Control method, control apparatus, system and storage medium

Abstract

A method for controlling a movable platform, comprising: in an initial stage of a movable platform, in response to a first type of positioning information of the movable platform at a starting position for movement being available, storing the first type of positioning information of the movable platform at the starting position for movement as positioning information of the starting position for movement of the movable platform, a time for obtaining the first type of positioning information of the movable platform at the starting position for movement being shorter than a time for obtaining satellite positioning information of the movable platform at the starting position for movement (S111); in response to the movable platform having stored the first type of positioning information of the movable platform at the starting position for movement as the positioning information of the starting position for movement of the movable platform, outputting first indication information, the first indication information being used for indicating that the movable platform has stored the positioning information of the starting position for movement of the movable platform (S112). The present method improves the movement efficiency and user experience of the movable platform.

Description

Control method, control device, system and storage medium TECHNICAL FIELD

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

[0002] Currently, a movable platform needs to wait for satellite positioning (such as GPS positioning) to converge in an initial stage, that is, before starting to move, to store satellite positioning information of a moving initial position, so that the movable platform can normally return to the moving initial position when triggering automatic return. When triggering the movable platform to perform automatic return, the movable platform performs autonomous return by comparing satellite positioning information of a current position and satellite positioning information of a return point (which can be the moving initial position). In order to avoid the case that the movable platform cannot normally return to the moving initial position due to the recorded moving initial position being far away from the moving initial position, a user usually needs to wait for satellite positioning information search of the movable platform at the moving initial position to end before being able to control the movable platform to move at ease. The time required for the satellite positioning information search to end is about several minutes, which is relatively slow, and affects the moving efficiency and experience of the movable platform.

[0003] SUMMARY

[0004] Based on this, the embodiments of the present application provide a control method, a control terminal, a device, a system and a storage medium, which can improve the moving efficiency and user experience of the movable platform.

[0005] In a first aspect, the embodiments of the present application further provide a control method of an aircraft, comprising:

[0006] In a take-off stage of the aircraft, in response to visual positioning information of the aircraft at a take-off position being available, storing the visual positioning information of the aircraft at the take-off position as positioning information of the take-off position of the aircraft;

[0007] In response to the aircraft having stored the visual positioning information of the aircraft at the take-off position as the positioning information of the take-off position of the aircraft, outputting first indication information, the first indication information being used to indicate that the aircraft has stored the positioning information of the take-off position of the aircraft.

[0008] The control method provided in the first aspect stores the available visual positioning information of the aircraft at the takeoff position as the positioning information of the takeoff position of the aircraft in the takeoff stage of the aircraft, and outputs indication information indicating that the aircraft has stored the positioning information of the takeoff position of the aircraft, so that the user can control the aircraft to fly without worrying about the end of satellite positioning information search of the aircraft at the takeoff position, and the user can control the aircraft to fly more early, thereby reducing the waiting time for the user to control the aircraft to fly, and greatly improving the flight efficiency of the aircraft and the user experience.

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

[0010] In the takeoff stage of the aircraft, first indication information sent by the aircraft is received, the first indication information being used to indicate that the aircraft has stored visual positioning information of the aircraft at a takeoff position as positioning information of the takeoff position of the aircraft, wherein the visual positioning information of the aircraft at the takeoff position is available;

[0011] According to the first indication information, first prompt information is output, the first prompt information being used to prompt that the aircraft has stored the positioning information of the takeoff position of the aircraft.

[0012] The control method provided in the second aspect receives first indication information indicating that the aircraft has stored visual positioning information of the aircraft at a takeoff position as positioning information of the takeoff position of the aircraft in the takeoff stage of the aircraft, and according to the first indication information, outputs first prompt information prompting that the aircraft has stored the positioning information of the takeoff position of the aircraft, so that the user can control the aircraft to fly without worrying about the end of satellite positioning information search of the aircraft at the takeoff position, and the user can control the aircraft to fly more early, thereby reducing the waiting time for the user to control the aircraft to fly, and greatly improving the flight efficiency of the aircraft and the user experience.

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

[0014] In the initial stage of the movable platform, in response to the fact that the first type positioning information of the movable platform at a mobile initial position is available, the first type positioning information of the movable platform at the mobile initial position is stored as the positioning information of the mobile initial position of the movable platform, wherein the time for obtaining the first type positioning information of the movable platform at the mobile initial position is shorter than the time for obtaining satellite positioning information of the movable platform at the mobile initial position;

[0015] In response to the movable platform storing the first type positioning information of the movable platform at the movement initial position as the positioning information of the movement initial position of the movable platform, output first indication information, the first indication information being used to indicate that the movable platform has stored the positioning information of the movement initial position of the movable platform.

[0016] In the control method provided by the third aspect, since the time for obtaining the first type positioning information of the movable platform at the movement initial position is shorter than the time for obtaining satellite positioning information of the movable platform at the movement initial position, the movable platform can store the available first type positioning information of the movable platform at the movement initial position as the positioning information of the movement initial position of the movable platform in the initial stage of the movable platform, and output indication information indicating that the movable platform has stored the positioning information of the movement initial position of the movable platform, so that the movable platform can store the positioning information of the movement initial position of the movable platform earlier and prompt that the positioning information of the movement initial position has been stored earlier, and thus the user can control the movable platform to move earlier, thereby reducing the waiting time for the user to control the movable platform to move, and greatly improving the movement efficiency of the movable platform and the user experience.

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

[0018] receive first indication information sent by the movable platform, the first indication information being used to indicate that the movable platform has stored first type positioning information of the movable platform at the movement initial position as the positioning information of the movement initial position of the movable platform, wherein the first type positioning information of the movable platform at the movement initial position is available, and the time for obtaining the first type positioning information of the movable platform at the movement initial position is shorter than the time for obtaining satellite positioning information of the movable platform at the movement initial position;

[0019] According to the first indication information, output first prompt information, the first prompt information being used to prompt that the movable platform has stored the positioning information of the movement initial position of the movable platform.

[0020] In the control method provided in the fourth aspect, since the time for obtaining the first type positioning information of the movable platform at the initial moving position is shorter than the time for obtaining the satellite positioning information of the movable platform at the initial moving position, the movable platform can send the first indication information indicating that the movable platform has stored the first type positioning information of the movable platform at the initial moving position as the positioning information of the initial moving position of the movable platform earlier, so that the control terminal can output the first prompt information prompting that the movable platform has stored the positioning information of the initial moving position of the movable platform earlier based on the first indication information, and thus the user can control the movable platform to move earlier, thereby reducing the waiting time for the user to control the movable platform to move, and greatly improving the moving efficiency of the movable platform and the user experience.

[0021] In the fifth aspect, the embodiments of the present application further provide a control method of an aircraft, comprising:

[0022] In response to the return condition being met and the satellite positioning information of the aircraft being available, the aircraft is controlled to return from a current position to a target position based on the satellite positioning information of the aircraft, the target position being a position at which the satellite positioning information of the aircraft is available and stored in the taking-off stage;

[0023] After the aircraft returns to the target position, in response to the visual positioning information of the aircraft being available, the aircraft is controlled to return from the target position to the taking-off position of the aircraft based on the visual positioning information of the aircraft, instead of the satellite positioning information of the aircraft, wherein the visual positioning information from the taking-off position to the target position is stored in the taking-off stage of the aircraft, and the satellite positioning information of the aircraft at the taking-off position is unavailable and the visual positioning information is available.

[0024] The control method provided in the fifth aspect can control the aircraft to return from the current position to the target position at which the satellite positioning information is available in the taking-off stage based on the satellite positioning information of the aircraft when the return of the aircraft is triggered, and control the aircraft to return from the target position to the taking-off position of the aircraft based on the visual positioning information of the aircraft after returning to the target position, so as to adapt to the scenario in which the satellite positioning signal of the taking-off position of the aircraft is poor, to realize the accurate return of the aircraft, effectively improve the return efficiency and accuracy of the aircraft, and provide a better user experience.

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

[0026] in response to the homeward journey condition being met and the second type of positioning information of the movable platform being available, controlling the movable platform to homeward journey from a current position to a target position based on the second type of positioning information of the movable platform, the target position being a position where the second type of positioning information of the movable platform is available and stored in the initial stage;

[0027] after the movable platform homeward journeys to the target position, in response to the first type of positioning information of the movable platform being available, switching from being controlled based on the second type of positioning information of the movable platform to being controlled based on the first type of positioning information of the movable platform to homeward journey from the target position to a mobile initial position of the movable platform, wherein the first type of positioning information from the mobile initial position to the target position is stored in the initial stage, and the second type of positioning information of the movable platform is unavailable and the first type of positioning information is available in the mobile initial position.

[0028] The control method provided in the sixth aspect controls the movable platform to homeward journey from a current position to a target position where the second type of positioning information is available in the initial stage based on the second type of positioning information of the movable platform when the homeward journey of the movable platform is triggered, and controls the movable platform to homeward journey from the target position to a mobile initial position of the movable platform based on the first type of positioning information of the movable platform after homeward journeying to the target position, so as to adapt to the scenario where the second type of positioning signal of the mobile initial position is poor, and to realize accurate homeward journey of the movable platform, effectively improve the homeward journey efficiency and accuracy of the movable platform, and provide better user experience.

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

[0030] in a take-off stage of the flight vehicle, in response to visual positioning information of the flight vehicle at a take-off position being available and satellite positioning information being unavailable, storing visual positioning information from the take-off position to a target position where satellite positioning information is available;

[0031] in response to the flight vehicle flying from the take-off position to the target position, storing satellite positioning information of the target position, wherein the visual positioning information from the take-off position to the target position and the satellite positioning information of the target position are used for the flight vehicle to homeward journey from a current position of the flight vehicle to the target position based on satellite positioning information and then to homeward journey from the target position to the take-off position based on visual positioning information when performing homeward journey.

[0032] The control method provided in the seventh aspect stores visual positioning information of the aircraft from a take-off position to a target position at which satellite positioning information is available in a take-off stage of the aircraft, and then stores satellite positioning information of the target position when the aircraft flies from the take-off position to the target position at which satellite positioning information is available, so that the aircraft can return from a current position of the aircraft to the target position based on the stored satellite positioning information and then return from the target position to the mobile initial position based on the stored visual positioning information when performing a return, to adapt to a scenario in which satellite positioning signals of the take-off position of the aircraft are poor, to realize accurate return of the aircraft, and effectively improve return efficiency and accuracy of the aircraft, and provide a better user experience.

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

[0034] In an initial stage of the movable platform, in response to first type positioning information of the movable platform at a mobile initial position being available and second type positioning information being unavailable, first type positioning information of the movable platform from the mobile initial position to a target position at which second type positioning information is available is stored;

[0035] In response to the movable platform moving from the mobile initial position to the target position, second type positioning information of the target position is stored, wherein the first type positioning information between the mobile initial position and the target position and the second type positioning information of the target position are used for the movable platform to return from a current position of the movable platform to the target position based on the second type positioning information and then return from the target position to the mobile initial position based on the first type positioning information when performing a return.

[0036] The control method provided in the eighth aspect stores first type positioning information of the movable platform from a mobile initial position to a target position at which second type positioning information is available in an initial stage of the movable platform, and then stores second type positioning information of the target position when the movable platform moves from the mobile initial position to the target position at which second type positioning information is available, so that the movable platform can return from a current position of the movable platform to the target position based on the stored second type positioning information and then return from the target position to the mobile initial position based on the stored first type positioning information when performing a return, to adapt to a scenario in which second type positioning signals of the mobile initial position of the movable platform are poor, to realize accurate return of the movable platform, and effectively improve return efficiency and accuracy of the movable platform, and provide a better user experience.

[0037] In the ninth aspect, the embodiments of the present application further provide a control device of an aircraft, comprising:

[0038] one or more processors;

[0039] 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:

[0040] in a take-off phase of the aerial vehicle, in response to visual positioning information of the aerial vehicle at a take-off location being available, storing the visual positioning information of the aerial vehicle at the take-off location as positioning information of a take-off location of the aerial vehicle;

[0041] in response to the aerial vehicle having stored the visual positioning information of the aerial vehicle at the take-off location as the positioning information of the take-off location of the aerial vehicle, outputting first indication information for indicating that the aerial vehicle has stored the positioning information of the take-off location of the aerial vehicle.

[0042] In a tenth aspect, the embodiments of the present application further provide a control device of an aerial vehicle, comprising:

[0043] a communication interface;

[0044] a user interface;

[0045] one or more processors;

[0046] 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:

[0047] in a take-off phase of the aerial vehicle, receiving, through the communication interface, first indication information sent by the aerial vehicle, the first indication information being for indicating that the aerial vehicle has stored visual positioning information of the aerial vehicle at a take-off location as positioning information of a take-off location of the aerial vehicle, wherein the visual positioning information of the aerial vehicle at the take-off location is available;

[0048] controlling the user interface to output first prompt information according to the first indication information, the first prompt information being for prompting that the aerial vehicle has stored the positioning information of the take-off location of the aerial vehicle.

[0049] In an eleventh aspect, the embodiments of the present application further provide a control device of an aerial vehicle, comprising:

[0050] one or more processors;

[0051] 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:

[0052] in response to the return condition being satisfied and satellite positioning information of the aircraft being available, controlling the aircraft to return from a current location to a target location based on the satellite positioning information of the aircraft, the target location being a location where satellite positioning information of the aircraft is available and stored in a take-off phase;

[0053] after the aircraft returns to the target location, in response to visual positioning information of the aircraft being available, switching from controlling the aircraft to return from the target location to a take-off location of the aircraft based on the satellite positioning information of the aircraft to controlling the aircraft to return from the target location to the take-off location of the aircraft based on the visual positioning information of the aircraft, wherein the aircraft stores visual positioning information from the take-off location to the target location in the take-off phase, and satellite positioning information of the aircraft is unavailable and visual positioning information is available at the take-off location.

[0054] In a twelfth aspect, the embodiments of the present application further provide a control device of an aircraft, comprising:

[0055] one or more processors;

[0056] 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:

[0057] in a take-off phase of the aircraft, in response to visual positioning information of the aircraft being available and satellite positioning information being unavailable at a take-off location, storing visual positioning information of the aircraft from the take-off location to a target location where satellite positioning information is available;

[0058] in response to the aircraft flying from the take-off location to the target location, storing satellite positioning information of the target location, wherein the visual positioning information between the take-off location and the target location and the satellite positioning information of the target location are used for the aircraft to return from a current location of the aircraft to the target location based on satellite positioning information and then return from the target location to the take-off location based on visual positioning information when performing return.

[0059] In a thirteenth aspect, the embodiments of the present application further provide a control system of an aircraft, comprising a processor, a memory, a communication interface and a user interface, wherein:

[0060] the processor is configured to, in a take-off phase of the aircraft, in response to visual positioning information of the aircraft being available at a take-off location, control the memory to store the visual positioning information of the aircraft at the take-off location as positioning information of the take-off location of the aircraft;

[0061] The processor is further configured to, in response to the aerial vehicle having stored the visual positioning information of the aerial vehicle at the takeoff location as the positioning information of the takeoff location of the aerial vehicle, control the communication interface to output first indication information, the first indication information being used to indicate that the aerial vehicle has stored the positioning information of the takeoff location of the aerial vehicle.

[0062] The processor is further configured to, according to the first indication information, control the user interface to output first prompt information, the first prompt information being used to prompt that the aerial vehicle has stored the positioning information of the takeoff location of the aerial vehicle.

[0063] In a fourteenth aspect, the embodiments of the present application further provide a control device of a movable platform, including:

[0064] one or more processors;

[0065] one or more memories configured to store computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform:

[0066] in an initial stage of the movable platform, in response to first type positioning information of the movable platform at a mobile initial location being available, storing the first type positioning information of the movable platform at the mobile initial location as the positioning information of the mobile initial location of the movable platform, wherein a time of obtaining the first type positioning information of the movable platform at the mobile initial location is shorter than a time of obtaining satellite positioning information of the movable platform at the mobile initial location.

[0067] in response to the movable platform having stored the first type positioning information of the movable platform at the mobile initial location as the positioning information of the mobile initial location of the movable platform, outputting first indication information, the first indication information being used to indicate that the movable platform has stored the positioning information of the mobile initial location of the movable platform.

[0068] In a fifteenth aspect, the embodiments of the present application further provide a control device of a movable platform, including:

[0069] a communication interface;

[0070] a user interface;

[0071] one or more processors;

[0072] one or more memories configured to store computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform:

[0073] In an initial stage of the movable platform, first indication information transmitted by the movable platform is received through the communication interface, the first indication information being used to indicate that the movable platform has stored first type positioning information of the movable platform at a mobile initial position as the positioning information of the mobile initial position of the movable platform, wherein the first type positioning information of the movable platform at the mobile initial position is available, and the time for obtaining the first type positioning information of the movable platform at the mobile initial position is shorter than the time for obtaining satellite positioning information of the movable platform at the mobile initial position.

[0074] The first prompt information is output through the user interface according to the first indication information, the first prompt information being used to prompt that the movable platform has stored the positioning information of the mobile initial position of the movable platform.

[0075] In a sixteenth aspect, the embodiments of the present application further provide a control device of a movable platform, comprising:

[0076] one or more processors;

[0077] 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:

[0078] in response to the return condition being met and second type positioning information of the movable platform being available, controlling the movable platform to return from a current position to a target position based on the second type positioning information of the movable platform, the target position being a position of the movable platform at which the second type positioning information is available and stored in the initial stage;

[0079] after the movable platform returns to the target position, in response to the first type positioning information of the movable platform being available, switching from the control based on the second type positioning information of the movable platform to the control based on the first type positioning information of the movable platform to control the movable platform to return from the target position to the mobile initial position of the movable platform, wherein the movable platform has stored the first type positioning information from the mobile initial position to the target position in the initial stage, and the second type positioning information of the movable platform at the mobile initial position is unavailable and the first type positioning information is available.

[0080] In a seventeenth aspect, the embodiments of the present application further provide a control device of a movable platform, comprising:

[0081] one or more processors;

[0082] 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:

[0083] In an initial stage of the movable platform, in response to first type positioning information of the movable platform at a moving initial position being available and second type positioning information being unavailable, storing first type positioning information of the movable platform from the moving initial position to a target position at which second type positioning information is available;

[0084] In response to the movable platform moving from the moving initial position to the target position, storing second type positioning information of the target position, wherein the first type positioning information from the moving initial position to the target position and the second type positioning information of the target position are used for the movable platform to return from a current position of the movable platform to the target position based on second type positioning information when performing a return trip and then return from the target position to the moving initial position based on first type positioning information.

[0085] In an eighteenth aspect, the embodiments of the present application further provide a control system of a movable platform, comprising a processor, a memory, a communication interface and a user interface, wherein:

[0086] The processor is configured to, in an initial stage of the movable platform, in response to first type positioning information of the movable platform at a moving initial position being available, control the memory to store the first type positioning information of the movable platform at the moving initial position as positioning information of the moving initial position of the movable platform, wherein a time of obtaining the first type positioning information of the movable platform at the moving initial position is shorter than a time of obtaining satellite positioning information of the movable platform at the moving initial position.

[0087] The processor is further configured to, in response to the movable platform having stored the first type positioning information of the movable platform at the moving initial position as the positioning information of the moving initial position of the movable platform, control the communication interface to output first indication information, the first indication information being used to indicate that the movable platform has stored the positioning information of the moving initial position of the movable platform.

[0088] The processor is further configured to, according to the first indication information, control the user interface to output first prompt information, the first prompt information being used to prompt that the movable platform has stored the positioning information of the moving initial position of the movable platform.

[0089] In a nineteenth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores computer program instructions, and the computer program instructions, when executed by a processor, cause the processor to implement the control method according to any one of the preceding aspects.

[0090] It should be understood that the general description above and the detailed description below are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0091] 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 also be obtained by those skilled in the art without creative labor.

[0092] Fig. 1 is a step schematic flow chart of a control method of a movable platform according to an embodiment of the present application;

[0093] Fig. 2 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0094] Fig. 3 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0095] Fig. 4 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0096] Fig. 5 is a schematic diagram of an interface showing second prompt information according to an embodiment of the present application;

[0097] Fig. 6 is a schematic diagram of a scene in which an aircraft returns from outdoor to indoor according to an embodiment of the present application;

[0098] Fig. 7 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0099] Fig. 8 is a schematic diagram of a scene in which an aircraft uses a second return strategy to return according to an embodiment of the present application;

[0100] Fig. 9 is a schematic diagram of a scene in which an aircraft uses a third return strategy to return according to an embodiment of the present application;

[0101] Fig. 10 is a schematic diagram of a scene in which an aircraft uses a first return strategy to return according to an embodiment of the present application;

[0102] Fig. 11 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0103] FIG. 12 is a step schematic flow chart of a control method of an aircraft according to an embodiment of the present application;

[0104] FIG. 13 is a step schematic flow chart of another control method of an aircraft according to an embodiment of the present application;

[0105] FIG. 14 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0106] FIG. 15 is a step schematic flow chart of another control method of an aircraft according to an embodiment of the present application;

[0107] FIG. 16 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0108] FIG. 17 is a step schematic flow chart of another control method of an aircraft according to an embodiment of the present application;

[0109] FIG. 18 is a structural schematic block diagram of a control device of a movable platform according to an embodiment of the present application;

[0110] FIG. 19 is a structural schematic block diagram of another control device of a movable platform according to an embodiment of the present application;

[0111] FIG. 20 is a structural schematic block diagram of a control system of a movable platform according to an embodiment of the present application;

[0112] FIG. 21 is a structural schematic block diagram of a control device of an aircraft according to an embodiment of the present application;

[0113] FIG. 22 is a structural schematic block diagram of another control device of an aircraft according to an embodiment of the present application;

[0114] FIG. 23 is a structural schematic block diagram of a control system of an aircraft according to an embodiment of the present application. DETAILED DESCRIPTION

[0115] 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.

[0116] The flow charts shown in the drawings are only exemplary, and do not necessarily include all the contents and operations / steps, nor necessarily executed in the described order. For example, some operations / steps can be decomposed, combined or partially merged, so the actual execution order can be changed according to the actual situation.

[0117] Currently, the movable platform needs to wait for satellite positioning (such as GPS positioning) to converge in the initial stage, that is, before starting to move, to store satellite positioning information of the initial moving position, so that the movable platform can normally return to the initial moving position when triggering automatic return. When triggering the movable platform to perform automatic return, the movable platform performs autonomous return by comparing satellite positioning information of the current position and satellite positioning information of the return point (which can be the initial moving position). In order to avoid the case that the movable platform cannot normally return to the initial moving position due to the recorded initial moving position being far away from the initial moving position, the user usually needs to wait until the satellite positioning information search of the movable platform at the initial moving position ends before being able to control the movable platform to move with peace of mind. The time required for the satellite positioning information search to end is about several minutes, which is relatively slow, affecting the moving efficiency and experience of the movable platform.

[0118] To solve the above problems, the embodiments of the present application provide a control method, a control device, a system and a storage medium. Since the time for obtaining the first type positioning information of the movable platform at the initial moving position is shorter than the time for obtaining the satellite positioning information of the movable platform at the initial moving position, the available first type positioning information of the movable platform at the initial moving position is stored as the positioning information of the initial moving position of the movable platform in the initial stage of the movable platform, and indication information indicating that the movable platform has stored the positioning information of the initial moving position of the movable platform is output, so that the movable platform can store the positioning information of the initial moving position of the movable platform earlier and prompt that the positioning information of the initial moving position has been stored earlier. Therefore, the user can control the movable platform to move with peace of mind earlier, thereby reducing the waiting time for the user to control the movable platform to move with peace of mind, and greatly improving the moving efficiency and user experience of the movable platform.

