by a user, or a path determined by a plurality of positions that the load needs to reach which are autonomously identified by the system, for example, the system can identify a plurality of positions (for example, the core position of a tree) where the load needs to perform a task in a map displayed on the interface.

[0431] In some embodiments, the desired position is a position where the target object is located, and the load is used to perform a working task on the target object at the desired position. For example, the target object includes crops or objects to be grasped.

[0432] In some embodiments, the desired position is a position where a specific part of the crop is located. For example, the crop includes a fruit tree (such as a palm tree), and the specific part of the crop is the core position of the fruit tree.

[0433] In some embodiments, the desired position is a position that a specific part of the load of the movable platform needs to reach. For example, the desired position is a horizontal position and / or a vertical position that a specific part of the load needs to reach. For example, the specific part of the load includes a central position or an end position of the load.

[0434] In some embodiments, the target path is different from the desired path can include that the target path and the desired path include different positions. Or the trajectory shape of the target path is different from the trajectory shape of the desired path. Wherein the target path and the desired path include different positions include that the plurality of positions included in the target path are completely different from the plurality of positions included in the desired path or the target path and the desired path are at least partially parallel to each other. The trajectory shape of the target path is different from the trajectory shape of the desired path includes that the trajectory of the target path is a curve and the trajectory of the desired path is a straight line, for example, as shown on the right side of FIG. 5, the aircraft moves along the curve so that the camera can move along the straight line and continuously lock the target object of interest.

[0435] In some embodiments, the moving direction of the load when moving along the plurality of desired positions is consistent with the target direction.

[0436] In some embodiments, the target direction is the current head direction of the movable platform.

[0437] In some embodiments, the target direction is decoupled from the current head direction of the movable platform, i.e. the target direction does not change with the current head direction of the movable platform.

[0438] In some embodiments, the target direction is related to the direction of the line connecting the current position of the movable platform and a preset position. The preset position is a home position of the movable platform.

[0439] In some embodiments, the target direction is a pre-set default direction. Or the target direction is the current head direction of the movable platform when entering a preset lock mode. The preset lock mode includes a heading lock mode.

[0440] In some embodiments, the target path includes a target position corresponding to each desired position included in the desired path, the target position being determined according to the desired position of the load and the relative position relationship between the movable platform and the load.

[0441] In some embodiments, obtaining the target path of the movable platform can include: obtaining a desired path of a load of the movable platform; and adjusting the desired path of the load of the movable platform according to the relative position relationship between the movable platform and the load to obtain the target path of the movable platform.

[0442] In some embodiments, the relative position relationship between the movable platform and the load can include a relative distance and / or a relative orientation between the movable platform and the load.

[0443] In some embodiments, the relative position relationship between the movable platform and the load includes a relative distance and / or a relative orientation between a specific part of the movable platform and a specific part of the load. The specific part of the movable platform includes a center position of the movable platform, and / or the specific part of the load includes a center position of the load. Or the specific part of the movable platform includes a center position of the movable platform, and / or the specific part of the load includes an end position of the load.

[0444] In some embodiments, the relative position relationship between the movable platform and the load can include a relative distance and / or a relative orientation between a first projection of the movable platform on a reference surface and a second projection of the load on the reference surface, wherein the reference surface includes a horizontal surface and / or a vertical surface.

[0445] In some embodiments, the relative positional relationship between the movable platform and the load comprises a relative distance and / or a relative orientation between a first projection of a specific part of the movable platform on the reference surface and a second projection of a specific part of the load on the reference surface. The specific part of the movable platform comprises a center position of the movable platform, and / or the specific part of the load comprises a center position of the load. Alternatively, the specific part of the movable platform comprises a center position of the movable platform, and / or the specific part of the load comprises an end position of the load.

[0446] In some embodiments, the relative positional relationship between the movable platform and the load comprises an attitude and / or a length of the attitude-adjustable mechanism between a main body of the movable platform and the load. The relative positional relationship between the movable platform and the load can be adjusted based on the attitude-adjustable mechanism between the main body of the movable platform and the load.

[0447] In some embodiments, the relative positional relationship between the movable platform and the load comprises a projection of an attitude and / or a length of the attitude-adjustable mechanism between the movable platform and the load on the reference surface.

[0448] In some embodiments, the load continuously performs a task during movement of the load along the desired path. Alternatively, the load performs a task when the load is at a desired position and suspends the task when the load is at a non-desired position during movement of the load along the desired path.

[0449] In some embodiments, the load performs a task using preset task parameters when the load is at a desired position. The preset task parameters comprise at least one of a shooting parameter, a grabbing action, a working range, a working intensity, or a working duration. For example, the task performed comprises shooting, and the preset task parameters comprise a shooting parameter. For another example, the task performed comprises grabbing, and the preset task parameters comprise a grabbing action. For another example, the task performed comprises sowing, and the preset task parameters comprise at least one of a sowing range, a sowing intensity, or a sowing duration. For another example, the task performed comprises spraying, and the preset task parameters comprise at least one of a spraying range, a spraying pressure, or a spraying duration.

[0450] In some embodiments, the spraying range is related to whether the movable platform turns on or off the atomization function of the centrifugal motor. The movable platform turns off the atomization function of the centrifugal motor when the load is at a desired position. The spraying range of the load when the movable platform turns on the atomization function of the centrifugal motor is greater than the spraying range of the load when the movable platform turns off the atomization function of the centrifugal motor.

[0451] In some embodiments, the load performing the task at the desired location is a target load among the plurality of loads included by the movable platform during movement of the load along the desired path. The target load is a load selected by a user from the plurality of loads included by the movable platform or the target load is any one of the plurality of loads included by the movable platform as a default setting.

[0452] In some embodiments, the movable platform uses the same target load to perform the task at each of the desired locations in the desired path during movement of the load along the desired path.

[0453] In some embodiments, the desired path includes a plurality of desired locations on a first route and a plurality of desired locations on a second route, the second route is consecutive to the first route but the second route is not collinear with the first route, and the movable platform uses the same target load to perform the task at the plurality of desired locations on the first route and the plurality of desired locations on the second route during movement of the load along the desired path.

[0454] In some embodiments, the movable platform uses different target loads to perform the task at each of the desired locations in the desired path during movement of the load along the desired path. The movable platform uses different target loads to perform the task at each of the desired locations in the desired path includes that at least two of the target loads used by the movable platform to perform the task at the plurality of desired locations in the desired path are different.

[0455] In some embodiments, the desired path includes a plurality of desired locations on a first route and a plurality of desired locations on a second route, the second route is consecutive to the first route but the second route is not collinear with the first route, and the movable platform uses a first target load to perform the task at the plurality of desired locations on the first route and a second target load to perform the task at the plurality of desired locations on the second route during movement of the load along the desired path, the first target load is different from the second target load.

[0456] In some embodiments, a length of a first movement path of the movable platform is less than a length of a second movement path of the movable platform, the first movement path is a movement path corresponding to the movable platform using different target loads to perform the task at the plurality of desired locations in the desired path, and the second movement path is a movement path corresponding to the movable platform using the same target load to perform the task at the plurality of desired locations in the desired path.

[0457] In some embodiments, before step S412, the control method further comprises: obtaining an expected pose of the load on the expected path; and controlling the movable platform to move along the target path so that the load moves along the expected path comprises: controlling the movable platform to move along the target path and controlling the movable platform to adjust to a first target pose and / or controlling the pose-adjustable mechanism to adjust to a second target pose, so as to jointly cause the load to move along the expected path and adjust to the expected pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load. This embodiment not only realizes accurate control of the position of the load, but also realizes accurate control of the pose of the load, so that the pose of the load can be in the expected pose during the movement of the load along the expected path, thereby further improving the effect of the movable platform in performing a task. In addition, during the adjustment of the pose of the load, the load can be maintained on its expected path, thereby avoiding the problem that the position of the load changes due to the adjustment of the pose with the movable platform as the reference, and thereby affecting the effect of performing a task (such as shooting). The present application takes the load as the reference, adjusts the position of the movable platform and / or the pose of the movable platform and / or the pose-adjustable mechanism of the movable platform based on the expected pose and the expected position of the load, so as to jointly achieve the purpose of the load reaching the expected pose and the expected position, and achieve the purpose of accurately controlling the position and the pose of the load.

[0458] In some embodiments, the expected path comprises a plurality of expected positions, the expected poses of the load at the plurality of expected positions are all the same, all different, or not all the same. The expected poses of the load at the plurality of expected positions not all the same include that the expected poses of the load at some expected positions are the same, and the expected poses of the load at the remaining expected positions are different.

[0459] In some embodiments, the first target pose of the movable platform and / or the second target pose of the pose-adjustable mechanism are determined at least according to the expected pose of the load on the expected path.

[0460] In some embodiments, the target path comprises a plurality of target positions, the expected path comprises a plurality of expected positions, and at least one of the first target pose of the movable platform and the second target pose of the pose-adjustable mechanism is determined according to the expected pose of the load at the expected positions. The target positions of the movable platform are determined at least according to the expected positions and the expected poses of the load.

[0461] In some embodiments, the expected pose of the load is related to the position of a target object, and the target object is an object of interest of the movable platform. Alternatively, the expected pose is a pose that a specific part of the load needs to reach. For example, the specific part of the load includes a center position or an end position of the load.

[0462] In some embodiments, the desired pose of the load is outside the decoupled pose range of the load, and the decoupled pose range of the load includes poses that can be adjusted without changing the position and / or pose of the movable platform. For example, the load includes a gimbal and a camera connected to the gimbal, and the decoupled pose range of the camera includes poses that can be obtained by adjusting the gimbal directly without changing the position and / or pose of the movable platform.

[0463] In some embodiments, the desired pose of the load includes a desired yaw angle, and the decoupled pose range of the load includes a decoupled yaw angle range of the load, and the decoupled yaw angle range of the load includes yaw angles that can be adjusted without changing the position and / or pose of the movable platform. For example, the load includes a gimbal and a camera connected to the gimbal, and the decoupled yaw angle range of the camera includes yaw angles that can be obtained by adjusting the gimbal directly without changing the position and / or pose of the movable platform.

[0464] In some embodiments, the desired path of the load is planned with the load as a reference. The reference to the load includes reference to a specific part of the load, and the specific part of the load includes a center position or an end position of the load.

[0465] In some embodiments, the desired path of the load is planned with the load as a reference, and the target path is determined according to the desired path of the load and the relative position relationship between the movable platform and the load. The reference to the load includes reference to a specific part of the load, and the specific part of the load includes a center position or an end position of the load.

[0466] In some embodiments, before step S411, the control method further includes: in response to a first preset condition being met, entering a first setting mode, and in the first setting mode, the desired path is planned with the load as a reference; in response to a second preset condition being met, entering a second setting mode, and in the second setting mode, the desired path is planned with the movable platform as a reference. The first preset condition is different from the second preset condition. This embodiment determines whether to plan the desired path with the load as a reference or to plan the desired path with the movable platform as a reference by entering different setting modes under different conditions, so that the movable platform can meet the application requirements of various task scenarios, and the application range of the movable platform is improved.

[0467] In some embodiments, the first preset condition being met includes: receiving a first mode selection instruction input by a user, and the first mode selection instruction is used to indicate that the desired path is planned with the load as a reference. In the terminal device enters the task planning, the second setting mode is entered by default, and when the first mode selection instruction input by the user is received, the first setting mode is entered.

[0468] In some embodiments, the first preset condition is met when: a task type of a task to be performed by the movable platform is a preset task type; or, a current working environment of the movable platform meets a preset working environment. The preset working environment is a working environment in which a position accuracy of the load is required to be greater than or equal to a preset position accuracy. For example, the preset working environment is an environment corresponding to a shooting task, an environment corresponding to a surveying task, an environment corresponding to an inspection task, or an environment corresponding to fruit tree spraying. In this embodiment, when it is detected that the task type of the task to be performed by the movable platform is the preset task type or that the current working environment of the movable platform meets the preset working environment, the first setting mode is automatically entered, so that the set position is a reference datum of the load. In this way, the position accuracy of the load can meet the accuracy requirement of the task scenario, and the working effect is effectively ensured.

[0469] In some embodiments, the task parameters set for the movable platform in the first setting mode are the same as the task parameters set for the movable platform in the second setting mode.

[0470] In some embodiments, the task parameters set for the movable platform in the first setting mode are different from the task parameters set for the movable platform in the second setting mode. The task parameters include at least one of a working range, a working intensity, and a working duration.

[0471] In some embodiments, the working range set for the movable platform in the first setting mode is smaller than the working range set for the movable platform in the second setting mode, and the working intensity set for the movable platform in the first setting mode is greater than the working intensity set for the movable platform in the second setting mode. Alternatively, the working range set for the movable platform in the first setting mode is smaller than the working range set for the movable platform in the second setting mode, and the working duration set for the movable platform in the first setting mode is longer than the working duration set for the movable platform in the second setting mode.

[0472] It should be noted that, without conflict, the specific implementation process of the task planning method provided in this embodiment and the content not mentioned can refer to the corresponding process in the foregoing task planning method embodiments, which will not be described here.

[0473] Please refer to FIG. 21, which is a step schematic flowchart of another task planning method provided by an embodiment of the present application. The task planning method is applied to a planning device.

[0474] As shown in FIG. 21, the control method includes steps S511 to S512.

[0475] In step S511, an expected path of the load of the movable platform is obtained, and the expected path includes one or more expected positions.

[0476] In step S512, a target path of the movable platform is generated based on the expected path of the load, where the target path is different from the expected path, the offset target distance between the target path and the expected path is related to the relative position relationship between the movable platform and the load, and the load can move along the expected path when the movable platform moves along the target path.

[0477] It should be noted that the task planning method provided in this embodiment can be applied to a planning device. For example, the planning device obtains an expected path of a load input by a user through a webpage or an APP, generates a target path of a movable platform according to the expected path, and stores the target path; a terminal device downloads the target path from the planning device and sends the target path to the movable platform, and the movable platform moves along the target path to make the load move along the expected path.

[0478] In this embodiment, the expected path of the load can be a preset path, for example, the expected path of the load can be manually set by a user. The load of the movable platform can include a shooting load or a working load. The shooting load can include a camera (for example, a single camera or a camera with a gimbal), and the working load can include a radar, a spraying mechanism, a sowing mechanism, a material conveying mechanism, a material dispensing mechanism or a gripper.

[0479] In this embodiment, the expected path of the load of the movable platform is obtained, and the target path of the movable platform is generated according to the expected path, so that the load can move along the expected path when the movable platform moves along the target path, which ensures the consistency of the moving path of the load and the expected path, thereby achieving the purpose of position adjustment with the load as a reference benchmark to achieve precise control of the position of the load, so that the movable platform can meet the scene with precise requirements for the position of the load, and effectively ensure the effect of task execution of the load.

