Aircraft control method and apparatus, and movable platform control method and apparatus

Abstract

An aircraft control method and apparatus, and a movable platform control method and apparatus. The aircraft control method comprises: an aircraft acquires position information of a power transmission line, wherein the aircraft can be connected to a deicing rod by means of a rope (S11); the aircraft moves towards the power transmission line on the basis of the position information of the power transmission line (S12); and the aircraft moves to a preset position, so that the deicing rod connected to the aircraft by means of the rope can move to collide with the power transmission line under the action of the movement of the aircraft (S13).

Description

Control method and device of aircraft and movable platform TECHNICAL FIELD

[0001] The present specification relates to the technical field of movable platforms, and in particular to a control method and device of an aircraft and movable platform. BACKGROUND

[0002] In real life, many target objects have foreign matter attached to them. Usually, artificial methods are used to remove the foreign matter, which is not only inefficient but also has safety hazards.

[0003] SUMMARY

[0004] In a first aspect, the present disclosure provides a control method of an aircraft, the method comprising: the aircraft acquiring position information of a power transmission line, wherein the aircraft is connected to an ice removal rod by a rope; the aircraft moving towards the power transmission line according to the position information of the power transmission line; and the aircraft moving to a preset position, so that the ice removal rod connected to the aircraft by the rope can move to collide with the power transmission line under the action of the movement of the aircraft.

[0005] The present disclosure connects the aircraft to the ice removal rod by the rope, the aircraft can automatically acquire the position information of the power transmission line, move towards the power transmission line according to the acquired position information of the power transmission line, and move to the preset position, so that the ice removal rod can move to collide with the power transmission line under the action of the movement of the aircraft, thereby removing the foreign matter on the power transmission line by impact. The above process realizes the autonomous movement of the aircraft and the automatic removal of the foreign matter on the power transmission line, reduces the manual participation in the foreign matter removal process, improves the foreign matter removal efficiency, and reduces safety hazards.

[0006] In a second aspect, the present disclosure provides a control method of a movable platform, the method comprising: the movable platform acquiring position information of a target object, wherein the movable platform is connected to a load by a flexible connecting member; the movable platform moving towards the target object according to the position information of the target object; and the movable platform moving to a preset position, so that the load connected to the movable platform by the flexible connecting member can move to collide with the target object under the action of the movement of the movable platform.

[0007] The present disclosure connects a load object to a movable platform through a flexible connecting member, the movable platform can automatically acquire position information of a target object, moves towards the target object according to the acquired position information of the target object, and moves to a preset position, so that the load object can move to collide with the target object under the action of the movement of the movable platform, thereby removing foreign matter on the target object by impact. The above process realizes autonomous movement of the movable platform and automatic removal of foreign matter on the target object, reduces manual participation in the foreign matter removal process, improves foreign matter removal efficiency, and reduces safety hazards.

[0008] In a third aspect, the embodiments of the present disclosure provide a control device of a movable platform, comprising one or more memories storing computer program codes and one or more processors, the movable platform can connect a load object through a flexible connecting member, the one or more processors and the one or more memories storing computer program codes are configured to jointly act to cause the control device to perform the following steps: acquiring position information of a target object; moving towards the target object according to the position information of the target object; and controlling the movable platform to move to a preset position, so that the load object connected to the movable platform through the flexible connecting member can move to collide with the target object under the action of the movement of the movable platform.

[0009] The present disclosure connects a load object to a movable platform through a flexible connecting member, the movable platform can automatically acquire position information of a target object, moves towards the target object according to the acquired position information of the target object, and moves to a preset position, so that the load object can move to collide with the target object under the action of the movement of the movable platform, thereby removing foreign matter on the target object by impact. The above process realizes autonomous movement of the movable platform and automatic removal of foreign matter on the target object, reduces manual participation in the foreign matter removal process, improves foreign matter removal efficiency, and reduces safety hazards.

[0010] In a fourth aspect, the embodiments of the present disclosure provide a computer readable storage medium having a computer program stored thereon, the program is executed by a processor to implement the method of the first aspect or the second aspect.

[0011] In a fifth aspect, the embodiments of the present disclosure provide a movable platform, which is capable of connecting a load object through a flexible connecting member. The movable platform comprises a memory for storing computer program code and a processor for cooperating with the memory to enable the movable platform to perform the following steps: the movable platform acquires position information of a target object; the movable platform moves towards the target object according to the position information of the target object; and the movable platform moves to a preset position, so that the load object connected to the movable platform through the flexible connecting member can move to collide with the target object under the action of the movement of the movable platform.

[0012] The present disclosure connects the movable platform with the load object through the flexible connecting member. The movable platform can automatically acquire the position information of the target object, move towards the target object according to the acquired position information of the target object, and move to the preset position, so that the load object can move to collide with the target object under the action of the movement of the movable platform, thereby removing the foreign matter on the target object by impact. The above process realizes the autonomous movement of the movable platform and the automatic removal of the foreign matter on the target object, reduces the manual participation in the foreign matter removal process, improves the foreign matter removal efficiency, and reduces the safety hazards.

[0013] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present specification. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0015] FIG. 1 is a schematic diagram of a system architecture of the embodiments of the present disclosure.

[0016] FIG. 2 is a flowchart of a control method of a movable platform according to the embodiments of the present disclosure.

[0017] FIG. 3 is a schematic diagram of a preset portion on a load object according to the embodiments of the present disclosure.

[0018] FIG. 4A and FIG. 4B are schematic diagrams of a change process of a movement speed of a movable platform according to the embodiments of the present disclosure.

[0019] FIG. 5A and FIG. 5B are schematic diagrams of the height of a load object when a movable platform reaches a preset position according to the embodiments of the present disclosure.

[0020] FIGS. 6A and 6B are schematic diagrams of a moving direction of a movable platform according to an embodiment of the present disclosure.

[0021] FIG. 7 is a schematic diagram of an impact area of a load on a target object according to an embodiment of the present disclosure.

[0022] FIG. 8 is a flowchart of a control method of an aerial vehicle according to an embodiment of the present disclosure.

[0023] FIG. 9 is a schematic diagram of a control device of a movable platform according to an embodiment of the present disclosure.

[0024] FIG. 10 is a schematic diagram of a movable platform according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] The exemplary embodiments will be described in detail herein below with reference to the attached drawings. In the following description, the same or similar components are designated by the same or similar reference numerals, and a repeated description thereof will be omitted. The following exemplary embodiments described in the following detailed description are merely exemplary and do not represent all of the aspects in accordance with the present disclosure. Rather, they merely attempt to describe some aspects in accordance with the present disclosure as detailed in the appended claims.

[0026] The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used in the description of the present disclosure and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and / or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0027] It will be understood that, although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used only to distinguish different sets of information from one another. For example, a first information can be termed a second information, and similarly, a second information can also be termed a first information, without departing from the scope of the present disclosure. As used herein, the word “if’ can be interpreted to mean “when” or “upon” or “in response to determining” depending on the context.