[0119] Any movable platform in the embodiments of the present application can include an aircraft, a vehicle, a ship, a mobile robot (for example, a sweeping robot), etc. The aircraft can include an unmanned aerial vehicle or a manned aircraft, etc. The unmanned aerial vehicle includes a fixed-wing unmanned aerial vehicle, a rotor type unmanned aerial vehicle, or a rotor type and fixed-wing combined unmanned aerial vehicle. The rotor type unmanned aerial vehicle can be, for example, 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. According to application industries, the unmanned aerial vehicle can be divided into agricultural unmanned aerial vehicles, industry unmanned aerial vehicles, aerial photography unmanned aerial vehicles, logistics unmanned aerial vehicles, etc.

[0120] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0121] Please refer to FIG. 1, which is a step schematic flow chart of a control method of a movable platform provided in an embodiment of the present application. The control method can be applied to the movable platform.

[0122] As shown in FIG. 1, the control method includes steps S111 to S112.

[0123] In step S111, in an initial stage of the movable platform, in response to that the first type positioning information of the movable platform at the initial moving position is available, the first type positioning information of the movable platform at the initial moving position is stored as the positioning information of the initial moving position of the movable platform, wherein the time for obtaining the first type positioning information of the movable platform at the initial moving position is shorter than the time for obtaining the satellite positioning information of the movable platform at the initial moving position.

[0124] In step S112, in response to that the movable platform has stored the first type positioning information of the movable platform at the initial moving position as the positioning information of the initial moving position of the movable platform, the first indication information is output, and the first indication information is used to indicate that the movable platform has stored the positioning information of the initial moving position of the movable platform.

[0125] In the initial stage of the movable platform, the available first type positioning information of the movable platform at the initial moving position is stored as the positioning information of the initial moving position of the movable platform, and the indication information indicating that the movable platform has stored the positioning information of the initial moving position of the movable platform is output. Since the time for obtaining the first type positioning information of the movable platform at the initial moving position is shorter than the time for obtaining the satellite positioning information of the movable platform at the initial moving position, the control method provided in the embodiment of the present application enables the movable platform to store the positioning information of the initial moving position of the movable platform earlier and to prompt that the positioning information of the initial moving position has been stored earlier, so that the user can control the movable platform to move earlier, thereby reducing the waiting time for the user to control the movable platform to move, and greatly improving the moving efficiency of the movable platform and the user experience.

[0126] In some embodiments, the initial stage of the movable platform is the stage when the movable platform does not trigger the return or the stage when the movable platform starts to move.

[0127] In some embodiments, the moving initial position comprises a start-up position, a start-moving position, a preset position, or a user-set position of the movable platform, wherein the preset position is a position that meets a preset position relationship with the start-up position or the start-moving position. The preset position relationship comprises a preset distance relationship and / or a preset orientation relationship. For example, the distance between the preset position and the start-up position or the start-moving position is less than or equal to a preset distance, and / or the preset position is located in a preset direction of the start-up position or the start-moving position. For example, the vertical distance and / or the horizontal distance between the preset position and the start-up position or the start-moving position is less than or equal to a preset distance. For example, the vertical distance between the preset position and the start-up position or the start-moving position is 1 meter, and the preset position is located directly above the start-up position or the start-moving position.

[0128] In some embodiments, the first type of positioning information comprises visual positioning information, wireless network positioning information, infrared positioning information, ultrasonic positioning information, and / or laser positioning information. The visual positioning information is determined by a visual simultaneous localization and mapping (VSLAM) system, the wireless network positioning information is determined by a wireless network positioning system, the infrared positioning information is determined by an infrared positioning system, the ultrasonic positioning information is determined by an ultrasonic positioning system, and the laser positioning information is determined by a laser positioning system. The time for obtaining the visual positioning information, the wireless network positioning information, the infrared positioning information, the ultrasonic positioning information, or the laser positioning information is shorter than the time for obtaining the satellite positioning information of the movable platform at the moving initial position. This embodiment provides multiple types of positioning information for the movable platform, effectively improving the positioning flexibility of the movable platform.

[0129] In some embodiments, the first type of positioning information is obtained using a first type of sensor. The first type of sensor comprises an image sensor, a wireless network device, an infrared sensor, an ultrasonic sensor, and / or a laser sensor. For example, the first type of sensor is an image sensor for obtaining an image of at least one direction of the movable platform. The image sensor can be a visual sensor. Specifically, the at least one direction of the movable platform comprises one or more of the front, back, left, right, up, and down directions of the movable platform. The first type of sensor can comprise one or more.

[0130] In some embodiments, the movable platform outputting the first indication information can include: the movable platform broadcasting the first indication information; the movable platform indicating the first indication information through an indication device; and / or, the movable platform sending the first indication information to a control terminal of the movable platform. The indication device can include an indicator light and / or a buzzer. The movable platform according to the embodiment can broadcast the first indication information and / or indicate the first indication information through the indication device, so that the users around the movable platform can know that the movable platform has stored the positioning information of the initial moving position of the movable platform. The movable platform sends the first indication information to the control terminal, so that the users around the control terminal can know that the movable platform has stored the positioning information of the initial moving position of the movable platform, and the users can control the movable platform to move in time and with peace of mind.

[0131] In some embodiments, the control terminal receives the first indication information sent by the movable platform; and according to the first indication information, the control terminal outputs first prompt information for prompting that the movable platform has stored the positioning information of the initial moving position of the movable platform. The control terminal according to the embodiment can output the first prompt information for prompting that the movable platform has stored the positioning information of the initial moving position of the movable platform based on the first indication information, so that the users can control the movable platform to move in time and with peace of mind, thereby reducing the waiting time for the users to control the movable platform to move, and greatly improving the moving efficiency of the movable platform and the user experience.

[0132] In some embodiments, after step S111, the movable platform sends the relative position relationship between the movable platform and the initial moving position to a control terminal of the movable platform. Correspondingly, the control terminal receives the relative position relationship between the movable platform and the initial moving position sent by the movable platform; and the control terminal outputs the relative position relationship between the movable platform and the initial moving position. The relative position relationship between the movable platform and the initial moving position includes the relative distance and / or the relative direction between the movable platform and the initial moving position. The control terminal according to the embodiment outputs the relative position relationship between the movable platform and the initial moving position, so that the users can know the relative position relationship between the movable platform and the initial moving position, thereby facilitating the users to control the movable platform to move and improving the user experience.

[0133] In some embodiments, the step S111 can include: storing the first type positioning information of the movable platform at the moving initial position as the positioning information of the moving initial position of the movable platform in response to the first type positioning information of the movable platform at the moving initial position being available before the movable platform moves from the moving initial position; or storing the first type positioning information of the movable platform at the moving initial position as the positioning information of the moving initial position of the movable platform in response to the first type positioning information of the movable platform at the moving initial position being available when it is detected that the movable platform moves from the moving initial position. The embodiment realizes recording the positioning information of the moving initial position of the movable platform before the movable platform moves from the moving initial position or when the movable platform moves from the moving initial position, so that the user can control the movable platform to move later with more confidence.

[0134] In some embodiments, the first type positioning information of the movable platform at the moving initial position is available, including that the environment where the movable platform is located satisfies the acquisition condition of the first type positioning information. For example, the environment where the movable platform is located at the moving initial position satisfies the acquisition condition of the first type positioning information. It can be understood that the acquisition conditions of different first type positioning information are different. For example, the first type positioning information includes visual positioning information, wireless network positioning information, infrared positioning information, ultrasonic positioning information and / or laser positioning information, and the acquisition conditions of the visual positioning information, the wireless network positioning information, the infrared positioning information, the ultrasonic positioning information and the laser positioning information are different.

[0135] In some embodiments, the first type positioning information includes visual positioning information, and the environment where the movable platform is located satisfies the acquisition condition of the first type positioning information, including that the illumination intensity of the environment where the movable platform is located is greater than or equal to a preset illumination intensity threshold. For example, the illumination intensity of the environment where the movable platform is located at the moving initial position is greater than or equal to the preset illumination intensity threshold. The embodiment determines that the visual positioning information is available when the illumination intensity of the environment where the movable platform is located is greater than or equal to the preset illumination intensity threshold, so as to store the visual positioning information of the movable platform at the moving initial position as the positioning information of the moving initial position of the movable platform, thereby ensuring the accuracy of the positioning information of the moving initial position of the movable platform to ensure the safety of the movable platform.

[0136] In some embodiments, the light intensity in the preset direction of the movable platform is greater than or equal to a preset light intensity threshold. For example, the light intensity in the preset direction of the movable platform at the initial moving position is greater than or equal to the preset light intensity threshold. The preset direction includes one or more of the following directions of the movable platform: front, back, left, right, up, and down. The present embodiment does not require the light intensity in all directions of the movable platform to be greater than or equal to the preset light intensity threshold. Instead, the present embodiment determines that the visual positioning information is available when the light intensity in the preset direction of the movable platform is greater than or equal to the preset light intensity threshold. This effectively ensures the safety of the movable platform while ensuring the accuracy of the visual positioning information and expanding the application range of the visual positioning information.

[0137] In some embodiments, the satellite positioning information of the movable platform at the initial moving position is unavailable. For example, step S111 includes: in the initial stage of the movable platform, in response to the first type of positioning information of the movable platform at the initial moving position being available and the satellite positioning information of the movable platform at the initial moving position being unavailable, storing the first type of positioning information of the movable platform at the initial moving position as the positioning information of the movable platform at the initial moving position. The satellite positioning information of the movable platform at the initial moving position being unavailable can include that the strength of the satellite positioning signal of the movable platform is less than a preset signal strength threshold. For example, the strength of the satellite positioning signal of the movable platform at the initial moving position is less than the preset signal strength threshold. The present embodiment can store the available first type of positioning information of the movable platform at the initial moving position as the positioning information of the movable platform at the initial moving position when the satellite positioning information of the movable platform at the initial moving position is unavailable. This allows the user to control the movement of the movable platform without waiting for the satellite positioning information of the movable platform at the initial moving position to converge, thereby reducing the waiting time for the user to control the movement of the movable platform.

[0138] In some embodiments, the control method further includes: in response to the satellite positioning information of the movable platform at the initial moving position being available, storing the satellite positioning information of the initial moving position of the movable platform. In this embodiment, the satellite positioning information of the movable platform at the initial moving position being available includes that the strength of the satellite positioning signal of the movable platform at the initial moving position is greater than or equal to a preset signal strength threshold. In this embodiment, the time for obtaining the first type of positioning information of the movable platform at the initial moving position is shorter than the time for obtaining the satellite positioning information of the movable platform at the initial moving position, so that the movable platform stores the first type of positioning information of the initial moving position of the movable platform faster and earlier than storing the satellite positioning information of the initial moving position of the movable platform, so that the user can also control the movable platform to move without waiting for the satellite positioning information of the movable platform at the initial moving position to converge, thereby reducing the waiting time for the user to control the movable platform to move with confidence.

[0139] In some embodiments, as shown in FIG. 2, after step S112, the method further includes:

[0140] Step S113, storing the satellite positioning information of the initial moving position, the satellite positioning information of the initial moving position being determined based on at least the satellite positioning information of the target position after the movable platform moves from the initial moving position to the target position where the satellite positioning information is available, wherein the satellite positioning information of the movable platform at the initial moving position is unavailable.

[0141] In this embodiment, not only can the user control the movable platform to move with confidence after the movable platform stores the first type of positioning information of the initial moving position without waiting for the satellite positioning information of the movable platform at the initial moving position to converge, thereby reducing the waiting time for the user to control the movable platform to move with confidence, but also the satellite positioning information of the initial moving position can be determined based on at least the satellite positioning information of the target position after the movable platform moves from the initial moving position to the target position where the satellite positioning information is available, and the satellite positioning information of the initial moving position is stored, so that the satellite positioning information of the initial moving position can be obtained accurately in the case that the satellite positioning information of the movable platform at the initial moving position is unavailable, and the movable platform can use the satellite positioning information of the initial moving position for homeward journey in the homeward journey stage, thereby improving the accuracy of the homeward journey.

[0142] In some embodiments, after step S113, the method further comprises: sending, by the movable platform, satellite positioning information of the initial moving position to a control terminal of the movable platform. The control terminal receives the satellite positioning information of the initial moving position sent by the movable platform, the satellite positioning information of the initial moving position is determined based on at least satellite positioning information of a target position after the movable platform moves from the initial moving position to the target position, and the satellite positioning information of the initial moving position is unavailable when the movable platform is at the initial moving position; and the control terminal outputs the satellite positioning information of the initial moving position. In this embodiment, the satellite positioning information of the initial moving position is sent to the control terminal of the movable platform, so that the control terminal outputs the satellite positioning information of the initial moving position, and the user can know that the satellite positioning information of the initial moving position has been stored or refreshed, thereby facilitating the movable platform to use the satellite positioning information of the initial moving position for accurate return when returning.

[0143] In some embodiments, the satellite positioning information of the initial moving position is determined according to the satellite positioning information of the target position, first type positioning information of the target position, and first type positioning information of the initial moving position. The first type positioning information of the target position is available, and the first type positioning information of the movable platform between the initial moving position and the target position is available. In this embodiment, the satellite positioning information of the initial moving position can be accurately determined by using the satellite positioning information of the target position, the first type positioning information of the target position, and the first type positioning information of the initial moving position.

[0144] In some embodiments, determining the satellite positioning information of the moving initial position according to the satellite positioning information of the target position, the first type of positioning information of the target position and the first type of positioning information of the moving initial position can include: determining the satellite positioning information of the moving initial position according to a change relationship between the satellite positioning information and the first type of positioning information and the first type of positioning information of the moving initial position, the change relationship between the satellite positioning information and the first type of positioning information being determined according to the satellite positioning information of the target position and the first type of positioning information of the target position. For example, the first type of positioning information is visual positioning information, the position and orientation of the aircraft in a visual coordinate system can be represented as (x, y, z), i.e. visual positioning information, the visual coordinate system is a coordinate system formed by the aircraft using visual sensors and visual positioning technology (such as VSLAM, VIO, etc.) for relative positioning, and the visual coordinate system usually defines the origin at the takeoff position or the initialized position of the aircraft. The position and orientation of the aircraft in a world coordinate system can be represented as (latitude, longitude), i.e. satellite positioning information, the world coordinate system is a coordinate system formed by the aircraft using the global satellite navigation system for absolute positioning. By aligning the visual coordinate system and the world coordinate system through the satellite positioning information of the target position and the visual positioning information of the target position, the change relationship between the visual positioning information and the satellite positioning information can be obtained, and then the satellite positioning information of the moving initial position can be determined according to the change relationship and the visual positioning information of the moving initial position.

[0145] In some embodiments, the target position includes a position at which the satellite positioning information is available for the first time after the movable platform moves from the moving initial position. Wherein, the satellite positioning information being available can include that the strength of the satellite positioning signal of the movable platform is greater than or equal to a preset signal strength threshold. In the present embodiment, the satellite positioning information of the moving initial position is determined based on at least the satellite positioning information of the position at which the satellite positioning information is available for the first time after the movable platform moves from the moving initial position, so that the satellite positioning information of the moving initial position can be determined earlier, thereby effectively avoiding the situation that the satellite positioning information of the moving initial position cannot be obtained in time when the movable platform returns, and improving the return safety of the movable platform.

[0146] In some embodiments, the target position comprises a position at which satellite positioning information is available after the movable platform moves from the movement initial position. This embodiment uses satellite positioning information at a position after the position at which satellite positioning information is first available to determine satellite positioning information of the movement initial position, so that the movable platform can still obtain accurate satellite positioning information of the movement initial position in the case that satellite positioning information of the movement initial position is unavailable, facilitating the movable platform to use satellite positioning information of the movement initial position for homeward journey in the homeward journey stage, and improving the accuracy of the homeward journey.

[0147] In some embodiments, the movement initial position is located at a position at which satellite positioning information is unavailable. For example, the movement initial position is located at a building edge, a balcony, under a bridge, indoors, or in a basement, etc. The target position is located at a position at which satellite positioning information is available. For example, the target position is located outdoors.

[0148] In some embodiments, as shown in FIG. 3, after step S111, the method further comprises:

[0149] Step S114, in response to the received movement control instruction, controlling the movable platform to move from the movement initial position, the movable platform storing satellite positioning information of one or more target positions at which satellite positioning information is available in the process of moving, the satellite positioning information of the target position being used for the movable platform to determine a homeward journey path of the movable platform when homeward journeying, wherein satellite positioning information of the movement initial position is unavailable.

[0150] This embodiment stores satellite positioning information of one or more target positions at which satellite positioning information is available in the process of the movable platform moving from the movement initial position to the remaining positions in the case that satellite positioning information of the movement initial position is unavailable, so that the movable platform can use the stored satellite positioning information of one or more target positions to determine a homeward journey path of the movable platform when homeward journeying, to ensure the safety and accuracy of the homeward journey of the movable platform.

[0151] In some embodiments, the first type of positioning information at any target position stored by the movable platform is available. The first type of positioning information at any target position in this embodiment is available, so that the movable platform can control the movable platform to accurately homeward journey from the target position to the movement initial position of the movable platform based on the first type of positioning information of the target position and the first type of positioning information of the movement initial position when homeward journeying, improving the homeward journey accuracy of the movable platform, to ensure the safety of the homeward journey of the movable platform.

[0152] In some embodiments, the first type of positioning information of the movable platform from the initial moving position to the target position is available. In this embodiment, the first type of positioning information of the movable platform from the initial moving position to the target position is available, so that the movable platform can control the movable platform to accurately return from the target position to the initial moving position of the movable platform based on the first type of positioning information when returning, thereby improving the returning accuracy of the movable platform and ensuring the safety of the movable platform.

[0153] In some embodiments, the one or more target positions include a first target position, and the first target position is a position at which satellite positioning information is available for the first time after the movable platform starts moving from the initial moving position. The satellite positioning information available includes that the strength of the satellite positioning signal is greater than or equal to a preset signal strength threshold. Since the distance between the position at which the satellite positioning information is available for the first time after the movable platform starts moving from the initial moving position and the initial moving position is shorter than the distance between the position at which the satellite positioning information is available after the position at which the satellite positioning information is available for the first time and the initial moving position, the return path planned based on the first type of positioning information is shorter through the position at which the satellite positioning information is available for the first time after the movable platform starts moving from the initial moving position, which not only ensures the safety of the movable platform, but also makes the return path planned based on the first type of positioning information shorter in the return phase.

[0154] In some embodiments, the plurality of target positions further include a second target position and / or a third target position, the second target position is a position at which satellite positioning information is available after the position at which the satellite positioning information is available for the first time, and the distance between the third target position and the position at which the satellite positioning information is available for the first time is less than or equal to a preset distance threshold. The distance between the third target position and the position at which the satellite positioning information is available for the first time less than or equal to the preset distance threshold includes that the vertical distance or the horizontal distance between the third target position and the position at which the satellite positioning information is available for the first time is less than or equal to the preset distance threshold. In this embodiment, the plurality of target positions include the position at which the satellite positioning information is available for the first time after the movable platform starts moving from the initial moving position, the position at which the satellite positioning information is available after the position at which the satellite positioning information is available for the first time, and / or the position at which the distance from the position at which the satellite positioning information is available for the first time is less than or equal to the preset distance threshold, so that the movable platform can have more target positions to choose from when returning, thereby improving the flexibility of the movable platform returning and ensuring the safety of the movable platform.

[0155] In some embodiments, the movable platform stores satellite positioning information of one or more candidate positions and / or satellite positioning information of one or more target positions available for satellite positioning information during the movement, the first type positioning information of any candidate position is available, and the strength of the satellite positioning signal of any candidate position is less than a preset signal strength threshold, the satellite positioning information of the candidate position is determined according to the first type positioning information of the candidate position, the first type positioning information of the target position, and the satellite positioning information of the target position, and the satellite positioning information of the candidate position and the satellite positioning information of the target position are used to determine the return path of the movable platform when the movable platform returns. The distance between the candidate position and the initial movement position is shorter than the distance between the target position and the initial movement position. In this embodiment, by storing the satellite positioning information of one or more candidate positions and / or the satellite positioning information of one or more target positions available for satellite positioning information, the movable platform can have more target positions to choose from when returning, improving the flexibility of the movable platform returning, and ensuring the safety of the movable platform returning.

[0156] In some embodiments, as shown in FIG. 4, after step S111, the method further includes:

[0157] Step S115, in response to the received movement control instruction, controlling the movable platform to start moving from the initial movement position, and the movable platform stores a first set of positioning data during the movement, and the first set of positioning data is used to determine the return trajectory of the movable platform during the return process of the movable platform.

[0158] In this embodiment, by storing the first set of positioning data during the movement of the movable platform from the initial movement position to the remaining positions, it is convenient for the movable platform to use the stored first set of positioning data to determine the return trajectory of the movable platform during the return process, so as to ensure the safety of the movable platform returning.

[0159] In some embodiments, the first set of positioning data includes positioning data stored during the movement of the movable platform from the initial movement position to a target position available for satellite positioning information. The target position includes a position where the satellite positioning information is available for the first time after the movable platform starts moving from the initial movement position. In this embodiment, the first set of positioning data includes positioning data stored during the movement of the movable platform from the initial movement position to a target position available for satellite positioning information, which facilitates the movable platform to use the stored first set of positioning data to determine the return trajectory of the movable platform from the target position to the initial movement position during the return process, so as to improve the return accuracy of the movable platform and ensure the safety of the movable platform returning.

[0160] In some embodiments, the first type of positioning information of the movable platform at the position corresponding to any positioning data in the first set of positioning data is available. For example, the first set of positioning data includes a first set of images, and the visual positioning information of the movable platform at the position corresponding to any image in the first set of images is available. In this embodiment, the first type of positioning information of the movable platform at the position corresponding to any positioning data in the first set of positioning data is available, so that it can be ensured that any positioning data in the first set of positioning data is valid. Thus, the movable platform can accurately determine the return trajectory of the movable platform from the target position to the initial position of movement by using the stored first set of positioning data during the return process, so as to improve the return accuracy of the movable platform and ensure the safety of the return of the movable platform.

[0161] In some embodiments, the first set of positioning data includes images, wireless network signals, infrared positioning data, ultrasonic positioning data, and / or point cloud images. The interval time between the storage time of any two adjacent positioning data in the first set of positioning data is the same, for example, the interval time between the storage time of any two adjacent positioning data in the first set of positioning data is a preset time. The interval time between the storage time of any two adjacent positioning data in the first set of positioning data can also be different, which can be adjusted according to actual conditions.

[0162] In some embodiments, the first set of positioning data includes a first set of images, and the interval time between the storage time of any two adjacent images in the first set of images is a preset time and / or the overlap rate between any two adjacent images in the first set of images is a preset overlap rate. The image in the first set of images can be a frame of image collected by an image sensor, or a local image region in a frame of image collected by an image sensor. The local image region can be an image region containing feature points.

[0163] In some embodiments, the control method provided by the embodiments of the present application further includes: storing a scene identifier corresponding to the first set of positioning data, and the scene identifier includes a first identifier or a second identifier. The first identifier is used to indicate that the shooting scene corresponding to the first set of positioning data is an indoor scene, and the second identifier is used to indicate that the shooting scene corresponding to the first set of positioning data is an outdoor scene.

[0164] In some embodiments, the movable platform comprises an aircraft, and the method further comprises: in response to the received flight control instruction, controlling the aircraft to fly from the moving initial position, wherein an angle between a line connecting the moving initial position and a target position reached by the aircraft during the flying and a horizontal plane is an arbitrary angle, satellite positioning information of the aircraft at the moving initial position is unavailable, and satellite positioning information of the aircraft at the target position is available. For example, the arbitrary angle includes 90° or non-90°. This embodiment can control the aircraft to take off vertically or non-vertically from the moving initial position, thereby improving the take-off flexibility of the aircraft and user experience.