[0480] In some embodiments, obtaining the expected path of the load of the movable platform can include: obtaining input information of a user; and generating the expected path of the load of the movable platform based on the input information of the user. The input information of the user can include expected positions obtained by the user dotting or expected positions selected by the user from expected positions automatically generated by a planning device. In this embodiment, the expected path matched with the demand of the user can be generated through the input information of the user.

[0481] For example, in the fruit tree spraying scenario, the user determines a plurality of tree core positions by manually dotting, and the planning device generates the expected path of the spraying mechanism (e.g., a spray head) according to the plurality of tree core positions determined by the user dotting. Alternatively, the planning device automatically identifies a plurality of tree core positions and displays the identified tree core positions, and the user manually selects (which can be clicking or setting a field boundary for selection) part or all of the tree core positions, and then generates the expected path of the spraying mechanism according to the manually selected tree core positions.

[0482] In some embodiments, the obtaining of the expected path of the load of the movable platform can include: obtaining crop information of the region to be planned; in a case where it is determined according to the crop information that crops of a preset crop type exist in the region to be planned, planning a plurality of expected positions within the region to be planned; and generating the expected path of the load of the movable platform according to the plurality of expected positions. The preset crop type is a crop type that requires a position accuracy of the load to be greater than or equal to a preset position accuracy, and the preset crop type can be set based on actual conditions, which is not limited in the present embodiment. The present embodiment realizes the full automatic generation of the expected path of the load, and improves the efficiency of the generation of the expected path.

[0483] In some embodiments, before step S512, the control method further includes: obtaining an expected attitude of the load on the expected path; and generating the target path of the movable platform based on the expected path of the load includes: determining the target path of the movable platform based on the expected path of the load and the expected attitude of the load on the expected path, wherein the attitude adjustable mechanism is a connecting mechanism between the main body of the movable platform and the load, and when the movable platform moves according to the target path and the movable platform is adjusted to the first target attitude and / or the attitude adjustable mechanism is adjusted to the second target attitude, the load can move according to the expected path and the load is in the expected attitude. The present embodiment not only realizes the accurate control of the position of the load, but also realizes the accurate control of the attitude of the load, so that the attitude of the load can be in the expected attitude during the movement of the load according to the expected path, and the effect of the movable platform performing a task is further improved. In addition, during the attitude adjustment of the load, the load can be maintained on its expected path, avoiding the problem that the position of the load changes due to the attitude adjustment based on the movable platform as a reference, thereby affecting the effect of performing a task (such as shooting). The present application takes the load as a reference, adjusts the position of the movable platform and the attitude of the movable platform and / or the attitude adjustable mechanism of the movable platform based on the expected attitude and the expected position of the load, to achieve the purpose of the load reaching the expected attitude and the expected position, and to achieve the purpose of accurately controlling the position and attitude of the load.

[0484] It should be noted that the specific implementation process of the task planning method provided in the embodiment and the content not mentioned can refer to the corresponding process in the task planning method shown in the foregoing FIG. 20 or the control method of the movable platform in the foregoing embodiment, which will not be described here again.

[0485] It should be noted that the load mentioned in the method embodiments shown in FIGS. 20-21 can be replaced by a preset part of the movable platform, which is a part of the movable platform or between the main body of the movable platform and the load. The related description and technical effects can be replaced correspondingly, and the specific implementation and description are referred to the description in the foregoing embodiments, which will not be described here again.

[0486] Please refer to FIG. 22, which is a step schematic flow chart of another task planning method provided in the embodiment of the application. The task planning method is applied to a planning device.

[0487] As shown in FIG. 22, the control method includes steps S611-S612.

[0488] In step S611, an expected position of a load of a movable platform is acquired. The expected position is a position that the load needs to reach.

[0489] In step S612, task data is output. The task data includes at least one of a first target pose of the movable platform and a second target pose of a pose adjustable mechanism and a target position of the movable platform. The load moves to the expected position by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose and / or controlling the pose adjustable mechanism to adjust to the second target pose. At least one of the first target pose and the second target pose and the target position of the movable platform are determined according to the expected position, wherein the pose adjustable mechanism is a connecting mechanism between the main body of the movable platform and the load, and the position of the movable platform is not consistent with the position of the load.

[0490] In the embodiment, the task data including at least one of the first target pose of the movable platform and the second target pose of the pose adjustable mechanism and the target position of the movable platform is output according to the expected position of the load. Since at least one of the first target pose and the second target pose and the target position of the movable platform are determined according to the expected position, when the task is executed, the load moving to the expected position can be achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose and / or controlling the pose adjustable mechanism to adjust to the second target pose. Therefore, the precise control of the position of the load is achieved, so that the movable platform can meet the scene with accurate requirements for the position of the load, and the effect of the load performing the task is ensured.

[0491] It should be noted that the task planning method provided in the embodiments of the present application can be applied to a planning device, and the planning device can include a terminal device or a server. The terminal device can include a mobile phone, a tablet computer, a notebook computer, a personal computer, a remote controller, etc. For example, the server obtains an expected position of a load of a movable platform input by a user through a webpage or an APP, generates task data according to the expected position, and outputs the task data to a storage for storage; the terminal device downloads the task data from the server, and sends the task data to the movable platform, so that the movable platform performs a task based on the obtained task data. For another example, the terminal device obtains an expected position of a load of a movable platform, generates task data according to the expected position, and sends the task data to the movable platform, so that the movable platform performs a task according to the task data. Or the terminal device obtains an expected position of a load of a movable platform, generates task data according to the expected position, stores the task data on an external storage card, takes down the external storage card and then inserts the external storage card into the movable platform, and the movable platform reads the task data in the external storage card and performs a task according to the task data. The task planning method provided in the embodiments of the present application can also be applied to the movable platform. For example, a processor in the movable platform obtains an expected position of a load, generates and outputs task data to a controller of the movable platform according to the expected position, and the controller of the movable platform controls the movable platform to perform a task based on the obtained task data.

[0492] It should be noted that the specific implementation process of the task planning method provided in the embodiments of the present application can refer to the corresponding process in the foregoing task planning method embodiments without conflict, which will not be described here.

[0493] Please refer to FIG. 23, which is a step schematic flow chart of another control method of a movable platform provided in the embodiments of the present application. The control method is applied to a movable platform.

[0494] As shown in FIG. 23, the control method includes steps S621 to S622.

[0495] Step S621, obtaining task data, the task data including at least one of a first target attitude of the movable platform and a second target attitude of an attitude adjustable mechanism and a target position of the movable platform, the at least one of the first target attitude and the second target attitude and the target position of the movable platform being determined at least according to an expected position, wherein the expected position is a position that a load of the movable platform needs to reach, the attitude adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and the position of the movable platform is not consistent with the position of the load.

[0496] In this embodiment, the task data can be obtained in the following ways: the terminal device sends the task data; the task data is obtained from an external memory card; the task data is downloaded from the cloud; or the task data is generated according to the expected position of the load and the first target parameter.

[0497] In step S622, the movable platform is controlled to move to the target position, and the movable platform is controlled to adjust to the first target pose and / or the pose-adjustable mechanism is controlled to adjust to the second target pose, so that the load moves to the expected position.

[0498] In this embodiment, the task data includes at least one of the first target pose of the movable platform and the second target pose of the pose-adjustable mechanism, and the target position of the movable platform, and at least one of the first target pose of the movable platform and the second target pose of the pose-adjustable mechanism and the target position of the movable platform is determined according to the expected position of the load. Therefore, when performing the task, the load can be moved to the expected position by controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose and / or controlling the pose-adjustable mechanism to adjust to the second target pose, so as to realize accurate control of the position of the load, so that the movable platform can meet the scene with accurate requirements for the position of the load, and effectively ensure the effect of the load performing the task.

[0499] It should be noted that, in the case of no conflict, the specific implementation process of the control method provided in this embodiment can refer to the corresponding process in the foregoing task planning method embodiment, which will not be described here.

[0500] Please refer to FIG. 24, which is a step schematic flow chart of another control method of a movable platform provided in this embodiment. The control method is applied to a movable platform.

[0501] As shown in FIG. 24, the control method includes steps S631 to S632.

[0502] In step S631, an expected position of a load of the movable platform is obtained, the expected position being a position to which the load needs to reach.

[0503] In this embodiment, the expected position of the load of the movable platform can be sent to the movable platform by a terminal device in communication connection with the movable platform. For example, the movable platform receives the expected position of the load sent by the terminal device.

[0504] Step S632: cooperatively control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude-adjustable mechanism to adjust to a second target attitude, so that the load moves to a desired position, at least one of the first target attitude and the second target attitude and the target position of the movable platform being determined according to the desired position, the position of the movable platform being inconsistent with the position of the load.

[0505] At least one of the first target attitude and the second target attitude and the target position of the movable platform in the embodiment are determined according to the desired position, so that the load can be moved to the desired position by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude and / or controlling the attitude-adjustable mechanism to adjust to the second target attitude, thereby realizing accurate control of the position of the load and enabling the movable platform to meet scenarios with accurate requirements for the position of the load and effectively ensuring the effect of the load performing a task.

[0506] It should be noted that, in the case of no conflict, the specific implementation process of the control method provided in the embodiment can refer to the corresponding process in the foregoing task planning method embodiment, which will not be described here again.

[0507] Please refer to FIG. 25, which is a step schematic flowchart of another control method of a movable platform provided in the embodiment of the application. The control method is applied to a terminal device or a server.

[0508] As shown in FIG. 25, the control method comprises steps S641 to S642.

[0509] Step S641: obtain a desired position of a load of a movable platform, the desired position being a position that the load needs to reach.

[0510] In the embodiment, the desired position of the load of the movable platform can be sent to the movable platform by a terminal device in communication connection with the movable platform. For example, the movable platform receives the desired position of the load sent by the terminal device.

[0511] Step S642: send the desired position to the movable platform, so as to cooperatively control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude-adjustable mechanism to adjust to a second target attitude, so that the load moves to a desired position, at least one of the first target attitude and the second target attitude and the target position of the movable platform being determined according to the desired position, the position of the movable platform being inconsistent with the position of the load, the attitude-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load.

[0512] The embodiment can make the load move to the expected position by sending the expected position of the load to the movable platform, so as to realize accurate control of the position of the load, and make the movable platform meet the scene with accurate requirements on the position of the load, and effectively ensure the effect of the load in performing a task.

[0513] It should be noted that the specific implementation process of the control method provided in the embodiment can refer to the corresponding process in the foregoing task planning method embodiment, which will not be described here. The load in the foregoing FIG. 22-FIG. 25 can be replaced by a preset part of the movable platform. In addition to the load, the preset part can also be a part between the main body of the movable platform and the load, for example, a mechanical arm or a gimbal.

[0514] Please refer to FIG. 26, which is a structural schematic block diagram of a task planning device provided in an embodiment of the present application.

[0515] As shown in FIG. 26, the task planning device 110 includes a processor 111 and a memory 112, and the processor 111 and the memory 112 can be connected through a bus 113, such as an I2C (Inter-integrated Circuit) bus. The processor 111 can be one or more, and the memory 112 can be one or more.

[0516] Specifically, the processor 111 can be a microcontroller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP), etc.

[0517] Specifically, the processor 111 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a U disk or a mobile hard disk, etc.

[0518] The memory 112 is configured to store computer program instructions, and the computer program instructions, when called by the processor 111, make the processor 111 execute the following steps.

[0519] obtaining an expected position of a load of a movable platform, the expected position being a position that the load needs to reach;

[0520] output task data, the task data comprising a target position of the movable platform, the movable platform moving to the target position causing the load to move to the desired position, the target position being determined according to the desired position and a first target parameter, wherein the position of the movable platform is not consistent with the position of the load, the first target parameter being used to represent a relative positional relationship between the movable platform and the load.

[0521] In some embodiments, the memory 112 is configured to store computer program instructions, which, when invoked by the processor 111, cause the processor 111 to perform:

[0522] obtaining a desired pose of a load of a movable platform;

[0523] determining a target position of the movable platform and a first target pose of the movable platform at least according to the desired pose;

[0524] outputting task data, the task data comprising the target position and the first target pose, wherein the load adjusting to the desired pose is achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose, the position of the movable platform being not consistent with the position of the load.

[0525] In some embodiments, the memory 112 is configured to store computer program instructions, which, when invoked by the processor 111, cause the processor 111 to perform:

[0526] obtaining a desired pose of a load of a movable platform;

[0527] determining a target position of the movable platform and a second target pose of a pose-adjustable mechanism at least according to the desired pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load;

[0528] outputting task data, the task data comprising the target position and the second target pose, wherein the load adjusting to the desired pose is achieved by cooperatively controlling the movable platform to move to the target position and controlling the pose-adjustable mechanism to adjust to the second target pose, the position of the movable platform being not consistent with the position of the load.

[0529] In some embodiments, the memory 112 is configured to store computer program instructions, which, when invoked by the processor 111, cause the processor 111 to perform:

[0530] obtaining a desired path of a load of the movable platform, the desired path comprising one or more desired positions;

[0531] generating a target path of the movable platform based on the desired path of the load, wherein the target path is different from the desired path, the target path is offset from the desired path by a target distance, the target distance is related to a relative position relationship between the movable platform and the load, and the load is able to move along the desired path when the movable platform moves along the target path.

[0532] In some embodiments, the memory 112 is configured to store computer program instructions, which, when invoked by the processor 111, cause the processor 111 to perform the following operations:

[0533] obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach;

[0534] outputting task data, the task data comprising at least one of a first target pose of the movable platform and a second target pose of a pose-adjustable mechanism and a target position of the movable platform, the load moving to the desired position being achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose and / or controlling the pose-adjustable mechanism to adjust to the second target pose, at least one of the first target pose and the second target pose and the target position being determined according to the desired position, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and the position of the movable platform is not consistent with the position of the load.

[0535] It should be noted that, for the convenience and brevity of description, the specific working process of the task planning apparatus described above can refer to the corresponding process in the foregoing task planning method embodiments, which will not be described herein again.

[0536] Please refer to FIG. 27, which is a structural schematic block diagram of a control apparatus of a movable platform according to an embodiment of the present application.

[0537] As shown in FIG. 27, the control apparatus 120 of the movable platform comprises a processor 121 and a memory 122, and the processor 121 and the memory 122 are connected through a bus 123, such as an I2C (Inter-integrated Circuit) bus. The processor 121 can be one or more, and the memory 122 can be one or more.

[0538] Specifically, the processor 121 can be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0539] Specifically, the processor 121 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a U disk, or a mobile hard disk, etc.

[0540] The memory 122 is configured to store computer program instructions, and the computer program instructions, when invoked by the processor 121, cause the processor 121 to perform the following operations:

[0541] obtaining task data, the task data comprising a target position of the movable platform, wherein the target position is determined according to a desired position of a load of the movable platform and a first target parameter, the desired position being a position that the load needs to reach, the position of the movable platform being inconsistent with the position of the load, and the first target parameter being used to represent a relative position relationship between the movable platform and the load;

[0542] controlling the movable platform to move to the target position so as to cause the load to move to the desired position.