[0028] In real life, many target objects exist in the case of being attached by foreign matters. Among them, the target object can be a power transmission line, a building, a water pipe, a mechanical equipment, a vehicle or furniture, etc., and the foreign matter can be ice, snow or dust attached to the target object, etc. Usually, it is necessary to manually remove these foreign matters, and the manual removal of foreign matters is not only low in efficiency, but also has safety hazards. Taking the target object as a power transmission line and the foreign matter as ice attached to the power transmission line as an example, when the power transmission line is deiced by manual operation, the staff will deice the power transmission line through deicing facilities. The manual operation is not only low in efficiency, but also threatens the safety of the staff due to the poor working environment. In addition, the staff may cause damage to the power transmission line due to improper operation, thereby further increasing the safety risk.

[0029] Based on this, the embodiments of the present disclosure realize the removal of foreign matters on the target object by means of a movable platform. FIG. 1 shows the system architecture of the embodiments of the present disclosure. As shown in FIG. 1, the movable platform 10 connects the load 30 through a flexible connecting member 20. Due to the action of the flexible connecting member 20, the load 30 can collide with the target object 40 under the action of the movement of the movable platform 10, so as to remove the foreign matters attached to the target object 40 by impact. In the example shown in FIG. 1, the movable platform 10 is a flying vehicle, such as an unmanned aerial vehicle or a manned flying vehicle, the load 30 is a rod-shaped object, and the target object 40 is a linear object. It can be understood that in other examples, the movable platform 10 can also be other types of platforms, such as a car, a ship or a movable robot, etc.; the load 30 can also be a sheet-shaped object, a block-shaped object or an object of other shapes; and the target object can also be a planar object, a three-dimensional object or an irregularly shaped object. The flexible connecting member 20 can be a rope, a chain or a flexible pipeline, etc. In a specific application scenario, the target object 40 is a linear object, such as a power transmission line, the movable platform 10 is an unmanned aerial vehicle, the flexible connecting member 20 is a rope, the load is an ice-removing rod, and the foreign matter is ice attached to the power transmission line. It can be understood that this application scenario is only an example for illustration, and is not intended to limit the present disclosure.

[0030] In order to facilitate understanding and description, the following will take the application scenario shown in FIG. 1 as an example, and combine FIG. 2 to illustrate the scheme of the embodiments of the present disclosure. Referring to FIG. 2, the embodiments of the present disclosure provide a control method of a movable platform, which comprises:

[0031] Step S11: The movable platform 10 acquires the position information of the target object 40, wherein the movable platform 10 can connect the load 30 through the flexible connecting member 20;

[0032] Step S12: The movable platform 10 moves towards the target object 40 according to the position information of the target object 40; and

[0033] Step S13: The movable platform 10 moves to the preset position, so that the load 30 connected to the movable platform 10 through the flexible connecting piece 20 can move to collide with the target object 40 under the action of the movement of the movable platform 10.

[0034] The present disclosure connects the movable platform 10 and the load 30 through the flexible connecting piece 20, and the movable platform 10 can automatically obtain the position information of the target object 40, and move to the preset position towards the target object 40 according to the obtained position information of the target object 40, so that the load 30 can move to collide with the target object 40 under the action of the movement of the movable platform 10, thereby removing the foreign matter on the target object 40 by impact. The above process realizes the autonomous movement of the movable platform 10 and the automatic removal of the foreign matter on the target object 40, reduces the manual participation in the foreign matter removal process, improves the foreign matter removal efficiency, and reduces the safety hazard.

[0035] In step S11, the movable platform 10 can obtain the position information of the target object 40 through a sensor. The sensor can collect environmental data of the environment where the movable platform 10 is located, and the movable platform 10 can determine the position information of the target object 40 based on the environmental data. The sensor can include but is not limited to at least one of the following: a visual sensor, a radar sensor, a laser scanner, an infrared sensor, and an ultrasonic sensor. Correspondingly, the environmental data can include image data, point cloud data, infrared radiation data, ultrasonic pulse data, etc. The position information of the target object 40 obtained by the sensor can be the relative position information between the target object 40 and the movable platform 10, or the absolute position information of the target object 40 in a global coordinate system (such as a world coordinate system).

[0036] The above sensor can be arranged on the movable platform 10, that is, the sensor can be installed on the movable platform 10, for example, at least one of the top, bottom and side of the movable platform 10. The sensor can sense the environment where the movable platform 10 is located, thereby determining the position information of the target object 40.

[0037] Alternatively, the above-mentioned sensors can be arranged outside the movable platform 10. For example, another movable platform (e.g., a lookout machine) can be arranged outside the movable platform 10, and at least one sensor can be installed on the lookout machine. The lookout machine can communicate with the movable platform 10, and after the sensor on the lookout machine determines the position information of the target object 40, the lookout machine can send the acquired position information of the target object 40 to the movable platform 10; or the lookout machine can communicate with the control terminal of the movable platform 10, and after the sensor on the lookout machine determines the position information of the target object 40, the lookout machine can send the acquired position information of the target object 40 to the control terminal of the movable platform 10, and the control terminal of the movable platform 10 forwards the position information of the target object 40 to the movable platform 10. At least one sensor can also be arranged at a designated position. For example, a sensor can be arranged at a predetermined distance on the flight path of the movable platform 10 to sense the environment in which the movable platform 10 is located, thereby determining the position information of the target object 40. Alternatively, when the target object 40 is a power transmission line, a sensor can be arranged on a tower carrying the power transmission line or on the power transmission line. Each sensor can directly communicate with the movable platform 10, or communicate with other devices and send the position information of the target object 40 acquired by the sensor to the movable platform 10 by the other devices.

[0038] In addition to acquiring the position information of the target object 40 through the sensor, the user can also directly input the position information of the target object 40. For example, the movable platform 10 can communicate with a user terminal, and the user can input the position information of the target object 40 on the user terminal and send the position information input by the user to the movable platform 10 by the user terminal.

[0039] Alternatively, the movable platform 10 can acquire the position information of the target object 40 through a model. For example, a model can be established based on the environmental image of the environment in which the movable platform 10 is located sensed by the sensor, and the position information of the target object 40 is determined through the model.

[0040] In addition to the above-mentioned several ways, the movable platform 10 can also use other ways to acquire the position information of the target object 40, which will not be listed one by one here.

[0041] In step S12 and step S13, the movable platform 10 can move towards the target object 40 according to the position information of the target object 40, and reach a preset position to make the load 30 collide with the target object 40. The movement towards the target object 40 can be broadly interpreted as moving towards the direction of the target object 40, i.e. the movable platform 10 does not need to be completely aligned with the target object 40. In some embodiments, the head direction of the movable platform 10 is provided with a sensor, so that during the movement of the movable platform 10 towards the target object 40, the head direction of the movable platform 10 can be kept towards the target object 40, thereby facilitating the sensor to sense the environmental data. It can be understood that in other examples, the sensor can also be provided at other positions of the movable platform 10, so that during the movement of the movable platform 10 towards the target object 40, the head direction does not need to be controlled to face the target object 40. Since the movement of the movable platform 10 towards the target object 40 can be autonomously performed based on the position information of the target object 40, the user does not need to manually control the movable platform 10 to move towards the target object 40, thereby reducing the operation complexity of the user.