[0165] In some embodiments, the method further comprises: in response to detecting that the indication condition is met, outputting second indication information. The second indication information can be free of prompting specific content or can prompt corresponding content. Outputting the second indication information can include: playing the second indication information; indicating the second indication information through an indication device; and / or sending the second indication information to a control terminal of the movable platform, so that the control terminal outputs second prompt information according to the received second indication information. For example, the second prompt information can be used to prompt the user that the movable platform cannot automatically return or prompt the user to manually confirm whether the movable platform continues to return. This embodiment exemplarily improves the return safety of the movable platform by outputting the second indication information when the indication condition is met.

[0166] In some embodiments, the indication condition being met includes: during the movement of the movable platform from the moving initial position to the target position where the satellite positioning information is available, the first type of positioning information of the movable platform is unavailable. The second indication information can be free of prompting specific content or can prompt corresponding content, such as the second indication information being used to indicate that the movable platform cannot automatically return. For example, visual positioning information of the aircraft at the take-off position is available, and then during the movement of the aircraft from the take-off position to the target position where the satellite positioning information is available, the visual positioning of the aircraft is invalid. The aircraft can output the indication information, for example, the aircraft can play the indication information that the visual positioning of the aircraft is invalid and the aircraft cannot automatically return through a voice, and / or the aircraft can output the indication information that the visual positioning of the aircraft is invalid and the aircraft cannot automatically return through a buzzer or an indicator light.

[0167] In some embodiments, the indication condition is met includes: during the process of the movable platform returning from the target position to the initial position of movement, the first type of positioning information of the movable platform is unavailable, and the target position is a position where the satellite positioning information of the movable platform is available in the initial stage. Wherein, the second indication information can not need to prompt specific content, or can prompt the corresponding content, such as the second indication information is used to indicate that the first type of positioning information of the movable platform is unavailable, and the automatic return based on the first type of positioning information cannot be realized. For example, after the aircraft returns from the current position to the target position, and then during the process of returning from the target position to the take-off position, the visual positioning of the aircraft is invalid, and the aircraft can output the indication information, for example, the indication information that the visual positioning of the aircraft is invalid and cannot continue to automatically return can be broadcasted by voice, the indication information that the visual positioning of the aircraft is invalid and cannot continue to automatically return can be output by a buzzer or an indicator light, and / or the second indication information is sent to the control terminal, so that the control terminal prompts the visual positioning of the aircraft is invalid and cannot automatically return by voice, and a pop-up window prompts that the visual positioning is invalid and cannot continue to return, please pay attention to flight safety.

[0168] In some embodiments, the indication condition is met includes: during the process of the movable platform returning from the target position to the initial position of movement, the first type of positioning information of the movable platform is unavailable, and the target position is a position where the satellite positioning information of the movable platform is available in the initial stage. Wherein, the second indication information can not need to prompt specific content, or can prompt the corresponding content, such as the second indication information is used to indicate that the first type of positioning information of the movable platform is unavailable, and the automatic return based on the first type of positioning information cannot be realized. For example, after the aircraft returns from the current position to the target position, and then during the process of returning from the target position to the take-off position, the visual positioning of the aircraft is invalid, and the aircraft can output the indication information, for example, the indication information that the visual positioning of the aircraft is invalid and cannot continue to automatically return can be broadcasted by voice, the indication information that the visual positioning of the aircraft is invalid and cannot continue to automatically return can be output by a buzzer or an indicator light, and / or the second indication information is sent to the control terminal, so that the control terminal prompts the visual positioning of the aircraft is invalid and cannot automatically return by voice, and a pop-up window prompts that the visual positioning is invalid and cannot continue to return, please pay attention to flight safety.

[0169] In some embodiments, the indication condition is met includes: during the process of the movable platform returning, information related to the return accuracy of the movable platform is detected in the movement direction of the movable platform. Wherein, the second indication information can not need to prompt specific content, or can prompt the corresponding content, such as the second indication information is used to indicate whether the movable platform continues to return needs to be confirmed by the user. The information related to the return accuracy of the movable platform includes a balcony, a door, a window, a bridge hole or a building edge.

[0170] For example, during the process of returning the aerial vehicle, if a bridge hole is detected in the flight direction of the aerial vehicle, the aerial vehicle can output an indication information, for example, the aerial vehicle can output an indication information through voice broadcast, such as "the environment in front is complex, please confirm whether to continue returning", output an indication information through a buzzer or an indicator light, such as "the environment in front is complex, please confirm whether to continue returning", and / or send a second indication information to the control terminal, so that the control terminal prompts "the environment in front is complex, please confirm whether to continue returning" through voice, and a pop-up window is prompted to let the user confirm. As shown in FIG. 5, a first prompt pop-up window 10 is popped up in the interface displayed by the control terminal, at this time, the user can manually confirm whether to continue returning. If the user confirms to continue returning, the aerial vehicle continues to perform precise returning, so as to pass through the bridge hole in front. If the user cancels returning, the aerial vehicle hovers and waits for the user to manually control the aerial vehicle to pass through the bridge hole in front.

[0171] In some embodiments, the indication condition is satisfied includes that, during the process of returning the movable platform from a target position to a moving initial position, the first type of positioning information of the movable platform is available and it is detected that there is information related to the returning accuracy of the movable platform in the moving direction of the movable platform, wherein the target position is a position where the movable platform is in an initial stage in which satellite positioning information is available. For example, after the aerial vehicle returns from the current position to the target position, then during the process of returning from the target position to the take-off position, if a bridge hole or a window is detected in the flight direction of the aerial vehicle, and the visual positioning of the aerial vehicle is valid, the aerial vehicle can output an indication information, for example, the aerial vehicle can output an indication information through voice broadcast, such as "the environment in front is complex, please confirm whether to continue returning", output an indication information through a buzzer or an indicator light, such as "the environment in front is complex, please confirm whether to continue returning", and / or send a second indication information to the control terminal, so that the control terminal prompts "the environment in front is complex, please confirm whether to continue returning" through voice, and a pop-up window is prompted to let the user confirm, so as to better ensure the flight safety of the aerial vehicle.

[0172] In some embodiments, the indication condition is met when, during the process of returning the movable platform from the target position to the initial position of movement, it is detected that there is information related to the returning accuracy of the movable platform in the moving direction of the movable platform, and the first type of positioning information of the movable platform is unavailable, wherein the target position is a position of the movable platform at which the satellite positioning information is available in the initial stage. The second indication information can or can not prompt specific content, such as the second indication information indicating that the movable platform cannot automatically return. For example, after the aircraft returns from the current position to the target position, and then during the process of returning from the target position to the take-off position, it is detected that there is a bridge hole in the flight direction of the aircraft, and the visual positioning of the aircraft fails, the aircraft cannot accurately return, the aircraft can output the indication information, for example, the indication information that the front environment is complex and cannot continue to return can be output through voice broadcast, a buzzer or an indicator, and / or the second indication information can be sent to the control terminal to make the control terminal voice prompt that the front environment is complex and cannot continue to return, and a pop-up window prompts that the front environment is complex and cannot continue to return.

[0173] In some embodiments, during the process of returning the movable platform, if it is detected that there is information related to the returning accuracy of the movable platform in the moving direction of the movable platform or the first type of positioning information of the movable platform is unavailable, the movable platform is controlled to pause the returning. The position at which the movable platform pauses includes the target position or a position between the initial position of movement and the target position, and the information related to the returning accuracy of the movable platform includes a balcony, a door, a window, a bridge hole or a building edge.

[0174] For example, as shown in FIG. 6, during the process of returning the aircraft 100, there is a balcony in the flight direction of the aircraft 100, at this time, the aircraft 100 is controlled to hover at the outdoor position 21 to pause the accurate returning, and the second indication information is sent to the control terminal to make the control terminal voice prompt that the front environment is complex, and whether to continue to return is confirmed, and a pop-up window prompts the user to confirm, if the user confirms to continue to return, the aircraft 100 continues to perform the accurate returning, so as to enter the indoor and return to the take-off position 22, if the user cancels the returning, the aircraft remains hovering at the outdoor position 21, waiting for the user to manually control the aircraft to return to the indoor take-off position 22, in the scenario shown in FIG. 6, the outdoor position 21 can be the target position, or a position between the take-off position 22 and the target position.

[0175] In some embodiments, during the process of the movable platform returning from the target position to the initial moving position, if it is detected that there is information related to the returning accuracy of the movable platform in the moving direction of the movable platform, and the first type of positioning information of the movable platform is available, the movable platform is controlled to pause the returning. The position where the movable platform pauses can be the target position, or a position between the initial moving position and the target position. The information related to the returning accuracy of the movable platform includes a balcony, a door, a window, a bridge hole, or a building edge.

[0176] For example, as shown in FIG. 6, during the process of the aircraft 100 returning from the target position to the take-off position 22, there is a balcony related to the returning accuracy of the aircraft in the flight direction of the aircraft, and the visual positioning information of the aircraft is available. At this time, the aircraft 100 is controlled to hover at the outdoor position 21 to pause the accurate returning, and the second indication information is sent to the control terminal, so that the control terminal prompts the complex environment in front according to the second indication information, and prompts the user to confirm whether to continue the returning. If the user confirms to continue the returning, the aircraft 100 continues to perform the accurate returning, so as to enter the indoor and return to the take-off position 22. If the user cancels the returning, the aircraft hovers at the outdoor position 21, and waits for the user to manually control the aircraft to return to the indoor take-off position 22. In this scenario, the outdoor position 21 can be a position between the take-off position 22 and the target position.

[0177] In some embodiments, after the second indication information is output in response to detecting that the indication condition is met, the control method provided by the embodiments of the present application further includes: in the case of obtaining a returning instruction, controlling the movable platform to continue the returning; or in the case of obtaining a canceling returning instruction, controlling the movable platform to exit the automatic returning. For example, in the case of obtaining a returning instruction sent by the control terminal, the movable platform is controlled to continue the returning. The returning instruction is sent by the control terminal in response to the operation instruction of the user triggering the returning. Or in the case of obtaining a canceling returning instruction sent by the control terminal, the movable platform is controlled to exit the automatic returning. The canceling returning instruction is sent by the control terminal in response to the operation instruction of the user triggering the canceling returning.

[0178] In some embodiments, the control terminal sends a continue homeward instruction to the movable platform in response to a user triggering an operation indication of continuing homeward, or sends a cancel homeward instruction to the movable platform in response to a user triggering an operation indication of canceling homeward. For example, as shown in FIG. 5, the user can trigger the operation indication of canceling homeward by the cancel control 11 in the displayed first prompt pop-up window 10, trigger the operation indication of continuing homeward by the homeward control 12 in the displayed first prompt pop-up window 10, or trigger the operation indication of canceling homeward by the first key (C1 key) in the control terminal, and trigger the operation indication of continuing homeward by the second key (C2 key) in the control terminal.

[0179] The movable platform needs to wait for satellite positioning (such as GPS positioning) to converge in the initial stage to store satellite positioning information of the mobile initial position, so that the movable platform can normally return to the mobile initial position when triggering automatic homeward. When triggering the movable platform to perform automatic homeward, the movable platform performs autonomous homeward by comparing satellite positioning information of the current position of the movable platform and satellite positioning information of the homeward point (which can be the takeoff point). However, this way cannot accurately and effectively perform automatic homeward in the scenario that the satellite positioning information of the movable platform at the mobile initial position is unavailable, resulting in poor efficiency and accuracy of homeward. Therefore, please refer to FIG. 7, as shown in FIG. 7, after step S112 of the embodiments of the present application, it further includes:

[0180] Step S116, in response to the homeward condition being met and the satellite positioning information of the movable platform being available, controlling the movable platform to return from the current position to the target position based on the satellite positioning information of the movable platform, the target position being a position at which the satellite positioning information of the movable platform is available and stored in the initial stage.

[0181] Step S117, after the movable platform returns to the target position, in response to the first type positioning information of the movable platform being available, switching from being controlled based on the satellite positioning information of the movable platform to being controlled based on the first type positioning information of the movable platform to return from the target position to the mobile initial position of the movable platform, wherein the movable platform stores the first type positioning information from the mobile initial position to the target position in the initial stage, the satellite positioning information of the movable platform at the mobile initial position is unavailable and the first type positioning information is available.

[0182] The embodiments of the present application control the movable platform to return from the current position to the target position based on the satellite positioning information of the movable platform when triggering the return of the movable platform, and control the movable platform to return from the target position to the initial moving position of the movable platform based on the first type of positioning information of the movable platform after returning to the target position, so as to adapt to the scenario of poor satellite positioning signal at the initial moving position of the movable platform, so as to realize accurate return of the movable platform and effectively improve the return efficiency and accuracy of the movable platform.

[0183] In some embodiments, the control of the movable platform to return from the current position to the target position can include: controlling the movable platform to return from the current position to the target position according to a first return path; and the control of the movable platform to return from the target position to the initial moving position of the movable platform can include: controlling the movable platform to return from the target position to the initial moving position of the movable platform according to a second return path. Wherein, the starting point of the first return path is the current position of the movable platform, the end point of the first return path and the starting point of the second return path are both the target position, and the end point of the second return path is the initial moving position. The embodiments control the movable platform to return through two-stage return paths, so as to avoid inaccurate return in the scenario of poor satellite positioning signal at the initial moving position of the movable platform, and effectively improve the return efficiency and accuracy of the movable platform.

[0184] In some embodiments, the first return path is an optimal path from the current position of the movable platform to the target position. For example, the optimal path from the current position of the movable platform to the target position is the shortest path. The embodiments control the movable platform to return from the current position to the target position according to the optimal path from the current position of the movable platform to the target position, which not only ensures the safety of the return of the movable platform, but also returns to the target position faster, effectively improves the return efficiency, and provides better user experience.

[0185] In some embodiments, the second return path is an optimal path from the target position of the movable platform to the initial moving position of the movable platform. For example, the optimal path from the target position of the movable platform to the initial moving position of the movable platform is the shortest path. The embodiments control the movable platform to return from the target position to the initial moving position of the movable platform according to the optimal path from the target position of the movable platform to the initial moving position of the movable platform, which not only ensures the safety of the return of the movable platform, but also returns to the target position faster, effectively improves the return efficiency, and provides better user experience.

[0186] In some embodiments, the second return path is the same as or approximately the same as a reverse path of an initial path corresponding to movement of the movable platform from the movement initial position to the target position in the initial stage. This embodiment controls the movable platform to return from the target position to the movement initial position of the movable platform according to the return path which is the same as or approximately the same as the reverse path of the initial path corresponding to movement of the movable platform from the movement initial position to the target position in the initial stage, and thus the return accuracy of the movable platform can be improved.

[0187] For example, as shown in FIG. 8, the takeoff position 41 of the aircraft 100 is in the building edge area R, satellite positioning information of the aircraft 100 when located in the building edge area R is unavailable, satellite positioning information of the aircraft 100 when located outside the building edge area R is available, the aircraft 100 takes off from the takeoff position 41, the path of the aircraft 100 from the takeoff position 41 to the current position 43 of the aircraft 100 is the flight path 44, and the aircraft 100 stores satellite positioning information of the target position 42 at which satellite positioning information is available in the takeoff stage. When the return condition is met, the current position 43 of the aircraft 100 is located outside the building edge area R, satellite positioning information of the aircraft 100 is available, at this time, the aircraft 100 can be controlled to return from the current position 43 to the target position 42 based on the satellite positioning information, and then return from the target position 42 to the takeoff position 41 based on the visual positioning information. The return path corresponding to return of the target position 42 to the takeoff position 41 is the same as a reverse path of the flight path (the path from the takeoff position 41 to the target position 42) of the aircraft 100 in the takeoff stage, so that the aircraft 100 completely returns from the target position 42 to the takeoff position 41 along the reverse path of the flight path in the takeoff stage, the probability of visual key frame matching and loop detection can be increased, the accuracy of visual positioning can be improved, and thus the return accuracy of the aircraft 100 can be improved, and the return safety of the aircraft 100 can be ensured.

[0188] For example, as shown in FIG. 9, the aircraft 100 stores the visual positioning information T1, the visual positioning information T2, the visual positioning information T3, the visual positioning information T4, the visual positioning information T5 and the visual positioning information T6 in the process of flying from the takeoff position 41 to the target position 42, and the six visual positioning information belong to the positioning information on the takeoff path of the takeoff stage of the aircraft 100. When the return condition is met, the aircraft 100 can be controlled to return from the current position 43 to the target position 42 based on the satellite positioning information, and the shortest return path closest to the takeoff path of the takeoff stage of the aircraft 100 is selected based on the stored six visual positioning information, and it is ensured that enough closed-loop detection occurs in the process of returning, so that the return path of the target position 42 to the takeoff position 41 is the shortest and approximately the same as the reverse path of the flight path of the takeoff stage of the aircraft 100. The return path of the target position 42 to the takeoff position 41 in FIG. 9 does not pass through the position corresponding to the visual positioning information T4 (for example, there is no obstacle on the path between T5 and T3), thereby reducing redundant positions, improving the efficiency of the return, and being more in line with the user's expectations.

[0189] In some embodiments, the second return path is related to the environmental condition of the movable platform in the process of returning from the target position to the initial moving position of the movable platform. The environmental condition includes the obstacle distribution condition, that is, the second return path is related to the obstacle distribution condition of the movable platform in the process of returning from the target position to the initial moving position of the movable platform. For example, according to the initial path corresponding to the initial stage of the movable platform moving from the initial moving position to the target position and the obstacle distribution condition between the initial moving position and the target position, the second return path is determined.

[0190] For example, if there are more obstacles between the initial moving position and the target position, the reverse path of the initial path can be determined as the second return path. In this way, the movable platform is controlled to return from the target position to the initial moving position of the movable platform according to the second return path, which not only ensures the safety of the return of the movable platform, but also reduces the planning process of the return path.

[0191] For example, if there are more obstacles between the initial position and the target position, in order to ensure the safety of the return of the movable platform and reduce the time required for the return, the optimal path of the movable platform from the target position to the initial position of the movable platform can be planned according to the plurality of first type positioning information corresponding to the initial path (the plurality of first type positioning information is the first type positioning information between the initial position and the target position of the movable platform) and the distribution of obstacles between the initial position and the target position, so that after the movable platform is controlled to return from the target position to the initial position of the movable platform according to the optimal path, not only the safety of the return of the movable platform can be ensured, but also the movable platform can return to the target position faster, effectively improving the return efficiency.

[0192] For example, if there are fewer obstacles between the initial position and the target position, in order to ensure the safety of the return of the movable platform and reduce the redundancy of the return path, a second return path similar to the reverse path of the initial path (for example, individual path points can be removed, and a shorter path return can be performed) can be planned according to the plurality of first type positioning information corresponding to the initial path (the plurality of first type positioning information is the first type positioning information between the initial position and the target position of the movable platform) and the distribution of obstacles between the initial position and the target position, so that after the movable platform is controlled to return from the target position to the initial position of the movable platform according to the second return path, not only the safety of the return of the movable platform can be ensured, but also the movable platform can return to the target position faster, effectively improving the return efficiency.

[0193] For example, if there are fewer obstacles between the initial position and the target position, in order to ensure the safety of the return of the movable platform and reduce the time required for the return, the optimal path of the movable platform from the target position to the initial position of the movable platform can be planned according to the plurality of first type positioning information corresponding to the initial path (the plurality of first type positioning information is the first type positioning information between the initial position and the target position of the movable platform) and the distribution of obstacles between the initial position and the target position, so that after the movable platform is controlled to return from the target position to the initial position of the movable platform according to the optimal path, not only the safety of the return of the movable platform can be ensured, but also the movable platform can return to the target position faster, effectively improving the return efficiency.

[0194] In some embodiments, the target position is multiple, and the control of the movable platform to return from the current position to the target position can include: determining a target position from the multiple target positions based on a preset path planning strategy, and controlling the movable platform to return from the current position to the determined target position. Wherein, the first type of positioning information of the movable platform at the multiple target positions is available and / or the first type of positioning information between the movable platform from the initial moving position to any one of the multiple target positions is available. This embodiment determines a target position by a preset path planning strategy, so that the return path of the movable platform from the current position to the determined target position is more flexible, and the planning flexibility of the return path is improved.

[0195] In some embodiments, the determination of a target position from the multiple target positions based on a preset path planning strategy can include: determining a target position from the multiple target positions based on a path optimization principle from the current position of the movable platform to the target position. Wherein, the path optimization includes: the shortest path, i.e. a target position can be determined from the multiple target positions based on a shortest path principle from the current position of the movable platform to the target position. For example, the multiple target positions include target position B1, target position B2 and target position B3, and since the path from the current position C to the target position B2 is optimal, the movable platform is controlled to return from the current position C to the target position B2, so that the return path of the movable platform from the current position C to the target position B2 is optimal.

[0196] In some embodiments, the determination of a target position from the multiple target positions based on a preset path planning strategy can include: determining a target position from the multiple target positions based on a path optimization principle from the current position of the movable platform to the initial moving position. Wherein, the path optimization includes: the shortest path, i.e. a target position can be determined from the multiple target positions based on a shortest path principle from the current position of the movable platform to the initial moving position. For example, the multiple target positions include target position B1, target position B2 and target position B3, and since the optimal path from the current position C to the initial moving position A needs to pass through the target position B3, the movable platform is controlled to return from the current position C to the target position B3, and then return from the target position B3 to the initial moving position, so that the return path of the movable platform from the current position C to the target position B3 plus the return path from the target position B3 to the initial moving position is optimal.

[0197] In some embodiments, the first type of positioning information of the movable platform is used to control the movable platform to return from the target position to the initial position of movement of the movable platform, including: acquiring a second set of images by the image sensor; and using the second set of images and a first set of images acquired by the movable platform in the initial stage to control the movable platform to return from the target position to the initial position of movement of the movable platform. The first set of images is acquired by the image sensor of the movable platform. In this embodiment, the second set of images and the first set of images acquired by the movable platform in the initial stage are used for comparison, which can effectively realize closed-loop detection of visual positioning, so as to ensure the accuracy of visual positioning, thereby ensuring the safety of the movable platform returning from the target position to the initial position of movement.

[0198] In some embodiments, the collision query radius used when the movable platform passes through the preset object in the process of returning is greater than the collision query radius used when the movable platform passes through the preset object without being in the preset environment, wherein the collision query radius is used for the movable platform to identify whether there is an obstacle within the collision query radius of the movable platform to plan obstacle avoidance. The preset environment affects the accuracy of the movement path of the movable platform. In this embodiment, the collision query radius is increased when the movable platform passes through the preset object in the process of returning, so as to avoid the situation that the movable platform touches the obstacle due to the influence of the preset environment on the accuracy of the movement path of the movable platform, reduce the collision risk when the movable platform passes through the preset object, and improve the return safety of the movable platform.

[0199] In some embodiments, the control method provided by the embodiments of the present application further includes: in response to the movable platform passing through the preset object in the process of returning being in the preset environment, adjusting the return path of the movable platform. In this embodiment, the return path of the movable platform is adjusted when the movable platform passes through the preset object in the process of returning and is in the preset environment, so as to avoid the situation that the movable platform touches the obstacle due to the deviation of the return path of the movable platform caused by the preset environment when the movable platform passes through the preset object in the process of returning, reduce the collision risk when the movable platform passes through the preset object, and improve the return safety of the movable platform.

[0200] In some embodiments, the preset environment includes a windy environment. An example of the windy environment is an environment with a wind level exceeding a preset wind level, which is related to the weight of the movable platform and the maximum power. The preset object includes a narrow space, such as a window or a bridge hole. This embodiment can avoid the movable platform from touching the window or the bridge hole when the movable platform returns through the narrow space such as the window or the bridge hole during the returning process, reduce the collision risk of the movable platform when passing through the narrow space such as the window or the bridge hole, and improve the returning safety of the movable platform.

[0201] In some embodiments, the adjustment direction of the returning path of the movable platform is opposite to the direction of the wind. This embodiment adjusts the returning path of the movable platform in a direction opposite to the direction of the wind, so as to avoid the movable platform from touching the window or the bridge hole when the movable platform returns through the window or the bridge hole during the returning process, reduce the collision risk of the movable platform when passing through the window or the bridge hole, and improve the returning safety of the movable platform.