[0543] In some embodiments, the memory 122 is configured to store computer program instructions, and the computer program instructions, when invoked by the processor 121, cause the processor 121 to perform the following operations:

[0544] obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach;

[0545] controlling the movable platform to move to a target position so as to cause the load to move to the desired position, the target position being determined according to the desired position and a first target parameter, the position of the movable platform being inconsistent with the position of the load, and the first target parameter being used to represent a relative position relationship between the movable platform and the load.

[0546] In some embodiments, the memory 122 is configured to store computer program instructions, and the computer program instructions, when invoked by the processor 121, cause the processor 121 to perform the following operations:

[0547] obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach;

[0548] sending the expected position to the movable platform to move the movable platform to a target position such that the load moves to the expected position, wherein the target position is determined according to the expected position and a first target parameter, the position of the movable platform is inconsistent with the position of the load, and the first target parameter is used to represent a relative position relationship between the movable platform and the load.

[0549] In some embodiments, the memory 122 is configured to store computer program instructions, which, when invoked by the processor 121, cause the processor 121 to perform:

[0550] obtaining task data, the task data comprising a target position of a movable platform and a first target pose, wherein the target position and the first target pose are determined based at least on an expected pose of a load of the movable platform;

[0551] controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose to cause the load to adjust to the expected pose, wherein the position of the movable platform is inconsistent with the position of the load.

[0552] In some embodiments, the memory 122 is configured to store computer program instructions, which, when invoked by the processor 121, cause the processor 121 to perform:

[0553] obtaining an expected pose of a load of a movable platform;

[0554] controlling the movable platform to move to a target position and controlling the movable platform to adjust to a first target pose to cause the load to adjust to the expected pose, wherein the target position and the first target pose are determined based at least on the expected pose, and the position of the movable platform is inconsistent with the position of the load.

[0555] In some embodiments, the memory 122 is configured to store computer program instructions, which, when invoked by the processor 121, cause the processor 121 to perform:

[0556] obtaining a parameter related to an expected pose of a load of a movable platform;

[0557] sending the parameter related to the expected pose to the movable platform, and the load adjusts to the expected pose by controlling the movable platform to move to a target position and adjust to a first target pose, wherein the target position and the first target pose are determined based at least on the expected pose, and the position of the movable platform is inconsistent with the position of the load.

[0558] In some embodiments, the memory 122 is configured to store computer program instructions which, when invoked by the processor 121, cause the processor 121 to perform:

[0559] obtaining task data, the task data comprising a target position of a movable platform and a second target pose of a pose-adjustable mechanism, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and a load, and the target position and the second target pose are determined based at least on a desired pose of the load of the movable platform;

[0560] controlling the movable platform to move to the target position and controlling the pose-adjustable mechanism to adjust to the second target pose to cause the load to adjust to the desired pose, wherein a position of the movable platform is not consistent with a position of the load.

[0561] In some embodiments, the memory 122 is configured to store computer program instructions which, when invoked by the processor 121, cause the processor 121 to perform:

[0562] obtaining a desired pose of a load of a movable platform;

[0563] controlling the movable platform to move to a target position and controlling a pose-adjustable mechanism to adjust to a second target pose to cause the load to adjust to the desired pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose are determined based at least on the desired pose, and a position of the movable platform is not consistent with a position of the load.

[0564] In some embodiments, the memory 122 is configured to store computer program instructions which, when invoked by the processor 121, cause the processor 121 to perform:

[0565] obtaining a parameter related to a desired pose of a load of a movable platform;

[0566] sending the parameter related to the desired pose to the movable platform, the load adjusting to the desired pose being achieved by controlling the movable platform to move to a target position and controlling a pose-adjustable mechanism to adjust to a second target pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose are determined based at least on the desired pose, and a position of the movable platform is not consistent with a position of the load.

[0567] In some embodiments, the memory 122 is configured to store computer program instructions which, when invoked by the processor 121, cause the processor 121 to perform:

[0568] obtaining a target path of the movable platform, the target path being determined according to a desired path of a load of the movable platform, the desired path comprising one or more desired positions;

[0569] controlling the movable platform to move according to the target path so that the load moves according to the desired path, wherein the target path is offset from the desired path by a target distance, the target distance being related to a relative positional relationship between the movable platform and the load, and the target path is different from the desired path.

[0570] In some embodiments, the memory 122 is configured to store computer program instructions which, when invoked by the processor 121, cause the processor 121 to perform:

[0571] obtaining task data, the task data comprising at least one of a first target attitude of the movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform, the at least one of the first target attitude and the second target attitude and the target position being determined at least according to a desired position, wherein the desired position is a position to which a load of the movable platform needs to arrive, the attitude-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, and a position of the movable platform is not identical to a position of the load;

[0572] controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude and / or controlling the attitude-adjustable mechanism to adjust to the second target attitude so that the load moves to the desired position.

[0573] In some embodiments, the memory 122 is configured to store computer program instructions which, when invoked by the processor 121, cause the processor 121 to perform:

[0574] obtaining a desired position of a load of the movable platform, the desired position being a position to which the load needs to arrive;

[0575] controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude and / or controlling the attitude-adjustable mechanism to adjust to the second target attitude so that the load moves to the desired position, the at least one of the first target attitude and the second target attitude and the target position being determined at least according to the desired position, the attitude-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, and a position of the movable platform is not identical to a position of the load.

[0576] In some embodiments, the memory 122 is configured to store computer program instructions, which, when invoked by the processor 121, cause the processor 121 to perform the following operations:

[0577] obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach;

[0578] sending the desired position to the movable platform, so as to control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude-adjustable mechanism to adjust to a second target attitude, so that the load moves to the desired position, wherein at least one of the first target attitude and the second target attitude and the target position are determined according to the desired position, the attitude-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, and the position of the movable platform is not consistent with the position of the load.

[0579] It should be noted that, for the convenience and brevity of description, the specific working process of the control device of the movable platform described above can refer to the corresponding process in the foregoing control method embodiments of the movable platform, which will not be described herein.

[0580] Please refer to FIG. 28, which is a structural schematic block diagram of a control system of a movable platform according to an embodiment of the present application.

[0581] As shown in FIG. 28, the control system 130 of the movable platform includes a user interface 131, a communication interface 132 and a processor 133, wherein the user interface 131 can be in communication connection with the communication interface 132, the data transmitted by the communication interface 132 can reach the processor 133, and the communication interface 132 can be a wired interface or a wireless interface, wherein:

[0582] The user interface 131 is configured to obtain a desired position of a load of a movable platform, the desired position being a position that the load needs to reach;

[0583] The communication interface 132 is configured to transmit task data, the task data including a target position of the movable platform;

[0584] The processor 133 is configured to control the movable platform to move to the target position, so that the load moves to the desired position, the target position being determined according to the desired position and a first target parameter, wherein the position of the movable platform is not consistent with the position of the load, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

[0585] In some embodiments, the user interface 131 is configured to acquire a desired position of a load of the movable platform, the desired position being a position that the load needs to reach;

[0586] The communication interface 132 is configured to transmit the desired position;

[0587] The processor 133 is configured to control the movable platform to move to a target position so as to move the load to the desired position, the target position being determined according to the desired position and a first target parameter, a position of the movable platform being inconsistent with a position of the load, the first target parameter being used to represent a relative positional relationship between the movable platform and the load.

[0588] In some embodiments, the user interface 131 is configured to acquire a desired pose of a load of the movable platform;

[0589] The communication interface 132 is configured to transmit task data, the task data including a target position of the movable platform and a first target pose, the target position and the first target pose being determined based at least on the desired pose of the load of the movable platform;

[0590] The processor 133 is configured to cooperatively control the movable platform to move to the target position and control the movable platform to adjust to the first target pose so as to adjust the load to the desired pose, a position of the movable platform being inconsistent with a position of the load.

[0591] In some embodiments, the user interface 131 is configured to acquire a desired pose of a load of the movable platform;

[0592] The communication interface 132 is configured to transmit the desired pose;

[0593] The processor 133 is configured to cooperatively control the movable platform to move to the target position and control the movable platform to adjust to the first target pose so as to adjust the load to the desired pose, the target position and the first target pose being determined based at least on the desired pose, a position of the movable platform being inconsistent with a position of the load.

[0594] In some embodiments, the user interface 131 is configured to acquire a desired pose of a load of the movable platform;

[0595] The communication interface 132 is configured to transmit task data, the task data including a target position of the movable platform and a second target pose of a pose-adjustable mechanism, the pose-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose being determined based on at least an expected pose of the load of the movable platform.

[0596] The processor 133 is configured to control the movable platform to move to the target position and control the pose-adjustable mechanism to adjust to the second target pose so as to enable the load to adjust to the expected pose, wherein the position of the movable platform is inconsistent with the position of the load.

[0597] In some embodiments, the user interface 131 is configured to acquire an expected pose of a load of the movable platform.

[0598] The communication interface 132 is configured to transmit the expected pose.

[0599] The processor 133 is configured to cooperatively control the movable platform to move to a target position and control the pose-adjustable mechanism to adjust to a second target pose so as to enable the load to adjust to the expected pose, the pose-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose being determined based on at least the expected pose, and the position of the movable platform being inconsistent with the position of the load.

[0600] In some embodiments, the user interface 131 is configured to acquire a target path of the movable platform, the target path being determined according to an expected path of a load of the movable platform, the expected path including one or more expected positions.

[0601] The communication interface 132 is configured to transmit the target path.

[0602] The processor 133 is configured to control the movable platform to move according to the target path so as to enable the load to move according to the expected path, wherein the target path is offset from the expected path by a target distance, the target distance being related to a relative positional relationship between the movable platform and the load, and the target path is different from the expected path.

[0603] In some embodiments, the user interface 131 is configured to acquire an expected path of a load of the movable platform, the expected path including one or more expected positions.

[0604] The communication interface 132 is configured to transmit the expected path.

[0605] The processor 133 is configured to generate a target path of the movable platform based on the expected path of the load, wherein the target path is different from the expected path, the target path is offset from the expected path by a target distance, the target distance is related to a relative positional relationship between the movable platform and the load, and the load can move along the expected path when the movable platform moves along the target path.

[0606] In some embodiments, the user interface 131 is configured to acquire an expected position of a load of the movable platform, the expected position being a position to which the load needs to reach.

[0607] The communication interface 132 is configured to transmit task data, the task data including a target position of the movable platform and a first target attitude of the movable platform and / or a second target attitude of an attitude-adjustable mechanism, the target position, the first target attitude or the second target attitude being determined at least according to the expected position, wherein the position of the movable platform is not consistent with the position of the load.

[0608] The processor 133 is configured to control the movable platform to move to the target position and control the movable platform to adjust to the first target attitude and / or control the attitude-adjustable mechanism to adjust to the second target attitude so that the load moves to the expected position.

[0609] In some embodiments, the user interface 131 is configured to acquire an expected position, the expected position being a position to which a load of the movable platform needs to reach.

[0610] The communication interface 132 is configured to transmit the expected position.

[0611] The processor 133 is configured to control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude-adjustable mechanism of the movable platform to adjust to a second target attitude so that the load moves to the expected position, the target position, the first target attitude or the second target attitude being determined at least according to the expected position, and the position of the movable platform being not consistent with the position of the load.

[0612] It should be noted that the load mentioned in the task planning apparatus shown in FIG. 26, the control apparatus of the movable platform shown in FIG. 27 and the control system of the movable platform shown in FIG. 28 can be replaced by a preset part of the movable platform, the preset part being a part of the movable platform or a part between the main body of the movable platform and the load, and the related description can refer to the description in the foregoing method embodiments, which will not be described herein again.

[0613] It should be noted that the skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control system of the movable platform described above can refer to the corresponding process in the foregoing embodiment of the control method of the movable platform, and will not be described here.

[0614] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program comprises program instructions. The processor executes the program instructions to realize the task planning method or the control method of the movable platform provided in the foregoing embodiment.

[0615] The computer readable storage medium can be an internal storage unit of the planning device or the movable platform, for example, a hard disk or a memory of the planning device or the movable platform. The computer readable storage medium can also be an external storage device of the planning device or the movable platform, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like.

[0616] It should be understood that the terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application and the appended claims, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0617] 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 items and all possible combinations, and includes these combinations.

[0618] 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 range disclosed by the present application, and these modifications or replacements should be included in 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 task planning, characterized by, The method comprises: obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach; outputting task data, the task data comprising a target position of the movable platform, the movable platform moving to the target position causing the load to move to the desired position, the target position being determined according to the desired position and a first target parameter, wherein the position of the movable platform is not consistent with the position of the load, and the first target parameter is used to represent the relative positional relationship between the movable platform and the load.

2. A control method of a movable platform, characterized by, The method comprises: obtaining task data, the task data comprising a target position of the movable platform, wherein the target position is determined according to a desired position of a load of the movable platform and a first target parameter, the desired position being a position that the load needs to reach, the position of the movable platform being not consistent with the position of the load, and the first target parameter being used to represent the relative positional relationship between the movable platform and the load; controlling the movable platform to move to the target position to cause the load to move to the desired position.

3. A method of controlling a movable platform, characterized by, The method comprises: obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach; controlling the movable platform to move to a target position to cause the load to move to the desired position, the target position being determined according to the desired position and a first target parameter, the position of the movable platform being not consistent with the position of the load, and the first target parameter being used to represent the relative positional relationship between the movable platform and the load.

4. A method of controlling a movable platform, characterized by, The method comprises: obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach; sending the desired position to the movable platform to cause the movable platform to move to a target position to cause the load to move to the desired position, wherein the target position is determined according to the desired position and a first target parameter, the position of the movable platform being not consistent with the position of the load, and the first target parameter being used to represent the relative positional relationship between the movable platform and the load.

5. The method according to any one of claims 1 to 4, characterized in that, The desired position comprises a plurality of first positions, the target position comprises a plurality of second positions, the movable platform moves to the plurality of second positions respectively, the moving path of the movable platform is a first path and the moving path of the load is a second path, and the first path and the second path are not completely identical.

6. The method of claim 5, wherein, The first path and the second path do not completely include identical positions.

7. The method of claim 6, wherein, The first path includes a plurality of positions and the second path includes a plurality of positions, and the first path and the second path are partially identical and partially different.

8. The method of claim 5, wherein, The first path and the second path have different trajectory shapes.

9. The method of claim 8, wherein, At least part of the first path and the second path are parallel to each other.

10. The method of claim 8, wherein, Each of the first positions corresponds to a desired attitude of the load, each of the second positions corresponds to a first target attitude of the movable platform, the trajectory of the second path is a straight line, and the first path is a curve.

11. The method of claim 10, wherein, The expected pose is related to a position of a target object, the target object being an object of interest of the movable platform.

12. The method according to any one of claims 1 to 11, characterized in that, The load performs a task when being at the expected position.

13. The method of claim 12, wherein, The load performs the task using preset task parameters when being at the expected position.

