Control method and apparatus for movable platform, and terminal and storage medium

Abstract

A control method and apparatus for a movable platform, and a terminal and a storage medium. The method comprises: determining a target start position of a movable platform from among a plurality of start positions, wherein the plurality of start positions are located in a first region (S101); determining a target stop position of the movable platform from among a plurality of stop positions, wherein the plurality of stop positions are located in a second region, and the first region is different from the second region (S102); and controlling the movable platform to move from the target start position to the target stop position, wherein the target start position and the target stop position are determined on the basis of a preset route in a route library of the movable platform (S103).

Description

Control method and device of movable platform, terminal and storage medium TECHNICAL FIELD

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

[0002] In the field of movable platforms, a movable platform is used to replace manual work, thereby saving a large amount of labor cost. In related technologies for using a movable platform to work, a worker often needs to schedule and manage the movable platform at each task point. Since manual operation is relied on, the scheduling efficiency is low, and errors may occur due to human negligence, thereby causing safety hazards in the work of the movable platform.

[0003] SUMMARY

[0004] Therefore, the present application provides a control method and device of a movable platform, a terminal and a storage medium to improve the scheduling efficiency of the movable platform and the safety of movement of the movable platform.

[0005] In a first aspect, the present application provides a control method of a movable platform, comprising:

[0006] determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions comprising a plurality of starting and stopping areas of the movable platform located in a first area, the movable platform comprising an unmanned aerial vehicle capable of transporting goods, and the first area being set by a user;

[0007] determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions comprising a plurality of starting and stopping areas of the movable platform located in a second area, and the second area being set by the user;

[0008] controlling the movable platform to move from the target starting position to the target stopping position;

[0009] wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform, and the preset route is approved by a regulatory agency of the movable platform.

[0010] In a second aspect, the present application also provides a control method of a movable platform, comprising:

[0011] determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being located in a first area;

[0012] determining a target stop position of the movable platform in a plurality of stop positions, the plurality of stop positions being located in a second area, the first area being different from the second area;

[0013] controlling the movable platform to move from the target start position to the target stop position;

[0014] wherein the target start position and the target stop position are determined according to a preset route in a route library of the movable platform.

[0015] In a third aspect, the present application further provides a control device, comprising: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the control device at least to execute the computer program and, when executing the computer program, implement the control method of the movable platform according to the first aspect.

[0016] In a fourth aspect, the present application further provides a control device, comprising: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the control device at least to execute the computer program and, when executing the computer program, implement the control method of the movable platform according to the second aspect.

[0017] In a fifth aspect, the present application further provides a terminal, comprising a control device for implementing the control method of the movable platform according to the first aspect or the second aspect.

[0018] In a sixth aspect, the present application further provides a storage medium for computer readable, the storage medium storing a computer program, the computer program being executed by a processor to cause the processor to implement the control method of the movable platform according to the first aspect or the second aspect.

[0019] The control method, device, terminal and storage medium of the movable platform disclosed in the present application, when scheduling the movable platform, determine the target start position and the target stop position of the movable platform based on the preset route in the route library, control the movable platform to move from the target start position to the target stop position, and the whole scheduling process does not depend on manual operation, thus improving the scheduling efficiency of the movable platform, and avoiding the unsafe problems caused by manual scheduling errors, and improving the safety of the movable platform movement. Moreover, when the movable platform moves based on the preset route approved by the regulatory agency of the movable platform, the safety will be further improved.