[0042] The preset position can be a position that does not cross the target object 40 and is close to the target object 40, a position directly above the target object 40, or a position after crossing the target object 40 (for example, when the movable platform 10 approaches the target object 40, it suddenly accelerates, which makes the load 30 swing backward, so that after the movable platform 10 crosses the target object 40, the load 30 collides with the target object 40). The preset position can be a position reached when the movable platform 10 stops moving, or a position passed by the movable platform 10.

[0043] In some embodiments, the movable platform 10 can obtain the position of the target object 40 and plan the preset position based on the obtained position of the target object 40. However, there can be a certain deviation in the obtained position of the target object 40, which can cause inaccurate planning of the preset position, thereby causing the movable platform 10 to fail to move to a suitable position to make the load 30 collide with the target object 40. Therefore, during the movement of the movable platform 10, the sensor can be controlled to sense the target object 40 in real time. Then, the preset position can be adjusted in response to the deviation of the sensed position information of the target object 40 being greater than a preset deviation threshold. The deviation of the position information of the target object 40 includes the deviation between the position information of the target object 40 sensed in real time by the sensor and the position information of the target object 40 when the preset position is planned. The embodiment adjusts the preset position when the deviation between the position information of the target object 40 sensed in real time and the position information of the target object 40 when the preset position is planned is large, thereby reducing the situation that the load 30 cannot collide with the target object 40 at a suitable position due to inaccurate planning of the preset position.

[0044] In some embodiments, the target region including the target object 40 can also be selected by a user, and the movable platform 10 is controlled to move to the target region. Specifically, the target region selected by the user through a control terminal for controlling the movable platform 10 can be acquired. For example, the control terminal can include a user interface on which a map can be displayed, and the user can select the target region on the map. After the user selects the target region, the control terminal can send the position information of the target region to the movable platform 10, and the movable platform 10 can plan a path according to the received position information of the target region to move into the target region. After reaching the target region, the movable platform 10 can further identify the position of the target object in the target region, and then further determine the preset position based on the position of the target object and move to the preset position. In this embodiment, the user first determines a general target region, and the movable platform 10 further plans the preset position more accurately after reaching the target region. In this way, the waste of resources caused by excessive accurate planning in advance is avoided, and the user's operation complexity is reduced without the need for the user to perform fine control and positioning operations. The user only needs to perform one general region planning, and the movable platform 10 can autonomously implement high-precision position planning, thereby improving the accuracy of the planned preset position.

[0045] The movable platform 10 can move to the preset position at a constant speed or at a variable speed. The variable speed can be acceleration, deceleration, constant speed first and then acceleration, constant speed first and then deceleration, acceleration first and then deceleration, constant speed first and then acceleration and then deceleration, or deceleration first and then acceleration and then deceleration, etc. The preset position can be directly above the target object 40, or can be beside or above the target object 40. When the movable platform 10 reaches the preset position, the speed of the movable platform 10 can be greater than 0, that is, the movable platform 10 passes through the preset position and continues to move, thereby continuing to drive the load 30 to impact the target object 40. For example, the movable platform 10 can pass through the position directly above the target object 40 horizontally, or pass through the position directly above the target object 40 at an upward inclined speed, or pass through the position directly above the target object 40 at a downward inclined speed. Alternatively, when the movable platform 10 reaches the preset position, the speed of the movable platform 10 can be equal to 0, that is, the movable platform 10 stops moving at the preset position, so that the load 30 continues to move and impact the target object 40 under the action of inertia. After the movable platform 10 reaches the preset position, the load 30 can move to impact the target object 40 along a straight line or along a curve.

[0046] For example, in one specific application scenario, the movable platform 10 moves to a preset position with a speed of 0, and the preset position is above the target object 40 on the side and the movable platform 10 does not cross the target object 40, the speed of the movable platform 10 when reaching the preset position is 0, so that the load 30 moves along an arc under the action of inertia and collides with the target object 40. For another example, in another specific application scenario, the movable platform 10 moves to a preset position with a speed greater than 0, and the preset position is directly above the target object 40, and after the movable platform 10 reaches the preset position, it continues to move at a certain speed and drives the load 30 to move along a straight line and collide with the target object 40.

[0047] In addition to the two specific application scenarios listed above, the movable platform 10 can also move in other ways to make the load 30 collide with the target object 40, which will not be listed one by one here.

[0048] The load 30 collides with the target object 40, which can be a preset part of the load 30 colliding with the target object 40. Among them, the preset part is the part of the load 30 that is expected to collide with the target object 40. Different parts of the load 30 colliding with the target object 40 can obtain different effects. For example, compared to the end of the load 30 close to the flexible connecting piece 20 (which can be referred to as the proximal end of the load 30), the end of the load 30 away from the flexible connecting piece 20 (which can be referred to as the distal end of the load 30) colliding with the target object 40 can obtain greater momentum, thereby improving the impact effect. In addition, the proximal end of the load 30 colliding with the target object 40 can cause the load 30 to drive the flexible connecting piece 20 to move around the target object 40 due to the inertia of the load 30, thereby causing the flexible connecting piece 20 to wrap around the target object 40, so that the movable platform 10 cannot move normally. Therefore, taking the distal end of the load 30 as the preset part can reduce the probability of the flexible connecting piece 20 wrapping around the target object 40, further ensuring the operation safety of the movable platform 10. Taking the load 30 as a rod as an example, for example, in the example of an unmanned aerial vehicle hanging an ice removal rod for ice removal, as shown in FIG. 3, the preset position can be the lower middle part (about 1 / 3) of the load 30, which can reduce the probability of the flexible connecting piece 20 wrapping around the target object 40, further ensuring the operation safety of the movable platform 10.

[0049] In some embodiments, there is a preset relationship between the preset position, the position of the load 30 (which can be the position of the load 30 relative to the movable platform 10) and the position information of the target object 40. Therefore, the preset position can be determined based on the position information of the target object 40 and the position information of the load 30, so as to control the movable platform 10 to move to the preset position. Further, when the movable platform 10 is relatively close to the target object 40, some characteristics of the target object 40 itself can cause a certain safety hazard of the movable platform 10. For example, when the target object 40 is a power transmission line, especially a high-voltage power transmission line, the power transmission line can cause a certain electromagnetic interference to the communication equipment on the movable platform 10, resulting in that the movable platform 10 cannot normally communicate with the outside world, and the movable platform 10 can also be shocked due to arc discharge of the power transmission line. In order to improve the safety of the movable platform 10, a safety distance threshold value can be set, which is used to represent the distance between the movable platform 10 and the target object 40 that can be safely operated. The distance between the movable platform 10 and the target object 40 can be greater than or equal to the above safety distance threshold value. On this basis, the position information of the load 30 can be determined based on the preset position, the position information of the target object 40 and the above safety distance threshold value, so as to adjust the position of the load 30, so that the load 30 hits the target object 40.