14. The method of claim 13, wherein, The preset task parameters include at least one of a shooting parameter, a grabbing action, a working range, a working strength, and a working duration.

15. The method of claim 14, wherein, The task includes shooting, and the preset task parameters include a shooting parameter, or the task includes grabbing, and the preset task parameters include a grabbing action.

16. The method of claim 14, wherein, The task includes spraying, and the preset task parameters include at least one of a spraying range, a spraying pressure, or a spraying duration.

17. The method of claim 16, wherein, The spraying range is related to whether the movable platform turns on or off an atomization function of a centrifugal motor, the movable platform turns off the atomization function of the centrifugal motor when the load is at the expected position, and the spraying range of the load when the movable platform turns on the atomization function of the centrifugal motor is greater than the spraying range of the load when the movable platform turns off the atomization function of the centrifugal motor.

18. The method of claim 14, wherein, The task includes sowing, and the preset task parameters include at least one of a sowing range, a sowing strength, or a sowing duration.

19. The method of any one of claims 1 to 18, wherein, The load that performs the task at the expected position is a target load among a plurality of loads included in the movable platform.

20. The method of claim 19, wherein, The target load is selected by a user, or the target load is set by default.

21. The method of claim 19, wherein, The expected position includes a plurality of first positions, and the task data further includes first indication information, the first indication information being used to indicate that the movable platform performs a task using a same target load when the load is at the plurality of first positions.

22. The method of claim 21, wherein, The plurality of first positions include a plurality of positions on a first route and a plurality of positions on a second route, the second route being consecutive to the first route but not collinear with the first route, and the first indication information is used to indicate that the movable platform performs the task using a same target load when the load is at the plurality of positions on the first route and the plurality of positions on the second route.

23. The method of claim 19, wherein, The expected position includes a plurality of first positions, and the task data further includes second indication information, the second indication information being used to indicate that the movable platform performs a task using different target loads when the load is at the plurality of first positions.

24. The method of claim 23, wherein, The plurality of first positions include a plurality of positions on a first route and a plurality of positions on a second route, the second route being consecutive to the first route but not collinear with the first route, and the second indication information is used to indicate that the movable platform performs the task using a first target load when the load is at the plurality of positions on the first route and performs the task using a second target load when the load is at the plurality of positions on the second route, the first target load being different from the second target load.

25. The method of any one of claims 19-24, wherein, The expected positions include a plurality of first positions, a length of a first movement path of the movable platform is shorter than a length of a second movement path of the movable platform, the first movement path is a movement path corresponding to the movable platform performing the task using different target loads when the load is in the plurality of first positions, and the second movement path is a movement path corresponding to the movable platform performing the task using the same target load when the load is in the plurality of first positions.

26. The method of any one of claims 1 to 25, wherein, The expected positions include a plurality of first positions, and the target positions include a plurality of second positions determined according to the plurality of first positions and the first target parameter.

27. The method of claim 26, wherein, The plurality of second positions are determined according to the plurality of first positions and the first target parameter, including that the plurality of second positions are determined according to an initial path and the first target parameter, and the initial path is determined according to the plurality of first positions.

28. The method of claim 26, wherein, The plurality of second positions are determined according to the plurality of first positions and the first target parameter, including that the plurality of second positions are determined according to a target path of the movable platform, and the target path is determined according to an initial path and the first target parameter, and the initial path is determined according to the plurality of first positions.

29. The method of claim 27 or 28, wherein, The initial path is determined using the plurality of first positions with the load as a reference.

30. The method of claim 27 or 28, wherein, The initial path is determined using the plurality of first positions with the movable platform as a reference.

31. The method of any one of claims 1 to 30, wherein, The expected positions include a plurality of first positions, and a movement direction of the load when moving along the plurality of first positions is consistent with a target direction.

32. The method of claim 31, wherein, The target direction is a current head direction of the movable platform.

33. The method of claim 31, wherein, The target direction is decoupled from the current head direction of the movable platform.

34. The method of claim 33, wherein, The target direction is related to a direction of a line connecting a current position of the movable platform and a preset position.

35. The method of claim 34, wherein, The preset position is a homeward position of the movable platform.

36. The method of claim 33, wherein, The target direction is a pre-set default direction.

37. The method of claim 33, wherein, The target direction is a current head direction of the movable platform when entering a preset locking mode.

38. The method of claim 1 or 3, wherein, The method for obtaining the expected positions of the load of the movable platform includes: The method for obtaining the expected positions of the load of the movable platform includes:

39. The method of claim 38, wherein, After the movable platform completes movement according to the expected path, a movement path of the load is the same as the expected path, and a movement path of the movable platform is different from the expected path.

40. The method of claim 38, wherein, After the movable platform completes movement according to the expected path, a movement trajectory of the load is a straight line, and a movement trajectory of the movable platform is a curve.

41. The method of claim 38, wherein, The expected path is a path planned with the load as a reference.

42. The method of claim 41, wherein, The expected path is a path planned with a specific part of the load as a reference.

43. The method of claim 42, wherein, The specific part of the load includes a center position of the load, or the specific part of the load includes an end position of the load.

44. The method of claim 1, 3, or 4, wherein, Before the method for obtaining the expected positions of the load of the movable platform, the method further includes: acquire a current reference frame for controlling the movable platform, wherein the current reference frame comprises a reference frame of the movable platform or a reference frame of the load; in a case where the current reference frame is the reference frame of the load, acquire the expected position of the load of the movable platform.

45. The method of claim 44, wherein, after the acquiring the current reference frame for controlling the movable platform, the method further comprises: in a case where the current reference frame is the reference frame of the movable platform, acquire the expected position of the movable platform.

46. The method of claim 44, wherein, the reference frame of the load is a reference frame of a specific part of the load.

47. The method of claim 46, wherein, the specific part of the load comprises a center position of the load.

48. The method of claim 47, wherein, the load comprises a gimbal and a camera connected to the gimbal, and the center position of the load comprises a center position of the gimbal, a center position of the camera, or a center position of an overall mechanism formed by the gimbal and the camera.

49. The method of claim 46, wherein, the specific part of the load comprises an end position of the load.

50. The method of claim 49, wherein, the load comprises a gripper.

51. The method of claim 44 or 45, wherein, the reference frame of the movable platform is a reference frame of a specific part of the movable platform.

52. The method of claim 51, wherein, the specific part of the movable platform comprises a center position of the movable platform.

53. The method of claim 44, wherein, the method further comprises: in response to a preset condition being met, configure the current reference frame for controlling the movable platform as the reference frame of the load.

54. The method of claim 53, wherein, the preset condition being met comprises: a task type of a task to be executed by the movable platform being a preset task type; or detecting that a current working environment of the movable platform meets a preset working environment.

55. The method of claim 1, wherein, before the outputting the task data, the method further comprises: in response to a first preset condition being met, enter a first setting mode, in which the expected position is set as the reference frame of the load.

56. The method of claim 55, wherein, the first preset condition being met comprises: receiving a mode selection instruction input by a user, the mode selection instruction being used to indicate that the expected position is set as the reference frame of the load.

57. The method of claim 55, wherein, the first preset condition being met comprises: a task type of a task to be executed by the movable platform being a preset task type; or detecting that a current working environment of the movable platform meets a preset working environment.

58. The method of claim 55, wherein, before the outputting the task data, the method further comprises: in response to a second preset condition being met, enter a second setting mode, in which the expected position is set as the reference frame of the movable platform.

59. The method of claim 58, wherein, task parameters set for the movable platform in the first setting mode are different from task parameters set for the movable platform in the second setting mode.

60. The method of claim 59, wherein, the task parameters comprise at least one of a working range, a working intensity, and a working duration.

61. The method of claim 60, wherein, The work range set for the movable platform in the first setting mode is smaller than the work range set for the movable platform in the second setting mode, and the work intensity set for the movable platform in the first setting mode is greater than the work intensity set for the movable platform in the second setting mode; or the work range set for the movable platform in the first setting mode is smaller than the work range set for the movable platform in the second setting mode, and the work duration set for the movable platform in the first setting mode is longer than the work duration set for the movable platform in the second setting mode.

62. The method of claim 1, wherein, The method further comprises: obtaining a desired pose of the load, the desired pose being a pose of the load when reaching the desired position; The task data further comprises a first target pose of the movable platform, the target position of the movable platform being determined according to the desired position, the desired pose and the first target parameter, the first target pose being determined according to the desired pose and a second target parameter, the second target parameter being used to represent a relative pose relationship between the movable platform and the load, the movable platform moving to the target position and being in the first target pose so that the load moves to the desired position and is in the desired pose.

63. The method of claim 2, wherein, The task data further comprises a first target pose of the movable platform, the target position of the movable platform being determined according to the desired position, the desired pose of the load when reaching the desired position and the first target parameter, the first target pose being determined according to the desired pose and a second target parameter, the second target parameter being used to represent a relative pose relationship between the movable platform and the load; The control of the movable platform moving to the target position to make the load move to the desired position comprises: controlling the movable platform to move to the target position and adjust to the first target pose to make the load move to the desired position and be in the desired pose.

64. The method of claim 3, wherein, The method further comprises: obtaining a parameter related to the desired pose of the load; The control of the movable platform moving to the target position to make the load move to the desired position comprises: controlling the movable platform to move to the target position and adjust to the first target pose to make the load move to the desired position and be in the desired pose, wherein the target position of the movable platform is determined according to the desired position, the desired pose and the first target parameter, and the first target pose is determined according to the desired pose and a second target parameter, the second target parameter being used to represent a relative pose relationship between the movable platform and the load.

65. The method of claim 4, wherein, The method further comprises: obtaining a parameter related to the desired pose of the load, the desired pose being a pose of the load when reaching the desired position; The sending of the desired position to the movable platform comprises: sending the expected position and a parameter related to the expected attitude of the load to the movable platform to cooperatively control the movable platform to move to a target position and adjust to a first target attitude so that the load moves to the expected position while being in the expected attitude, the target position being determined according to the expected position, the expected attitude and the first target parameter, the first target attitude being determined according to the expected attitude and a second target parameter, the second target parameter being used to represent a relative attitude relationship between the movable platform and the load.

66. The method of any one of claims 62-65, wherein, The expected attitude is related to a position of a target object, the target object being an object of interest of the movable platform.

67. The method of any one of claims 62-65, wherein, The expected attitude of the load is out of a decoupled attitude range of the load, the decoupled attitude range of the load including attitudes that can be adjusted without changing the position and / or attitude of the movable platform.

68. The method of claim 67, wherein, The expected attitude of the load includes an expected yaw angle, and the decoupled attitude range of the load includes a decoupled yaw angle range of the load, the decoupled yaw angle range of the load including yaw angles that can be adjusted without changing the position and / or attitude of the movable platform.

69. The method of any one of claims 1 to 68, wherein, The relative position relationship includes a relative distance and / or a relative orientation between the movable platform and the load.

70. The method of claim 69, wherein, The relative position relationship includes a relative distance and / or a relative orientation between a specific part of the movable platform and a specific part of the load.

71. The method of claim 69, wherein, The relative position relationship includes a relative distance and / or a relative orientation between a first projection of the movable platform on a reference surface and a second projection of the load on the reference surface.

72. The method of claim 71, wherein, The relative position relationship includes a relative distance and / or a relative orientation between a first projection of a specific part of the movable platform on a reference surface and a second projection of a specific part of the load on the reference surface.

73. The method of claim 71, wherein, The reference surface includes a horizontal surface and / or a vertical surface.

74. The method of any one of claims 1 to 73, wherein, The position of the movable platform is inconsistent with the position of the load, including that a horizontal position of the movable platform is inconsistent with a horizontal position of the load and / or a vertical position of the movable platform is inconsistent with a vertical position of the load.

75. The method of any one of claims 1 to 73, wherein, The position of the movable platform is inconsistent with the position of the load, including that a position of a specific part of the movable platform is inconsistent with a position of a specific part of the load.

76. The method of claim 70, 72, or 75, wherein, The specific part of the movable platform includes a center position of the movable platform, and / or the specific part of the load includes a center position of the load.

77. The method of claim 70, 72, or 75, wherein, The specific part of the movable platform includes a center position of the movable platform, and the specific part of the load includes an end position of the load.

78. The method of any one of claims 1 to 77, wherein, The expected position is a position to which a specific part of the load needs to reach.

79. The method of claim 78, wherein, The expected position is a horizontal position and / or a vertical position to which a specific part of the load needs to reach.

80. The method of any one of claims 1-79, wherein, The expected position is automatically set, or the expected position is determined by manual input of a user.

81. The method of any one of claims 1 to 80, wherein, The expected position is a position of a target object, and the load is used to perform a work task on the target object at the expected position.

82. The method of claim 81, wherein, The target object includes a crop or a to-be-grabbed object.

83. The method of claim 82, wherein, The target object includes a specific part of a crop.

84. The method of claim 83, wherein, The crop includes a fruit tree, and the specific part of the crop is a core position of the fruit tree.

85. The method of any one of claims 1 to 84, wherein, The load includes a shooting load or a working load.

86. The method of claim 85, wherein, The shooting load includes a camera.

87. The method of claim 85, wherein, The working load includes a radar, a spraying mechanism, a sowing mechanism, a material conveying mechanism, a material dispensing mechanism, or a gripper.

88. A mission planning method, characterized by, The method comprises: obtaining a desired position, the desired position being a position to which a preset part needs to reach, the preset part being a load of a movable platform or a part between a main body of the movable platform and the load; outputting task data, the task data including a target position of the movable platform, the movable platform moving to the target position causing the preset part to move to the desired position, the target position being determined according to the desired position and a first target parameter, wherein the position of the movable platform is inconsistent with the position of the preset part, and the first target parameter is used to represent a relative position relationship between the movable platform and the preset part.

89. A method of controlling a movable platform, the method comprising: The method comprises: obtaining task data, the task data including a target position of the movable platform, wherein the target position is determined according to a desired position of a preset part and a first target parameter, the desired position being a position to which the preset part needs to reach, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load, the position of the movable platform being inconsistent with the position of the preset part, and the first target parameter being used to represent a relative position relationship between the movable platform and the preset part; controlling the movable platform to move to the target position to cause the preset part to move to the desired position.

90. A method of controlling a movable platform, the method comprising: The method comprises: obtaining a desired position, the desired position being a position to which a preset part needs to reach, the preset part being a load of a movable platform or a part between a main body of the movable platform and the load; controlling the movable platform to move to a target position to cause the preset part to move to the desired position, wherein the target position is determined according to the desired position and a first target parameter, the position of the movable platform is inconsistent with the position of the preset part, and the first target parameter is used to represent a relative position relationship between the movable platform and the preset part.

91. A method of controlling a movable platform, the method comprising: The method comprises: obtaining a desired position, the desired position being a position to which a preset part needs to reach, the preset part being a load of a movable platform or a part between a main body of the movable platform and the load; sending the desired position to the movable platform to cause the movable platform to move to a target position to cause the preset part to move to the desired position, wherein the target position is determined according to the desired position and a first target parameter, the position of the movable platform is inconsistent with the position of the preset part, and the first target parameter is used to represent a relative position relationship between the movable platform and the preset part.