[0020] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] FIG. 1 is a step schematic flow chart of a control method of a movable platform according to an embodiment of the present application;

[0023] FIG. 2 is a schematic diagram of the corresponding relationship between the take-off and landing airport, the parking apron and the route according to the present application;

[0024] FIG. 3 is a schematic diagram of the resource complete matching, the resource partial matching and the resource complete non-matching according to the present application;

[0025] FIG. 4 is a schematic diagram of a scheduling strategy according to an embodiment of the present application;

[0026] FIG. 5 is a step schematic flow chart of another control method of a movable platform according to an embodiment of the present application;

[0027] FIG. 6 is a schematic diagram of a conflict intervention according to an embodiment of the present application;

[0028] FIG. 7 is a schematic diagram of an unmanned aerial vehicle hovering and waiting according to an embodiment of the present application;

[0029] FIG. 8 is a step schematic flow chart of controlling the movable platform to pause and wait at the target pause position in response to the target stop position being occupied according to an embodiment of the present application;

[0030] FIG. 9 is a schematic block diagram of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] 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 some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0032] The flow chart shown in the drawings is only an example description, not necessarily including all contents and operations / steps, and not necessarily executed in the described order. For example, some operations / steps can be decomposed, combined or partially combined, so that the actual execution order can be changed according to the actual situation.

[0033] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in this specification and the appended claims, the singular forms "a," "an" and "the" include plural referents unless the context clearly dictates otherwise.

[0034] It is also to be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and that the term is used in its full conjunctive sense, even though other terms such as "for example," "for instance," "e.g.", "e.g.," or the like are used in the detailed description and / or claims.

[0035] Some embodiments of the present application will now be described in detail in connection with the accompanying drawings. The following embodiments and features are not mutually exclusive and can be combined with each other.

[0036] Embodiments of the present application provide a control method and device of a movable platform, a terminal and a storage medium, which are used to improve the scheduling efficiency of the movable platform and the safety of the movement of the movable platform.

[0037] Please refer to FIG. 1, which is a schematic flow chart of a control method of a movable platform according to an embodiment of the present application. The control method of the movable platform can be applied to a control device arranged on the movable platform, such as a flight controller arranged on the movable platform, or a terminal including the control device, which is not limited in the present application. The movable platform includes but is not limited to unmanned aerial vehicles, robots, unmanned vehicles, unmanned ships, etc. The terminal includes but is not limited to smart phones, computer devices, remote servers, remote controllers of the movable platform, etc. The control method of the movable platform will be described in detail below.

[0038] As shown in FIG. 1, the control method of the movable platform specifically includes steps S101 to S103.

[0039] S101, determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being located in a first area.

[0040] The first area includes a plurality of starting positions, and the starting position can be a start-stop area of the movable platform. In this step, the target start-stop area of the movable platform can be selected from a plurality of start-stop areas. The movable platform includes but is not limited to an aircraft. When the movable platform is an aircraft, the first area includes but is not limited to an aircraft landing and taking-off field, and the start-stop area includes but is not limited to an aircraft parking apron. Each landing and taking-off field includes a plurality of start-stop areas.

[0041] It can be understood that the starting position can include not only the start-stop area of the plurality of movable platforms in the first area, but also other areas such as the standby drop-off point, and the standby drop-off point can be used to schedule the movable platform in the case that the start-stop area is occupied. The first area can be automatically determined based on the task to be performed by the movable platform currently, and the first area can also be set by the user, for example, the user can select the first area corresponding to the departure of the movable platform on the scheduling management interface of the movable platform, thereby improving the user experience. It can be understood that the first area is a larger area relative to the starting position, and the first area contains a plurality of starting positions. In some embodiments, the user can only need the movable platform to start from the first area, and does not care which starting position of the first area the movable platform starts from. For example, in a certain transportation operation, the south of the mountain foot has a plurality of starting positions, and the north of the mountain foot also has a plurality of starting positions. The user only needs the movable platform to start from the south of the mountain foot, and does not care which starting position of the south of the mountain foot the movable platform starts from. Therefore, the user can only need to select the south of the mountain foot as the first area. Therefore, in some other embodiments, the number of first areas can be multiple, and the user can determine a target first area in the first areas, and the movable platform or the control device of the movable platform can automatically determine a target starting position in the plurality of starting positions of the target first area. Such operation can greatly reduce the decision workload of the user, and make the scheduling work more intelligent.