[0202] In some embodiments, the moving speed of the movable platform when returning through the preset object during the returning process is less than the moving speed of the movable platform before passing through the preset object during the returning process. This embodiment can avoid the movable platform from failing to safely pass through the preset object due to the too large moving speed when the movable platform returns through the preset object during the returning process, reduce the collision risk of the movable platform when passing through the preset object, and improve the returning safety of the movable platform.

[0203] In some embodiments, the moving speed of the movable platform when returning through the preset object during the returning process is negatively related to the wind speed of the environment in which the movable platform is located. The greater the wind speed of the environment in which the movable platform is located, the smaller the moving speed of the movable platform when returning through the preset object during the returning process. The smaller the wind speed of the environment in which the movable platform is located, the greater the moving speed of the movable platform when returning through the preset object during the returning process. This embodiment can reduce the deviation of the returning path of the movable platform caused by the wind when the movable platform returns through the narrow space such as the window or the bridge hole during the returning process, reduce the collision risk of the movable platform when passing through the narrow space such as the window or the bridge hole, and improve the returning safety of the movable platform.

[0204] In some embodiments, the control method further includes: in response to the return condition being met, controlling the movable platform to return from the current position to the movement initial position based on the satellite positioning information, wherein the movable platform stores the satellite positioning information of the movement initial position in the initial stage. In this embodiment, since the movable platform stores the satellite positioning information of the movement initial position in the initial stage, when the return condition is met, the movable platform can accurately return from the current position to the movement initial position based on the satellite positioning information, thereby effectively improving the return efficiency and accuracy of the movable platform.

[0205] For example, as shown in FIG. 10, the takeoff position 41 of the aircraft 100 is in the building edge area R, the satellite positioning information of the aircraft 100 when located in the building edge area R is unavailable, the satellite positioning information of the aircraft 100 when located outside the building edge area R is available, the aircraft 100 takes off from the takeoff position 41, the path of the aircraft 100 flying from the takeoff position 41 to the current position 43 of the aircraft 100 is the flight path 44, and the aircraft 100 stores the satellite positioning information of the takeoff position 41 in the takeoff stage. When the return condition is met, the aircraft 100 can be controlled to return from the current position 43 to the takeoff position 41 based on the satellite positioning information, without passing through the target position 42, so that the return path 45 of the aircraft 100 from the current position 43 to the takeoff position 41 is optimal.

[0206] In some embodiments, in response to the return condition being met, controlling the movable platform to return from the current position to the movement initial position based on the satellite positioning information can include: in response to the return condition being met and the first type positioning information of the movable platform being unavailable, controlling the movable platform to return from the current position to the movement initial position based on the satellite positioning information, wherein the satellite positioning information of the movement initial position is unavailable when the movable platform is in the movement initial position in the initial stage, and the satellite positioning information of the movement initial position is determined according to the satellite positioning information of the target position, and the satellite positioning information of the target position is available. In this embodiment, the movable platform can be accurately returned in the scenario that the satellite positioning signal of the movement initial position of the movable platform is poor, thereby effectively improving the return efficiency and accuracy of the movable platform.

[0207] In some embodiments, in response to the return condition being met, controlling the movable platform to return from the current position to the movement initial position based on the satellite positioning information can include: in response to the return condition being met, controlling the movable platform to return from the current position to the movement initial position based on the satellite positioning information, wherein the satellite positioning information of the movement initial position is available when the movable platform is in the movement initial position in the initial stage.

[0208] In some embodiments, the control method further includes: in response to the return condition being met and the satellite positioning information of the movable platform being available, controlling the movable platform to return from the current position to the target position based on the satellite positioning information; and in response to the first type positioning information of the movable platform being unavailable after the movable platform returns to the target position, controlling the movable platform to stop moving, wherein the satellite positioning information of the movable platform at the target position is available, and the first type positioning information of the movable platform between the initial stage and the target position is unavailable. This embodiment ensures the safety of the return of the movable platform by first controlling the movable platform to return to the target position, and then controlling the movable platform to stop moving in the case that the first type positioning information of the movable platform is unavailable, thereby interrupting the return.

[0209] In some embodiments, the control method further includes: in response to the return condition being met, the satellite positioning information of the movable platform being available, and the first type positioning information of the movable platform between the initial stage and the target position being unavailable, controlling the movable platform to return from the current position to the target position based on the satellite positioning information. For example, the movable platform is controlled to stop moving after returning to the target position. This embodiment controls the movable platform to return from the current position to a target position close to the initial moving position based on the satellite positioning information in the case that the satellite positioning information of the movable platform is available and the first type positioning information of the movable platform between the initial stage and the target position is unavailable, and the movable platform can be manually controlled by a user to return from the target position to the initial moving position, thereby ensuring the safety of the return of the movable platform.

[0210] In some embodiments, the control method further includes: in response to the return condition being met, the first type positioning information of the movable platform being available, and the first type positioning information of the movable platform between the initial stage and the current position being available, controlling the movable platform to return from the current position to the initial moving position based on the first type positioning information, wherein the satellite positioning information of the movable platform at the initial moving position is unavailable. This embodiment can avoid inaccurate return in the case that the satellite positioning signal at the initial moving position of the movable platform is poor, thereby effectively improving the return efficiency and accuracy of the movable platform.

[0211] In some embodiments, the return path corresponding to the control of the movable platform to return from the current position to the initial moving position based on the first type positioning information is the reverse path of the moving path corresponding to the control of the movable platform to move from the initial moving position to the current position. This embodiment can improve the return accuracy of the movable platform and ensure the safety of the return of the movable platform.

[0212] In some embodiments, the return path of the movable platform from the current position to the initial moving position based on the first type of positioning information is approximately the same as the reverse path of the moving path of the movable platform from the initial moving position to the current position in the initial stage. This embodiment can reduce the redundancy of the return path of the movable platform from the current position to the initial moving position, thereby not only ensuring the safety of the return of the movable platform, but also enabling the movable platform to return to the target position faster, effectively improving the return efficiency.

[0213] In some embodiments, the return path of the movable platform from the current position to the initial moving position based on the first type of positioning information is the optimal path from the current position to the initial moving position. The optimal path can be the shortest path. This embodiment can ensure that the return path of the movable platform from the current position to the initial moving position based on the first type of positioning information is the optimal path, which not only ensures the safety of the return of the movable platform, but also enables the movable platform to return to the target position faster, effectively improves the return efficiency, and provides a better user experience.

[0214] In some embodiments, the return condition is satisfied, including receiving a return control instruction of a user or the movable platform satisfying a preset return trigger condition. For example, the preset return trigger condition includes that the movable platform is in a fault state, the power of the movable platform is lower than a preset power threshold, the working time of the movable platform reaches a preset time length, or the movable platform completes a task. The movable platform in the fault state includes that the communication connection with the control terminal of the movable platform is disconnected.

[0215] Please refer to FIG. 11, which is a step schematic flowchart of another control method of a movable platform provided by the embodiments of the present application. The control method can be applied to a control terminal. The control terminal includes a remote controller, a cloud server, a ground control platform, a mobile phone, a tablet computer, a notebook computer, and a PC computer, etc.

[0216] As shown in FIG. 11, the control method includes steps S121 to S122.

[0217] In step S121, first indication information sent by the movable platform is received. The first indication information is used to indicate that the movable platform has stored the first type of positioning information of the movable platform at the initial moving position as the positioning information of the initial moving position of the movable platform. The first type of positioning information of the movable platform at the initial moving position is available, and the time for obtaining the first type of positioning information of the movable platform at the initial moving position is shorter than the time for obtaining satellite positioning information of the movable platform at the initial moving position.

[0218] In step S122, the first prompt information is output according to the first indication information, and the first prompt information is used to prompt that the movable platform has stored the positioning information of the movement initial position of the movable platform.

[0219] In the embodiment, the time for obtaining the first type positioning information of the movable platform at the movement initial position is shorter than the time for obtaining the satellite positioning information of the movable platform at the movement initial position. Therefore, the movable platform can send the first indication information to the control terminal earlier, the first indication information is used to indicate that the movable platform has stored the first type positioning information of the movable platform at the movement initial position as the positioning information of the movement initial position of the movable platform. Therefore, the control terminal can output the first prompt information earlier, the first prompt information is used to prompt that the movable platform has stored the positioning information of the movement initial position of the movable platform. Therefore, the user can control the movable platform to move earlier, and the waiting time for the user to control the movable platform to move is reduced, and the movement efficiency of the movable platform and the user experience are greatly improved.

[0220] In some embodiments, the control terminal outputting the first prompt information can include: the control terminal displaying the first prompt information on an interface, and / or the control terminal playing the first prompt information. The interface includes a picture taken by an image sensor or a gimbal camera of the movable platform. In the embodiment, the first prompt information is displayed on the interface of the control terminal or played by the control terminal. Therefore, the user around the control terminal can know that the movable platform has stored the positioning information of the movement initial position of the movable platform more conveniently, and can control the movable platform to move through the control terminal in time. Therefore, the waiting time for the user to control the movable platform to move is reduced, and the movement efficiency of the movable platform and the user experience are greatly improved.

[0221] In some embodiments, after step S122, the method further includes: receiving satellite positioning information of the movement initial position sent by the movable platform, the satellite positioning information of the movement initial position being determined based on satellite positioning information of a target position at least after the movable platform moves from the movement initial position to the target position, and the satellite positioning information of the movement initial position being unavailable at the movement initial position; and outputting the satellite positioning information of the movement initial position. In the embodiment, the satellite positioning information of the movement initial position is output. Therefore, the user can know that the satellite positioning information of the movement initial position has been stored or refreshed, and the movable platform can use the satellite positioning information of the movement initial position for accurate return when returning.

[0222] In some embodiments, the control terminal outputting the satellite positioning information of the mobile initial position can include: displaying the satellite positioning information of the mobile initial position on the interface, and / or, playing the satellite positioning information of the mobile initial position. The displaying the satellite positioning information of the mobile initial position on the interface can include: displaying the satellite positioning information of the mobile initial position on a map displayed on the interface. The embodiment displays the satellite positioning information of the mobile initial position on the interface, thereby more intuitively and continuously providing the user with an indication that the movable platform has stored the satellite positioning information of the mobile initial position of the movable platform. By outputting the satellite positioning information of the mobile initial position, the user can be timely informed of the satellite positioning information of the mobile initial position.

[0223] In some embodiments, during the movement of the movable platform from the mobile initial position to the target position where the satellite positioning information is available, the control terminal does not display the satellite positioning information of the mobile initial position on the interface, and / or, does not play the satellite positioning information of the mobile initial position. Alternatively, during the movement of the movable platform from the mobile initial position to the target position where the satellite positioning information is available, the control terminal displays historical satellite positioning information of the mobile initial position on the interface. The historical satellite positioning information of the mobile initial position is the available satellite positioning information stored by the movable platform (the current movable platform or other movable platforms that have established a communication connection) when passing through the mobile initial position before. The displaying the historical satellite positioning information of the mobile initial position on the interface can include: displaying the historical satellite positioning information of the mobile initial position on a map displayed on the interface.

[0224] In some embodiments, the displaying the satellite positioning information of the mobile initial position on the map displayed on the interface can include: displaying a first icon corresponding to the mobile initial position on the map displayed on the interface, and the position of the first icon corresponding to the mobile initial position on the map is determined according to the satellite positioning information of the mobile initial position. The displaying the historical satellite positioning information of the mobile initial position on the map displayed on the interface can include: displaying a second icon corresponding to the mobile initial position on the map displayed on the interface, and the position of the second icon corresponding to the mobile initial position on the map is determined according to the historical satellite positioning information of the mobile initial position.

[0225] In some embodiments, the visual representation of the first icon is different from the visual representation of the second icon. The visual representation of the first icon being different from the visual representation of the second icon can include that the color of the first icon is different from the color of the second icon, the shape of the first icon is different from the shape of the second icon, and / or the size of the first icon is different from the size of the second icon. The visual representation of the first icon being different from the visual representation of the second icon in the embodiments makes the user able to know whether the satellite positioning information of the mobile initial position has been stored through the visual representation of the displayed icon, and the user experience is better.

[0226] In some embodiments, the control terminal displays at least one of the first type positioning icon, the satellite positioning icon, and the cooperative positioning icon on the interface. The first type positioning icon is used to indicate whether the first type positioning information of the current position of the movable platform is available or the signal strength, the satellite positioning icon is used to indicate whether the satellite positioning information of the current position of the movable platform is available or the signal strength, and the cooperative positioning icon is used to indicate whether the positioning information (the fused positioning information of multiple types of positioning information) of the current position of the movable platform is available or the signal strength. The embodiments make the user able to know whether the first type positioning information and / or the satellite positioning information of the current position of the movable platform is available or the signal strength through displaying at least one of the first type positioning icon, the satellite positioning icon, and the cooperative positioning icon on the interface, and it is more convenient for the user to switch the positioning information to control the movable platform to move, and the user experience is better.

[0227] In some embodiments, the control method provided by the embodiments of the present application further includes: receiving the relative position relationship between the movable platform and the mobile initial position sent by the movable platform; and outputting the relative position relationship between the movable platform and the mobile initial position. The embodiments make the user able to know the relative position relationship between the movable platform and the mobile initial position through outputting the relative position relationship between the movable platform and the mobile initial position, and it is more convenient for the user to control the movable platform to move.

[0228] In some embodiments, the control terminal outputting the relative position relationship between the movable platform and the mobile initial position can include: the control terminal displaying the relative position relationship between the movable platform and the mobile initial position on the interface. For example, the relative position relationship between the movable platform and the mobile initial position is displayed on a posture display area on the interface. The interface includes the image captured by the image sensor or the gimbal camera of the movable platform, and the posture display area can also display the posture of the movable platform, the posture of the gimbal of the movable platform, and / or the relative position relationship between the movable platform and the obstacle, etc. The embodiments make the user able to more intuitively know the relative position relationship between the movable platform and the mobile initial position through displaying the relative position relationship between the movable platform and the mobile initial position on the interface, and it is more convenient for the user to control the movable platform to move, and the user experience is further improved.

[0229] In some embodiments, the control terminal also outputs an icon corresponding to the initial movement position. This embodiment of the control terminal continuously provides the user with an indication that the movable platform has stored the positioning information of the initial movement position of the movable platform by outputting the icon corresponding to the initial movement position, thereby avoiding the situation that the user does not see or hear the first prompt information, which causes the user to be unaware of the positioning information of the initial movement position of the movable platform, and making it more convenient for the user to know the positioning information of the initial movement position of the movable platform, so that the user can control the movable platform through the control terminal in a timely and reassuring manner.

[0230] In some embodiments, the control terminal outputting the icon corresponding to the initial movement position can include the control terminal displaying the icon corresponding to the initial movement position on the interface. For example, the icon corresponding to the initial movement position is displayed on a posture display area on the interface. The posture display area can also display the posture of the movable platform, the posture of the gimbal of the movable platform, and / or the relative position relationship between the movable platform and the obstacle, etc. This embodiment continuously provides the user with an indication that the movable platform has stored the positioning information of the initial movement position of the movable platform by displaying the icon corresponding to the initial movement position on the interface or on the posture display area on the interface, thereby making it more intuitive.

[0231] In some embodiments, after the control terminal outputs the first prompt information, the control terminal also outputs identification information of a return position of the movable platform during the execution of the return of the movable platform. This embodiment enables the user to know the return position of the movable platform by outputting the identification information of the return position of the movable platform during the execution of the return of the movable platform, thereby providing a better user experience.

[0232] In some embodiments, the control terminal outputting the identification information of the return position of the movable platform can include the control terminal displaying the identification information of the return position of the movable platform on the interface. The identification information of the return position of the movable platform is superimposed on the interface, and the interface includes a picture taken by the image sensor or the gimbal camera of the movable platform. This embodiment enables the user to more intuitively and continuously know the return position of the movable platform by displaying the identification information of the return position of the movable platform on the interface, thereby providing a better user experience.

[0233] In some embodiments, the return position of the movable platform is the same as the initial movement position of the movable platform. This embodiment ensures that the movable platform automatically and accurately returns to the initial movement position, thereby improving the accuracy of the return.

[0234] In some embodiments, the return position of the movable platform is the same as the moving initial position in response to the first type of positioning information being available between the movable platform moving from the moving initial position to the target position at which satellite positioning information is available in the initial stage, or the satellite positioning information being available when the movable platform is located at the moving initial position in the initial stage. In the present embodiment, the first type of positioning information is available between the movable platform moving from the moving initial position to the target position at which satellite positioning information is available in the initial stage, or the satellite positioning information is available when the movable platform is located at the moving initial position in the initial stage, and thus the movable platform can be automatically and accurately controlled to return to the moving initial position by the first type of positioning information available between the movable platform moving from the moving initial position to the target position at which satellite positioning information is available in the initial stage or the satellite positioning information available when the movable platform is located at the moving initial position in the initial stage, improving the accuracy of the return and ensuring the safety of the return of the movable platform.

[0235] In some embodiments, the return position of the movable platform is the same as the target position, which is the position at which satellite positioning information is available for the movable platform in the initial stage, and the satellite positioning information is not available when the movable platform is located at the moving initial position in the initial stage. In the present embodiment, the return position of the movable platform is the same as the target position, and the satellite positioning information is not available when the movable platform is located at the moving initial position in the initial stage, and thus the movable platform cannot be automatically controlled to return to the moving initial position by the satellite positioning information of the moving initial position, but can be automatically and accurately controlled to return to the target position by the satellite positioning information available at the target position, ensuring the safety of the return of the movable platform.

[0236] In some embodiments, the return position of the movable platform is the same as the target position in response to the first type of positioning information being unavailable between the movable platform moving from the moving initial position to the target position in the initial stage. In the present embodiment, the first type of positioning information is unavailable between the movable platform moving from the moving initial position to the target position in the initial stage, and the satellite positioning information is not available when the movable platform is located at the moving initial position in the initial stage, and thus the movable platform cannot be automatically controlled to return to the moving initial position by the satellite positioning information of the moving initial position or the first type of positioning information between the movable platform moving from the moving initial position to the target position, but can be automatically and accurately controlled to return to the target position by the satellite positioning information available at the target position, ensuring the safety of the return of the movable platform.

[0237] In some embodiments, the control terminal also outputs a return path of the movable platform. The end point of the return path of the movable platform is the initial movement position or the target position of the movable platform. This embodiment enables the user to know the expected return condition of the movable platform by outputting the return path of the movable platform, thereby improving the user experience.

[0238] In some embodiments, the control terminal outputs the return path of the movable platform can include that the control terminal displays the return path of the movable platform on an interface. The return path of the movable platform is superimposed on the interface, and the interface includes the image captured by the image sensor or the gimbal camera of the movable platform. This embodiment enables the user to know the expected return condition of the movable platform more intuitively by displaying the return path of the movable platform on the interface, thereby improving the user experience.

[0239] In some embodiments, the first prompt information is used to prompt that the movable platform has stored the first type of positioning information of the initial movement position. This embodiment enables the control terminal to output the first prompt information for prompting that the movable platform has stored the first type of positioning information of the initial movement position of the movable platform based on the first indication information, so that the user can not only know the type of the stored positioning information, but also can control the movable platform to move through the control terminal earlier, thereby reducing the waiting time for the user to control the movable platform to move, and greatly improving the movement efficiency of the movable platform and the user experience.

[0240] In some embodiments, after the control terminal outputs the first prompt information, the control method provided in the embodiments of the present application further includes: receiving second indication information sent by the movable platform, the second indication information being sent by the movable platform in response to detecting that the indication condition is met; and outputting second prompt information according to the second indication information. The second prompt information can prompt specific content or can not prompt specific content. Outputting the second prompt information can include broadcasting the second indication information and / or displaying a first prompt pop-up window, and the first prompt pop-up window displays the second prompt information. This embodiment can improve the return safety of the movable platform by outputting the second prompt information, such as outputting the second prompt information for prompting the user that the movable platform cannot automatically return or prompting the user to manually confirm whether the movable platform continues to return.

[0241] In some embodiments, the indication that the condition is met comprises: the first type of positioning information of the movable platform is unavailable during movement of the movable platform from the initial movement position to the target position where satellite positioning information is available. For example, the second prompt information is used to indicate that the first type of positioning information of the movable platform is unavailable, and automatic return based on the first type of positioning information cannot be implemented. For example, visual positioning information of the aircraft at the takeoff position is available, and then during movement of the aircraft from the takeoff position to the target position where satellite positioning information is available, visual positioning information of the aircraft is unavailable. The control terminal prompts that visual positioning of the aircraft is invalid, automatic return cannot be implemented, and a pop-up window prompts that visual positioning is invalid, return cannot be continued, and flight safety should be noted.

[0242] In some embodiments, the indication that the condition is met comprises: the first type of positioning information of the movable platform is unavailable during return of the movable platform. For example, the second prompt information is used to indicate that the first type of positioning information of the movable platform is unavailable, and automatic return based on the first type of positioning information cannot be implemented. For example, visual positioning of the aircraft at the takeoff position is valid, but visual positioning of the aircraft is invalid when the aircraft returns. The control terminal prompts that visual positioning of the aircraft is invalid, return cannot be continued, and a pop-up window prompts that visual positioning of the aircraft is invalid, return cannot be continued, and manual landing should be confirmed after ensuring safety.

[0243] In some embodiments, the indication that the condition is met comprises: the first type of positioning information of the movable platform is unavailable during return of the movable platform from the target position to the initial movement position. The target position is a position where satellite positioning information of the movable platform is available in the initial stage. For example, the second prompt information is used to indicate that the first type of positioning information of the movable platform is unavailable, and automatic return based on the first type of positioning information cannot be implemented. For example, the aircraft returns from the current position to the target position, and then during return of the aircraft from the target position to the takeoff position, visual positioning of the aircraft is invalid. The control terminal prompts that visual positioning of the aircraft is invalid, return cannot be continued, and a pop-up window prompts that visual positioning of the aircraft is invalid, return cannot be continued, and manual landing should be confirmed after ensuring safety.

[0244] In some embodiments, the indication that the condition is met comprises: during return of the movable platform, information related to return accuracy of the movable platform is detected in a movement direction of the movable platform. For example, the second prompt information is used to prompt the user to manually confirm whether the movable platform continues to return. The information related to return accuracy of the movable platform includes a balcony, a door, a window, a bridge hole, or a building edge. For example, during return of the aircraft, a bridge hole is detected in a flight direction of the aircraft. The control terminal prompts that the environment in front is complex, and whether to continue to return is confirmed, and a pop-up window prompts the user to confirm.

[0245] In some embodiments, the indication condition is met when, during the process of returning the movable platform from the target position to the initial position of movement, the first type of positioning information of the movable platform is available and information related to the returning accuracy of the movable platform is detected in the moving direction of the movable platform, and the target position is a position where satellite positioning information of the movable platform is available in the initial stage. For example, the second prompt information is used to prompt the user to manually confirm whether the movable platform continues to return. For example, after the aircraft returns from the current position to the target position, then during the process of returning from the target position to the take-off position, a bridge hole is detected in the flight direction of the aircraft, and the visual positioning of the aircraft is valid, the control terminal prompts the user to confirm whether to continue to return, and a pop-up window is prompted to confirm.

[0246] In some embodiments, the indication condition is met when, during the process of returning the movable platform from the target position to the initial position of movement, the first type of positioning information of the movable platform is available and information related to the returning accuracy of the movable platform is detected in the moving direction of the movable platform, and the target position is a position where satellite positioning information of the movable platform is available in the initial stage. For example, the second prompt information is used to prompt the user to manually confirm whether the movable platform continues to return. For example, after the aircraft returns from the current position to the target position, then during the process of returning from the target position to the take-off position, a bridge hole is detected in the flight direction of the aircraft, and the visual positioning of the aircraft is valid, the control terminal prompts the user to confirm whether to continue to return, and a pop-up window is prompted to confirm.