92. A mission planning method, characterized by, The method comprises: obtaining a desired pose of a load of a movable platform; determining a target position and a first target pose of the movable platform according to at least the desired pose; Output task data, the task data comprising the target position and the first target attitude, wherein the load is adjusted to the desired attitude by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude, the position of the movable platform being inconsistent with the position of the load.

93. A method of controlling a movable platform, the method comprising: Comprise: Obtaining task data, the task data comprising a target position and a first target attitude of a movable platform, wherein the target position and the first target attitude are determined based at least on a desired attitude of a load of the movable platform; Cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude so that the load is adjusted to the desired attitude, wherein the position of the movable platform is inconsistent with the position of the load.

94. A method of controlling a movable platform, the method comprising: Comprise: Obtaining a desired attitude of a load of a movable platform; Cooperatively controlling the movable platform to move to a target position and controlling the movable platform to adjust to a first target attitude so that the load is adjusted to the desired attitude, wherein the target position and the first target attitude are determined based at least on the desired attitude, the position of the movable platform being inconsistent with the position of the load.

95. A method of controlling a movable platform, the method comprising: Comprise: Obtaining a parameter related to a desired attitude of a load of a movable platform; Sending the parameter related to the desired attitude to the movable platform, the load being adjusted to the desired attitude by cooperatively controlling the movable platform to move to a target position and adjust to a first target attitude, wherein the target position and the first target attitude are determined based at least on the desired attitude, the position of the movable platform being inconsistent with the position of the load.

96. The method of any one of claims 92-95, wherein, The target position is determined according to the desired attitude and a first target parameter, the first target parameter being used to represent a relative position relationship between the movable platform and the load, and the first target attitude is determined according to the desired attitude and a second target parameter, the second target parameter being used to represent a relative attitude relationship between the movable platform and the load.

97. The method of claim 96, wherein, The relative position relationship is a fixed position relationship.

98. The method of any one of claims 92-97, wherein, The load reaches a desired position when it is adjusted to the desired attitude, the desired position being a position that the load is expected to reach.

99. The method of any one of claims 92-98, wherein, The desired attitude is related to the position of a target object, the target object being an object of interest of the movable platform.

100. The method of any one of claims 92-99, wherein, The desired attitude is related to the position of a target object, the target object being an object of interest of the movable platform.

101. The method of any one of claims 92-100, wherein, The desired attitude of the load is outside a decoupling attitude range of the load, the decoupling attitude range of the load comprising attitudes that can be adjusted without changing the position and / or attitude of the movable platform.

102. The method of claim 101, wherein, The desired attitude of the load comprises a desired yaw angle, and the decoupling attitude range of the load comprises a decoupling yaw angle range of the load, the decoupling yaw angle range of the load comprising yaw angles that can be adjusted without changing the position and / or attitude of the movable platform.

103. The method of claim 92 or 94, wherein, The obtaining of the desired attitude of the load of the movable platform comprises: Obtaining an expected pose of the load of the movable platform during movement of the movable platform according to an expected path of the load.

104. The method of claim 103, wherein, After the movable platform completes movement according to the expected path, the movement path of the load is the same as the expected path, and the movement path of the movable platform is different from the expected path.

105. The method of claim 103, wherein, After the movable platform completes movement according to the expected path, the movement path of the load is a straight line, and the movement path of the movable platform is a curve.

106. The method of claim 103, wherein, After the movable platform completes movement according to the expected path, the movement path of the load is parallel to the movement path of the movable platform.

107. The method of claim 103, wherein, The expected path is a path planned with the load as a reference.

108. The method of claim 107, wherein, The expected path is a path planned with a specific part of the load as a reference.

109. The method of claim 108, wherein, The specific part of the load includes a center position of the load, or the specific part of the load includes an end position of the load.

110. The method of claim 92 or 94, wherein, Before the step of obtaining the expected pose of the load of the movable platform, the method further includes: Obtaining a reference for adjustment of the current pose of the movable platform, wherein the reference includes a reference to the movable platform or a reference to the load. In a case where the reference for adjustment of the current pose of the movable platform is a reference to the load, the step of obtaining the expected pose of the load of the movable platform is performed.

111. The method of claim 110, wherein, After the step of obtaining the reference for adjustment of the current pose of the movable platform, the method further includes: In a case where the reference for adjustment of the current pose of the movable platform is a reference to the movable platform, obtaining an expected pose of the movable platform.

112. The method of claim 110, wherein, The reference to the load is a reference to a specific part of the load.

113. The method of claim 112, wherein, The specific part of the load includes a center position of the load.

114. The method of claim 113, wherein, The load includes a gimbal and a camera connected to the gimbal, and the center position of the load includes a center position of the gimbal, a center position of the camera, or a center position of an overall mechanism formed by the gimbal and the camera.

115. The method of claim 112, wherein, The specific part of the load includes an end position of the load.

116. The method of claim 115, wherein, The load includes a gripper.

117. The method of claim 110 or 111, wherein, The reference to the movable platform is a reference to a specific part of the movable platform.

118. The method of claim 117, wherein, The specific part of the movable platform includes a center position of the movable platform.

119. The method of any one of claims 92-118, wherein, The reference for adjustment of the current pose of the movable platform is a reference to the load.

120. The method of claim 119, wherein, The method further includes: In response to a preset condition being met, configuring the reference for adjustment of the current pose of the movable platform as a reference to the load.

121. The method of claim 120, wherein, The preset condition being met includes: Receiving a mode selection instruction input by a user, the mode selection instruction being used to indicate that the reference for adjustment of the current pose of the movable platform is configured as a reference to the load. The task type of a task to be performed by the movable platform is a preset task type; or Detecting that a current working environment of the movable platform meets a preset working environment.

122. The method of claim 121, wherein, The preset task type corresponds to adjustment of the pose of the load depending on adjustment of the pose of the movable platform.

123. The method of claim 119, wherein, The reference to the load is a reference to a specific part of the load.

124. The method of any one of claims 92-123, wherein, The desired pose is a pose that a specific part of the load needs to reach.

125. The method of claim 124, wherein, The specific part of the load includes a center position of the load, or the specific part of the load includes an end position of the load.

126. The method of any one of claims 92-125, wherein, The position of the movable platform is inconsistent with the position of the load, including: the horizontal position of the movable platform is inconsistent with the horizontal position of the load and / or the vertical position of the movable platform is inconsistent with the vertical position of the load; or, the position of a specific part of the movable platform is inconsistent with the position of a specific part of the load.

127. The method of claim 126, wherein, The specific part of the movable platform is a center position of the movable platform, and the specific part of the load is a center position of the load.

128. The method of claim 126, wherein, The specific part of the movable platform is a center position of the movable platform, and the specific part of the load is an end position of the load.

129. The method of claim 92 or 94, wherein, The method further comprises: obtaining a desired position of the load, the target position being determined according to the desired position, the desired pose, and a first target parameter, the first target parameter being used to represent a relative position relationship between the movable platform and the load.

130. The method of claim 129, wherein, The load is in the desired pose when moving to the desired position is achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose.

131. The method of claim 93, wherein, The target position is determined according to the desired position of the load, the desired pose, and a first target parameter, the desired position being a position that the load needs to reach, and the first target parameter being used to represent a relative position relationship between the movable platform and the load.

132. The method of claim 131, wherein, The cooperative control of the movable platform to move to the target position and the control of the movable platform to adjust to the first target pose to make the load adjust to the desired pose includes: The cooperative control of the movable platform to move to the target position and the control of the movable platform to adjust to the first target pose to make the load move to the desired position when in the desired pose.

133. The method of claim 95, wherein, The method further comprises: obtaining a desired position of the load, the target position being determined according to the desired position, the desired pose, and a first target parameter, the first target parameter being used to represent a relative position relationship between the movable platform and the load.

134. The method of claim 133, wherein, The load is in the desired pose when moving to the desired position is achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose.

135. The method of any one of claims 129-134, wherein, The first target pose is determined according to the desired pose and a second target parameter, the second target parameter being used to represent a relative pose relationship between the movable platform and the load.

136. The method of any one of claims 129-135, wherein, The expected positions include a plurality of first positions, the target positions include a plurality of second positions, and the movement path of the movable platform and the movement path of the load are different after the movable platform moves to the plurality of second positions respectively.

137. The method of claim 136, wherein, The first path and the second path include different positions.

138. The method of claim 137, wherein, The first path includes a plurality of positions and the second path includes a plurality of positions, and the first path and the second path include different positions.

139. The method of claim 136, wherein, The first path and the second path have different trajectory shapes.

140. The method of claim 139, wherein, At least part of the first path and the second path are parallel to each other.

141. The method of claim 139, wherein, Each of the first positions corresponds to an expected attitude of the load, each of the second positions corresponds to a first target attitude of the movable platform, the trajectory of the second path is a straight line, and the first path is a curve.

142. The method of any one of claims 129-141, wherein, The expected positions include a plurality of first positions, and the moving direction of the load when moving along the plurality of first positions is consistent with a target direction.

143. The method of claim 142, wherein, The target direction is the current head direction of the movable platform.

144. The method of claim 142, wherein, The target direction is decoupled from the current head direction of the movable platform.

145. The method of claim 144, wherein, The target direction is related to the direction of the line connecting the current position of the movable platform and a preset position.

146. The method of claim 145, wherein, The preset position is a homeward position of the movable platform.

147. The method of claim 144, wherein, The target direction is a preset default direction.

148. The method of claim 144, wherein, The target direction is the current head direction of the movable platform when entering a preset locking mode.

149. The method of any one of claims 129-148, wherein, The expected positions are positions that a specific part of the load needs to reach.

150. The method of claim 149, wherein, The expected positions are horizontal positions and / or vertical positions that a specific part of the load needs to reach.

151. The method of claim 150, wherein, The specific part of the load includes a center position of the load, or the specific part of the load includes an end position of the load.

152. The method of any one of claims 92-151, wherein, The load includes a shooting load or a working load.

153. The method of claim 152, wherein, The shooting load includes a camera.

154. The method of claim 152, wherein, The working load includes a radar, a spraying mechanism, a spreading mechanism, a material conveying mechanism, a material dispensing mechanism, or a gripper.

155. A method of mission planning, the method comprising: The method comprises: obtaining an expected attitude of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; determining a target position and a first target attitude of the movable platform based at least on the expected attitude; outputting task data, the task data including the target position and the first target attitude, wherein adjusting the preset part to the expected attitude is achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude, and the position of the movable platform is inconsistent with the position of the preset part.

156. A method of controlling a movable platform, the method comprising: The method comprises: obtaining task data, the task data including a target position and a first target attitude of a movable platform, wherein the target position and the first target attitude are determined based at least on an expected attitude of a preset part of the movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; Coordinately control the movable platform to move to the target position and control the movable platform to adjust to the first target attitude so that the preset part adjusts to the expected attitude, wherein the position of the movable platform is not consistent with the position of the preset part.

157. A method of controlling a movable platform, the method comprising: The method comprises: Obtaining an expected attitude of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; Coordinately control the movable platform to move to the target position and control the movable platform to adjust to the first target attitude so that the preset part adjusts to the expected attitude, wherein the target position and the first target attitude are determined based on at least the expected attitude, and the position of the movable platform is not consistent with the position of the preset part.

158. A method of controlling a movable platform, the method comprising: The method comprises: Obtaining parameters related to an expected attitude of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; Sending the parameters related to the expected attitude to the movable platform, and the preset part adjusts to the expected attitude by coordinately controlling the movable platform to move to a target position and adjust to a first target attitude, wherein the target position and the first target attitude are determined based on at least the expected attitude, and the position of the movable platform is not consistent with the position of the preset part.

159. A method of mission planning, the method comprising: The method comprises: Obtaining an expected attitude of a load of a movable platform; Determining a target position of the movable platform and a second target attitude of an attitude-adjustable mechanism based on at least the expected attitude, wherein the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load; Outputting task data, the task data comprising the target position and the second target attitude, and the load adjusts to the expected attitude by coordinately controlling the movable platform to move to the target position and controlling the attitude-adjustable mechanism to adjust to the second target attitude, wherein the position of the movable platform is not consistent with the position of the load.

160. A method of controlling a movable platform, the method comprising: The method comprises: Obtaining task data, the task data comprising a target position of a movable platform and a second target attitude of an attitude-adjustable mechanism, wherein the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and a load, and the target position and the second target attitude are determined based on at least an expected attitude of a load of the movable platform; Coordinately control the movable platform to move to the target position and control the attitude-adjustable mechanism to adjust to the second target attitude so that the load adjusts to the expected attitude, wherein the position of the movable platform is not consistent with the position of the load.

161. A method of controlling a movable platform, the method comprising: The method comprises: Obtaining an expected attitude of a load of a movable platform; Coordinately control the movable platform to move to a target position and control the posture adjustable mechanism to adjust to a second target posture so that the load is adjusted to the expected posture, wherein the posture adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, the target position and the second target posture are determined based on at least the expected posture, and the position of the movable platform is inconsistent with the position of the load.

162. A method of controlling a movable platform, the method comprising: Comprise: Obtaining parameters related to an expected posture of a load of a movable platform; Sending the parameters related to the expected posture to the movable platform, and the load is adjusted to the expected posture by coordinately controlling the movable platform to move to a target position and controlling the posture adjustable mechanism to adjust to a second target posture, wherein the posture adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, the target position and the second target posture are determined based on at least the expected posture, and the position of the movable platform is inconsistent with the position of the load.

163. The method of any one of claims 159-162, wherein, The target position is determined according to the expected posture and a first target parameter, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

164. The method of claim 163, wherein, The relative position relationship is a fixed position relationship.

165. The method of any one of claims 159-164, wherein, The expected posture is related to the position of a target object, and the target object is an object of interest of the movable platform.

166. The method of any one of claims 159-164, wherein, The expected posture of the load is outside the decoupling posture range of the load, and the decoupling posture range of the load includes postures that can be adjusted without changing the position and / or posture of the movable platform.

167. The method of claim 166, wherein, The expected posture of the load includes an expected yaw angle, and the decoupling posture range of the load includes a decoupling yaw angle range of the load, and the decoupling yaw angle range of the load includes yaw angles that can be adjusted without changing the position and / or posture of the movable platform.

168. The method of claim 159 or 161, wherein, The expected posture of the load of the movable platform comprises: During the movement of the movable platform according to the expected path of the load, the expected posture of the load of the movable platform is obtained.

169. The method of claim 168, wherein, After the movable platform completes the movement according to the expected path, the movement path of the load is the same as the expected path, and the movement path of the movable platform is different from the expected path.

170. The method of claim 168, wherein, After the movable platform completes the movement according to the expected path, the movement trajectory of the load is a straight line, and the movement trajectory of the movable platform is a curve.

171. The method of claim 168, wherein, After the movable platform completes the movement according to the expected path, the movement trajectory of the load is parallel to the movement trajectory of the movable platform.