[0050] Alternatively, the position information of the load 30 can also be determined based on the preset position and the position information of the target object 40, so as to adjust the position of the load 30, so that the load 30 hits the target object 40. In particular, the current position of the movable platform 10 can be determined as the preset position. Further, in order to improve the safety of the movable platform, a safety distance threshold value can be set, and the position information of the load 30 is determined based on the preset position, the position information of the target object 40 and the safety distance threshold value.

[0051] In some embodiments, the movable platform 10 can move from a starting preset position to the preset position. As shown in FIG. 4A, the starting preset position includes a position at which the movable platform 10 starts to accelerate to move towards the target object 40. That is, the movable platform 10 accelerates from the starting preset position to the preset position; or as shown in FIG. 4B, the movable platform 10 can first accelerate from the starting preset position, and then decelerate to the preset position. When the movable platform 10 reaches the preset position, the movable platform 10 can be in an accelerating state, a decelerating state, or a state with a speed of 0.

[0052] In some embodiments, as shown in FIG. 5A, the preset position is located on one side of the target object 40 in the horizontal direction, and is located on the same side of the target object 40 in the horizontal direction as the starting preset position. The movable platform 10 can move horizontally, obliquely upwards or obliquely downwards, so that the load 30 hits the target object 40.

[0053] In this case, before the movable platform 10 moves towards the target object 40 according to the position information of the target object 40, the position of the load object 30 can be adjusted so that when the movable platform 10 reaches the preset position, the height of the preset part of the load object 30 is less than the height of the target object 40. The preset part is the part of the load object 30 that is expected to hit the target object 40. The embodiments of the present disclosure automatically adjust the position of the load object 30 by the movable platform 10, so that the preset part of the load object 30 can hit the target object 40, without the need for workers to determine whether the load object 30 is aligned with the target object 40 by personnel, thereby improving the automation of the work process, reducing the complexity of manual operation, and improving the work efficiency. In a specific application scenario, the movable platform 10 can first move to a first position, adjust the position of the load object 30 at the first position, then retreat from the first position to a second position, and accelerate from the second position towards the target object 40. The distance between the first position and the target object 40 is less than the distance between the second position and the target object 40, and the second position can be before or after the preset position. Since the process of adjusting the position of the load object 30 is performed when the distance to the target object 40 is relatively short, the accuracy is high, and the risk of failure of the impact due to the load object 30 failing to align with the target object 40 is reduced.

[0054] Continuing to refer to FIG. 5A, after the movable platform 10 reaches the preset position, the load object 30 can move along an arc with the preset position as the center and the distance between the movable platform 10 and the load object 30 as the radius until it hits the target object 40. Therefore, when the movable platform 10 reaches the preset position, the height of the preset part of the load object 30 is less than the height of the target object 40. The height difference between the target object 40 and the preset position can be determined according to the position information of the preset position and the target object 40, and then the position of the load object 30 is adjusted based on the height difference, so that when the movable platform 10 reaches the preset position, the height of the preset part of the load object 30 is less than the height of the target object 40.

[0055] In other embodiments, as shown in FIG. 5B, the preset position is directly above the target object 40.

[0056] In this case, before the movable platform 10 moves towards the target object 40 according to the position information of the target object 40, the position of the load object 30 can be adjusted so that the height of the preset part of the load object 30 is consistent with the height of the target object 40 when the movable platform 10 reaches the preset position. The preset part is the part of the load object 30 that is expected to hit the target object 40. The embodiments of the present disclosure automatically adjust the position of the load object 30 by the movable platform 10, so that the preset part of the load object 30 can hit the target object 40, without the need for the staff to determine whether the load object 30 is aligned with the target object 40 by personnel, thereby improving the automation of the operation process, reducing the complexity of manual operation, and improving the operation efficiency.

[0057] Continuing to refer to FIG. 5B, after the movable platform 10 reaches the preset position, the movable platform 10 can continue to drive the load object 30 to move along the straight line until the load object 30 hits the target object 40. Therefore, when the movable platform 10 reaches the preset position, the height of the preset part of the load object 30 is substantially consistent with the height of the target object 40. The height difference between the target object 40 and the preset position can be determined according to the position information of the target object 40 and the preset position, and the position of the load object 30 is adjusted based on the height difference, so that the height of the preset part of the load object 30 is consistent with the height of the target object 40 when the movable platform 10 reaches the preset position.

[0058] It should be noted that in the examples shown in FIGS. 5A and 5B, the movable platform 10 is moved at a fixed height, however, in actual applications, the height of the movable platform 10 is variable during the process of approaching the target object 40. That is, the movable platform 10 has a speed component in the horizontal direction for approaching the target object 40 and a speed component in the vertical direction for changing its height.

[0059] In the above embodiments, the position of the load object 30 can be adjusted by adjusting the position of the movable platform 10, by adjusting the extension length of the flexible connecting member 20, or by using both of the above methods.

[0060] In some embodiments, the movable platform 10 can move from the preset direction to the preset position.

[0061] As shown in FIG. 6A, the preset direction v is perpendicular to the target object 40. In this way, the movable platform 10 can impact the target object 40 with the maximum momentum in the direction perpendicular to the target object 40, so as to obtain a better clearing effect. The preset direction v being perpendicular to the target object 40 can mean that the preset direction v is perpendicular to the target object in the horizontal direction, or the preset direction v is perpendicular to the target object in the upward oblique direction (for example, the movable platform 10 is below the side of the target object 40 and moves in the upward oblique direction and is perpendicular to the target object 40), or the preset direction v is perpendicular to the target object in the downward oblique direction (for example, the movable platform 10 is above the side of the target object 40 and moves in the downward oblique direction and is perpendicular to the target object 40). Alternatively, as shown in FIG. 6B, the preset direction v includes a direction component v1 parallel to the target object 40 and a direction component v2 perpendicular to the target object 40, that is, the movable platform 10 moves to the preset position in the oblique direction. In some cases, the movable platform 10 needs to accelerate on at least part of the trajectory segment to move to the preset position, however, there can be obstacles around the target object 40, which makes it difficult for the movable platform 10 to obtain sufficient acceleration distance. At this time, by controlling the movable platform 10 to move to the preset position in the oblique direction, the acceleration distance of the movable platform 10 can be increased, so that the movable platform 10 can obtain sufficient speed, and then the load 30 can obtain sufficient momentum to impact the target object 40.

[0062] In some embodiments, the load 30 includes a stowed state and a released state. When the load 30 is in the stowed state, the flexible connecting member 20 is stowed, so that the load 30 is accommodated inside the load pod or the fuselage of the movable platform 10. When the load 30 is in the released state, the flexible connecting member 20 is released, so that the load 30 is hung on the flexible connecting member 20 away from the side of the movable platform 10.