[0247] Currently, the aircraft needs to hover before or after take-off to wait for satellite positioning (such as GPS positioning) to converge, so as to store the satellite positioning information of the take-off point, so that the aircraft can normally return to the take-off point when the automatic return is triggered. When the aircraft is triggered to automatically return, the aircraft returns autonomously by comparing the satellite positioning information of the current position of the aircraft with the satellite positioning information of the return point (which can be the take-off point). In order to avoid the situation that the recorded position of the take-off point is far away from the take-off point, the user usually needs to wait for the satellite positioning information search of the aircraft at the take-off point to end before controlling the aircraft to fly, and the time required for the satellite positioning information search to end is about several minutes, which is relatively slow, affecting the flight efficiency and flight experience.

[0248] To this end, please refer to FIG. 12, which is a step schematic flow chart of a control method of an aircraft provided by an embodiment of the present application.

[0249] As shown in FIG. 12, the control method comprises steps S131 to S132.

[0250] In step S131, in response to the visual positioning information of the aircraft at the takeoff position being available during the takeoff phase of the aircraft, the visual positioning information of the aircraft at the takeoff position is stored as the positioning information of the takeoff position of the aircraft.

[0251] In step S132, in response to the aircraft having stored the visual positioning information of the aircraft at the takeoff position as the positioning information of the takeoff position of the aircraft, first indication information is output, the first indication information being used to indicate that the aircraft has stored the positioning information of the takeoff position of the aircraft.

[0252] The embodiments of the present application store the available visual positioning information of the aircraft at the takeoff position as the positioning information of the takeoff position of the aircraft during the takeoff phase of the aircraft, and output indication information indicating that the aircraft has stored the positioning information of the takeoff position of the aircraft, so that the user can control the flight of the aircraft with confidence without waiting for the satellite positioning information search of the aircraft at the takeoff position to end, so that the user can control the flight of the aircraft with confidence earlier, thereby reducing the waiting time for the user to control the flight of the aircraft with confidence, and greatly improving the flight efficiency and flight experience of the aircraft.

[0253] In addition, the storage of the takeoff position of the aircraft mainly relies on the global satellite navigation system, but the satellite positioning signal cannot usually penetrate solid buildings, so it is not effective to store the takeoff position of the aircraft in an indoor environment or a complex urban environment, limiting the application of the aircraft in an indoor environment or a complex urban environment, especially in scenarios that require indoor search, monitoring or other tasks. And due to the lack of effective technology for recording the takeoff position of the aircraft in an indoor environment or a complex urban environment, the autonomous navigation and return capabilities of the aircraft in an indoor environment or a complex urban environment are limited. The aircraft may not be able to safely return when it loses the remote control signal or encounters an emergency, increasing the risk and uncertainty in operation.

[0254] The embodiments of the present application store the available visual positioning information of the aircraft at the takeoff position as the positioning information of the takeoff position of the aircraft during the takeoff phase of the aircraft, so that the aircraft has the ability to record the takeoff position of the aircraft in an indoor environment or a complex urban environment, so that the aircraft can be applied in an indoor environment or a complex urban environment, and when the aircraft loses the remote control signal or encounters an emergency in an indoor environment or a complex urban environment, the stored visual positioning information of the takeoff position can be used for return, to ensure the flight safety of the aircraft in an indoor environment or a complex urban environment.

[0255] In some embodiments, during the takeoff stage of the aerial vehicle, the control terminal receives first indication information sent by the aerial vehicle, the first indication information being used to indicate that the aerial vehicle has stored the visual positioning information of the aerial vehicle at the takeoff position as the positioning information of the takeoff position of the aerial vehicle, wherein the visual positioning information of the aerial vehicle at the takeoff position is available; and the control terminal outputs first prompt information according to the first indication information, the first prompt information being used to prompt that the aerial vehicle has stored the positioning information of the takeoff position of the aerial vehicle. This embodiment does not require the user to wait for the satellite positioning information of the aerial vehicle at the takeoff position to be searched and converged before the user can control the aerial vehicle to fly, so that the user can control the aerial vehicle to fly earlier, thereby reducing the waiting time for the user to control the aerial vehicle to fly, and greatly improving the flight efficiency of the aerial vehicle and the user experience.

[0256] For example, during the takeoff stage of the aerial vehicle, the aerial vehicle does not need to wait for satellite positioning to converge, but acquires the environment around the takeoff position through an image sensor to obtain an image key frame of the takeoff position, obtains the visual positioning information of the aerial vehicle at the takeoff position in a visual coordinate system (takeoff_pos(x0, y0, z0)) through the image key frame of the takeoff position, and stores the visual positioning information of the takeoff position (takeoff_pos(x0, y0, z0)), and then sends indication information to the control terminal of the aerial vehicle, the indication information being used to indicate that the aerial vehicle has stored the visual positioning information of the takeoff position, to prompt the user that the aerial vehicle can take off, and to control the aerial vehicle to take off from the takeoff position in response to a flight control instruction. The aerial vehicle flies far and high from the takeoff position, gradually leaves the area where the satellite positioning signal is weak, and records the flight trajectory of the aerial vehicle in the visual coordinate system during the flight, that is, the aerial vehicle stores a plurality of image key frames acquired by the image sensor during the flight.

[0257] After the aerial vehicle flies out of the area where the satellite positioning signal is weak or the satellite positioning converges, the aerial vehicle stores the position at this time as the satellite positioning information of the target position (lati_1, longi_1), and at the same time, the aerial vehicle can also obtain the visual positioning information of the target position (x_1, y_1, z_1). At this time, the aerial vehicle can align the visual coordinate system and the world coordinate system according to the satellite positioning information of the target position (lati_1, longi_1) and the visual positioning information of the target position (x_1, y_1, z_1), and inversely calculate the satellite positioning information of the takeoff position (takeoff_pos(lati_0, longi_0)) for the subsequent return flight.

[0258] In the returning stage of the aerial vehicle, a returning strategy can be selected from multiple returning strategies according to the satellite positioning information of the takeoff position (takeoff_pos(lati_0, longi_0)) calculated reversely. For example, the aerial vehicle can directly takeoff_pos(lati_0, longi_0) as the returning position to return automatically in the first returning strategy, as shown in FIG. 10, the aerial vehicle 100 directly returns from the current position 43 to the takeoff position 41, and the returning path 45 of the aerial vehicle 100 from the current position 43 to the takeoff position 41 is the shortest.

[0259] For another example, the aerial vehicle first returns to the target position (lati_1, longi_1) in the second returning strategy, where the satellite positioning accuracy is higher. Then, the aerial vehicle returns along the reverse path of the flight trajectory recorded in the visual coordinate system previously, for example, as shown in FIG. 8, the aerial vehicle 100 first returns from the current position 43 to the target position 42, and then returns according to the reverse path of the flight path of the aerial vehicle 100 from the takeoff position 41 to the target position 42 in the takeoff stage.

[0260] For another example, the aerial vehicle first returns to the target position (lati_1, longi_1) in the second returning strategy, where the satellite positioning accuracy is higher. Then, the aerial vehicle returns along the reverse path of the flight trajectory recorded in the visual coordinate system previously, for example, as shown in FIG. 8, the aerial vehicle 100 first returns from the current position 43 to the target position 42, and then returns according to the reverse path of the flight path of the aerial vehicle 100 from the takeoff position 41 to the target position 42 in the takeoff stage.

[0261] The traditional visual simultaneous localization and mapping (VSLAM) has the following problems: the aircraft passively constructs a map and locates according to the environment. When the aircraft flies for a long time without passing through the area reached before, the loop closure detection (matching the past and current key frame information for correcting the cumulative positioning error) is difficult to play a role, on the one hand, it is difficult to guarantee returning to the position where the key frame is established before, and it is difficult to correct the cumulative error; on the other hand, even if the loop closure detection occurs, the difference between the current key frame and the key frame recorded before is not controlled, and it is difficult to improve the positioning accuracy after the loop closure detection. When the second return strategy or the third return strategy is used for return, when the aircraft uses VSLAM for positioning, completely returns along the historical flight trajectory or returns along the approximate historical flight trajectory, the probability of key frame matching and loop closure detection can be increased, and the visual positioning accuracy can be improved. And compared with the second return strategy, the third return strategy can have less redundant historical trajectory, further improve the return efficiency, and be more consistent with the user's expectation.

[0262] The autonomous return based on the satellite return point and the positioning system fused with satellite positioning information has the following problems: if the aircraft refreshes the recorded return point in a position where the satellite positioning signal is weak or of poor quality, the recorded return point may deviate from the actual takeoff position of the aircraft. And when the aircraft returns, the positioning accuracy of the aircraft also affects the position accuracy of finally reaching the return point. The second return strategy or the third return strategy is used for return, so that the aircraft can still accurately return in the scene where the satellite positioning signal is weak or of poor quality, and the return efficiency and accuracy of the movable platform are effectively improved.

[0263] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the aircraft provided in the embodiment can refer to the corresponding process in the foregoing control method of the movable platform, which will not be described here.

[0264] Please refer to FIG. 13, which is a step schematic flow chart of a control method of an aircraft provided in an embodiment of the application.

[0265] As shown in FIG. 13, the control method includes steps S141 to S142.

[0266] In step S141, in the takeoff stage of the aircraft, the control terminal receives the first indication information sent by the aircraft, and the first indication information is used to indicate that the aircraft has stored the visual positioning information of the aircraft at the takeoff position as the positioning information of the takeoff position of the aircraft, wherein the visual positioning information of the aircraft at the takeoff position is available.

[0267] In step S142, the first prompt information is output according to the first indication information, and the first prompt information is used to prompt that the aerial vehicle has stored the positioning information of the takeoff position of the aerial vehicle.

[0268] The embodiment does not require the user to wait for the satellite positioning information of the aerial vehicle at the takeoff position to be searched and ended before the aerial vehicle is controlled to fly, so that the user can control the aerial vehicle to fly earlier, thereby reducing the waiting time for the user to control the aerial vehicle to fly, and greatly improving the flight efficiency of the aerial vehicle and the user experience.

[0269] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the aerial vehicle provided by the embodiment can refer to the corresponding process in the foregoing control method of the movable platform, which will not be described here.

[0270] Currently, the movable platform needs to wait for the second type of positioning information of the initial moving position to be available in the initial stage, that is, the stage of starting to move, to store the second type of positioning information of the initial moving position, so that the movable platform can normally return to the initial moving position when the automatic return of the movable platform is triggered. When the movable platform is triggered to perform the automatic return, the movable platform performs autonomous return by comparing the second type of positioning information of the current position of the movable platform and the second type of positioning information of the return point (which can be the initial moving position). However, this way cannot accurately and effectively perform the automatic return in the scenario that the second type of positioning information of the initial moving position of the movable platform is unavailable, resulting in poor efficiency and accuracy of the return.

[0271] Based on this, please refer to FIG. 14, which is a step schematic flowchart of another control method of a movable platform provided by an embodiment of the present application.

[0272] As shown in FIG. 14, the control method includes steps S211 to S212.

[0273] In step S211, in response to the return condition being met and the second type of positioning information of the movable platform being available, the movable platform is controlled to return from the current position to the target position based on the second type of positioning information of the movable platform, and the target position is a position at which the second type of positioning information of the movable platform is available and stored in the initial stage.

[0274] In step S212, in response to the first type of positioning information of the movable platform being available, the second type of positioning information of the movable platform is switched to the first type of positioning information of the movable platform to control the movable platform to return from the target position to the initial moving position of the movable platform after the movable platform returns to the target position. In the initial stage, the movable platform stores the first type of positioning information from the initial moving position to the target position. The second type of positioning information of the movable platform is unavailable at the initial moving position, and the first type of positioning information is available.

[0275] The embodiments of the present application control the movable platform to return from the current position to the target position based on the second type of positioning information of the movable platform when triggering the return of the movable platform, and control the movable platform to return from the target position to the initial moving position of the movable platform based on the first type of positioning information of the movable platform after returning to the target position, so as to adapt to the scenario that the second type of positioning signal of the initial moving position of the movable platform is poor, and to realize the accurate return of the movable platform, thereby effectively improving the return efficiency and accuracy of the movable platform.

[0276] In some embodiments, the first type of positioning information includes visual positioning information, wireless network positioning information, infrared positioning information, ultrasonic positioning information, and / or laser positioning information. The second type of positioning information includes satellite positioning information.

[0277] In some embodiments, controlling the movable platform to return from the current position to the target position can include controlling the movable platform to return from the current position to the target position according to a first return path. Controlling the movable platform to return from the target position to the initial moving position of the movable platform can include controlling the movable platform to return from the target position to the initial moving position of the movable platform according to a second return path. The starting point of the first return path is the current position of the movable platform, the end point of the first return path and the starting point of the second return path are both the target position, and the end point of the second return path is the initial moving position. This embodiment controls the movable platform to return through a two-segment return path, so as to avoid the scenario that the movable platform cannot accurately return in the case that the second type of positioning signal of the initial moving position of the movable platform is poor, thereby effectively improving the return efficiency and accuracy of the movable platform.

[0278] In some embodiments, the control method further includes: in response to the return condition being met, controlling the movable platform to return from the current position to the movement initial position based on the second type of positioning information, wherein the movable platform stores the second type of positioning information of the movement initial position in the initial stage. In this embodiment, since the movable platform stores the second type of positioning information of the movement initial position in the initial stage, when the return condition is met, the movable platform can accurately return from the current position to the movement initial position based on the second type of positioning information, thereby effectively improving the return efficiency and accuracy of the movable platform.

[0279] In some embodiments, in response to the return condition being met, controlling the movable platform to return from the current position to the movement initial position based on the second type of positioning information can include: in response to the return condition being met and the first type of positioning information of the movable platform being unavailable, controlling the movable platform to return from the current position to the movement initial position based on the second type of positioning information, wherein the second type of positioning information of the movement initial position is unavailable in the initial stage of the movable platform, and the second type of positioning information of the movement initial position is determined according to the second type of positioning information of the target position, and the second type of positioning information of the target position is available. This embodiment can avoid inaccurate return in the scenario that the second type of positioning signal of the movement initial position of the movable platform is poor, thereby effectively improving the return efficiency and accuracy of the movable platform.

[0280] In some embodiments, in response to the return condition being met, controlling the movable platform to return from the current position to the movement initial position based on the second type of positioning information can include: in response to the return condition being met, controlling the movable platform to return from the current position to the movement initial position based on the second type of positioning information, wherein the second type of positioning information of the movement initial position is available in the initial stage of the movable platform.

[0281] In some embodiments, the control method further includes: in response to the return condition being met and the second type of positioning information of the movable platform being available, controlling the movable platform to return from the current position to the target position based on the second type of positioning information; and in response to the first type of positioning information of the movable platform being unavailable after the movable platform returns to the target position, controlling the movable platform to stop moving, wherein the second type of positioning information of the target position is available, and the first type of positioning information between the movement initial position and the target position is available in the initial stage of the movable platform. In this embodiment, the movable platform is first controlled to return to the target position, and then in the case that the first type of positioning information of the movable platform is unavailable, the movable platform is controlled to stop moving to interrupt the return, thereby ensuring the safety of the movable platform.

[0282] In some embodiments, the control method further includes: in response to the return condition being met, the second type of positioning information of the movable platform being available and the first type of positioning information of the movable platform being unavailable between the initial stage of the movable platform moving from the initial moving position to the target position, controlling the movable platform to return from the current position to the target position based on the second type of positioning information. For example, after the movable platform returns to the target position, the movable platform is controlled to stop moving. In this embodiment, the movable platform is controlled to return from the current position to the target position close to the initial moving position based on the second type of positioning information when the second type of positioning information of the movable platform is available and the first type of positioning information of the movable platform is unavailable between the initial stage of the movable platform moving from the initial moving position to the target position, and the movable platform can be subsequently manually controlled by a user to return from the target position to the initial moving position, thereby ensuring the safety of the return of the movable platform.

[0283] In some embodiments, in response to detecting that the indication condition is met, outputting indication information for indicating that the movable platform cannot automatically return or indicating whether the movable platform continues to return needs to be confirmed by a user. The outputting of the indication information can include: playing the indication information; outputting the indication information through an indication device; and / or sending the indication information to a control terminal of the movable platform, so that the control terminal outputs prompt information for prompting the user that the movable platform cannot automatically return or prompting that the user needs to manually confirm whether the movable platform continues to return based on the received indication information. In this embodiment, the indication information for indicating that the movable platform cannot automatically return or indicating whether the movable platform continues to return needs to be confirmed by a user is outputted when the indication condition is met, which can improve the safety of the return of the movable platform.

[0284] In some embodiments, the indication condition being met includes that the first type of positioning information of the movable platform is unavailable in the process of the movable platform moving from the initial moving position to the target position where the second type of positioning information is available. The indication information is for indicating that the movable platform cannot automatically return. For example, the visual positioning information of the aircraft at the takeoff position is available, and then the visual positioning of the aircraft fails in the process of the aircraft moving from the takeoff position to the target position where the satellite positioning information is available. The aircraft outputs the indication information for indicating that the visual positioning of the aircraft fails and the aircraft cannot automatically return through voice playing and / or a buzzer or an indicator.

[0285] In some embodiments, the indication condition is met includes: during the process of the movable platform returning from the target position to the initial position of movement, the first type of positioning information of the movable platform is unavailable, and the target position is a position where the second type of positioning information of the movable platform is available in the initial stage. Wherein, the indication information is used to indicate that the first type of positioning information of the movable platform is unavailable, and the automatic return based on the first type of positioning information cannot be realized. For example, after the aircraft returns from the current position to the target position, then in the process of returning from the target position to the take-off position, the visual positioning of the aircraft is invalid, the aircraft broadcasts the indication information that the visual positioning of the aircraft is invalid and cannot continue automatic return through voice, outputs the indication information that the visual positioning of the aircraft is invalid and cannot continue automatic return through the buzzer or the indicator light, and / or sends the indication information to the control terminal to make the control terminal prompt that the visual positioning of the aircraft is invalid and cannot automatically return through voice and pop-up window, and pay attention to flight safety.

[0286] In some embodiments, the indication condition is met includes: during the process of the movable platform returning from the target position to the initial position of movement, the first type of positioning information of the movable platform is unavailable, and the target position is a position where the second type of positioning information of the movable platform is available in the initial stage. Wherein, the indication information is used to indicate that the first type of positioning information of the movable platform is unavailable, and the automatic return based on the first type of positioning information cannot be realized. For example, after the aircraft returns from the current position to the target position, then in the process of returning from the target position to the take-off position, the visual positioning of the aircraft is invalid, the aircraft broadcasts the indication information that the visual positioning of the aircraft is invalid and cannot continue automatic return through voice, outputs the indication information that the visual positioning of the aircraft is invalid and cannot continue automatic return through the buzzer or the indicator light, and / or sends the indication information to the control terminal to make the control terminal prompt that the visual positioning of the aircraft is invalid and cannot automatically return through voice and pop-up window, and pay attention to flight safety.

[0287] In some embodiments, the indication condition is met includes: during the process of the movable platform returning, it is detected that there is information related to the return accuracy of the movable platform in the movement direction of the movable platform. Wherein, the indication information is used to indicate that whether the movable platform continues to return needs to be confirmed by the user, and the information related to the return accuracy of the movable platform includes balcony, door, window, bridge hole or building edge.

[0288] In some embodiments, the indication condition is met includes: during the process of the movable platform returning from the target position to the initial position of movement, the first type of positioning information of the movable platform is available and it is detected that there is information related to the return accuracy of the movable platform in the movement direction of the movable platform, and the target position is a position where the second type of positioning information of the movable platform is available in the initial stage.

[0289] In some embodiments, the indication condition is met comprises: during the process that the movable platform returns from the target position to the mobile initial position, it is detected that there is information related to the return accuracy of the movable platform in the moving direction of the movable platform, and the first type positioning information of the movable platform is unavailable, and the target position is a position where the movable platform is in the initial stage and the second type positioning information is available.

[0290] In some embodiments, after the indication information is output in response to the detection that the indication condition is met, the control method provided by the embodiments of the present application further comprises: in the case that a continue return instruction is acquired, controlling the movable platform to continue to return; or in the case that a cancel return instruction is acquired, controlling the movable platform to exit the automatic return. For example, in the case that the continue return instruction sent by the control terminal is acquired, the movable platform is controlled to continue to return, and the continue return instruction is sent by the control terminal in response to the operation instruction of the user to trigger the continue return; or in the case that the cancel return instruction sent by the control terminal is acquired, the movable platform is controlled to exit the automatic return, and the cancel return instruction is sent by the control terminal in response to the operation instruction of the user to trigger the cancel return.

[0291] In some embodiments, the control method provided by the embodiments of the present application further comprises: in response to the return condition being met, controlling the movable platform to return from the current position to the mobile initial position based on the second type positioning information, wherein the movable platform stores the second type positioning information of the mobile initial position in the initial stage. In this embodiment, since the movable platform stores the second type positioning information of the mobile initial position in the initial stage, when the return condition is met, the movable platform can accurately return from the current position to the mobile initial position based on the second type positioning information, thereby effectively improving the return efficiency and accuracy of the movable platform.

[0292] In some embodiments, the control method provided by the embodiments of the present application further comprises: in response to the return condition being met, controlling the movable platform to return from the current position to the mobile initial position based on the second type positioning information, wherein the movable platform stores the second type positioning information of the mobile initial position in the initial stage. In this embodiment, since the movable platform stores the second type positioning information of the mobile initial position in the initial stage, when the return condition is met, the movable platform can accurately return from the current position to the mobile initial position based on the second type positioning information, thereby effectively improving the return efficiency and accuracy of the movable platform.

[0293] In some embodiments, the controlling the movable platform to return from the current position to the initial moving position based on the second type of positioning information in response to the return condition being satisfied can include: in response to the return condition being satisfied, controlling the movable platform to return from the current position to the initial moving position based on the second type of positioning information, wherein the second type of positioning information of the movable platform at the initial moving position is available.

[0294] In some embodiments, the control method provided by the embodiments of the present application further includes: in response to the return condition being satisfied and the second type of positioning information of the movable platform being available, controlling the movable platform to return from the current position to the target position based on the second type of positioning information; and in response to the first type of positioning information of the movable platform being unavailable after the movable platform returns to the target position, controlling the movable platform to stop moving, wherein the second type of positioning information of the movable platform at the target position is available, and the first type of positioning information of the movable platform between the initial moving position and the target position in the initial stage is available. This embodiment guarantees the safety of the return of the movable platform by first controlling the movable platform to return to the target position, and then controlling the movable platform to stop moving in the case that the first type of positioning information of the movable platform is unavailable, so as to interrupt the return.

[0295] In some embodiments, the control method provided by the embodiments of the present application further includes: in response to the return condition being satisfied, the second type of positioning information of the movable platform being available, and the first type of positioning information of the movable platform between the initial moving position and the target position in the initial stage being unavailable, controlling the movable platform to return from the current position to the target position based on the second type of positioning information. For example, after the movable platform returns to the target position, the movable platform is controlled to stop moving. This embodiment guarantees the safety of the return of the movable platform by controlling the movable platform to return from the current position to the target position based on the second type of positioning information in the case that the second type of positioning information of the movable platform is available and the first type of positioning information of the movable platform between the initial moving position and the target position in the initial stage is unavailable, so that the movable platform can be manually controlled by a user to return from the target position to the initial moving position in the future, thereby guaranteeing the safety of the return of the movable platform.

[0296] 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 embodiments of the present application can refer to the corresponding process in the foregoing control method of the movable platform, which will not be described here.