[0042] For example, a route library of the movable platform is established in advance, and the route library includes a plurality of preset routes corresponding to the starting position and the stopping position. It can be understood that the preset route is bound to the starting position and the stopping position, for example, in the case that the preset route A corresponds to the starting position A and the stopping position A are determined, if no change is made, each time the preset route A is selected, the starting position A and the stopping position A will be automatically selected, and other starting positions or stopping positions will not be selected. The preset route includes but is not limited to the flight route of the unmanned aerial vehicle. Generally, the preset route in the route library is surveyed or historically used, which can guarantee the safety of the operation with a large probability, so that the movable platform moves based on the preset route in the route library, which can reduce the probability of conflict in the moving process and be safer.

[0043] The preset route in the route library of the movable platform is approved by a regulatory authority of the movable platform. It can be understood that the preset route can be a route approved by the regulatory authority or a route directly issued by the regulatory authority. Since the preset route is supervised by the regulatory authority, the scheduling of the movable platform is more standardized, and the safety of the movable platform moving based on the preset route is further enhanced. Taking the movable platform as an example, the movable platform is a logistics unmanned aerial vehicle. Since the logistics unmanned aerial vehicle has a large load, a low flight height (relative to a civil aviation passenger aircraft), and can pass through a densely populated area, the logistics unmanned aerial vehicle is not allowed to fly randomly under the current laws and regulations. The regulatory authority supervising the unmanned aerial vehicle will approve whether the planned route of the logistics unmanned aerial vehicle meets the requirements, and only the route approved can be used by the logistics unmanned aerial vehicle.

[0044] First, a suitable preset route is selected from the plurality of preset routes in the route library of the movable platform as the route for the movable platform to move and navigate. Based on the selected preset route, the starting position corresponding to the selected preset route is determined as the position where the movable platform moves out, i.e., the target starting position.

[0045] S102, determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being located in a second area, the first area being different from the second area.

[0046] The second area includes but is not limited to a take-off and landing airport of the unmanned aerial vehicle, the stopping position includes but is not limited to a parking apron of the unmanned aerial vehicle, and each take-off and landing airport includes a plurality of take-off and landing areas.

[0047] It should be noted that the stopping position can be a position where the movable platform stops at the end of a task, or a position where the movable platform stops during a task.

[0048] The plurality of stopping positions include a plurality of take-off and landing areas of the movable platform in the second area. It can be understood that, like the starting position, the stopping position can also include other areas such as an alternate landing point. The second area can be automatically determined based on the current task to be performed by the movable platform, or the second area can be set by a user, for example, the user can select the second area corresponding to the movable platform moving and stopping in the scheduling management interface of the movable platform, thereby improving the user experience. It should be noted that the second area is not in the same position as the first area, but the concept of the second area is similar to that of the first area, and also has the characteristics of the first area described above, and thus will not be repeated here.

[0049] The first area / second area corresponds to a plurality of start positions / stop positions, and each start position / stop position corresponds to N preset routes, which are located in the route library. Taking the movable platform as an unmanned aerial vehicle, as shown in FIG. 2, there is a 1:N correspondence relationship between the take-off and landing airport of the unmanned aerial vehicle and the start and stop area, and there is also a 1:N correspondence relationship between the parking apron and the route. It can be understood that one start and stop area can correspond to multiple routes, for example, there can be a route between the start start and stop area A and the stop start and stop area A, or there can be a route between the start start and stop area A and the stop start and stop area B. It should be noted that there can be multiple routes between the start start and stop area A and the stop start and stop area A, for example, multiple routes can be set between the start start and stop area A and the stop start and stop area A based on height, for example, one route is set at a height of 50 meters, another route is set at a height of 100 meters, and so on.

[0050] Based on the selected preset route, the stop position corresponding to the selected preset route is determined as the position where the movable platform stops, i.e., the target stop position.

[0051] It should be noted that steps S101 and S102 can also be executed simultaneously, or step S102 can be executed first and then step S101, which is not limited in the present application.