172. The method of claim 168, wherein, The expected path is a path planned with the load as a reference.

173. The method of claim 172, wherein, The expected path is a path planned with a specific part of the load as a reference.

174. The method of claim 173, wherein, The specific part of the load includes a center position of the load; or the specific part of the load includes an end position of the load.

175. The method of claim 159 or 161, wherein, Before the expected posture of the load of the movable platform is obtained, it further comprises: obtaining a current attitude adjustment reference of the movable platform, wherein the reference comprises a reference to the movable platform or a reference to the load; in a case where the current attitude adjustment reference of the movable platform is a reference to the load, performing the step of obtaining the desired attitude of the load of the movable platform.

176. The method of claim 175, wherein, The method further comprises, after the step of obtaining the current attitude adjustment reference of the movable platform: in a case where the current attitude adjustment reference of the movable platform is a reference to the movable platform, obtaining the desired attitude of the movable platform.

177. The method of claim 175, wherein, The reference to the load comprises a reference to a specific part of the load.

178. The method of claim 177, wherein, The specific part of the load comprises a center position of the load.

179. The method of claim 178, wherein, The load comprises a gimbal and a camera connected to the gimbal, and the center position of the load comprises a center position of the gimbal, a center position of the camera, or a center position of an overall mechanism formed by the gimbal and the camera.

180. The method of claim 177, wherein, The specific part of the load comprises an end position of the load.

181. The method of claim 180, wherein, The load comprises a gripper.

182. The method of claim 175 or 176, wherein, The reference to the movable platform comprises a reference to a specific part of the movable platform.

183. The method of claim 182, wherein, The specific part of the movable platform comprises a center position of the movable platform.

184. The method of any one of claims 159-183, wherein, The current attitude adjustment reference of the movable platform is a reference to the load.

185. The method of claim 184, wherein, The method further comprises: in response to a preset condition being met, configuring the current attitude adjustment reference of the movable platform to be a reference to the load.

186. The method of claim 185, wherein, The preset condition being met comprises: receiving a mode selection instruction input by a user, the mode selection instruction being used to instruct to configure the current attitude adjustment reference of the movable platform to be a reference to the load; the task type of a task to be performed by the movable platform is a preset task type; or detecting that a current working environment of the movable platform meets a preset working environment.

187. The method of claim 186, wherein, The attitude adjustment of the load corresponding to the preset task type depends on the attitude adjustment of the movable platform.

188. The method of claim 184, wherein, The reference to the load is a reference to a specific part of the load.

189. The method of any one of claims 159-188, wherein, The desired attitude is an attitude that needs to be reached by the specific part of the load.

190. The method of claim 189, wherein, The specific part of the load comprises a center position of the load; or the specific part of the load comprises an end position of the load.

191. The method of any one of claims 159-190, wherein, The position of the movable platform is inconsistent with the position of the load, including that a horizontal position of the movable platform is inconsistent with a horizontal position of the load and / or a vertical position of the movable platform is inconsistent with a vertical position of the load; or a position of a specific part of the movable platform is inconsistent with a position of a specific part of the load.

192. The method of claim 191, wherein, The specific part of the movable platform is a center position of the movable platform, and the specific part of the load is a center position of the load.

193. The method of claim 191, wherein, The specific part of the movable platform is a center position of the movable platform, and the specific part of the load is an end position of the load.

194. The method of claim 159 or 162, wherein, The load adjusting to the expected posture is achieved by cooperatively controlling the movable platform to move to the target position and controlling the posture-adjustable mechanism to adjust to the second target posture, comprising: The load adjusting to the expected posture is achieved by cooperatively controlling the movable platform to move to the target position and adjusting to a first target posture and controlling the posture-adjustable mechanism to adjust to the second target posture, wherein the first target posture is determined according to the expected posture.

195. The method of claim 160 or 161, wherein, The cooperatively controlling the movable platform to move to the target position and controlling the posture-adjustable mechanism to adjust to the second target posture to make the load adjust to the expected posture, comprising: The cooperatively controlling the movable platform to move to the target position and adjusting to a first target posture and controlling the posture-adjustable mechanism to adjust to the second target posture to make the load adjust to the expected posture, wherein the first target posture is determined according to the expected posture.

196. The method of claim 159 or 161, wherein, The method further comprises: An expected position of the load is acquired, and the target position is determined according to the expected position, the expected posture and a first target parameter, wherein the first target parameter is used to represent a relative position relationship between the movable platform and the load.

197. The method of claim 196, wherein, The load moving to the expected position while being in the expected posture is achieved by cooperatively controlling the movable platform to move to the target position and controlling the posture-adjustable mechanism to adjust to the second target posture.

198. The method of claim 197, wherein, The load moving to the expected position while being in the expected posture is achieved by cooperatively controlling the movable platform to move to the target position and adjusting to a first target posture and controlling the posture-adjustable mechanism to adjust to the second target posture, wherein the first target posture is determined according to the expected posture.

199. The method of claim 160, wherein, The target position is determined according to an expected position of the load, the expected posture and a first target parameter, wherein the expected position is a position that the load needs to reach, and the first target parameter is used to represent a relative position relationship between the movable platform and the load.

200. The method of claim 199, wherein, The cooperatively controlling the movable platform to move to the target position and controlling the posture-adjustable mechanism to adjust to the second target posture to make the load adjust to the expected posture, comprising: The cooperatively controlling the movable platform to move to the target position and controlling the posture-adjustable mechanism to adjust to the second target posture to make the load move to the expected position while being in the expected posture.

201. The method of claim 200, wherein, The cooperatively controlling the movable platform to move to the target position and controlling the posture-adjustable mechanism to adjust to the second target posture to make the load move to the expected position while being in the expected posture, comprising: The cooperatively controlling the movable platform to move to the target position and adjusting to a first target posture and controlling the posture-adjustable mechanism to adjust to the second target posture to make the load move to the expected position while being in the expected posture, wherein the first target posture is determined according to the expected posture.

202. The method of claim 162, wherein, The method further comprises: acquire a desired position of the load, send the desired position to the movable platform, the target position being determined according to the desired position, the desired attitude and a first target parameter, the first target parameter being used to represent a relative position relationship between the movable platform and the load.

203. The method of claim 202, wherein, The load is in the desired attitude when moving to the desired position is achieved by cooperatively controlling the movable platform to move to the target position and controlling the attitude-adjustable mechanism to adjust to the second target attitude.

204. The method of claim 203, wherein, The load is in the desired attitude when moving to the desired position is achieved by cooperatively controlling the movable platform to move to the target position and adjusting to a first target attitude, and controlling the attitude-adjustable mechanism to adjust to the second target attitude, the first target attitude being determined according to the desired attitude.

205. The method of any one of claims 196-204, wherein, The desired position includes a plurality of first positions, the target position includes a plurality of second positions, after the movable platform moves to the plurality of second positions respectively, a movement path of the movable platform is a first path and a movement path of the load is a second path, the first path and the second path are not completely same.

206. The method of claim 205, wherein, The first path and the second path include positions that are not completely same.

207. The method of claim 206, wherein, The first path includes a plurality of positions and the second path includes a plurality of positions, part of which are same and the remaining part of which are different.

208. The method of claim 205, wherein, The first path and the second path have trajectories that are not completely same.

209. The method of claim 208, wherein, At least part of the first path and the second path are parallel to each other.

210. The method of claim 208, wherein, Each of the first positions corresponds to a desired attitude of the load, each of the second positions corresponds to a first target attitude of the movable platform, a trajectory of the second path is a straight line, and the first path is a curve.

211. The method of any one of claims 196-210, wherein, The desired position includes a plurality of first positions, a movement direction of the load when moving along the plurality of first positions is consistent with a target direction.

212. The method of claim 211, wherein, The target direction is a current head direction of the movable platform.

213. The method of claim 211, wherein, The target direction is decoupled from the current head direction of the movable platform.

214. The method of claim 213, wherein, The target direction is related to a direction of a line connecting a current position of the movable platform and a preset position.

215. The method of claim 214, wherein, The preset position is a homeward position of the movable platform.

216. The method of claim 213, wherein, The target direction is a preset default direction.

217. The method of claim 213, wherein, The target direction is a current head direction of the movable platform when entering a preset locking mode.

218. The method of any one of claims 196-217, wherein, The desired position is a position that a specific part of the load needs to reach.

219. The method of claim 218, wherein, The desired position is a horizontal position and / or a vertical position that a specific part of the load needs to reach.

220. The method of claim 219, wherein, The specific part of the load includes a center position of the load; or the specific part of the load includes an end position of the load.

221. The method of any one of claims 159-220, wherein, The load includes a shooting load or a working load.

222. The method of claim 221, wherein, The shooting load includes a camera.

223. The method of claim 221, wherein, The working load includes a radar, a spraying mechanism, a sowing mechanism, a material conveying mechanism, a material dispensing mechanism or a gripper.

224. A method of mission planning, comprising: The method comprises: acquiring a desired attitude of a preset part of the movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; Determine a target position of the movable platform and a second target pose of a pose-adjustable mechanism based on the desired pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the preset part; Output task data including the target position and the second target pose, and adjust the preset part to the desired pose by cooperatively controlling the movable platform to move to the target position and controlling the pose-adjustable mechanism to adjust to the second target pose, wherein the position of the movable platform is not consistent with the position of the preset part.

225. A method of controlling a movable platform, the method comprising: Comprise: Obtain task data including a target position of a movable platform and a second target pose of a pose-adjustable mechanism, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and a preset part, and the target position and the second target pose are determined based on at least a desired pose of a preset part of the movable platform, the preset part being a load of the movable platform or a part between the main body of the movable platform and the load; Cooperatively control the movable platform to move to the target position and control the pose-adjustable mechanism to adjust to the second target pose so that the preset part adjusts to the desired pose, wherein the position of the movable platform is not consistent with the position of the preset part.

226. A method of controlling a movable platform, the method comprising: Comprise: Obtain a desired pose of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; Cooperatively control the movable platform to move to a target position and control the pose-adjustable mechanism to adjust to a second target pose so that the preset part adjusts to the desired pose, wherein the pose-adjustable mechanism is a connecting mechanism between the main body of the movable platform and the preset part, the target position and the second target pose are determined based on at least the desired pose, and the position of the movable platform is not consistent with the position of the preset part.

227. A method of controlling a movable platform, the method comprising: Comprise: Obtain parameters related to a desired pose of a preset part of a movable platform; Send parameters related to the desired pose to the movable platform, and adjust the preset part to the desired pose by cooperatively controlling the movable platform to move to a target position and controlling a pose-adjustable mechanism to adjust to a second target pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the preset part, the target position and the second target pose are determined based on at least the desired pose, and the position of the movable platform is not consistent with the position of the preset part.

228. A method of controlling a movable platform, the method comprising: Comprise: Obtain a target path of the movable platform, the target path being determined based on a desired path of a load of the movable platform, the desired path including one or more desired positions; controlling the movable platform to move according to the target path such that the payload moves according to the desired path, wherein the target path is offset from the desired path by a target distance, the target distance is related to a relative positional relationship between the movable platform and the payload, and the target path is different from the desired path.

229. A method of mission planning, the method comprising: comprising: obtaining a desired path of a payload of the movable platform, the desired path comprising one or more desired positions; generating a target path of the movable platform based on the desired path of the payload, wherein the target path is different from the desired path, the target path is offset from the desired path by a target distance, the target distance is related to a relative positional relationship between the movable platform and the payload, and the target path enables the payload to move according to the desired path when the movable platform moves according to the target path.

230. The method of claim 228 or 229, wherein, the target path is different from the desired path comprises: the target path comprises positions different from the desired path; or a trajectory shape of the target path is different from a trajectory shape of the desired path.

231. The method of claim 230, wherein, the target path comprises positions different from the desired path comprises that the target path and the desired path are at least partially parallel to each other.

232. The method of claim 230, wherein, the trajectory shape of the target path is different from the trajectory shape of the desired path comprises that a trajectory of the target path is a curve and a trajectory of the desired path is a straight line.

233. The method of any one of claims 228-232, wherein, a moving direction of the payload when moving along the plurality of desired positions is consistent with a target direction.

234. The method of claim 233, wherein, the target direction is a current heading direction of the movable platform.

235. The method of claim 233, wherein, the target direction is decoupled from the current heading direction of the movable platform.

236. The method of claim 235, wherein, the target direction is related to a direction of a line connecting a current position of the movable platform and a preset position.

237. The method of claim 236, wherein, the preset position is a home position of the movable platform.

238. The method of claim 235, wherein, the target direction is a preset default direction.

239. The method of claim 235, wherein, the target direction is the current heading direction of the movable platform when entering a preset lock mode.

240. The method of any one of claims 228-239, wherein, the relative positional relationship comprises a relative distance and / or a relative orientation between the movable platform and the payload.

241. The method of claim 240, wherein, the relative positional relationship comprises a relative distance and / or a relative orientation between a specific part of the movable platform and a specific part of the payload.

242. The method of any one of claims 228-239, wherein, the relative positional relationship comprises a relative distance and / or a relative orientation between a first projection of the movable platform on a reference surface and a second projection of the payload on the reference surface.

243. The method of claim 242, wherein, the relative positional relationship comprises a relative distance and / or a relative orientation between a first projection of a specific part of the movable platform on a reference surface and a second projection of a specific part of the payload on the reference surface.

244. The method of claim 243, wherein, the reference surface comprises a horizontal surface and / or a vertical surface.

245. The method of claim 241 or 243, wherein, the specific part of the movable platform comprises a center position of the movable platform, and / or the specific part of the payload comprises a center position of the payload.

246. The method of claim 241 or 243, wherein, the specific part of the movable platform comprises a center position of the movable platform, and the specific part of the payload comprises an end position of the payload.

247. The method of any one of claims 228-246, wherein, the desired position is a position that a specific part of the payload needs to reach.

248. The method of claim 247, wherein, the desired position is a horizontal position and / or a vertical position that a specific part of the payload needs to reach.

249. The method of claim 247, wherein, The specific position of the load includes a center position of the load; or the specific position of the load includes an end position of the load.

250. The method of any one of claims 228-249, wherein, The load performs a task when being at the expected position during movement of the load along the expected path.

251. The method of claim 250, wherein, The load performs a task using preset task parameters when being at the expected position.

252. The method of claim 251, wherein, The preset task parameters include at least one of a shooting parameter, a grabbing action, a working range, a working strength, and a working duration.

253. The method of claim 251, wherein, The task includes spraying, and the preset task parameters include at least one of a spraying range, a spraying pressure, or a spraying duration.

254. The method of claim 253, wherein, The spraying range is related to whether the movable platform opens or closes an atomization function of a centrifugal motor, the movable platform closes the atomization function of the centrifugal motor when the load is at the expected position, and the spraying range of the load when the movable platform opens the atomization function of the centrifugal motor is greater than the spraying range of the load when the movable platform closes the atomization function of the centrifugal motor.