[0297] Currently, an aircraft needs to hover before or after takeoff to wait for satellite positioning (such as GPS positioning) to converge, to store satellite positioning information of the takeoff point, so that the aircraft can normally return to the takeoff point when the aircraft is triggered to return automatically. When the aircraft is triggered to return automatically, the aircraft returns autonomously by comparing the satellite positioning information of the current position of the aircraft with the satellite positioning information of the return point (which can be the takeoff point). However, in the case of poor satellite positioning signals at the takeoff position of the aircraft, using the GPS positioning information of the takeoff position to return automatically can cause the aircraft to be unable to accurately and effectively return to the takeoff position, resulting in poor efficiency and accuracy of the return.

[0298] Based on this, referring to FIG. 15, FIG. 15 is a step schematic flowchart of another control method of an aircraft provided in an embodiment of the present application.

[0299] As shown in FIG. 15, the control method includes steps S221 to S222.

[0300] In step S221, in response to the return condition being met and the satellite positioning information of the aircraft being available, the aircraft is controlled to return from the current position to a target position based on the satellite positioning information of the aircraft, the target position being a position at which the satellite positioning information of the aircraft is available and stored in the takeoff phase.

[0301] In step S222, after the aircraft returns to the target position, in response to the visual positioning information of the aircraft being available, the aircraft is controlled to return from the target position to the takeoff position of the aircraft based on the visual positioning information of the aircraft, the aircraft having stored the visual positioning information from the takeoff position to the target position in the takeoff phase, the satellite positioning information of the aircraft at the takeoff position being unavailable and the visual positioning information being available.

[0302] The embodiments of the present application control the aircraft to return from the current position to a target position at which the satellite positioning information is available in the takeoff phase based on the satellite positioning information of the aircraft when the aircraft is triggered to return, and control the aircraft to return from the target position to the takeoff position of the aircraft based on the visual positioning information of the aircraft after returning to the target position, to adapt to the scenario of poor satellite positioning signals at the takeoff position of the aircraft, to achieve accurate return of the aircraft, and effectively improve the return efficiency and accuracy of the aircraft.

[0303] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the aircraft provided in the embodiment can refer to the corresponding process in the foregoing control method of the movable platform, which will not be described here again.

[0304] Currently, the movable platform needs to wait for the second type of positioning information of the initial moving position to be available in the initial stage, i.e., the stage of starting to move, to store the second type of positioning information of the initial moving position, so that the movable platform can normally return to the initial moving position when the automatic return of the movable platform is triggered. When the automatic return of the movable platform is triggered, the movable platform performs autonomous return by comparing the second type of positioning information of the current position of the movable platform and the second type of positioning information of the return point (which can be the initial moving position). However, this way cannot accurately and effectively perform the automatic return in the scenario that the second type of positioning information of the initial moving position of the movable platform is unavailable, resulting in poor efficiency and accuracy of the return.

[0305] Based on this, referring to FIG. 16, FIG. 16 is a step schematic flowchart of another control method of a movable platform provided in the embodiments of the present application. The control method is applied to the movable platform.

[0306] As shown in FIG. 16, the control method includes steps S311 to S312.

[0307] In step S311, in the initial stage of the movable platform, in response to the first type of positioning information of the initial moving position of the movable platform being available and the second type of positioning information being unavailable, the first type of positioning information of the movable platform from the initial moving position to a target position at which the second type of positioning information is available is stored.

[0308] In step S312, in response to the movable platform moving from the initial moving position to the target position, the second type of positioning information of the target position is stored, wherein the first type of positioning information between the initial moving position and the target position and the second type of positioning information of the target position are used for the movable platform to return from the current position of the movable platform to the target position based on the second type of positioning information and then return from the target position to the initial moving position based on the first type of positioning information when performing the return.

[0309] The embodiments of the present application store the first type of positioning information of the movable platform from the initial moving position to a target position at which the second type of positioning information is available in the initial stage of the movable platform, and then store the second type of positioning information of the target position when the movable platform moves from the initial moving position to the target position at which the second type of positioning information is available. In this way, the movable platform can return from the current position of the movable platform to the target position based on the stored second type of positioning information and then return from the target position to the initial moving position based on the stored first type of positioning information when performing the return, so as to adapt to the scenario that the second type of positioning information of the initial moving position of the movable platform is poor, to realize accurate return of the movable platform, and effectively improve the return efficiency and accuracy of the movable platform.

[0310] In some embodiments, after step S312, the method further includes: in response to the homeward condition being met and the second type of positioning information of the movable platform being available, controlling the movable platform to return from the current position to the target position based on the second type of positioning information of the movable platform; and in response to the first type of positioning information of the movable platform being available after the movable platform returns to the target position, controlling the movable platform to return from the target position to the initial moving position based on the first type of positioning information of the movable platform.

[0311] In some embodiments, the method further includes: in response to detecting that an indication condition is met during the process of the movable platform returning from the target position to the initial moving position, outputting indication information indicating whether the movable platform needs to be confirmed by a user to continue returning. The indication condition is met when: the first type of positioning information of the movable platform changes from being available to being unavailable; information related to the returning accuracy of the movable platform is detected in the moving direction of the movable platform; or the first type of positioning information of the movable platform is available and information related to the returning accuracy of the movable platform is detected in the moving direction of the movable platform.

[0312] In some embodiments, the collision query radius used when the movable platform passes through the preset object while being in the preset environment during the process of the movable platform returning from the target position to the initial moving position is greater than the collision query radius used when the movable platform passes through the preset object while not being in the preset environment. The collision query radius is used by the movable platform to identify whether there is an obstacle within the collision query radius of the movable platform to plan an obstacle avoidance path, and the preset environment affects the accuracy of the moving path of the movable platform.

[0313] In some embodiments, the method further includes: in response to the movable platform passing through the preset object while being in the preset environment during the process of the movable platform returning from the target position to the initial moving position, adjusting the returning path of the movable platform.

[0314] In some embodiments, the moving speed used when the movable platform passes through the preset object during the process of the movable platform returning from the target position to the initial moving position is less than the moving speed used before the movable platform passes through the preset object. The moving speed used when the movable platform passes through the preset object during the process of the movable platform returning from the target position to the initial moving position is negatively related to the wind speed of the environment in which the movable platform is located.

[0315] It should be noted that, in the absence of conflicts, 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 control method of the movable platform, which will not be described here again.

[0316] Currently, the aircraft needs to hover before or after takeoff to wait for satellite positioning (such as GPS positioning) to converge, to store satellite positioning information of the takeoff point to refresh the position of the return point, so that the aircraft can normally return to the takeoff point when the automatic return of the aircraft is triggered. After the completion of the operation of the aircraft, when the automatic return of the aircraft is triggered, the aircraft returns autonomously by comparing the current satellite positioning information of the aircraft with the satellite positioning information of the return point (which can be the takeoff point). However, in the scenario where the satellite positioning information of the takeoff position is unavailable, the automatic return cannot be accurately and effectively performed, resulting in poor efficiency and accuracy of the return.

[0317] Based on this, please refer to FIG. 17, which is a step schematic flowchart of another control method of an aircraft provided by an embodiment of the present application.

[0318] As shown in FIG. 17, the control method comprises steps S321 to S322.

[0319] Step S321, in the takeoff phase of the aircraft, in response to the visual positioning information of the aircraft at the takeoff position being available and the satellite positioning information being unavailable, storing the visual positioning information of the aircraft from the takeoff position to a target position where the satellite positioning information is available.

[0320] Step S322, in response to the aircraft flying from the takeoff position to the target position, storing the satellite positioning information of the target position, wherein the visual positioning information between the takeoff position and the target position and the satellite positioning information of the target position are used for the aircraft to return from the current position of the aircraft to the target position based on the satellite positioning information and then return from the target position to the takeoff position based on the visual positioning information when performing the return.

[0321] To this end, the embodiments of the present application store the visual positioning information of the aircraft from the takeoff position to a target position where the satellite positioning information is available in the takeoff phase of the aircraft, and then store the satellite positioning information of the target position when the aircraft flies from the takeoff position to the target position where the satellite positioning information is good. In this way, the aircraft can return from the current position of the aircraft to the target position based on the stored satellite positioning information and then return from the target position to the initial position of movement based on the stored visual positioning information when performing the return, so as to adapt to the scenario where the satellite positioning signal of the takeoff position of the aircraft is poor, to realize the accurate return of the aircraft, and effectively improve the return efficiency and accuracy of the aircraft.

[0322] It should be noted that, in the case of no conflict, the specific implementation process not mentioned in the control method of the aircraft provided by the present embodiment can refer to the corresponding process in the foregoing control method of the movable platform embodiment, which will not be described here again.

[0323] Please refer to FIG. 18, which is a structural schematic block diagram of a control device of a movable platform according to an embodiment of the present application.

[0324] As shown in FIG. 18, the control device 110 of the movable platform includes a processor 111 and a memory 112, which 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.

[0325] Specifically, the processor 111 can be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0326] 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.

[0327] The memory 112 is configured to store computer program instructions, and the computer program instructions, when invoked by the processor 111, cause the processor 111 to perform the following operations.

[0328] In an initial stage of the movable platform, in response to first type positioning information of the movable platform at a moving initial position being available, the first type positioning information of the movable platform at the moving initial position is stored as positioning information of the moving initial position of the movable platform, wherein the time for obtaining the first type positioning information of the movable platform at the moving initial position is shorter than the time for obtaining satellite positioning information of the movable platform at the moving initial position.

[0329] In response to the movable platform having stored the first type positioning information of the movable platform at the moving initial position as the positioning information of the moving initial position of the movable platform, first indication information is output, the first indication information being used to indicate that the movable platform has stored the positioning information of the moving initial position of the movable platform.

[0330] In some embodiments, the memory 112 is configured to store computer program instructions, and the computer program instructions, when invoked by the processor 111, cause the processor 111 to perform the following operations.

[0331] in response to the return condition being met and the second type of positioning information of the movable platform being available, controlling the movable platform to return from a current position to a target position based on the second type of positioning information of the movable platform, the target position being a position of the movable platform at which the second type of positioning information is available and stored in the initial stage;

[0332] after the movable platform returns to the target position, in response to the first type of positioning information of the movable platform being available, switching from controlling the movable platform to return from the target position to the mobile initial position of the movable platform based on the second type of positioning information to controlling the movable platform to return from the target position to the mobile initial position of the movable platform based on the first type of positioning information, wherein the first type of positioning information from the mobile initial position to the target position and the second type of positioning information of the target position are used for the movable platform to return from a current position to the target position based on the second type of positioning information and then return from the target position to the mobile initial position based on the first type of positioning information when performing the return.

[0333] 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:

[0334] in the initial stage of the movable platform, in response to the first type of positioning information of the movable platform at the mobile initial position being available and the second type of positioning information being unavailable, storing the first type of positioning information from the mobile initial position to a target position at which the second type of positioning information is available;

[0335] in response to the movable platform moving from the mobile initial position to the target position, storing the second type of positioning information of the target position, wherein the first type of positioning information from the mobile initial position to the target position and the second type of positioning information of the target position are used for the movable platform to return from a current position to the target position based on the second type of positioning information and then return from the target position to the mobile initial position based on the first type of positioning information when performing the return.

[0336] 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 implementation process in the foregoing control method embodiments of the movable platform, which will not be described herein.

[0337] Please refer to FIG. 19, which is a structural schematic block diagram of another control device of a movable platform provided by an embodiment of the present application.

[0338] As shown in FIG. 19, the control device 120 of the movable platform includes a processor 121, a memory 122, a communication interface 123 and a user interface 124, which are connected through a bus 125, 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.

[0339] Specifically, the processor 121 can be a micro-controller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP), etc.

[0340] 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.

[0341] 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.

[0342] The communication interface is configured to receive first indication information sent by the movable platform, the first indication information being used to indicate that the movable platform has stored first type positioning information of the movable platform at a mobile initial position as the positioning information of the mobile initial position of the movable platform, wherein the first type positioning information of the movable platform at the mobile initial position is available, and the time for obtaining the first type positioning information of the movable platform at the mobile initial position is shorter than the time for obtaining satellite positioning information of the movable platform at the mobile initial position.

[0343] According to the first indication information, the user interface is controlled to output first prompt information, and the first prompt information is used to prompt that the movable platform has stored the positioning information of the mobile initial position of the movable platform.

[0344] 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 implementation process in the foregoing control method embodiments of the movable platform, which will not be described herein.

[0345] Please refer to FIG. 20, which is a structural schematic block diagram of a control system of a movable platform provided by an embodiment of the present application.

[0346] As shown in FIG. 20, the control system 130 of the movable platform includes a processor 131, a memory 132, a communication interface 133, and a user interface 134, wherein:

[0347] The processor 131 is configured to, in an initial stage of the movable platform, in response to first type positioning information of the movable platform at a movement initial position being available, control the memory 132 to store the first type positioning information of the movable platform at the movement initial position as positioning information of the movement initial position of the movable platform, wherein a time of obtaining the first type positioning information of the movable platform at the movement initial position is shorter than a time of obtaining satellite positioning information of the movable platform at the movement initial position.

[0348] The processor 131 is further configured to, in response to the movable platform having stored the first type positioning information of the movable platform at the movement initial position as the positioning information of the movement initial position of the movable platform, control the communication interface 133 to output first indication information, the first indication information being used to indicate that the movable platform has stored the positioning information of the movement initial position of the movable platform.

[0349] The processor 131 is further configured to, according to the first indication information, control the user interface 134 to output first prompt information, the first prompt information being used to prompt that the movable platform has stored the positioning information of the movement initial position of the movable platform.

[0350] It should be noted 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 implementation process in the foregoing control method embodiments of the movable platform, which will not be described herein.

[0351] Please refer to FIG. 21, which is a structural schematic block diagram of a control device of an aircraft provided by an embodiment of the present application.

[0352] As shown in FIG. 21, the control device 210 of the aircraft includes a processor 211 and a memory 212, and the processor 211 and the memory 212 can be connected through a bus 213, such as an I2C (Inter-integrated Circuit) bus. The processor 211 can be one or more, and the memory 212 can be one or more.

[0353] Specifically, the processor 211 can be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0354] Specifically, the processor 211 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a U disk, or a mobile hard disk, etc.

[0355] The memory 212 is configured to store computer program instructions, and the computer program instructions are configured to be invoked by the processor 211, so that the processor 211 performs the following steps:

[0356] In the take-off phase of the aerial vehicle, in response to the visual positioning information of the aerial vehicle at the take-off position being available, the visual positioning information of the aerial vehicle at the take-off position is stored as the positioning information of the take-off position of the aerial vehicle;

[0357] In response to the aerial vehicle having stored the visual positioning information of the aerial vehicle at the take-off position as the positioning information of the take-off position of the aerial vehicle, first indication information is output, and the first indication information is used to indicate that the aerial vehicle has stored the positioning information of the take-off position of the aerial vehicle.

[0358] In some embodiments, the memory 212 is configured to store computer program instructions, and the computer program instructions are configured to be invoked by the processor 211, so that the processor 211 performs the following steps:

[0359] In response to the return condition being met and the satellite positioning information of the aerial vehicle being available, the aerial vehicle is controlled to return from a current position to a target position based on the satellite positioning information of the aerial vehicle, and the target position is a position at which the satellite positioning information of the aerial vehicle is available and stored in the take-off phase;

[0360] After the aerial vehicle returns to the target position, in response to the visual positioning information of the aerial vehicle being available, the aerial vehicle is controlled to return from the target position to the take-off position of the aerial vehicle based on the visual positioning information of the aerial vehicle, which is switched from the satellite positioning information of the aerial vehicle, wherein the aerial vehicle stores the visual positioning information from the take-off position to the target position in the take-off phase, and the satellite positioning information of the aerial vehicle at the take-off position is unavailable and the visual positioning information is available.

[0361] In some embodiments, the memory 212 is configured to store computer program instructions, which, when invoked by the processor 211, cause the processor 211 to perform the following operations:

[0362] In a take-off phase of the aircraft, in response to visual positioning information of the aircraft at a take-off location being available and satellite positioning information being unavailable, storing visual positioning information of the aircraft from the take-off location to a target location at which satellite positioning information is available;

[0363] In response to the aircraft flying from the take-off location to the target location, storing satellite positioning information of the target location, wherein the visual positioning information from the take-off location to the target location and the satellite positioning information of the target location are used for the aircraft to return from a current location of the aircraft to the target location based on satellite positioning information and then return from the target location to the take-off location based on visual positioning information when performing a return flight.

[0364] It should be noted that, for the convenience and brevity of description, the specific working process of the control device of the aircraft described above can refer to the corresponding implementation process in the foregoing control method embodiments of the aircraft, and will not be described herein.

[0365] Please refer to FIG. 22, which is a structural schematic block diagram of another control device of an aircraft provided by an embodiment of the present application.

[0366] As shown in FIG. 22, the control device 220 of the aircraft includes a processor 221, a memory 222, a communication interface 223 and a user interface 224, which are connected through a bus 225, such as an I2C (Inter-integrated Circuit) bus. The processor 221 can be one or more, and the memory 222 can be one or more.

[0367] Specifically, the processor 221 can be a microcontroller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP), etc.

[0368] Specifically, the processor 221 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a U disk or a mobile hard disk, etc.

[0369] The memory 122 is configured to store computer program instructions, and the computer program instructions are configured to be invoked by the processor 121 to enable the processor 121 to perform the following steps:

[0370] In a take-off phase of the aircraft, the first indication information sent by the aircraft is received through the communication interface 223, and the first indication information is used to indicate that the aircraft has stored the visual positioning information of the aircraft at a take-off position as the positioning information of the take-off position of the aircraft, wherein the visual positioning information of the aircraft at the take-off position is available;

[0371] According to the first indication information, the processor 121 controls the user interface 224 to output first prompt information, and the first prompt information is used to prompt that the aircraft has stored the positioning information of the take-off position of the aircraft.

[0372] It should be noted that, for the convenience and brevity of description, the specific working process of the aircraft control device described above can refer to the corresponding implementation process in the foregoing aircraft control method embodiments, and will not be described here.

[0373] Please refer to FIG. 23, which is a structural schematic block diagram of an aircraft control system according to an embodiment of the present application.

[0374] As shown in FIG. 23, the aircraft control system 230 includes a processor 231, a memory 232, a communication interface 233 and a user interface 234, wherein:

[0375] The processor 231 is configured to, in a take-off phase of the aircraft, in response to the visual positioning information of the aircraft at a take-off position being available, control the memory 232 to store the visual positioning information of the aircraft at the take-off position as the positioning information of the take-off position of the aircraft;

[0376] The processor is further configured to, in response to the aircraft having stored the visual positioning information of the aircraft at the take-off position as the positioning information of the take-off position of the aircraft, control the communication interface 233 to output first indication information, and the first indication information is used to indicate that the aircraft has stored the positioning information of the take-off position of the aircraft;

[0377] The processor is further configured to, according to the first indication information, control the user interface 234 to output first prompt information, and the first prompt information is used to prompt that the aircraft has stored the positioning information of the take-off position of the aircraft.

[0378] 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 aircraft described above can refer to the corresponding implementation process in the foregoing control method embodiments of the aircraft, and will not be described here.

[0379] The embodiment of the present application further provides a computer readable storage medium, which stores computer program instructions, and the computer program instructions are executed by a processor to make the processor implement the steps of the control method provided by the foregoing embodiment.

[0380] The computer readable storage medium can be an internal storage unit of the movable platform, for example, a hard disk or a memory of the movable platform. The computer readable storage medium can also be an external storage device of 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.

[0381] It should be understood that the terms used in the specification of 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 specification and the appended claims of the present application, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0382] It should also be understood that the term "and / or" used in the specification and the appended claims of the present application means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0383] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any skilled person 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 covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method of an aircraft, characterized in that, The method comprises: In a take-off phase of the aerial vehicle, in response to visual positioning information of the aerial vehicle at a take-off position being available, storing the visual positioning information of the aerial vehicle at the take-off position as positioning information of a take-off position of the aerial vehicle; In response to the aerial vehicle having stored the visual positioning information of the aerial vehicle at the take-off position as the positioning information of the take-off position of the aerial vehicle, outputting first indication information, the first indication information being used to indicate that the aerial vehicle has stored the positioning information of the take-off position of the aerial vehicle.

2. A control method of an aircraft, characterized by, The method comprises: In a take-off phase of the aerial vehicle, receiving first indication information sent by the aerial vehicle, the first indication information being used to indicate that the aerial vehicle has stored visual positioning information of the aerial vehicle at a take-off position as positioning information of a take-off position of the aerial vehicle, wherein the visual positioning information of the aerial vehicle at the take-off position is available; According to the first indication information, outputting first prompt information, the first prompt information being used to prompt that the aerial vehicle has stored the positioning information of the take-off position of the aerial vehicle.

3. A method of controlling a movable platform, characterized by, The method comprises: In an initial phase of the movable platform, in response to first type positioning information of the movable platform at a movement initial position being available, storing the first type positioning information of the movable platform at the movement initial position as positioning information of a movement initial position of the movable platform, wherein a time for obtaining the first type positioning information of the movable platform at the movement initial position is shorter than a time for obtaining satellite positioning information of the movable platform at the movement initial position; In response to the movable platform having stored the first type positioning information of the movable platform at the movement initial position as the positioning information of the movement initial position of the movable platform, outputting first indication information, the first indication information being used to indicate that the movable platform has stored the positioning information of the movement initial position of the movable platform.

4. The control method according to claim 3, characterized by, After the outputting of the first indication information, the method further comprises: Storing satellite positioning information of the movement initial position, the satellite positioning information of the movement initial position being determined based on at least satellite positioning information of a target position after the movable platform moves from the movement initial position to the target position at which satellite positioning information is available, wherein satellite positioning information of the movable platform at the movement initial position is unavailable.

5. The control method according to claim 4, characterized by The satellite positioning information of the movement initial position is determined according to the satellite positioning information of the target position, first type positioning information of the target position and first type positioning information of the movement initial position, wherein the first type positioning information of the movable platform between the movement initial position and the target position is all available.

6. The control method according to claim 4, characterized by The target position comprises a position at which satellite positioning information is available for the first time after the movable platform moves from the movement initial position.

7. The control method according to claim 4, characterized by, The satellite positioning information being available comprises that a strength of a satellite positioning signal of the movable platform is greater than or equal to a preset signal strength threshold.

8. The control method according to any one of claims 3 to 7, characterized by, The satellite positioning information of the movable platform at the movement initial position being unavailable, the method further comprises: In response to the received movement control instruction, the movable platform is controlled to start moving from the movement initial position, and the movable platform stores satellite positioning information of one or more target positions available during the movement, the satellite positioning information of the target positions being used to determine a return path of the movable platform when the movable platform returns.

9. The control method according to claim 8, characterized by, The first type of positioning information of any of the target positions stored by the movable platform is available.

10. The control method according to claim 8, characterized by, The first type of positioning information between the movement initial position and the target position of the movable platform is available.

11. The control method according to claim 8, characterized by, The one or more target positions include a position where satellite positioning information is available for the first time after the movable platform starts moving from the movement initial position.

12. The control method according to any one of claims 3 to 11, characterized by, The method further includes: In response to the received movement control instruction, the movable platform is controlled to start moving from the movement initial position, and the movable platform During the movement, a first set of positioning data is stored, the first set of positioning data being used to determine a return trajectory of the movable platform during the return process.

13. The control method according to claim 12, characterized by, The first set of positioning data includes positioning data stored during the movement of the movable platform from the movement initial position to a target position where satellite positioning information is available.

14. The control method according to claim 12, characterized by, The method further includes: A scene identifier corresponding to the first set of positioning data is stored, the scene identifier including a first identifier or a second identifier, the first identifier being used to represent that a shooting scene corresponding to the first set of positioning data is an indoor scene, and the second identifier being used to represent that the shooting scene corresponding to the first set of positioning data is an outdoor scene.

15. The control method according to claim 12, characterized by, The first set of positioning data includes images, wireless network signals, infrared positioning data, ultrasonic positioning data, and / or point cloud maps.