[0052] The advantage of determining the target start position and the target stop position based on the preset route is that if the target start position and the target stop position are determined first, and then the preset route is determined based on the target start position and the target stop position, the corresponding preset route may not exist in the route library, which may result in failure of the movable platform scheduling. However, selecting the appropriate preset route first and then determining the target start position and the target stop position based on the preset route can avoid this problem.

[0053] In some embodiments, the control method of the movable platform further comprises:

[0054] In response to the input of the user, a new route is added in the route library, and the new route includes a movement path between a start position corresponding to the new route and a stop position corresponding to the new route. It can be understood that in some embodiments, the new route does not need to add a start and stop area and / or a stop and start area, but only adds a route in the original start and stop area and stop and start area; in some embodiments, the new route needs to add a start and stop area and / or a stop and start area. For example, there is a start and stop area A1 in the first area, and there is a stop and start area B1 in the second area, but there is no route in A1 and B1. One way to add a route can be to build a new route directly in A1 and B1; another way to add a route can be to build a new start and stop area A2 in the first area, build a new stop and start area B2 in the second area, and build a new route in A2 and B2.

[0055] The user can manually input a new route, and the new route input by the user is added in the route library in response to the input of the user. The movable platform moves from the starting position corresponding to the new route to the stopping position corresponding to the new route based on a movement path of the new route, and performs a corresponding task. In this way, not only the preset routes in the route library can be used, but also the new route input by the user can be used, thereby further improving the user experience.

[0056] For example, in some emergency scenes, such as fire scenes, in order to perform emergency rescue, the user urgently inputs a new route for the movable platform to reach the emergency scene as soon as possible, and adds the new route in the route library. The movable platform reaches the emergency scene in the shortest time based on the new route in the route library, and performs a rescue task, thereby improving the efficiency of rescue work.

[0057] In some embodiments, the control method of the movable platform further includes:

[0058] In response to a conflict between the starting position corresponding to the new route and / or the stopping position corresponding to the new route and / or the movement path of the new route and other preset routes in the route library, a prompt information is issued and / or the new route is deleted.

[0059] Since the new route is set by the user, the starting position corresponding to the new route and / or the stopping position corresponding to the new route and / or the movement path corresponding to the new route may conflict with other preset routes in the route library. In order to avoid potential safety hazards caused by the conflict, when the starting position corresponding to the new route and / or the stopping position corresponding to the new route and / or the movement path corresponding to the new route conflict with other preset routes in the route library, the new route is deleted. After the new route is deleted, the movable platform will not be dispatched to perform a task using the new route, thereby ensuring the safety of the dispatch of the movable platform.

[0060] In actual application, dispatching the movable platform to perform a task may occur in the case of complete resource matching, partial resource matching, and complete resource non-matching, as shown in FIG. 3, wherein:

[0061] The case of complete resource matching includes an idle preset route (i.e., there is an available preset route in the time period for performing a task), a target starting position / target stopping position is not occupied (for example, the target starting position is not a starting position common to multiple tasks, the target stopping position is not a stopping position common to multiple tasks, the target starting position is not a stopping position of other tasks, and the target stopping position is not a starting position of other tasks), and an idle movable platform (for example, the idle movable platform has sufficient remaining power at the target starting position).

[0062] The resource partially matching case includes a free preset route (i.e., there is a free preset route in the time period for performing the task) and the target starting position / target stopping position is occupied (the target starting position is a starting position common to multiple tasks / the target stopping position is a stopping position common to multiple tasks / the target starting position is a stopping position of other tasks / the target stopping position is a starting position of other tasks) and there is a free movable platform (i.e., there is a movable platform without a task in the time period for performing the task).

[0063] The resource completely not matching case includes no free preset route (i.e., there is no free preset route) or no free movable platform (i.e., there is no free movable platform).