255. The method of claim 251, wherein, The task includes sowing, and the preset task parameters include at least one of a sowing range, a sowing strength, or a sowing duration.

256. The method of any one of claims 228-255, wherein, The load performing a task at the expected position during movement of the load along the expected path is a target load among a plurality of loads included in the movable platform.

257. The method of claim 256, wherein, The target load is selected by a user, or the target load is a default setting.

258. The method of claim 256, wherein, The movable platform uses the same target load to perform a task when the load is at each of the expected positions in the expected path during movement of the load along the expected path.

259. The method of claim 258, wherein, The expected path includes a plurality of expected positions on a first route and a plurality of expected positions on a second route, the second route is consecutive to the first route but not collinear with the first route, and the movable platform uses the same target load to perform a task when the load is at the plurality of expected positions on the first route and the plurality of expected positions on the second route during movement of the load along the expected path.

260. The method of claim 256, wherein, The movable platform uses different target loads to perform a task when the load is at each of the expected positions in the expected path during movement of the load along the expected path.

261. The method of claim 260, wherein, The expected path includes a plurality of expected positions on a first route and a plurality of expected positions on a second route, the second route is consecutive to the first route but not collinear with the first route, and the movable platform uses a first target load to perform a task when the load is at the plurality of expected positions on the first route and uses a second target load to perform a task when the load is at the plurality of expected positions on the second route during movement of the load along the expected path, the first target load being different from the second target load.

262. The method of claim 256, wherein, A length of a first movement path of the movable platform is less than a length of a second movement path of the movable platform, the first movement path corresponding to movement paths of the movable platform performing a task using different target loads when the load is at a plurality of expected positions in the expected path, and the second movement path corresponding to movement paths of the movable platform performing a task using the same target load when the load is at the plurality of expected positions in the expected path.

263. The method of any one of claims 228-262, wherein, The expected path is planned with the load as a reference.

264. The method of claim 263, wherein, The reference to the load includes a reference to a specific part of the load.

265. The method of claim 264, wherein, The specific part of the load includes a center position or an end position of the load.

266. The method of claim 263, wherein, The expected path of the load is planned with the load as a reference, and the target path is determined according to the expected path and a relative position relationship between the movable platform and the load.

267. The method of any one of claims 228-266, wherein, The method further includes: In response to a first preset condition being met, entering a first setting mode, and in the first setting mode, the expected path is planned with the load as a reference.

268. The method of claim 267, wherein, The first preset condition being met includes: Receiving a first mode selection instruction input by a user, the first mode selection instruction being used to indicate that the expected path is planned with the load as a reference; The task type of the task to be performed by the movable platform is a preset task type; or Detecting that a current work environment of the movable platform meets a preset work environment.

269. The method of claim 267, wherein, The method further includes: In response to a second preset condition being met, entering a second setting mode, and in the second setting mode, the expected path is planned with the movable platform as a reference.

270. The method of claim 269, wherein, Task parameters set for the movable platform in the first setting mode are different from task parameters set for the movable platform in the second setting mode.

271. The method of claim 270, wherein, The task parameters include at least one of a work range, a work intensity, and a work duration.

272. The method of claim 271, wherein, The work range set for the movable platform in the first setting mode is smaller than the work range set for the movable platform in the second setting mode, and the work intensity set for the movable platform in the first setting mode is greater than the work intensity set for the movable platform in the second setting mode.

273. The method of claim 271, wherein, The work range set for the movable platform in the first setting mode is smaller than the work range set for the movable platform in the second setting mode, and the work duration set for the movable platform in the first setting mode is longer than the work duration set for the movable platform in the second setting mode.

274. The method of any one of claims 228-273, wherein, The expected position is a position of a target object, and the load is at the expected position when performing a work task for the target object.

275. The method of claim 274, wherein, The target object includes crops or objects to be grasped.

276. The method of claim 275, wherein, The target object includes a specific part of crops.

277. The method of claim 276, wherein, The crops include fruit trees, and the specific part of the crops is a tree core position of the fruit trees.

278. The method of any one of claims 228-277, wherein, The expected path is a preset path, or the expected path is a path set by a user.

279. The method of claim 228, wherein, The method further includes: acquiring a desired pose of the payload on the desired path; the controlling the movable platform to move along the target path so that the payload moves along the desired path comprises: controlling the movable platform to move along the target path and controlling the movable platform to adjust to a first target pose and / or controlling a pose-adjustable mechanism to adjust to a second target pose, so as to jointly cause the payload to move along the desired path and adjust to the desired pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the payload.

280. The method of claim 279, wherein, the desired poses of the payload at the desired positions on the desired path are all the same.

281. The method of claim 279, wherein, the desired poses of the payload at the desired positions on the desired path are all different.

282. The method of claim 279, wherein, the desired poses of the payload at the desired positions on the desired path are not all the same.

283. The method of claim 282, wherein, the desired poses of the payload at some desired positions on the desired path are the same, and the desired poses of the payload at the remaining desired positions are different.

284. The method of claim 279, wherein, the first target pose and / or the second target pose are determined at least according to the desired pose of the payload on the desired path.

285. The method of claim 284, wherein, the target path comprises a plurality of target positions, the desired path comprises a plurality of desired positions, at least one of the first target pose and the second target pose is determined according to the desired pose of the payload at the desired positions, and the target positions are determined at least according to the corresponding desired positions of the payload and the desired poses of the payload at the desired positions.

286. The method of claim 279, wherein, the desired pose of the payload is related to the position of a target object, and the target object is an object of interest of the movable platform.

287. The method of claim 279, wherein, the desired pose is a pose that a specific part of the payload needs to reach.

288. The method of claim 287, wherein, the specific part of the payload comprises a central position or an end position of the payload.

289. The method of claim 279, wherein, the desired pose of the payload is outside a decoupling pose range of the payload, and the decoupling pose range comprises poses that can be adjusted without changing the position and / or pose of the movable platform.

290. The method of claim 289, wherein, the desired pose of the payload comprises a desired yaw angle, and the decoupling pose range of the payload comprises a decoupling yaw angle range of the payload, and the decoupling yaw angle range comprises yaw angles that can be adjusted without changing the position and / or pose of the movable platform.

291. The method of any one of claims 228-290, wherein, the position of the movable platform is inconsistent with the position of the payload.

292. The method of claim 291, wherein, the position of the movable platform is inconsistent with the position of the payload, comprising: the horizontal position of the movable platform is inconsistent with the horizontal position of the payload and / or the vertical position of the movable platform is inconsistent with the vertical position of the payload.

293. The method of claim 291, wherein, the position of the movable platform is inconsistent with the position of the payload, comprising: the position of a specific part of the movable platform is inconsistent with the position of a specific part of the payload.

294. The method of claim 293, wherein, the specific part of the movable platform is a central position of the movable platform, and the specific part of the payload is a central position of the payload.

295. The method of claim 293, wherein, the specific part of the movable platform is a central position of the movable platform, and the specific part of the payload is an end position of the payload.

296. The method of any one of claims 228-295, wherein, The load includes a shooting load or a working load.

297. The method of claim 296, wherein, The shooting load includes a camera.

298. The method of claim 296, wherein, The working load includes a radar, a spraying mechanism, a sowing mechanism, a material conveying mechanism, a material dispensing mechanism, or a gripper.

299. The method of claim 229, wherein, The obtaining of the expected path of the load of the movable platform includes: obtaining input information of a user; generating the expected path of the load of the movable platform based on the input information.

300. The method of claim 229, wherein, The obtaining of the expected path of the load of the movable platform includes: obtaining crop information of a region to be planned; in a case where it is determined according to the crop information that there is a crop of a preset crop type in the region to be planned, planning a plurality of expected positions of the load of the movable platform in the region to be planned with reference to the load; generating the expected path of the load of the movable platform according to the plurality of expected positions.

301. A method of task planning, characterized by, The method includes: obtaining an expected position of a load of a movable platform, the expected position being a position to which the load needs to arrive; outputting task data, the task data including at least one of a first target attitude of the movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform, the load moving to the expected position being achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude and / or controlling the attitude-adjustable mechanism to adjust to the second target attitude, the at least one of the first target attitude and the second target attitude and the target position being determined at least according to the expected position, wherein the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and a position of the movable platform is not consistent with a position of the load.

302. A method of controlling a movable platform, the method comprising: The method includes: obtaining task data, the task data including at least one of a first target attitude of the movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform, the at least one of the first target attitude and the second target attitude and the target position being determined at least according to an expected position, wherein the expected position is a position to which a load of the movable platform needs to arrive, the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and a position of the movable platform is not consistent with a position of the load; cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude and / or controlling the attitude-adjustable mechanism to adjust to the second target attitude so that the load moves to the expected position.

303. A method of controlling a movable platform, the method comprising: The method includes: obtaining an expected position of a load of a movable platform, the expected position being a position to which the load needs to arrive; Coordinately control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude adjustable mechanism to adjust to a second target attitude so that the load moves to the desired position, at least one of the first target attitude and the second target attitude and the target position being determined according to the desired position, the attitude adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the position of the movable platform being inconsistent with the position of the load.

304. A method of controlling a movable platform, the method comprising: Comprise: Obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach; Sending the desired position to the movable platform to coordinately control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude adjustable mechanism to adjust to a second target attitude so that the load moves to the desired position, wherein at least one of the first target attitude and the second target attitude and the target position is determined according to the desired position, the attitude adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the position of the movable platform being inconsistent with the position of the load.

305. A task planning apparatus characterized by comprising: Comprise: One or more processors; One or more memories for storing computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to execute: Obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach; Outputting task data, the task data comprising a target position of the movable platform, the movable platform moving to the target position causing the load to move to the desired position, the target position being determined according to the desired position and a first target parameter, wherein the position of the movable platform is inconsistent with the position of the load, the first target parameter being used to represent the relative position relationship between the movable platform and the load.

306. An apparatus for controlling a movable platform, comprising: Comprise: One or more processors; One or more memories for storing computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to execute: Obtaining task data, the task data comprising a target position of the movable platform, wherein the target position is determined according to a desired position of a load of the movable platform and a first target parameter, the desired position being a position that the load needs to reach, the position of the movable platform being inconsistent with the position of the load, the first target parameter being used to represent the relative position relationship between the movable platform and the load; Controlling the movable platform to move to the target position to cause the load to move to the desired position.

307. A control device for a moveable platform, characterized in that Comprise: One or more processors; One or more memories for storing computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to execute: obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach; controlling the movable platform to move to a target position so that the load moves to the desired position, the target position being determined according to the desired position and a first target parameter, a position of the movable platform being inconsistent with a position of the load, the first target parameter being used to represent a relative positional relationship between the movable platform and the load.

308. A control device for a movable platform, characterized in that comprise: one or more processors; one or more memories for storing computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform: obtaining a desired position of a load of a movable platform, the desired position being a position that the load needs to reach; sending the desired position to the movable platform to control the movable platform to move to a target position so that the load moves to the desired position, the target position being determined according to the desired position and a first target parameter, a position of the movable platform being inconsistent with a position of the load, the first target parameter being used to represent a relative positional relationship between the movable platform and the load.

309. A mission planning apparatus, characterized by, comprise: one or more processors; one or more memories for storing computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform: obtaining a desired position of a preset part of a movable platform, the desired position being a position that the preset part needs to reach, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; outputting task data, the task data comprising a target position of the movable platform, the movable platform moving to the target position so that the preset part moves to the desired position, the target position being determined according to the desired position and a first target parameter, a position of the movable platform being inconsistent with a position of the preset part, the first target parameter being used to represent a relative positional relationship between the movable platform and the preset part.

310. A control device for a movable platform, characterized in that comprise: one or more processors; one or more memories for storing computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform: obtaining task data, the task data comprising a target position of the movable platform, the target position being determined according to a desired position of a preset part and a first target parameter, the desired position being a position that the preset part needs to reach, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load, a position of the movable platform being inconsistent with a position of the preset part, the first target parameter being used to represent a relative positional relationship between the movable platform and the preset part; controlling the movable platform to move to the target position so that the preset part moves to the desired position.

311. A control device for a moveable platform, characterized in that comprise: one or more processors; One or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining a desired position of a preset part of a movable platform, the desired position being a position that the preset part needs to reach, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; controlling the movable platform to move to a target position so that the preset part moves to the desired position, wherein the target position is determined according to the desired position and a first target parameter, the position of the movable platform being inconsistent with the position of the preset part, and the first target parameter is used to represent a relative positional relationship between the movable platform and the preset part.

312. A control device for a moveable platform, characterized in that, comprising: obtaining a desired position of a preset part of a movable platform, the desired position being a position that the preset part needs to reach, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; sending the desired position to the movable platform so that the movable platform moves to a target position so that the preset part moves to the desired position, wherein the target position is determined according to the desired position and a first target parameter, the position of the movable platform being inconsistent with the position of the preset part, and the first target parameter is used to represent a relative positional relationship between the movable platform and the preset part.

313. A task planning apparatus characterized by comprising: comprising: one or more processors; one or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining a desired pose of a load of a movable platform; determining a target position and a first target pose of the movable platform according to at least the desired pose; outputting task data, the task data comprising the target position and the first target pose, wherein the load adjusting to the desired pose is achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose, the position of the movable platform being inconsistent with the position of the load.

314. A control device for a movable platform, characterized in that comprising: one or more processors; one or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining task data, the task data comprising a target position and a first target pose of a movable platform, wherein the target position and the first target pose are determined based on at least a desired pose of a load of the movable platform; cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target pose so that the load adjusts to the desired pose, wherein the position of the movable platform is inconsistent with the position of the load.

315. A control device for a movable platform, characterized in that comprising: one or more processors; One or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining a desired pose of a load of a movable platform; controlling the movable platform to move to a target position and to adjust to a first target pose to cause the load to adjust to the desired pose, wherein the target position and the first target pose are determined based at least on the desired pose, and a position of the movable platform is not coincident with a position of the load.

316. A control device for a moveable platform, characterized in that Comprising: one or more processors; one or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining parameters related to a desired pose of a load of a movable platform; sending the parameters related to the desired pose to the movable platform, the load to adjust to the desired pose being achieved by controlling the movable platform to move to a target position and to adjust to a first target pose, wherein the target position and the first target pose are determined based at least on the desired pose, and a position of the movable platform is not coincident with a position of the load.

317. A task planning apparatus characterized by comprising: Comprising: one or more processors; one or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining a desired pose of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; determining a target position and a first target pose of the movable platform based at least on the desired pose; outputting task data, the task data comprising the target position and the first target pose, wherein the preset part to adjust to the desired pose is achieved by controlling the movable platform to move to the target position and to adjust to the first target pose, and a position of the movable platform is not coincident with a position of the preset part.

318. A control device for a moveable platform, characterized in that, Comprising: one or more processors; one or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining task data, the task data comprising a target position and a first target pose of a movable platform, wherein the target position and the first target pose are determined based at least on a desired pose of a preset part of the movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; controlling the movable platform to move to the target position and to adjust to the first target pose to cause the preset part to adjust to the desired pose, wherein a position of the movable platform is not coincident with a position of the preset part.