16. The control method according to any one of claims 3 to 15, characterized by, The first type of positioning information available at the movement initial position of the movable platform includes: The environment in which the movable platform is located satisfies the acquisition condition of the first type of positioning information.

17. The control method according to claim 16, characterized by The first type of positioning information includes visual positioning information, and the environment in which the movable platform is located satisfies the acquisition condition of the first type of positioning information, including that the light intensity of the environment in which the movable platform is located is greater than or equal to a preset light intensity threshold.

18. The control method according to claim 17, characterized by, The light intensity in a preset direction of the movable platform is greater than or equal to a preset light intensity threshold.

19. The control method according to claim 18, characterized by, The preset direction includes one or more of the following directions of the movable platform: front, back, left, right, up, and down.

20. The control method according to claim 16, wherein The satellite positioning information of the movable platform is not available at the movement initial position.

21. The control method according to claim 20, wherein The satellite positioning information of the movable platform is not available, including that the strength of the satellite positioning signal of the movable platform is less than a preset signal strength threshold.

22. The control method according to claim 16, wherein The method further includes: In response to the satellite positioning information of the movable platform being available at the movement initial position, satellite positioning information of the movement initial position of the movable platform is stored.

23. The control method according to any one of claims 3-22, characterized by, The method further comprises: storing the first type of positioning information of the movable platform at the moving initial position as the positioning information of the moving initial position of the movable platform in response to the first type of positioning information of the movable platform at the moving initial position being available before the movable platform moves from the moving initial position; or storing the first type of positioning information of the movable platform at the moving initial position as the positioning information of the moving initial position of the movable platform in response to the first type of positioning information of the movable platform at the moving initial position being available when it is detected that the movable platform starts to move from the moving initial position.

24. The control method according to any one of claims 3-23, characterized by, The method further comprises: outputting second indication information in response to detecting that the indication condition is met.

25. The control method according to claim 24, wherein The indication condition being met comprises: the first type of positioning information of the movable platform being unavailable during the return of the movable platform.

26. The control method according to claim 25, wherein The indication condition being met comprises: the first type of positioning information of the movable platform being unavailable during the return of the movable platform from a target position to the moving initial position, wherein the target position is a position at which the movable platform is available in the initial stage.

27. The control method according to claim 24, wherein The indication condition being met comprises: detecting, during the return of the movable platform, information related to the return accuracy of the movable platform in the moving direction of the movable platform.

28. The control method according to claim 27, wherein The indication condition being met comprises: the first type of positioning information of the movable platform being available and detecting, during the return of the movable platform from a target position to the moving initial position, information related to the return accuracy of the movable platform in the moving direction of the movable platform, wherein the target position is a position at which the movable platform is available in the initial stage.

29. The control method according to claim 27 or 28, characterized by, The information related to the return accuracy of the movable platform comprises a balcony, a door, a window, a bridge hole, or a building edge.

30. The control method according to claim 24, wherein The method further comprises: controlling the movable platform to continue returning in the case of obtaining a continue-return instruction; or controlling the movable platform to exit the automatic return in the case of obtaining a cancel-return instruction.

31. The control method according to claim 24, wherein The indication condition being met comprises: the first type of positioning information of the movable platform being unavailable during the movement of the movable platform from the moving initial position to a target position at which the satellite positioning information is available.

32. The control method according to claim 24, wherein The outputting of the second indication information comprises: broadcasting the second indication information; indicating the second indication information through an indication device; and / or sending the second indication information to a control terminal of the movable platform.

33. The control method according to any one of claims 3-32, characterized by, The movable platform comprises an aircraft, and the method further comprises: controlling the aerial vehicle to fly from the mobile initial position in response to the received flight control instruction, wherein an angle between a line connecting the target position reached by the aerial vehicle during the flying and the mobile initial position and a horizontal plane is an arbitrary angle, satellite positioning information of the aerial vehicle at the mobile initial position is unavailable and satellite positioning information of the aerial vehicle at the target position is available.

34. The control method according to claim 33, wherein The arbitrary angle includes 90 degrees or non-90 degrees.

35. The control method according to any one of claims 3-34, characterized by, The outputting the first indication information includes: broadcasting the first indication information; indicating the first indication information through an indication device; and / or, sending the first indication information to a control terminal of the movable platform.

36. The control method according to any one of claims 3-35, characterized by, After storing the first type positioning information of the movable platform at the mobile initial position as the positioning information of the mobile initial position of the movable platform, the method further includes: sending a relative position relationship between the movable platform and the mobile initial position to a control terminal of the movable platform, so that the control terminal outputs the relative position relationship between the movable platform and the mobile initial position.

37. The control method according to any one of claims 3-36, characterized by, The method further includes: in response to the return condition being met and satellite positioning information of the movable platform being available, controlling the movable platform to return from a current position to a target position based on the satellite positioning information of the movable platform, the target position being a position at which satellite positioning information of the movable platform is available and satellite positioning information is stored in an initial stage; after the movable platform returns to the target position, in response to the first type positioning information of the movable platform being available, switching from controlling the movable platform to return from the target position to the mobile initial position of the movable platform based on the satellite positioning information of the movable platform to controlling the movable platform to return from the target position to the mobile initial position of the movable platform based on the first type positioning information of the movable platform, wherein the movable platform stored the first type positioning information from the mobile initial position to the target position in the initial stage, and satellite positioning information of the movable platform at the mobile initial position is unavailable and the first type positioning information is available.

38. The control method according to claim 37, wherein The controlling the movable platform to return from the current position to the target position includes: controlling the movable platform to return from the current position to the target position along a first return path; The controlling the movable platform to return from the target position to the mobile initial position of the movable platform includes: controlling the movable platform to return from the target position to the mobile initial position of the movable platform along a second return path.

39. The control method according to claim 38, wherein, The first return path is an optimal path from the current position to the target position.

40. The control method of claim 38, wherein The second return path is the same as or approximately the same as a reverse path of an initial path corresponding to movement of the movable platform from the mobile initial position to the target position in the initial stage.

41. The control method of claim 38, wherein The second return path is an optimal path for the movable platform to return from the target position to the mobile initial position of the movable platform.

42. The control method according to claim 39 or 41, wherein, The optimal path is a shortest path.

43. The control method according to claim 39 or 41, characterized by, The second return path is related to environmental conditions in the process of the movable platform returning from the target position to the mobile initial position of the movable platform.

44. The control method of claim 43, wherein The environmental condition includes an obstacle distribution condition.

45. The control method of claim 37, wherein The target position includes a plurality of target positions, and the control of the movable platform to return from the current position to the target position includes: determining one target position from the plurality of target positions based on a preset path planning strategy, and controlling the movable platform to return from the current position to the one target position.

46. The control method of claim 45, wherein The determining one target position from the plurality of target positions based on the preset path planning strategy includes: determining one target position from the plurality of target positions based on a path optimization principle from the current position of the movable platform to the target position.

47. The control method of claim 45, wherein The determining one target position from the plurality of target positions based on the preset path planning strategy includes: determining one target position from the plurality of target positions based on a path optimization principle from the current position of the movable platform to the initial moving position.

48. The control method according to claim 46 or 47, characterized by, The path optimization includes a shortest path.

49. The control method of claim 45, wherein The first type of positioning information of the movable platform at the plurality of target positions is available.

50. The control method of claim 45, wherein The first type of positioning information between the initial moving position and any one of the plurality of target positions of the movable platform is available.

51. The control method of claim 45, wherein The target position is a position where satellite positioning information is available.

52. The control method of claim 45, wherein The one or more target positions include a position where satellite positioning information is available for the first time after the movable platform starts moving from the initial moving position.

53. The control method of any one of claims 37-52, wherein, When the movable platform passes through a preset object in a preset environment during the return, a collision query radius used by the movable platform is greater than a collision query radius used by the movable platform when not in the preset environment, wherein the collision query radius is used by the movable platform to identify whether there is an obstacle within the collision query radius of the movable platform for obstacle avoidance planning, and the preset environment affects the accuracy of the moving path of the movable platform.

54. The control method of claim 53, wherein The method further includes: adjusting the return path of the movable platform in response to the movable platform passing through a preset object in a preset environment during the return.

55. The control method of claim 53, wherein The preset object includes a narrow space.

56. The control method of claim 53, wherein The preset environment includes a windy environment.

57. The control method of claim 54, wherein The adjustment direction of the return path of the movable platform is opposite to the direction of the wind.

58. The control method of claim 53, wherein The moving speed used by the movable platform when passing through a preset object during the return is less than the moving speed used by the movable platform before passing through the preset object during the return.

59. The control method of claim 58, wherein The moving speed used by the movable platform when passing through a preset object during the return is negatively related to the wind speed of the environment in which the movable platform is located.

60. The control method of any one of claims 3-59, wherein, The method further includes: controlling the movable platform to return from the current position to the initial moving position based on satellite positioning information in response to the return condition being met, wherein the movable platform stores satellite positioning information of the initial moving position in an initial stage.

61. The control method of claim 60, wherein The controlling the movable platform to return from the current position to the initial moving position based on satellite positioning information in response to the return condition being met includes: In response to the return condition being met and the first type of positioning information of the movable platform being unavailable, the movable platform is controlled to return from a current position to the mobile initial position based on satellite positioning information, wherein the satellite positioning information of the movable platform at the mobile initial position in an initial stage is unavailable and the satellite positioning information of the mobile initial position is determined according to satellite positioning information of a target position, and the satellite positioning information of the movable platform at the target position is available; or In response to the return condition being met, the movable platform is controlled to return from a current position to the mobile initial position based on satellite positioning information, wherein the satellite positioning information of the movable platform at the mobile initial position in an initial stage is available.

62. The control method of any one of claims 3-61, wherein, The method further comprises: In response to the return condition being met and the satellite positioning information of the movable platform being available, the movable platform is controlled to return from a current position to the target position based on satellite positioning information. After the movable platform returns to the target position, in response to the first type of positioning information of the movable platform being unavailable, the movable platform is controlled to stop moving, wherein the first type of positioning information of the movable platform between the mobile initial position and the target position in an initial stage is available.

63. The control method of any one of claims 3-62, wherein, The method further comprises: In response to the return condition being met, the satellite positioning information of the movable platform being available, and the first type of positioning information of the movable platform between the mobile initial position and the target position in an initial stage being unavailable, the movable platform is controlled to return from a current position to the target position based on satellite positioning information.

64. The control method of any one of claims 3-63, wherein, The method further comprises: In response to the return condition being met, the first type of positioning information of the movable platform being available, and the first type of positioning information of the movable platform between the mobile initial position and a current position in an initial stage being available, the movable platform is controlled to return from the current position to the mobile initial position based on the first type of positioning information.

65. The control method of claim 64, wherein Wherein, The satellite positioning information of the movable platform at the mobile initial position is unavailable.

66. The control method of any one of claims 3-65, wherein, The mobile initial position comprises a startup position, a start-moving position, a preset position, or a user-set position of the movable platform, and the preset position is a position that satisfies a preset position relationship with the startup position or the start-moving position.

67. The control method of any one of claims 3-66, wherein, The first type of positioning information is obtained using a first type of sensor.

68. The control method of claim 67, wherein Wherein, The first type of sensor comprises an image sensor, a wireless network device, an infrared sensor, an ultrasonic sensor, and / or a laser sensor.

69. The control method of claim 68, wherein The image sensor comprises one or more.

70. The control method according to claim 68 or 69, wherein The image sensor is configured to obtain an image of at least one direction of the movable platform.

71. The control method of claim 70, wherein The at least one direction comprises one or more of front, back, left, right, up, and down directions of the movable platform.

72. The control method of any one of claims 3-71, wherein, The first type of positioning information comprises visual positioning information, wireless network positioning information, infrared positioning information, ultrasonic positioning information, and / or laser positioning information.

73. The control method of any one of claims 3-72, wherein, The mobile initial position is located at a position where satellite positioning information is unavailable.

74. The control method of claim 73, wherein The mobile initial position comprises a floor edge, a balcony, under a bridge, indoors, or in a basement.

75. The control method of any one of claims 3-74, wherein, The target position is a position where satellite positioning information is available.

76. The control method of claim 75, wherein The target position is an outdoor position.

77. A method of controlling a movable platform, the method comprising: Comprise: Receiving first indication information sent by the movable platform, the first indication information being used to indicate that the movable platform has stored first type positioning information of the movable platform at a mobile initial position as the positioning information of the mobile initial position of the movable platform, wherein the first type positioning information of the movable platform at the mobile initial position is available, and a time for obtaining the first type positioning information of the movable platform at the mobile initial position is shorter than a time for obtaining satellite positioning information of the movable platform at the mobile initial position; According to the first indication information, outputting first prompt information, the first prompt information being used to prompt that the movable platform has stored the positioning information of the mobile initial position of the movable platform.

78. The control method of claim 77, wherein, After the outputting of the first prompt information, further comprising: Receiving satellite positioning information of the mobile initial position sent by the movable platform, the satellite positioning information of the mobile initial position being determined based on at least satellite positioning information of a target position after the movable platform moves from the mobile initial position to the target position where satellite positioning information is available, wherein the satellite positioning information of the movable platform at the mobile initial position is unavailable; Outputting the satellite positioning information of the mobile initial position.

79. The control method of claim 78, wherein The outputting of the satellite positioning information of the mobile initial position comprises: Displaying the satellite positioning information of the mobile initial position on an interface, and / or, playing the satellite positioning information of the mobile initial position.

80. The control method of claim 79, wherein, The displaying of the second type positioning information of the mobile initial position on the interface comprises: Displaying the satellite positioning information of the mobile initial position on a map displayed on the interface.

81. The control method of claim 78, wherein The satellite positioning information of the mobile initial position is determined according to the satellite positioning information of the target position, first type positioning information of the target position and first type positioning information of the mobile initial position, wherein the first type positioning information of the movable platform between the mobile initial position and the target position is available.

82. The control method of claim 78, wherein The target position comprises a position where satellite positioning information is available for the first time after the movable platform moves from the mobile initial position.

83. The control method of claim 78, wherein The availability of the satellite positioning information comprises that a strength of a satellite positioning signal of the movable platform is greater than or equal to a preset signal strength threshold.

84. The control method of any one of claims 77-83, wherein, The outputting of the first prompt information comprises: Displaying the first prompt information on an interface, and / or, playing the first prompt information.

85. The control method of claim 84, wherein, The method further comprises: Receiving relative position relationship between the movable platform and the mobile initial position sent by the movable platform; Outputting the relative position relationship between the movable platform and the mobile initial position.

86. The control method of claim 85, wherein, The outputting of the relative position relationship between the movable platform and the mobile initial position comprises: Displaying the relative position relationship between the movable platform and the mobile initial position on an interface.

87. The control method of claim 86, wherein, The displaying of the relative position relationship between the movable platform and the mobile initial position on the interface comprises: Display the relative position relationship between the movable platform and the movement initial position on a posture display area on the interface.

88. The control method of claim 85, wherein, The relative position relationship includes a relative distance and / or a relative direction between the movable platform and the movement initial position.

89. The control method of any one of claims 77-88, wherein, The method further includes: Output an icon corresponding to the movement initial position.

90. The control method of claim 89, wherein, The outputting of the icon corresponding to the movement initial position includes: Display the icon corresponding to the movement initial position on the interface.

91. The control method of claim 90, wherein, The display of the icon corresponding to the movement initial position on the interface includes: Display the icon corresponding to the movement initial position on a posture display area on the interface.

92. The control method of any one of claims 77-91, wherein, After the outputting of the first prompt information, the method further includes: Output identification information of a return position of the movable platform in a process in which the movable platform performs a return.

93. The control method of claim 92, wherein, The outputting of the identification information of the return position of the movable platform includes: Display the identification information of the return position of the movable platform on the interface.

94. The control method of claim 92, wherein, The return position is the same as the movement initial position.

95. The control method of claim 94, wherein, In response to that first type positioning information is available between the movement initial position and a target position at which satellite positioning information is available in an initial stage of the movable platform, the return position is the same as the movement initial position, wherein satellite positioning information is unavailable when the movable platform is at the movement initial position in the initial stage; or In response to that satellite positioning information is available when the movable platform is at the movement initial position in the initial stage, the return position is the same as the movement initial position.

96. The control method of claim 93, wherein The return position is the same as a target position at which second type positioning information is available in the initial stage of the movable platform, satellite positioning information being unavailable when the movable platform is at the movement initial position in the initial stage.

97. The control method of claim 96, wherein, In response to that first type positioning information is unavailable between the movement initial position and the target position in the initial stage of the movable platform, the return position is the same as the target position.

98. The control method of claim 92, wherein, The method further includes: Output a return path.

99. The control method of claim 98, wherein The outputting of the return path includes: Display the return path on the interface.

100. The control method of any one of claims 77-99, wherein, After the outputting of the first prompt information, the method further includes: Receive second indication information sent by the movable platform, the second indication information being sent by the movable platform in response to detection that an indication condition is met; According to the second indication information, output second prompt information.

101. The control method of claim 99, wherein, The indication condition being met includes that first type positioning information of the movable platform is unavailable in a process in which the movable platform returns.

102. The control method of claim 100, wherein The indication condition being met includes that first type positioning information of the movable platform is unavailable in a process in which the movable platform returns from a target position to the movement initial position, the target position being a position at which second type positioning information is available in the initial stage of the movable platform.

103. The control method according to claim 101 or 102, wherein, The second prompt information is used to prompt that first type positioning information of the movable platform is unavailable, and automatic return based on the first type positioning information cannot be implemented.

104. The control method of claim 100, wherein The indication condition is met, including: in the process of the movable platform returning from the target position to the moving initial position, the first type positioning information of the movable platform is available and it is detected that there is information related to the return accuracy of the movable platform in the moving direction of the movable platform, and the target position is the position where the satellite positioning information of the movable platform is available in the initial stage.

105. The control method of claim 100, wherein, The indication condition is met, including: in the process of the movable platform returning from the target position to the moving initial position, the first type positioning information of the movable platform is available and it is detected that there is information related to the return accuracy of the movable platform in the moving direction of the movable platform, and the target position is the position where the satellite positioning information of the movable platform is available in the initial stage.

106. The control method according to claim 104 or 105, wherein The second prompt information is used to prompt that there is information related to the return accuracy in the moving direction of the movable platform, and the user needs to confirm whether the movable platform continues to return.

107. The control method of claim 106, wherein, After the second prompt information is output, the method further includes: In response to the user triggering the operation instruction of continuing to return, a return instruction is sent to the movable platform; or In response to the user triggering the operation instruction of canceling the return, a return cancellation instruction is sent to the movable platform.

108. The control method of claim 104 or 105, wherein, The information related to the return accuracy of the movable platform includes a balcony, a door, a window, a bridge hole or a building edge.

109. The control method of claim 100, wherein The indication condition is met, including: in the process of the movable platform moving from the moving initial position to the target position where the satellite positioning information is available, the first type positioning information of the movable platform is unavailable.

110. The control method of claim 109, wherein, The second prompt information is used to prompt that the first type positioning information of the movable platform is unavailable, and the automatic return based on the first type positioning information cannot be realized.

111. The control method of claim 100, wherein The second prompt information is output, including: The second prompt information is broadcasted; and / or A first prompt pop-up window is displayed, and the first prompt pop-up window displays the second prompt information.

112. The control method of any one of claims 77-111, wherein, The first prompt information is used to prompt that the movable platform has stored the first type positioning information of the moving initial position.

113. A control method of an aircraft, characterized in that, It includes: In response to the return condition being met and the satellite positioning information of the aircraft being available, the satellite positioning information of the aircraft is used to control the aircraft to return from the current position to the target position, and the target position is the position where the satellite positioning information of the aircraft is available and stored in the take-off stage; After the aircraft returns to the target position, in response to the visual positioning information of the aircraft being available, the aircraft is controlled to return from the target position to the take-off position of the aircraft by switching from the satellite positioning information of the aircraft to the visual positioning information of the aircraft, wherein the aircraft stores the visual positioning information from the take-off position to the target position in the take-off stage, and the satellite positioning information of the aircraft is unavailable and the visual positioning information is available in the take-off position.

114. A method of controlling a movable platform, the method comprising: It includes: In response to the return condition being met and the second type positioning information of the movable platform being available, the second type positioning information of the movable platform is used to control the movable platform to return from the current position to the target position, and the target position is the position where the second type positioning information of the movable platform is available and stored in the initial stage; In response to the return condition being met and the second type positioning information of the movable platform being available, the second type positioning information of the movable platform is used to control the movable platform to return from the current position to the target position, and the target position is the position where the second type positioning information of the movable platform is available and stored in the initial stage; In response to the first type of positioning information of the movable platform being available, switching from being based on the second type of positioning information of the movable platform to being based on the first type of positioning information of the movable platform to control the movable platform to return from the target position to a movement initial position of the movable platform after the movable platform returns to the target position, wherein the movable platform stores the first type of positioning information from the movement initial position to the target position in an initial stage, and the second type of positioning information of the movable platform is unavailable and the first type of positioning information is available at the movement initial position.

115. The control method of claim 114, wherein, The first type of positioning information comprises visual positioning information, wireless network positioning information, infrared positioning information, ultrasonic positioning information and / or laser positioning information, and the second type of positioning information comprises satellite positioning information.

116. The control method of claim 114, wherein The target position is a position at which the second type of positioning information is available after the movable platform moves from the movement initial position.

117. The control method of claim 116, wherein The target position comprises a position at which the second type of positioning information is available for the first time after the movable platform moves from the movement initial position.

118. The control method of claim 114, wherein, The second type of positioning information being available comprises that the strength of the second type of positioning signal of the movable platform is greater than or equal to a preset signal strength threshold.

119. The control method of claim 114, wherein, The first type of positioning information of the movable platform is available at the target position.

120. The control method of claim 114, wherein, The first type of positioning information of the movable platform is available between the target position and the movement initial position of the movable platform.

121. The control method of any one of claims 114-120, wherein, The control of the movable platform to return from the current position to the target position comprises: controlling the movable platform to return from the current position to the target position along a first return path; The control of the movable platform to return from the target position to the movement initial position of the movable platform comprises: controlling the movable platform to return from the target position to the movement initial position of the movable platform along a second return path.

122. The control method of claim 121, wherein, The first return path is an optimal path from the current position to the target position.

123. The control method of claim 121, wherein, The second return path is the same as or approximately the same as a reverse path of an initial path corresponding to the movable platform moving from the movement initial position to the target position in the initial stage.

124. The control method of claim 121, wherein The second return path is an optimal path for the movable platform to return from the target position to the movement initial position of the movable platform.

125. The control method according to claim 123 or 124, wherein, The second return path is related to an environmental condition of the movable platform in the process of returning from the target position to the movement initial position of the movable platform.

126. The control method of claim 125, wherein, The environmental condition comprises an obstacle distribution condition.

127. The control method of claim 122 or 124, wherein, The optimal path is a shortest path.

128. The control method of any one of claims 114-120, wherein, The target position comprises a plurality of target positions, and the control of the movable platform to return from the current position to the target position comprises: determining one target position from the plurality of target positions based on a preset path planning strategy, and controlling the movable platform to return from the current position to the one target position.

129. The control method of claim 128, wherein, The determination of one target position from the plurality of target positions based on the preset path planning strategy comprises: determine one target position from the plurality of target positions based on a path optimization principle from a current position of the movable platform to the target position.

130. The control method of claim 128, wherein, determine one target position from the plurality of target positions based on a preset path planning strategy: determine one target position from the plurality of target positions based on a path optimization principle from a current position of the movable platform to the target position.

131. The control method according to claim 129 or 130, wherein, the path optimization comprises a shortest path.

132. The control method of claim 128, wherein the first type of positioning information of the movable platform at the plurality of target positions is available.

133. The control method of claim 128, wherein, the first type of positioning information between the movable platform and any one of the plurality of target positions is available.

134. The control method of claim 114, wherein one or more of the target positions comprise a position at which the second type of positioning information becomes available after the movable platform starts moving from the movement initial position.