[0064] If the resource completely matches or the resource partially matches, it indicates that there is currently a schedulable resource. If the resource completely does not match, it indicates that there is currently no schedulable resource.

[0065] In some embodiments, in step S101, determining the target starting position of the movable platform in the multiple starting positions includes:

[0066] In response to the existence of the schedulable resource, determining the target starting position of the movable platform in the multiple starting positions, the schedulable resource is used to schedule the movable platform to move from the first area to the second area.

[0067] Exemplarily, the schedulable resource includes a free movable platform and a free preset route.

[0068] The first step of scheduling the movable platform to perform the task is to determine whether there is a schedulable resource currently, i.e., to determine whether there is a free preset route for the free movable platform to use to perform the task.

[0069] In response to the existence of the schedulable resource, i.e., there is a free movable platform and a free preset route, at this time, the starting position corresponding to the free preset route is determined as the target starting position of the movable platform.

[0070] In some embodiments, the control method of the movable platform further includes:

[0071] In response to the non-existence of the schedulable resource, outputting prompt information to the user, the prompt information being used to indicate the scheduling failure of the movable platform.

[0072] That is, when there is no free preset route and / or no free movable platform, the scheduling fails, in this case, the prompt information is outputted to the user, after the user receives the prompt information, the user can know the scheduling failure of the movable platform and timely understand the situation, so that the user can further perform corresponding measures.

[0073] In some embodiments, in step S101 and step S102, the target starting position of the movable platform is determined from a plurality of starting positions, and the target stopping position of the movable platform is determined from a plurality of stopping positions, including:

[0074] determining the target preset route from the idle preset routes;

[0075] determining the target starting position as the starting position corresponding to the target preset route;

[0076] determining the target stopping position as the stopping position corresponding to the target preset route.

[0077] It should be noted that there can be only one idle preset route, or there can be multiple idle preset routes. In response to there being only one idle preset route, the idle preset route is directly determined as the target preset route. In response to there being multiple idle preset routes, one idle preset route is selected from the multiple idle preset routes as the target preset route.

[0078] After the target preset route is determined, the starting position corresponding to the target preset route can be determined as the target starting position of the movable platform, and the stopping position corresponding to the target preset route can be determined as the target stopping position of the movable platform.

[0079] In some embodiments, determining the target preset route from the idle preset routes includes:

[0080] determining the idle preset route with the highest scheduling priority as the target preset route.

[0081] In response to there being multiple idle preset routes, the idle preset route with the highest scheduling priority is selected from the multiple idle preset routes based on the scheduling priority of each idle preset route, and is determined as the target preset route.

[0082] For example, the scheduling priority is related to at least one of route safety-related information, route efficiency-related information, and route power consumption-related information.

[0083] The route safety-related information is mainly a parameter related to the preset route itself, the route efficiency-related information is mainly a condition related to the starting position and / or the stopping position corresponding to the preset route, and the route power consumption-related information is mainly the power consumption of the movable platform based on the preset route. The scheduling priority of the idle preset route can be determined according to at least one of the route safety-related information, the route efficiency-related information, and the route power consumption-related information.

[0084] For example, the route safety related information, the route efficiency related information, and the route power consumption related information have different weights in affecting the scheduling priority. For example, as shown in FIG. 4, the scheduling priority of each idle preset route is determined based on the route safety related information, the route efficiency related information, and the route power consumption related information of each idle preset route and the weights corresponding to the information.

[0085] For example, the weight corresponding to the route safety related information is greater than the weight corresponding to the route efficiency related information, and the weight corresponding to the route efficiency related information is greater than the weight corresponding to the route power consumption related information. That is, the route safety related information is the focus, the route efficiency related information is the second, and the route power consumption related information is the last.

[0086] It should be noted that the weights corresponding to the route safety related information, the route efficiency related information, and the route power consumption related information can be flexibly set according to actual conditions, which are not specifically limited in the present application. For example, the weight corresponding to the route power consumption related information can be greater than the weight corresponding to the route safety related information, and the weight corresponding to the route safety related information can be greater than the weight corresponding to the route efficiency related information.