[0063] The state of the load 30 can be controlled according to the state of the movable platform 10. For example, when the movable platform 10 is in the take-off state, the load 30 can be in the stowed state. In response to the movable platform 10 reaching the specified position, the load 30 can be released. The movable platform 10 is in the hovering state at the specified position. In this way, the flexible connecting member 20 can be wound around the obstacles or the load 30 can impact the obstacles during the movement of the movable platform 10, and the safety of the movable platform 10 can be improved.

[0064] In the case that the movable platform 10 moves from a starting preset position to a preset position, and the starting preset position includes a position at which the movable platform 10 starts to accelerate towards the target object 40, the specified position can include the starting preset position or a position at which the sensor detects the position information of the target object 40. When the movable platform 10 starts to accelerate towards the target object, it indicates that the movable platform 10 is preparing to make the load 30 hit the target object 40, at this time, the load 30 can be released so that the load 30 can hit the target object 40.

[0065] In some embodiments, referring to FIG. 7, the target object 40 is a linear object, for example, a power transmission line. The preset position can include positions close to both ends of the target object 40. For a linear object, there are usually supports at both ends of the linear object, and there are no supports at positions away from both ends of the linear object (referred to as middle positions), which are often in a sagging state due to the attachment of foreign objects. After the load 30 hits the middle position of the linear object, the foreign objects are removed, which can cause the linear object to rebound and hit the movable platform 10. Therefore, the load 30 can be made to hit the target object 40 at positions close to both ends of the target object 40, thereby reducing the rebound of the target object 40 hitting the movable platform 10 and improving the safety of the movable platform 10.

[0066] In some embodiments, the movable platform 10 can have multiple working modes. In one working mode (hereinafter referred to as a target working mode), the movable platform 10 moves to make the load 30 hit the target object. In other working modes (referred to as non-working modes), the movable platform 10 can also perform other functions, such as image transmission, transportation or exploration, etc. Different working modes have different characteristics and requirements, and the smoothness of the movement of the movable platform 10 is also different. Since the smoothness of the movement of the movable platform 10 can be reflected by the acceleration of the movable platform, when the movable platform 10 is in the target working mode, the acceleration of the movable platform 10 can be controlled to be a first acceleration, and when the movable platform 10 is in the non-target working mode, the acceleration of the movable platform 10 can be controlled to be a second acceleration different from the first acceleration. For example, if the non-working mode has a higher requirement for the smoothness of the speed than the working mode, the second acceleration can be set to a value greater than the first acceleration; conversely, if the working mode has a higher requirement for the smoothness of the speed than the non-working mode, the first acceleration can be set to a value greater than the second acceleration.

[0067] Optionally, the first acceleration is less than the second acceleration. In this way, the speed of the movable platform 10 can be smoother, thereby preventing the load 30 or the flexible connecting member from hitting the movable platform 10 due to the excessive swing of the load 30.

[0068] In some embodiments, the movable platform 10 can have a swing damping capability. When the flexible connecting member 20 swings too much, the movable platform 10 can adjust its position to reduce the swing of the flexible connecting member 20, so as to avoid dragging the movable platform 10 due to the swing of the flexible connecting member 20. The moving direction of the movable platform 10 can be controlled to make the angle offset between the real-time position of the load 30 and the balance position not exceed a preset angle threshold. Specifically, the angle between the force exerted by the load 30 on the movable platform 10 and the vertical direction when the load 30 is at the real-time position can be obtained, and the movable platform 10 can be controlled to move towards a direction to reduce the angle.

[0069] In some embodiments, the movable platform 10 can have a fuse system. When the flexible connecting member 20 suspending the load 30 is wound around the target object 40, the fuse system can be started to fuse the flexible connecting member 20, so as to prevent the movable platform 10 from being damaged due to the winding of the flexible connecting member 20 around the target object 40. The above-mentioned fusing operation can be performed manually by the user, for example, the fuse system can be started to fuse the flexible connecting member 20 in response to the fusing instruction sent by the user through the control device.

[0070] In some embodiments, a protective sleeve is arranged outside the load 30 to prevent the load 30 from damaging the target object 40 when the load 30 collides with the target object 40.

[0071] The embodiments of the present disclosure also provide a control method of an aircraft. Referring to FIG. 8, the method comprises the following steps:

[0072] In step S21, the aircraft acquires position information of a power transmission line, wherein the aircraft can be connected to a de-icing rod through a rope;

[0073] In step S22, the aircraft moves towards the power transmission line according to the position information of the power transmission line; and

[0074] In step S23, the aircraft moves to a preset position, so that the de-icing rod connected to the aircraft through the rope can move to collide with the power transmission line under the action of the movement of the aircraft.

[0075] In the related art, a direct current de-icing vehicle is usually used to de-ice the power transmission line. This method is time-consuming and laborious, and in some special places such as rugged mountain roads, the direct current de-icing vehicle cannot reach, resulting in poor de-icing effect. Another way is to use a heating de-icing method. This method needs to be matched with a corresponding heating device, which has a high cost and a slow de-icing efficiency. In addition, the corresponding line needs to be isolated from the power grid during de-icing, which affects the power supply.

[0076] The aircraft is connected to the deicing rod through the rope, the aircraft can automatically obtain the position information of the power transmission line, moves towards the power transmission line according to the obtained position information of the power transmission line, and moves to a preset position, so that the deicing rod can move to collide with the power transmission line under the action of the movement of the aircraft, thereby removing the foreign matter on the power transmission line in the form of impact. The above process realizes the autonomous movement of the aircraft and the automatic removal of the foreign matter on the power transmission line, reduces the manual participation in the foreign matter removal process, improves the foreign matter removal efficiency, and reduces the safety hazard. Moreover, the deicing rod does not need to be isolated from the power grid in the deicing process, and will not affect the power supply.

[0077] The aircraft in the embodiment of the present disclosure corresponds to the movable platform 10 in the foregoing embodiment, the rope corresponds to the flexible connecting piece 20 in the foregoing embodiment, the deicing rod corresponds to the load 30 in the foregoing embodiment, and the power transmission line corresponds to the target object 40 in the foregoing embodiment. For specific details of the embodiment of the present disclosure, please refer to the foregoing embodiment, which will not be described here.

[0078] The overall flow of the deicing process will be illustrated below in combination with a specific embodiment.

[0079] The aircraft is mounted with the deicing rod through the aerial suspension system, and the deicing rod can be wrapped with a protective sleeve outside to prevent damage to the power transmission line. The aircraft flies above the side of the power transmission line and close to the position of the electric tower to reduce the risk of crashing caused by the rebound of the power transmission line after the ice falls and hits the unmanned aerial vehicle. Then, the vertical distance from the power transmission line to the aircraft is observed by using the airborne radar, the height of the aircraft and the length of the rope of the aerial suspension system are adjusted according to the vertical distance, so that the middle and lower part (about 1 / 3) of the deicing rod is aligned with the power transmission line, thereby improving the impact hit rate and reducing the risk of rope winding the power transmission cable. Then, the aircraft retreats a distance (for example, about 10 meters) and hovers. The aircraft horizontally flies towards the target impact point of the power transmission line, and brakes when the deicing rod is 1-2 meters away from the impact position, so that the deicing rod swings forward to impact the power transmission line by inertia, and the deicing is completed.