135. The control method of any one of claims 114-134, wherein, the method further comprises: outputting indication information in response to detecting that an indication condition is met.

136. The control method of claim 135, wherein, the indication condition is met comprises that the first type of positioning information of the movable platform is unavailable during the return of the movable platform.

137. The control method of claim 135, wherein the indication condition is met comprises that the first type of positioning information of the movable platform is unavailable during the return of the movable platform from a target position to the movement initial position, wherein the target position is a position at which the second type of positioning information is available in the initial stage.

138. The control method of claim 135, wherein, the indication condition is met comprises that information related to the return accuracy of the movable platform is detected in a moving direction of the movable platform during the return of the movable platform.

139. The control method of claim 135, wherein, the indication condition is met comprises that the first type of positioning information of the movable platform is available and information related to the return accuracy of the movable platform is detected in a moving direction of the movable platform during the return of the movable platform from a target position to the movement initial position, wherein the target position is a position at which the second type of positioning information is available in the initial stage.

140. The control method of claim 135, wherein, the outputting of the indication information further comprises: in a case where a continue-return instruction is obtained, controlling the movable platform to continue returning; or in a case where a cancel-return instruction is obtained, controlling the movable platform to exit the automatic return.

141. The control method of claim 138 or 139, wherein, the information related to the return accuracy of the movable platform comprises a balcony, a door, a window, a bridge hole, or a building edge.

142. The control method of claim 135, wherein, the indication condition is met comprises that the first type of positioning information of the movable platform is unavailable during the movement of the movable platform from the movement initial position to a target position at which the second type of positioning information is available.

143. The control method of claim 135, wherein, the outputting of the indication information comprises: broadcasting the indication information; indicating the indication information through an indication device; and / or sending the indication information to a control terminal of the movable platform, so that the control terminal outputs prompt information according to the indication information, the prompt information being used to prompt that the movable platform cannot return or to manually confirm whether the movable platform continues to return.

144. The control method of any one of claims 114-143, wherein, The movable platform uses a larger collision query radius when passing through the preset object during the returning process in the preset environment than when passing through the preset object without being in the preset environment, where the collision query radius is used by the movable platform to identify whether there is an obstacle within the collision query radius of the movable platform for obstacle avoidance planning, and the preset environment affects the accuracy of the moving path of the movable platform.

145. The control method of claim 144, wherein, The method further comprises: adjusting the returning path of the movable platform in response to the movable platform being in the preset environment when passing through the preset object during the returning process.

146. The control method of claim 144 or 145, wherein, The preset object includes a narrow space.

147. The control method according to claim 144 or 145, wherein, The preset environment includes a windy environment.

148. The control method of claim 145, wherein, The adjustment direction of the returning path of the movable platform is opposite to the direction of the wind.

149. The control method of claim 144, wherein, The movable platform uses a smaller moving speed when passing through the preset object during the returning process than the moving speed used before passing through the preset object during the returning process.

150. The control method of claim 149, wherein, The moving speed used by the movable platform when passing through the preset object during the returning process is negatively related to the wind speed of the environment in which the movable platform is located.

151. The control method of any one of claims 114-150, wherein, The method further comprises: controlling the movable platform to return from the current position to the moving initial position based on the second type of positioning information in response to the returning condition being met, where the movable platform stores the second type of positioning information of the moving initial position in the initial stage.

152. The control method of claim 151, wherein, The response to the returning condition being met and the control of the movable platform to return from the current position to the moving initial position based on the second type of positioning information includes: controlling the movable platform to return from the current position to the moving initial position based on the second type of positioning information in response to the returning condition being met and the first type of positioning information of the movable platform being unavailable, where the second type of positioning information of the moving initial position is unavailable when the movable platform is in the moving initial position in the initial stage, and the second type of positioning information of the moving initial position is determined according to the second type of positioning information of the target position, and the second type of positioning information of the movable platform is available at the target position; or controlling the movable platform to return from the current position to the moving initial position based on the second type of positioning information in response to the returning condition being met, where the second type of positioning information of the movable platform is available at the moving initial position in the initial stage.

153. The control method of any one of claims 114-150, wherein, The method further comprises: controlling the movable platform to return from the current position to the target position based on the second type of positioning information in response to the returning condition being met and the second type of positioning information of the movable platform being available; controlling the movable platform to stop moving in response to the first type of positioning information of the movable platform being unavailable after the movable platform returns to the target position, where the first type of positioning information is available between the moving initial position and the target position of the movable platform in the initial stage.

154. The control method of any one of claims 114-150, wherein, The method further comprises: In response to the return condition being met, the second type of positioning information of the movable platform is available and the first type of positioning information of the movable platform between the initial stage from the mobile initial position to the target position is unavailable, the movable platform is controlled to return from the current position to the target position based on the second type of positioning information.

155. The control method of any one of claims 114-150, wherein, The method further comprises: In response to the return condition being met, the first type of positioning information of the movable platform is available and the first type of positioning information of the movable platform between the initial stage from the mobile initial position to the current position is available, the movable platform is controlled to return from the current position to the mobile initial position based on the first type of positioning information, wherein the second type of positioning information of the movable platform at the mobile initial position is unavailable. The return condition being met comprises receiving a return control instruction of a user or the movable platform meeting a preset return trigger condition.

156. The control method of any one of claims 114-155, wherein, The preset return trigger condition being met comprises the movable platform being in a fault state, the power of the movable platform being lower than a preset power threshold, the working time of the movable platform reaching a preset time length, or the movable platform completing a task.

157. The control method of claim 156, wherein, The fault state comprises a communication connection with a control terminal of the movable platform being disconnected.

158. The control method of claim 157, wherein, The controlling the movable platform to return from the target position to the mobile initial position of the movable platform based on the first type of positioning information of the movable platform comprises:

159. The control method of any one of claims 114-158, wherein, acquiring a second set of images by using an image sensor; controlling the movable platform to return from the target position to the mobile initial position of the movable platform by comparing the second set of images with a first set of images acquired by the movable platform in the initial stage. The movable platform comprises an aircraft, and an angle between a line connecting the target position and the mobile initial position and a horizontal plane is an arbitrary angle.

160. The control method of any one of claims 114-159, wherein, The arbitrary angle comprises 90 degrees or a non-90 degree.

161. The control method of claim 160, wherein, The second type of positioning information is acquired by using a second type of sensor.

162. The control method of any one of claims 114-161, wherein, The second type of sensor comprises a satellite positioning device.

163. The control method of claim 162, wherein, The first type of positioning information is acquired by using a first type of sensor.

164. The control method of claim 162 or 163, wherein, The first type of sensor comprises an image sensor, a wireless network device, an infrared sensor, an ultrasonic sensor, and / or a laser sensor.

165. The control method of claim 164, wherein, The image sensor is used to acquire images of at least one direction of the movable platform.

166. The control method of claim 165, wherein The at least one direction comprises one or more of front, back, left, right, up, and down directions of the movable platform.

167. The control method of claim 166, wherein The image sensor comprises one or more.

168. The control method of claim 165 or 166, wherein, The first type of positioning information of the movable platform at the mobile initial position being available comprises:

169. The control method of any one of claims 114-168, wherein, An environment in which the movable platform is located meets an acquisition condition of the first type of positioning information. The first type of positioning information comprises visual positioning information, and the environment in which the movable platform is located meets the acquisition condition of the first type of positioning information, which comprises the light intensity of the environment in which the movable platform is located being greater than or equal to a preset light intensity threshold.

170. The control method of claim 169, wherein The light intensity in a preset direction of the movable platform is greater than or equal to a preset light intensity threshold.

171. The control method of claim 170, wherein, ​ 172. The control method of claim 171, wherein The preset direction includes one or more of the following directions of the movable platform: front, back, left, right, up, and down.

173. The control method of any one of claims 114-172, wherein, The movement initial position is located at a position where satellite positioning information is unavailable.

174. The control method of claim 173, wherein The movement initial position includes a floor edge, a balcony, under a bridge, indoors, or a basement.

175. The control method of claim 173, wherein The target position is located at a position where the second type of positioning information is available.

176. The control method of claim 175, wherein, The target position is located outdoors.

177. The control method of any one of claims 114-176, wherein, The movement initial position includes a power-on position, a start-moving position, a preset position, or a user-set position of the movable platform, and the preset position is a position that meets a preset position relationship with the power-on position or the start-moving position.

178. A control method of an aircraft, characterized in that, The method comprises: In a takeoff phase of the aircraft, in response to visual positioning information of the aircraft at a takeoff position being available and satellite positioning information being unavailable, storing visual positioning information of the aircraft from the takeoff position to a target position where satellite positioning information is available; In response to the aircraft flying from the takeoff position to the target position, storing satellite positioning information of the target position, wherein the visual positioning information from the takeoff position to the target position and the satellite positioning information of the target position are used for the aircraft to return from a current position of the aircraft to the target position based on satellite positioning information and then return from the target position to the takeoff position based on visual positioning information when performing a return.

179. A method of controlling a movable platform, the method comprising: The method comprises: In an initial phase of the movable platform, in response to the first type of positioning information of the movable platform at a movement initial position being available and the second type of positioning information being unavailable, storing the first type of positioning information of the movable platform from the movement initial position to a target position where the second type of positioning information is available; In response to the movable platform moving from the movement initial position to the target position, storing the second type of positioning information of the target position, wherein the first type of positioning information from the movement initial position to the target position and the second type of positioning information of the target position are used for the movable platform to return from a current position of the movable platform to the target position based on the second type of positioning information and then return from the target position to the movement initial position based on the first type of positioning information when performing a return.

180. The control method of claim 179, wherein, The target position includes a position where the second type of positioning information is available for the first time after the movable platform starts moving from the movement initial position.

181. The control method of claim 179, wherein The second type of positioning information being available includes the strength of the second type of positioning signal of the movable platform being greater than or equal to a preset signal strength threshold.

182. The control method of claim 179, wherein The method further comprises: In the process of the movable platform moving from the movement initial position to the target position, storing a first set of positioning data, the first set of positioning data being used for determining a return trajectory of the movable platform in a return process.

183. The control method of claim 182, wherein The first set of positioning data includes images, wireless network signals, infrared positioning data, ultrasonic positioning data, and / or point cloud maps.

184. The control method of claim 182, wherein The method further comprises: store a scene identifier corresponding to the first set of positioning data, the scene identifier comprising a first identifier or a second identifier, the first identifier being used to represent that a shooting scene corresponding to the first set of positioning data is an indoor scene, and the second identifier being used to represent that the shooting scene corresponding to the first set of positioning data is an outdoor scene.

185. The control method of any one of claims 179-184, wherein, The first type of positioning information available for the movable platform at the initial moving position includes: The movable platform is in an environment satisfying an acquisition condition of the first type of positioning information.

186. The control method of claim 185, wherein The first type of positioning information includes visual positioning information, and the movable platform is in an environment satisfying an acquisition condition of the first type of positioning information, including that an illumination intensity of the environment in which the movable platform is located is greater than or equal to a preset illumination intensity threshold.

187. The control method of claim 186, wherein, The illumination intensity in a preset direction of the movable platform is greater than or equal to a preset illumination intensity threshold.

188. The control method of claim 187, wherein, The preset direction includes one or more of the following directions of the movable platform: front, back, left, right, up, and down.

189. The control method of claim 179, wherein The second type of positioning information being unavailable includes that a strength of a second type of positioning signal of the movable platform is less than a preset signal strength threshold.

190. The control method of claim 179, wherein, The first type of positioning information includes visual positioning information, wireless network positioning information, infrared positioning information, ultrasonic positioning information, and / or laser positioning information, and the second type of positioning information includes satellite positioning information.

191. The control method of any one of claims 179-190, wherein, The method further includes: in response to the return condition being satisfied and the second type of positioning information of the movable platform being available, controlling the movable platform to return from the current position to the target position based on the second type of positioning information of the movable platform; after the movable platform returns to the target position, in response to the first type of positioning information of the movable platform being available, controlling the movable platform to return from the target position to the initial moving position based on the first type of positioning information of the movable platform.

192. The control method of claim 191, wherein, The control of the movable platform to return from the current position to the target position includes: controlling the movable platform to return from the current position to the target position along a first return path; The control of the movable platform to return from the target position to the initial moving position includes: controlling the movable platform to return from the target position to the initial moving position along a second return path.

193. The control method of claim 192, wherein, The first return path is an optimal path from the current position to the target position.

194. The control method of claim 192, wherein The second return path is the same as or approximately the same as a reverse path of an initial path corresponding to the movable platform moving from the initial moving position to the target position in the initial stage.

195. The control method of claim 192, wherein, The second return path is an optimal path for the movable platform to return from the target position to the initial moving position of the movable platform.

196. The control method according to claim 194 or 195, characterized in that, The second return path is related to an environmental condition of the movable platform in the process of returning from the target position to the initial moving position of the movable platform.

197. The control method of claim 196, wherein The environmental condition includes an obstacle distribution condition.

198. The control method according to claim 193 or 195, wherein The optimal path is a shortest path.

199. The control method of claim 191, wherein The method further includes: In a process that the movable platform returns from the target position to the movement initial position, in response to detecting that an indication condition is met, output indication information, the indication information being used to indicate whether the movable platform continues to return needs to be confirmed by a user.

200. The control method of claim 199, wherein The indication condition is met: first type positioning information of the movable platform changes from available to unavailable.

201. The control method of claim 199, wherein The indication condition is met: information related to return accuracy of the movable platform is detected in a movement direction of the movable platform.

202. The control method of claim 199, wherein, The indication condition is met: first type positioning information of the movable platform is available and information related to return accuracy of the movable platform is detected in a movement direction of the movable platform.

203. The control method according to claim 201 or 202, wherein The information related to return accuracy of the movable platform includes a balcony, a door, a window, a bridge hole, or a building edge.

204. The control method of claim 199, wherein The output indication information further includes: In a case that a continue return instruction is acquired, control the movable platform to continue to return; or In a case that a cancel return instruction is acquired, control the movable platform to exit automatic return.

205. The control method of claim 199, wherein The output indication information includes: Play the indication information; Indicate the indication information through an indication device; and / or, Send the indication information to a control terminal of the movable platform, so that the control terminal outputs prompt information according to the indication information, the prompt information being used to prompt a user to manually confirm whether the movable platform continues to return.

206. The control method of any one of claims 191-205, wherein, In a process that the movable platform returns from the target position to the movement initial position, a collision query radius used when the movable platform passes through a preset object in a preset environment is greater than a collision query radius used when the movable platform passes through the preset object in a non-preset environment, wherein the collision query radius is used for the movable platform to identify whether there is an obstacle within the collision query radius of the movable platform to perform obstacle avoidance planning, and the preset environment affects the accuracy of a movement path of the movable platform.

207. The control method of claim 206, wherein, The method further includes: In response to the movable platform passing through a preset object in a preset environment in a process that the movable platform returns from the target position to the movement initial position, adjust a return path of the movable platform. The preset object includes a narrow space.

208. The control method according to claim 206 or 207, characterized in that, The preset environment includes a windy environment.

209. The control method according to claim 206 or 207, wherein, An adjustment direction of the return path of the movable platform is opposite to a direction of the wind.

210. The control method of claim 207, wherein, A movement speed used when the movable platform passes through a preset object in a process that the movable platform returns from the target position to the movement initial position is less than a movement speed used before the movable platform passes through the preset object in the process.

211. The control method of claim 206, wherein, The movement speed used when the movable platform passes through the preset object in the process that the movable platform returns from the target position to the movement initial position is negatively related to a wind speed of an environment in which the movable platform is located.

212. The control method of claim 211, wherein The movable platform includes an aircraft, and an angle between a line connecting the target position and the movement initial position and a horizontal plane is an arbitrary angle.

213. The control method of any one of claims 179-212, wherein, The arbitrary angle includes 90 degrees or a non-90 degree.

214. The control method according to claim 213, wherein The second type positioning information is acquired using a second type sensor.

215. The control method of any one of claims 179-214, wherein, ​ 216. The control method of claim 215, wherein The second type sensor comprises a satellite positioning device.

217. The control method of claim 215, wherein The first type positioning information is acquired using a first type sensor.

218. The control method of claim 217, wherein, The first type sensor comprises an image sensor, a wireless network device, an infrared sensor, an ultrasonic sensor, and / or a laser sensor.

219. The control method of claim 218, wherein, The image sensor is configured to acquire an image of at least one direction of the movable platform.

220. The control method of claim 219, wherein, The at least one direction comprises one or more of front, back, left, right, up, and down directions of the movable platform.

221. The control method according to claim 218 or 219, wherein, The image sensor comprises one or more.

222. The control method of any one of claims 179-221, wherein, The mobile initial position comprises a floor edge, a balcony, under a bridge, indoors, or a basement.

223. The control method of claim 222, wherein, The target position is located outdoors.

224. The control method of any one of claims 179-223, wherein, The mobile initial position comprises a start-up position, a start-moving position, a preset position, or a user-set position of the movable platform, and the preset position is a position that satisfies a preset position relationship with the start-up position or the start-moving position.

225. A control device for an aircraft, characterized in that Comprise: one or more processors; one or more memories configured to store computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform: in a take-off phase of the aircraft, in response to visual positioning information of the aircraft at a take-off position being available, storing the visual positioning information of the aircraft at the take-off position as positioning information of a take-off position of the aircraft; in response to the aircraft having stored the visual positioning information of the aircraft at the take-off position as the positioning information of the take-off position of the aircraft, outputting first indication information, the first indication information being used to indicate that the aircraft has stored the positioning information of the take-off position of the aircraft.

226. A control device for an aircraft, characterized in that Comprise: a communication interface; a user interface; one or more processors; one or more memories configured to store computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform: in a take-off phase of the aircraft, receiving, through the communication interface, first indication information sent by the aircraft, the first indication information being used to indicate that the aircraft has stored visual positioning information of the aircraft at a take-off position as positioning information of a take-off position of the aircraft, wherein the visual positioning information of the aircraft at the take-off position is available; controlling the user interface to output first prompt information according to the first indication information, the first prompt information being used to prompt that the aircraft has stored the positioning information of the take-off position of the aircraft.

227. A control device for an aircraft, characterized in that Comprise: one or more processors; one or more memories configured to store computer program instructions, the computer program instructions being invoked by the one or more processors to cause the one or more processors to perform: in response to a return condition being satisfied and satellite positioning information of the aircraft being available, controlling the aircraft to return from a current position to a target position based on the satellite positioning information of the aircraft, the target position being a position at which the satellite positioning information of the aircraft is available and stored in a take-off phase of the aircraft; In response to visual positioning information of the aircraft being available after the aircraft returns to the target position, switching from controlling the aircraft to return from the target position to a take-off position of the aircraft based on satellite positioning information of the aircraft to controlling the aircraft to return from the target position to the take-off position of the aircraft based on visual positioning information of the aircraft, wherein the aircraft stores visual positioning information from the take-off position to the target position in a take-off phase, satellite positioning information of the aircraft at the take-off position is unavailable and visual positioning information is available.

228. A control device for an aircraft, 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: In a take-off phase of the aircraft, in response to visual positioning information of the aircraft at a take-off position being available and satellite positioning information being unavailable, storing visual positioning information of the aircraft between the take-off position and a target position at which satellite positioning information is available; In response to the aircraft flying from the take-off position to the target position, storing satellite positioning information of the target position, wherein the visual positioning information between the take-off position and the target position and the satellite positioning information of the target position are used for the aircraft to return from a current position of the aircraft to the target position based on satellite positioning information when performing return and to return from the target position to the take-off position based on visual positioning information.

229. A control system for an aircraft, characterized in that Comprise a processor, a memory, a communication interface and a user interface, wherein: The processor is configured to, in a take-off phase of the aircraft, in response to visual positioning information of the aircraft at a take-off position being available, control the memory to store the visual positioning information of the aircraft at the take-off position as positioning information of the take-off position of the aircraft; The processor is further configured to, in response to the aircraft having stored the visual positioning information of the aircraft at the take-off position as the positioning information of the take-off position of the aircraft, control the communication interface to output first indication information, the first indication information being used to indicate that the aircraft has stored the positioning information of the take-off position of the aircraft; The processor is further configured to, according to the first indication information, control the user interface to output first prompt information, the first prompt information being used to prompt that the aircraft has stored the positioning information of the take-off position of the aircraft.

230. 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 perform: In an initial phase of the movable platform, in response to first type positioning information of the movable platform at a mobile initial position being available, storing the first type positioning information of the movable platform at the mobile initial position as positioning information of the mobile initial position of the movable platform, wherein a time at which the first type positioning information of the movable platform at the mobile initial position is obtained is shorter than a time at which satellite positioning information of the movable platform at the mobile initial position is obtained; In response to the movable platform storing the first type of positioning information of the movable platform at the movement initial position as the positioning information of the movement initial position of the movable platform, output first indication information, the first indication information being used to indicate that the movable platform has stored the positioning information of the movement initial position of the movable platform.

231. A control device for a moveable platform, characterized in that Comprise: a communication interface; a user interface; 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: In the initial stage of the movable platform, receive the first indication information sent by the movable platform through the communication interface, the first indication information being used to indicate that the movable platform has stored the first type of positioning information of the movable platform at the movement initial position as the positioning information of the movement initial position of the movable platform, wherein the first type of positioning information of the movable platform at the movement initial position is available, and the time for obtaining the first type of positioning information of the movable platform at the movement initial position is shorter than the time for obtaining satellite positioning information of the movable platform at the movement initial position; Control the user interface to output first prompt information according to the first indication information, the first prompt information being used to prompt that the movable platform has stored the positioning information of the movement initial position of the movable platform.

232. 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: In response to the return condition being met and the second type of positioning information of the movable platform being available, control the movable platform to return from the current position to the target position based on the second type of positioning information of the movable platform, the target position being the position of the movable platform at which the second type of positioning information is available and stored in the initial stage; After the movable platform returns to the target position, in response to the first type of positioning information of the movable platform being available, switch from being controlled based on the second type of positioning information of the movable platform to being controlled based on the first type of positioning information of the movable platform to return the movable platform from the target position to the movement initial position of the movable platform, wherein the movable platform stored the first type of positioning information from the movement initial position to the target position in the initial stage, and the second type of positioning information of the movable platform at the movement initial position is unavailable and the first type of positioning information is available.

233. 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: In an initial stage of the movable platform, in response to the first type of positioning information of the movable platform at a moving initial position being available and the second type of positioning information being unavailable, store the first type of positioning information of the movable platform from the moving initial position to a target position at which the second type of positioning information is available; In response to the movable platform moving from the moving initial position to the target position, store the second type of positioning information of the target position, wherein the first type of positioning information from the moving initial position to the target position and the second type of positioning information of the target position are used for the movable platform to return from a current position of the movable platform to the target position based on the second type of positioning information and then return from the target position to the moving initial position based on the first type of positioning information when performing a return trip.

234. A control system for a moveable platform, characterized by The control method comprises the following steps: In an initial stage of the movable platform, in response to the first type of positioning information of the movable platform at a moving initial position being available, store the first type of positioning information of the movable platform at the moving initial position as the positioning information of the moving initial position of the movable platform, wherein the time of obtaining the first type of positioning information of the movable platform at the moving initial position is shorter than the time of obtaining satellite positioning information of the movable platform at the moving initial position; In response to the movable platform having stored the first type of positioning information of the movable platform at the moving initial position as the positioning information of the moving initial position of the movable platform, control the communication interface to output first indication information, the first indication information being used to indicate that the movable platform has stored the positioning information of the moving initial position of the movable platform; In response to the first indication information, control the user interface to output first prompt information, the first prompt information being used to prompt that the movable platform has stored the positioning information of the moving initial position of the movable platform.

235. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by the processor to enable the processor to implement the control method in any one of claims 1-224. The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by the processor to enable the processor to implement the control method in any one of claims 1-224.

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