319. A control device for a movable platform, characterized in that Comprising: one or more processors; One or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining a desired pose of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; controlling the movable platform to move to a target position and to adjust to a first target pose to cause the preset part to adjust to the desired pose, wherein the target position and the first target pose are determined based on at least the desired pose, and a position of the movable platform is not consistent with a position of the preset part.

320. An apparatus for controlling a movable platform, comprising: comprising: one or more processors; one or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining parameters related to a desired pose of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; sending the parameters related to the desired pose to the movable platform, the preset part adjusting to the desired pose being achieved by controlling the movable platform to move to a target position and to adjust to a first target pose, wherein the target position and the first target pose are determined based on at least the desired pose, and a position of the movable platform is not consistent with a position of the preset part.

321. A mission planning apparatus, characterized by, comprising: one or more processors; one or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining a desired pose of a load of a movable platform; determining a target position of the movable platform and a second target pose of a pose-adjustable mechanism based on at least the desired pose, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load; outputting task data including the target position and the second target pose, the load adjusting to the desired pose being achieved by controlling the movable platform to move to the target position and controlling the pose-adjustable mechanism to adjust to the second target pose, and a position of the movable platform is not consistent with a position of the load.

322. A control device for a movable platform, characterized in that comprising: one or more processors; one or more memories for storing computer program instructions which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining task data including a target position of a movable platform and a second target pose of a pose-adjustable mechanism, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and a load, and the target position and the second target pose are determined based on at least a desired pose of a load of the movable platform; controlling the movable platform to move to the target position and controlling the pose-adjustable mechanism to adjust to the second target pose to cause the load to adjust to the desired pose, and a position of the movable platform is not consistent with a position of the load. Coordinately control the movable platform to move to the target position and control the posture adjustable mechanism to adjust to the second target posture so that the load adjusts to the expected posture, wherein the position of the movable platform is not consistent with the position of the load.

323. A control device for a movable platform, characterized in that The method comprises: one or more processors; one or more memories for storing computer program instructions, which are invoked by the one or more processors, so that the one or more processors perform: obtaining an expected posture of a load of a movable platform; coordinately control the movable platform to move to the target position and control the posture adjustable mechanism to adjust to the second target posture so that the load adjusts to the expected posture, wherein the posture adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, the target position and the second target posture are determined based on at least the expected posture, and the position of the movable platform is not consistent with the position of the load.

324. A control device for a movable platform, characterized in that The method comprises: one or more processors; one or more memories for storing computer program instructions, which are invoked by the one or more processors, so that the one or more processors perform: obtaining parameters related to an expected posture of a load of a movable platform; sending the parameters related to the expected posture to the movable platform, and the load adjusts to the expected posture by coordinately controlling the movable platform to move to a target position and controlling a posture adjustable mechanism to adjust to a second target posture, wherein the posture adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, the target position and the second target posture are determined based on at least the expected posture, and the position of the movable platform is not consistent with the position of the load.

325. A mission planning apparatus, characterized by The method comprises: one or more processors; one or more memories for storing computer program instructions, which are invoked by the one or more processors, so that the one or more processors perform: obtaining an expected posture of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; determining a target position of the movable platform and a second target posture of a posture adjustable mechanism according to at least the expected posture, wherein the posture adjustable mechanism is a connecting mechanism between the main body of the movable platform and the preset part; outputting task data, the task data comprising the target position and the second target posture, and the preset part adjusts to the expected posture by coordinately controlling the movable platform to move to the target position and controlling the posture adjustable mechanism to adjust to the second target posture, wherein the position of the movable platform is not consistent with the position of the preset part.

326. A control device for a movable platform, characterized in that The method comprises: one or more processors; one or more memories for storing computer program instructions, which are invoked by the one or more processors, so that the one or more processors perform: Obtaining task data, the task data comprising a target position of a movable platform and a second target pose of a pose-adjustable mechanism, wherein the pose-adjustable mechanism is a connecting mechanism between a main body of the movable platform and a preset part, the target position and the second target pose are determined based on at least an expected pose of the preset part of the movable platform, the preset part being a load of the movable platform or a part between the main body of the movable platform and the load; Controlling the movable platform to move to the target position and controlling the pose-adjustable mechanism to adjust to the second target pose to make the preset part adjust to the expected pose, wherein the position of the movable platform is not consistent with the position of the preset part.

327. A control device for a moveable platform, characterized in that Comprise: One or more processors; One or more memories for storing computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform: Obtaining an expected pose of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; Controlling the movable platform to move to a target position and controlling a pose-adjustable mechanism to adjust to a second target pose to make the preset part adjust to the expected pose, wherein the pose-adjustable mechanism is a connecting mechanism between the main body of the movable platform and the preset part, the target position and the second target pose are determined based on at least the expected pose, and the position of the movable platform is not consistent with the position of the preset part.

328. A control device for a movable platform, characterized in that Comprise: One or more processors; One or more memories for storing computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform: Obtaining parameters related to an expected pose of a preset part of a movable platform, the preset part being a load of the movable platform or a part between a main body of the movable platform and the load; Sending the parameters related to the expected pose to the movable platform, the preset part adjusting to the expected pose being achieved by controlling the movable platform to move to a target position and controlling a pose-adjustable mechanism to adjust to a second target pose, wherein the pose-adjustable mechanism is a connecting mechanism between the main body of the movable platform and the preset part, the target position and the second target pose are determined based on at least the expected pose, and the position of the movable platform is not consistent with the position of the preset part.

329. A control device for a moveable platform, characterized in that, Comprise: One or more processors; One or more memories for storing computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform: Obtaining a target path of the movable platform, the target path being determined according to an expected path of a load of the movable platform, the expected path comprising one or more expected positions; Controlling the movable platform to move according to the target path so that the load moves according to the expected path, wherein the target path is offset from the expected path by a target distance, the target distance is related to the relative positional relationship between the movable platform and the load, and the target path is not the same as the expected path.

330. A mission planning apparatus, characterized by, Comprise: One or more processors; One or more memories for storing computer program instructions, which are called by the one or more processors, so that the one or more processors execute: Obtain the expected path of the load of the movable platform, the expected path comprising one or more expected positions; Based on the expected path of the load, generate a target path of the movable platform, wherein the target path is not the same as the expected path, the target path is offset from the expected path by a target distance, the target distance is related to the relative positional relationship between the movable platform and the load, and the target path can make the load move according to the expected path when the movable platform moves according to the target path. Comprise:

331. A mission planning apparatus, characterized by, One or more processors; One or more memories for storing computer program instructions, which are called by the one or more processors, so that the one or more processors execute: Obtain the expected position of the load of the movable platform, which is the position that the load needs to reach; Output task data, the task data comprising at least one of a first target attitude of the movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform, the load moving to the expected position being achieved by cooperatively controlling the movable platform to move to the target position and controlling the movable platform to adjust to the first target attitude and / or controlling the attitude-adjustable mechanism to adjust to the second target attitude, at least one of the first target attitude and the second target attitude and the target position being determined according to at least the expected position, wherein the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and the position of the movable platform is not consistent with the position of the load. Comprise:

332. A control device for a movable platform, characterized in that, One or more processors; One or more memories for storing computer program instructions, which are called by the one or more processors, so that the one or more processors execute: Obtain task data, the task data comprising at least one of a first target attitude of the movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform, at least one of the first target attitude and the second target attitude and the target position being determined according to at least an expected position, wherein the expected position is a position that a load of the movable platform needs to reach, the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and the position of the movable platform is not consistent with the position of the load. Comprise: One or more processors; One or more memories for storing computer program instructions, which are called by the one or more processors, so that the one or more processors execute: Obtain task data, the task data comprising at least one of a first target attitude of the movable platform and a second target attitude of an attitude-adjustable mechanism and a target position of the movable platform, at least one of the first target attitude and the second target attitude and the target position being determined according to at least an expected position, wherein the expected position is a position that a load of the movable platform needs to reach, the attitude-adjustable mechanism is a connecting mechanism between a main body of the movable platform and the load, and the position of the movable platform is not consistent with the position of the load. The cooperative control is used to control the movable platform to move to the target position and control the movable platform to adjust to the first target attitude and / or control the attitude-adjustable mechanism to adjust to the second target attitude so that the load moves to the expected position.

333. A control device for a moveable platform, characterized in that, The method comprises: one or more processors; one or more memories for storing computer program instructions, which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining an expected position of a load of a movable platform, the expected position being a position that the load needs to reach; controlling the movable platform to move to a target position and controlling the movable platform to adjust to a first target attitude and / or controlling an attitude-adjustable mechanism to adjust to a second target attitude so that the load moves to the expected position, at least one of the first target attitude and the second target attitude and the target position being determined according to the expected position, the attitude-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the position of the movable platform being inconsistent with the position of the load.

334. A control device for a movable platform, characterized in that The method comprises: one or more processors; one or more memories for storing computer program instructions, which, when invoked by the one or more processors, cause the one or more processors to perform: obtaining an expected position of a load of a movable platform, the expected position being a position that the load needs to reach; sending the expected position to the movable platform to control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude-adjustable mechanism to adjust to a second target attitude so that the load moves to the expected position, at least one of the first target attitude and the second target attitude and the target position being determined according to the expected position, the attitude-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the position of the movable platform being inconsistent with the position of the load.

335. A control system for a moveable platform, characterized by The device comprises a user interface, a communication interface and a processor, wherein: the user interface is configured to obtain an expected position of a load of a movable platform, the expected position being a position that the load needs to reach; the communication interface is configured to transmit task data, the task data comprising a target position of the movable platform; the processor is configured to control the movable platform to move to the target position so that the load moves to the expected position, the target position being determined according to the expected position and a first target parameter, wherein the position of the movable platform is inconsistent with the position of the load, and the first target parameter is used to represent the relative position relationship between the movable platform and the load.

336. A control system for a moveable platform, characterized by The device comprises a user interface, a communication interface and a processor, wherein: the user interface is configured to obtain an expected position of a load of a movable platform, the expected position being a position that the load needs to reach; the communication interface is configured to transmit the expected position; The processor is configured to control the movable platform to move to a target position so that the load moves to the desired position, the target position being determined according to the desired position and a first target parameter, the position of the movable platform being inconsistent with the position of the load, and the first target parameter being used to represent the relative positional relationship between the movable platform and the load.

337. A control system for a moveable platform, characterized in that, The user interface is configured to obtain a desired pose of a load of the movable platform. The communication interface is configured to transmit task data, the task data including a target position of the movable platform and a first target pose, the target position and the first target pose being determined based at least on the desired pose of the load of the movable platform. The processor is configured to cooperatively control the movable platform to move to the target position and control the movable platform to adjust to the first target pose so that the load adjusts to the desired pose, the position of the movable platform being inconsistent with the position of the load. The user interface is configured to obtain a desired pose of a load of the movable platform.

338. A control system for a moveable platform, characterized in that, The communication interface is configured to transmit the desired pose. The processor is configured to cooperatively control the movable platform to move to a target position and control the movable platform to adjust to a first target pose so that the load adjusts to the desired pose, the target position and the first target pose being determined based at least on the desired pose, the position of the movable platform being inconsistent with the position of the load. The user interface is configured to obtain a desired pose of a load of the movable platform. The communication interface is configured to transmit task data, the task data including a target position of the movable platform and a second target pose of a pose-adjustable mechanism, the pose-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose being determined based at least on the desired pose of the load of the movable platform.

339. A control system for a moveable platform, characterized by, The processor is configured to control the movable platform to move to the target position and control the pose-adjustable mechanism to adjust to the second target pose so that the load adjusts to the desired pose, the position of the movable platform being inconsistent with the position of the load. The user interface is configured to obtain a desired pose of a load of the movable platform. The communication interface is configured to transmit the desired pose. The processor is configured to cooperatively control the movable platform to move to a target position and control the pose-adjustable mechanism to adjust to a second target pose so that the load adjusts to the desired pose, the pose-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose being determined based at least on the desired pose, the position of the movable platform being inconsistent with the position of the load.

340. A control system for a moveable platform, characterized by, The user interface is configured to obtain a desired pose of a load of the movable platform. The communication interface is configured to transmit the desired pose. The processor is configured to cooperatively control the movable platform to move to a target position and control the pose-adjustable mechanism to adjust to a second target pose so that the load adjusts to the desired pose, the pose-adjustable mechanism being a connecting mechanism between a main body of the movable platform and the load, the target position and the second target pose being determined based at least on the desired pose, the position of the movable platform being inconsistent with the position of the load. ​ 341. A control system for a moveable platform, characterized by, ​ The user interface is configured to obtain a target path of the movable platform, the target path being determined according to a desired path of a load of the movable platform, the desired path comprising one or more desired positions; The communication interface is configured to transmit the target path; The processor is configured to control the movable platform to move according to the target path so that the load moves according to the desired path, wherein the target path is offset from the desired path by a target distance, the target distance being related to a relative positional relationship between the movable platform and the load, and the target path is not identical to the desired path.

342. A control system for a moveable platform, characterized by, The user interface is configured to obtain a desired path of a load of the movable platform, the desired path comprising one or more desired positions; The communication interface is configured to transmit the desired path; The processor is configured to generate a target path of the movable platform based on the desired path of the load, wherein the target path is not identical to the desired path, the target path is offset from the desired path by a target distance, the target distance being related to a relative positional relationship between the movable platform and the load, and the movable platform is capable of moving according to the target path so that the load moves according to the desired path. The user interface is configured to obtain a desired position of a load of a movable platform, the desired position being a position to which the load needs to reach; 343. A control system for a moveable platform, characterized in that, The communication interface is configured to transmit task data, the task data comprising a target position of the movable platform and a first target attitude of the movable platform and / or a second target attitude of an attitude-adjustable mechanism, the target position, the first target attitude or the second target attitude being determined at least according to the desired position, wherein a position of the movable platform is not identical to a position of the load; The processor is configured to control the movable platform to move to the target position and control the movable platform to adjust to the first target attitude and / or control the attitude-adjustable mechanism to adjust to the second target attitude so that the load moves to the desired position. The user interface is configured to obtain a desired position, the desired position being a position to which a load of a movable platform needs to reach; The communication interface is configured to transmit the desired position; The processor is configured to control the movable platform to move to a target position and control the movable platform to adjust to a first target attitude and / or control an attitude-adjustable mechanism of the movable platform to adjust to a second target attitude so that the load moves to the desired position, the target position, the first target attitude or the second target attitude being determined at least according to the desired position, and a position of the movable platform is not identical to a position of the load.

344. A control system for a moveable platform, characterized by, The computer readable storage medium stores a computer program, and the computer program, when executed by the processor, causes the processor to implement the method according to any one of claims 1 to 304. ​ ​ ​ 345. A computer-readable storage medium, characterized in that, ​

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