[0080] The aerial suspension system of the aircraft can have a self-fusing function, which can fuse the rope to escape in an emergency (for example, the rope is wound around the power transmission line), thereby preventing the aircraft from exploding due to winding. In addition, the speed of the aircraft in the aerial suspension mode (i.e., the target working mode in the foregoing embodiment) can be smoother than that in other working modes (i.e., the non-target working mode in the foregoing embodiment), thereby preventing the deicing rod from swinging too much to cause the rope or the deicing rod to impact the aircraft. In addition, the aircraft can have a swing damping capability, which can adjust the position of the aircraft when the swing amplitude of the rope is too large, thereby reducing the swing amplitude of the rope and avoiding dragging the aircraft due to the too large swing amplitude of the rope.

[0081] The embodiment of the present disclosure has the following advantages:

[0082] (1) De-icing was carried out by using aircraft to hang de-icing rods, which solved the problem that de-icing was impossible in some areas due to the harsh environment where people or vehicles could not reach them;

[0083] (2) Workers do not need to work on-site, which improves operational safety;

[0084] (3) On-grid operation does not require disconnection of transmission lines and has no impact on power supply;

[0085] (4) The aircraft is capable of mobile operations and has high operational efficiency;

[0086] (5) Low equipment and labor costs (one person and one machine are sufficient for operation).

[0087] This disclosure also provides a control device for a mobile platform, including one or more memories storing computer program code and one or more processors. The mobile platform is capable of being connected to a load via a flexible connector. The one or more processors and the one or more memories storing computer program code are configured to work together to cause the control device to perform the following steps:

[0088] Obtain the position information of the target object;

[0089] Move toward the target object according to the target object's position information; and

[0090] The movable platform is controlled to move to a preset position so that the load connected to the movable platform via the flexible connector can move to collide with the target object under the action of the movable platform's movement.

[0091] In some embodiments, the control device is specifically used to: acquire the position information of the target object through a sensor, wherein the sensor is disposed on the movable platform or the sensor is disposed outside the movable platform.

[0092] In some embodiments, the control device is specifically used to: obtain the position information of the target object through a model; or obtain the position information of the target object input by the user.

[0093] In some embodiments, there is a preset relationship between the preset position, the position of the load, and the position information of the target object.

[0094] In some embodiments, the control device is further configured to: determine the position information of the load based on the preset position and the position information of the target object; or determine the preset position based on the position information of the target object and the position information of the load.

[0095] In some embodiments, the control device is specifically configured to: determine the position information of the load object based on the preset position, the position information of the target object, and a safety distance threshold, the safety distance threshold being used to represent a distance between the movable platform and the target object that can be safely operated; or determine the preset position based on the position information of the load object, the position information of the target object, and the safety distance threshold.

[0096] In some embodiments, the control device is specifically configured to: control the movable platform to move from a starting preset position to the preset position, the starting preset position including a position at which the movable platform starts to accelerate to move towards the target object.

[0097] In some embodiments, the preset position is located on one side of the target object in a horizontal direction and is located on the same side of the target object as the starting preset position in the horizontal direction.

[0098] In some embodiments, before the movable platform moves towards the target object according to the position information of the target object, the control device is further configured to: adjust the position of the load object, so that when the movable platform reaches the preset position, a height of a preset part of the load object is less than a height of the target object, the preset part being a part of the load object that is expected to hit the target object.

[0099] In some embodiments, the preset position is located directly above the target object.

[0100] In some embodiments, before the movable platform moves towards the target object according to the position information of the target object, the control device is further configured to: adjust the position of the load object, so that when the movable platform reaches the preset position, a height of a preset part of the load object is consistent with a height of the target object, the preset part being a part of the load object that is expected to hit the target object.

[0101] In some embodiments, the preset part is close to an end of the load object that is away from a connection end of the flexible connection member connected to the load object.

[0102] In some embodiments, the control device is specifically configured to: adjust the position of the movable platform to adjust the position of the load object; and / or adjust an extension length of the flexible connection member connected to the load object to adjust the position of the load object.

[0103] In some embodiments, the control device is specifically configured to: accelerate the movable platform to move from the starting preset position, and then decelerate the movable platform to move to the preset position.

[0104] In some embodiments, the control device is specifically configured to move the movable platform from a preset direction to the preset position.

[0105] In some embodiments, the preset direction is perpendicular to the target object.

[0106] In some embodiments, the preset direction includes a direction component parallel to the target object and a direction component perpendicular to the target object.

[0107] In some embodiments, the control device is specifically configured to control the movable platform to stop moving when reaching the preset position, so that the load object impacts the target object under the action of inertia.

[0108] In some embodiments, the control device is further configured to: in response to the movable platform being in a take-off state, control the load object to be in a stowed state; and in response to the movable platform reaching a specified position, release the load object, wherein the movable platform is in a hovering state at the specified position.

[0109] In some embodiments, the specified position includes the initial preset position.

[0110] In some embodiments, the target object is a linear object, and the preset position includes positions close to both ends of the target object.

[0111] In some embodiments, the control device is specifically configured to control the sensor to sense the target object in real time during movement of the movable platform.

[0112] In some embodiments, the control device is further configured to: in response to a deviation of sensed position information of the target object being greater than a preset deviation threshold, adjust the preset position, the deviation of the position information of the target object including a deviation between the position information of the target object sensed in real time by the sensor and position information of the target object when the preset position is planned.

[0113] In some embodiments, the control device is further configured to: in response to the movable platform being in a target working mode, control an acceleration of the movable platform to be a first acceleration, wherein the target working mode includes a mode in which the movable platform moves to drive the load object to impact a target object; and in response to the movable platform being in a non-target working mode, control the acceleration of the movable platform to be a second acceleration different from the first acceleration.

[0114] In some embodiments, the first acceleration is less than the second acceleration.

[0115] In some embodiments, the control device is further configured to: acquire a target region selected by a user, the target region including the target object; and control the movable platform to fly to the target region.

[0116] In some embodiments, the control device is specifically configured to: acquire the target region selected by the user through a control terminal, the control terminal being configured to control the movable platform.

[0117] FIG. 9 shows a hardware structure diagram of a more specific control device provided by the embodiments of the present disclosure, which can include a processor 501, a memory 502, an input / output interface 503, a communication interface 504, and a bus 505. The processor 501, the memory 502, the input / output interface 503, and the communication interface 504 are connected to each other through the bus 505 for internal communication.

[0118] The processor 501 can be implemented in the form of a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the embodiments of the present disclosure. The processor 501 can also include a graphics card, which can be an Nvidia titan X graphics card or a 1080Ti graphics card, etc.