[0087] For example, the route safety related information includes take-off / landing conflict information of the UAV. It should be noted that the route safety related information can also include other types of information related to safety, such as obstacle information in the flight route, which can cause the flight route of the UAV to be unsafe.

[0088] For example, the take-off / landing conflict information at least includes one of take-off / landing type conflict, landing / landing type conflict, and take-off / take-off type conflict. The take-off / landing type conflict refers to a conflict of UAV take-off and landing in a parking lot, that is, there are multiple tasks in the same parking lot, and there are both a landing task of one UAV and a take-off task of another UAV in the same parking lot. The landing / landing type conflict refers to a conflict of UAV landing in a parking lot, that is, there are multiple tasks in the same parking lot, and multiple UAVs need to land in the same parking lot in the multiple tasks. The take-off / take-off type conflict refers to a conflict of UAV take-off in a parking lot, that is, there are multiple tasks in the same parking lot, and multiple UAVs need to take off in the same parking lot in the multiple tasks.

[0089] For the take-off / landing type conflict, the landing / landing type conflict, and the take-off / take-off type conflict, different types of conflicts have different effects on the weight corresponding to the route safety related information. For example, the effect of the take-off / landing type conflict on the weight corresponding to the route safety related information is greater than the effect of the landing / landing type conflict on the weight corresponding to the route safety related information, and the effect of the landing / landing type conflict on the weight corresponding to the route safety related information is greater than the effect of the take-off / take-off type conflict on the weight corresponding to the route safety related information.

[0090] In some embodiments, according to the take-off / landing conflict information corresponding to each idle preset route, a deduction processing is performed on each idle preset route to obtain a weight score of the scheduling of each idle preset route, wherein the higher the weight score is, the higher the scheduling priority corresponding to the idle preset route is.

[0091] For example, a first mapping relationship between the preset take-off / landing conflict information and the deduction value is that different types of conflicts correspond to different deduction values. Based on the first mapping relationship, a deduction value corresponding to the take-off / landing conflict information of each idle preset route is determined, and a deduction processing is performed on each idle preset route to obtain a weight score of the scheduling of each idle preset route.

[0092] For example, in the first mapping relationship, the take-off / landing type conflict corresponds to a first deduction value, the landing / landing type conflict corresponds to a second deduction value, and the take-off / take-off type conflict corresponds to a third deduction value, wherein the second deduction value is less than the first deduction value and greater than the third deduction value.

[0093] For example, taking a total score of 100 as an example, the preset first deduction value is 10 points, the second deduction value is 9 points, and the third deduction value is 8 points. The first mapping relationship is shown in Table 1:

[0094] Table 1

[0095] It should be noted that the first deduction value, the second deduction value, and the third deduction value can also be set to other values, which are not limited in the present application.

[0096] For example, the route efficiency related information includes the condition of the starting position and / or the stopping position corresponding to the idle preset route. It should be noted that the route efficiency related information can also include other types of information that affect the moving efficiency of the movable platform, such as geographical environment information corresponding to the idle preset route. If the idle preset route passes through a windy area, the moving efficiency of the movable platform will be lower.

[0097] For example, the condition of the starting position and / or the stopping position corresponding to the idle preset route includes at least one of the following: the stopping position is occupied by a movable platform without a task, there is no movable platform without a task at the starting position, and the power of the movable platform at the starting position is less than a power replacement threshold. Wherein, the power of the movable platform is less than the power replacement threshold, indicating that the power of the movable platform is insufficient and needs to replace the battery. The power replacement threshold can be flexibly set according to actual conditions, which is not limited in the present application.