[0119] The memory 502 can be implemented in the form of a read only memory (ROM), a random access memory (RAM), a static storage device, a dynamic storage device, etc. The memory 502 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present disclosure are implemented by software or firmware, the related program codes are stored in the memory 502 and called and executed by the processor 501.

[0120] The input / output interface 503 is configured to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input devices can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices can include a display, a speaker, a vibrator, an indicator light, etc.

[0121] The communication interface 504 is configured to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize the communication through a wired manner (for example, a USB, a network cable, etc.) or a wireless manner (for example, a mobile network, WIFI, Bluetooth, etc.).

[0122] The bus 505 includes a path for transmitting information between various components (for example, the processor 501, the memory 502, the input / output interface 503 and the communication interface 504) of the device.

[0123] It should be noted that, although the above device only shows the processor 501, the memory 502, the input / output interface 503, the communication interface 504 and the bus 505, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain the components necessary for the implementation of the embodiments of the present disclosure, and does not have to contain all the components shown in the figure.

[0124] Referring to FIG. 10, the present embodiment also provides a movable platform 10, the movable platform 10 can connect a load 30 through a flexible connecting piece 20, the movable platform 10 comprises:

[0125] The memory 101 is configured to store computer program codes;

[0126] The processor 102 is configured to work with the memory to make the movable platform perform the following steps:

[0127] The movable platform 10 acquires position information of a target object 40;

[0128] The movable platform 10 moves towards the target object 40 according to the position information of the target object; and

[0129] The movable platform 10 moves to a preset position, so that the load 30 connected to the movable platform 10 through the flexible connecting piece 20 can move to collide with the target object 40 under the action of the movement of the movable platform 10.

[0130] The functions realized by the movable platform 10 in the present embodiment are described in detail in the foregoing method embodiments, which will not be repeated here.

[0131] The embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the method according to any of the embodiments of the present disclosure. The computer readable storage medium includes, but is not limited to, disk memory, CD-ROM, optical memory, etc. The computer readable storage medium includes permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of the storage medium of the computer include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0132] The various technical features in the above embodiments can be combined in any manner, as long as there is no conflict or contradiction between the features. However, due to the limited space, they are not described one by one, and therefore any combination of the various technical features in the above embodiments also falls within the scope of the present disclosure.

[0133] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the aspects of the present disclosure disclosed herein. It is intended that the present disclosure cover any and all variations of the present disclosure including those variations resulting from combinations, sub-combinations, and equivalents of the fundamental features described herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0134] It should be understood that the present disclosure is not limited to the precise structures as set forth above and as shown in the attached drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the claims appended hereto.

[0135] The above only represents the preferred embodiments of the present disclosure, and is not used to limit the present disclosure, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A control method of an aircraft, characterized in that, The method comprises: The aircraft acquires position information of the power transmission line, wherein the aircraft is connected to the de-icing rod by a rope; The aircraft moves towards the power transmission line according to the position information of the power transmission line; and The aircraft moves to a preset position, so that the de-icing rod connected to the aircraft by the rope can move to collide with the power transmission line under the action of the movement of the aircraft.

2. A control method of a movable platform, characterized by, The method comprises: The movable platform acquires position information of the target object, wherein the movable platform is connected to the load by a flexible connecting member; The movable platform moves towards the target object according to the position information of the target object; and The movable platform moves to a preset position, so that the load connected to the movable platform by the flexible connecting member can move to collide with the target object under the action of the movement of the movable platform.

3. The method of claim 2, wherein, The movable platform acquires position information of the target object, comprising: The position information of the target object is acquired by a sensor, which is arranged on the movable platform or outside the movable platform.

4. The method of claim 2, wherein, The movable platform acquires position information of the target object, comprising: The movable platform acquires the position information of the target object by a model; or The movable platform acquires the position information of the target object input by a user.

5. The method of claim 2, wherein, There is a preset relationship between the preset position, the position of the load and the position information of the target object.

6. The method of claim 5, wherein, The method further comprises: The position information of the load is determined based on the preset position and the position information of the target object; or The preset position is determined based on the position information of the target object and the position information of the load.

7. The method of claim 6, wherein, The position information of the load is determined based on the preset position, the position information of the target object and a safety distance threshold, the safety distance threshold being used to represent a distance between the movable platform and the target object that can be safely operated; or The preset position is determined based on the position information of the load, the position information of the target object and the safety distance threshold. The movable platform moves to a preset position, comprising: The movable platform moves from a starting preset position to the preset position, the starting preset position including a position at which the movable platform starts to accelerate to move towards the target object.

8. The method of claim 2, wherein, The preset position is located on one side of the target object in a horizontal direction and is located on the same side of the target object as the starting preset position in the horizontal direction. Before the movable platform moves towards the target object according to the position information of the target object, the method further comprises:

9. The method of claim 8, wherein, ​ 10. The method of claim 9, wherein, ​ adjusting the position of the load object so that when the movable platform reaches the preset position, a preset part of the load object has a height smaller than that of the target object, the preset part being a part of the load object expected to hit the target object.

11. The method of claim 8, wherein, The preset position is directly above the target object.

12. The method of claim 11, wherein, Before the movable platform moves toward the target object according to the position information of the target object, the method further comprises: adjusting the position of the load object so that when the movable platform reaches the preset position, a preset part of the load object has a height consistent with that of the target object, the preset part being a part of the load object expected to hit the target object.

13. The method according to claim 10 or 12, characterized in that, The preset part is close to an end of the load object away from the end of the load object connected to the flexible connecting member.

14. The method of claim 10 or 12, wherein, The adjusting of the position of the load object comprises: adjusting the position of the movable platform to adjust the position of the load object; and / or adjusting the extension length of the flexible connecting member connected to the load object to adjust the position of the load object.

15. The method of claim 8, wherein, The movement of the movable platform from a starting preset position to the preset position comprises: The movable platform accelerates from the starting preset position and then decelerates to the preset position.

16. The method of claim 2, wherein, The movement of the movable platform to the preset position comprises: The movable platform moves to the preset position from a preset direction.

17. The method of claim 16, wherein, The preset direction is perpendicular to the target object.

18. The method of claim 16, wherein, The preset direction comprises a direction component parallel to the target object and a direction component perpendicular to the target object.

19. The method of claim 2, wherein, The movement of the movable platform to the preset position comprises: The movable platform stops moving when it reaches the preset position, so that the load object hits the target object under the action of inertia.

20. The method of claim 2, wherein, The method further comprises: in response to the movable platform being in a take-off state, controlling the load object to be in a stowed state; in response to the movable platform reaching a specified position, releasing the load object, wherein at the specified position, the movable platform is in a hovering state.

21. The method of claim 20, wherein, The specified position comprises a starting preset position; wherein the movable platform moves from the starting preset position to the preset position, and the starting preset position comprises a position at which the movable platform starts to accelerate toward the target object.