[0098] The different conditions of the start position and / or stop position corresponding to the idle preset route have different influences on the weight corresponding to the route efficiency related information. For example, the influence of the stop position being occupied by the taskless movable platform on the weight corresponding to the route efficiency related information is greater than the influence of the start position being free of the taskless movable platform on the weight corresponding to the route efficiency related information, and the influence of the start position being free of the taskless movable platform on the weight corresponding to the route efficiency related information is greater than the influence of the electric quantity of the movable platform at the start position being less than the electric quantity replacement threshold on the weight corresponding to the route efficiency related information. It can be understood that the start position being free of the taskless movable platform means that the user needs to dispatch the taskless movable platform from other places to the start position, which will also affect the work efficiency.

[0099] In some embodiments, according to the conditions of the start position and / or stop position corresponding to each idle preset route, a deduction processing is performed on each idle preset route to obtain a weight score of the scheduling of each idle preset route.

[0100] For example, the second mapping relationship between the conditions of the preset start position and / or stop position and the deduction values, in which different conditions of the start position and / or stop position corresponding to the preset route correspond to different deduction values. Based on the second mapping relationship, a deduction value corresponding to the condition of the start position and / or stop position of each idle preset route is determined, and a deduction processing is performed on each idle preset route to obtain a weight score of the scheduling of each idle preset route.

[0101] For example, in the second mapping relationship, the stop position being occupied by the taskless movable platform corresponds to a fourth deduction value, the start position being free of the taskless movable platform corresponds to a fifth deduction value, and the electric quantity of the movable platform at the start position being less than the electric quantity replacement threshold corresponds to a sixth deduction value, wherein the fifth deduction value is less than the fourth deduction value and greater than the sixth deduction value.

[0102] For example, taking a total score of 100 as an example, the preset fourth deduction value is 3 points, the fifth deduction value is 2 points, and the sixth deduction value is 1 point, and the second mapping relationship is shown in Table 2:

[0103] Table 2

[0104] It should be noted that the fourth deduction value, the fifth deduction value, and the sixth deduction value can also be set to other values, which are not specifically limited in the present application.

[0105] For example, the route power consumption related information includes power consumption of the movable platform when moving on the idle preset route. The power consumption of the movable platform when moving on the idle preset route is related to the route mileage of the idle preset route. Generally, the longer the route mileage of the idle preset route, the greater the power consumption of the movable platform when moving on the idle preset route.

[0106] For the application scenario in which the preset route is a flight path of the unmanned aerial vehicle, for example, the route power consumption related information is related to the height of the idle preset route. The higher the height of the idle preset route, the greater the route power consumption. That is, the power consumption of the unmanned aerial vehicle when flying on the idle flight path is related to the height of the idle flight path. The higher the height of the idle flight path, the greater the power consumption of the unmanned aerial vehicle when flying on the idle flight path.

[0107] In some embodiments, each idle preset route is subjected to a deduction process according to the power consumption of the movable platform when moving on each idle preset route, to obtain a weight score of each idle preset route scheduling.

[0108] For example, taking 2% power as a preset power gradient and 0.1 points as a preset score, the idle preset route with the least power consumption is not deducted, and each exceeding 2% power is deducted by 0.1 points. For example, if an idle preset route exceeds 10% power, the idle preset route is deducted by 0.5 points, to obtain the weight score of the idle preset route scheduling.

[0109] After obtaining the weight score of each idle preset route scheduling, the idle preset route with a higher weight score corresponds to a higher scheduling priority. Therefore, the idle preset route with the highest scheduling priority, that is, the idle preset route with the highest weight score, can be determined as the target preset route based on the weight score of each idle preset route scheduling.

[0110] S103, controlling the movable platform to move from a target starting position to a target stopping position;

[0111] The target starting position and the target stopping position are determined according to the preset route in the route library of the movable platform.

[0112] After the target starting position and the target stopping position are determined based on the preset route, the movable platform can be controlled to move from the target starting position to the target stopping position based on the preset route to perform a task. For example, the takeoff and landing area of the unmanned aerial vehicle and the landing takeoff and landing area are determined based on the preset flight path, and the unmanned aerial vehicle is controlled to fly from the takeoff and landing area to the landing takeoff and landing area based on the preset flight path to perform a task.