22. The method of claim 2, wherein, The target object is a linear object, and the preset position comprises positions close to both ends of the target object.

23. The method of claim 3, wherein, The acquisition of the position information of the target object by the sensor comprises: controlling the sensor to sense the target object in real time during the movement of the movable platform.

24. The method of claim 23, wherein, The method further comprises: in response to a deviation of the sensed position information of the target object being greater than a preset deviation threshold, adjusting the preset position, the deviation of the position information of the target object comprising a deviation between the position information of the target object sensed by the sensor in real time and the position information of the target object when the preset position is planned.

25. The method of claim 2, wherein, The method further comprises: in response to the movable platform being in a target working mode, controlling an acceleration of the movable platform to be a first acceleration, wherein the target working mode comprises a mode in which the movable platform moves to drive the load to impact a target object; and in response to the movable platform being in a non-target working mode, controlling an acceleration of the movable platform to be a second acceleration different from the first acceleration.

26. The method of claim 25, wherein, The first acceleration is less than the second acceleration.

27. The method of claim 2, wherein, The method further comprises: obtaining a target region selected by a user, the target region comprising the target object; controlling the movable platform to move to the target region.

28. The method of claim 27, wherein, The obtaining of the target region selected by the user comprises: obtaining the target region selected by the user through a control terminal, the control terminal being used to control the movable platform.

29. A control device for a movable platform, comprising one or more memories storing computer program codes and one or more processors, wherein, The movable platform is capable of connecting a load through a flexible connecting member, and the one or more processors and the one or more memories storing computer program codes are configured to jointly cause the control device to perform the following steps: obtaining position information of a target object; moving towards the target object according to the position information of the target object; and controlling the movable platform to move to a preset position, so that the load connected to the movable platform through the flexible connecting member is capable of moving to collide with the target object under the action of the movement of the movable platform. The control device is specifically configured to:

30. The control device of claim 29, wherein, obtain the position information of the target object through a sensor, the sensor being arranged on the movable platform or the sensor being arranged outside the movable platform. The control device is specifically configured to:

31. The control device of claim 29, wherein, obtain the position information of the target object through a model; or obtain the position information of the target object input by a user. The preset position, the position of the load, and the position information of the target object have a preset relationship.

32. The control device of claim 29, wherein, The control device is further configured to:

33. The control device of claim 32, wherein, determine the position information of the load based on the preset position and the position information of the target object; or determine the preset position based on the position information of the target object and the position information of the load. The control device is specifically configured to:

34. The control device of claim 33, wherein, determine the position information of the load based on the preset position, the position information of the target object, and a safety distance threshold value, the safety distance threshold value being used to represent a distance between the movable platform and the target object that is capable of being safely operated; or determine the preset position based on the position information of the load, the position information of the target object, and the safety distance threshold value. The control device is specifically configured to: control the movable platform to move from a starting preset position to the preset position, the starting preset position comprising a position at which the movable platform starts to accelerate to move towards the target object.

35. The control device of claim 29, wherein, The preset position is located on one side of the target object in a horizontal direction and is located on the same side of the target object as the starting preset position in the horizontal direction. Before the movable platform moves towards the target object according to the position information of the target object, the control device is further configured to:

36. The control device of claim 35, wherein, ​ 37. The control device of claim 36, wherein, ​ adjusting the position of the load object so that when the movable platform reaches the preset position, a preset part of the load object has a height smaller than that of the target object, the preset part being a part of the load object expected to hit the target object.

38. The control device of claim 35, wherein, The preset position is directly above the target object.

39. The control device of claim 38, wherein, Before the movable platform moves towards the target object according to the position information of the target object, the control device is further configured to: adjust the position of the load object so that when the movable platform reaches the preset position, a preset part of the load object has a height consistent with that of the target object, the preset part being a part of the load object expected to hit the target object.

40. The control device of claim 37 or 39, wherein, The preset part is close to an end of the load object away from the end of the load object connected to the flexible connecting member.

41. The control device of claim 37 or 39, wherein, The control device is specifically configured to: adjust the position of the movable platform to adjust the position of the load object; and / or adjust the extension length of the flexible connecting member connected to the load object to adjust the position of the load object.

42. The control device of claim 35, wherein, The control device is specifically configured to: The movable platform accelerates from the starting preset position and then decelerates to the preset position.

43. The control device of claim 29, wherein, The control device is specifically configured to: The movable platform moves to the preset position from a preset direction.

44. The control device of claim 43, wherein, The preset direction is perpendicular to the target object.

45. The control device of claim 43, wherein, The preset direction includes a direction component parallel to the target object and a direction component perpendicular to the target object.

46. The control device of claim 29, wherein, The control device is specifically configured to: control the movable platform to stop moving when it reaches the preset position, so that the load object hits the target object under the action of inertia.

47. The control device of claim 29, wherein, The control device is further configured to: in response to the movable platform being in a take-off state, control the load object to be in a stowed state; in response to the movable platform reaching a specified position, release the load object, wherein at the specified position, the movable platform is in a hovering state.

48. The control device of claim 47, wherein, The specified position includes a starting preset position; wherein the movable platform moves to the preset position from the starting preset position, and the starting preset position includes a position at which the movable platform starts to accelerate towards the target object.

49. The control device of claim 29, wherein, The target object is a linear object, and the preset position includes positions close to both ends of the target object.

50. The control device of claim 30, wherein, The control device is specifically configured to: control the sensor to sense the target object in real time during the movement of the movable platform.

51. The control device of claim 50, wherein, The control device is further configured to: in response to a deviation of the sensed position information of the target object being greater than a preset deviation threshold, adjust the preset position, the deviation of the position information of the target object including a deviation between the position information of the target object sensed in real time by the sensor and the position information of the target object when the preset position is planned.

52. The control device of claim 29, wherein, The control device is further configured to: in response to the movable platform being in a target working mode, control the acceleration of the movable platform to be a first acceleration, wherein the target working mode includes a mode in which the movable platform moves to drive the load object to hit a target object; and in response to the movable platform being in a non-target working mode, control an acceleration of the movable platform to be a second acceleration different from the first acceleration.

53. The control device of claim 52, wherein, The first acceleration is less than the second acceleration.

54. The control device of claim 29, wherein, The control device is further configured to: obtain a target region selected by a user, the target region including the target object; control the movable platform to move to the target region.

55. The control device of claim 54, wherein, The control device is specifically configured to: obtain the target region selected by the user through a control terminal, the control terminal being used to control the movable platform.

56. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by a processor to implement the method of any one of claims 1-28.

57. A movable platform, characterized by The movable platform is capable of connecting a load object through a flexible connecting member, and the movable platform includes: a memory configured to store computer program code; a processor configured to work with the memory to cause the movable platform to perform the following steps: the movable platform obtains position information of a target object; the movable platform moves toward the target object according to the position information of the target object; and the movable platform moves to a preset position, so that the load object connected to the movable platform through the flexible connecting member can move to collide with the target object under the action of the movement of the movable platform.

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