[0113] The process of scheduling the movable platform to perform the task is less dependent on manual scheduling operation, thereby improving the scheduling efficiency of the movable platform, and avoiding unsafe problems caused by manual scheduling errors, and improving the safety of the movable platform movement.

[0114] In some embodiments, in step S103, the control of the movable platform moving from the target starting position to the target stopping position further includes:

[0115] determining a target movable platform from the plurality of idle movable platforms;

[0116] controlling the target movable platform to move from the target starting position to the target stopping position.

[0117] It should be noted that the idle movable platform can be only one or multiple. In response to only one idle movable platform, the idle movable platform is directly determined as the target movable platform. In response to multiple idle movable platforms, one idle movable platform is selected from the multiple idle movable platforms and determined as the target movable platform.

[0118] After the target starting position and the target stopping position are determined, the target movable platform is controlled to move from the target starting position to the target stopping position based on a preset route.

[0119] In some embodiments, the determination of the target movable platform from the plurality of idle movable platforms includes:

[0120] The target movable platform is determined from the plurality of idle movable platforms according to the remaining power of the idle movable platforms.

[0121] The more the remaining power of the idle movable platform, the lower the possibility of insufficient power from the target starting position to the target stopping position, and therefore, the idle movable platform with the most remaining power can be selected from the plurality of idle movable platforms and determined as the target movable platform.

[0122] It should be noted that in addition to the above-mentioned ways of determining the target movable platform based on the remaining power of the idle movable platform, the target movable platform can also be determined by other ways, which are not limited in the present application.

[0123] For example, according to the distance between each idle movable platform and the target starting position, the closer the idle movable platform to the target starting position, the more convenient and fast it can reach the target starting position, and therefore, the idle movable platform closest to the target starting position is determined as the target movable platform.

[0124] For example, the target movable platform is determined in combination with the remaining power of the idle movable platform and the distance between the idle movable platform and the target start position.

[0125] In some embodiments, as shown in FIG. 5, after step S102, the control method of the movable platform further includes step S104.

[0126] S104, in response to the target stop position being occupied, controlling the movable platform to pause at a target pause position which does not overlap with the target stop position in a horizontal direction.

[0127] In actual applications, the target stop position may be occupied. The target stop position may be occupied by other movable platforms or obstacles. As shown in FIG. 6, when the target stop position is occupied, conflict intervention is performed, and the movable platform is controlled to pause at a target pause position which does not overlap with the target stop position in a horizontal direction. When the conflict is resolved and the target stop position is no longer occupied, the movable platform is controlled to resume moving and continue moving to the target stop position, thereby solving the conflict problem of the target stop position being occupied and enabling the movable platform to successfully move to the target stop position.

[0128] For example, the target pause position is related to the number of movable platforms that are queued in front to reach the target stop position. That is, the target pause position at which the movable platform pauses is determined based on the number of movable platforms that are queued in front to reach the target stop position, and the target pause position is not a single fixed position.

[0129] For example, the more the number of movable platforms that are queued in front to reach the target stop position, the farther the distance between the target pause position and the target stop position.

[0130] The distance between the target pause position and the target stop position can be the horizontal distance between the target pause position and the target stop position, i.e., the distance in the horizontal direction. For example, the more the number of movable platforms that are queued in front to reach the target stop position, the farther the horizontal distance between the target pause position and the target stop position.

[0131] It can be understood that the distance between the target pause position and the target stop position can also be the distance in the vertical direction.

[0132] For example, taking the movable platform as the UAV and the landing and taking-off area where the UAV lands as the target stopping position, as shown in FIG. 7, the landing and taking-off area C has parked the UAV D1, in addition, the UAVs to be landed in the landing and taking-off area are D2, D3 and D4 in turn, the UAV D2 is queued in the front, the control UAV D2 hovers at a position 100 meters above the landing and taking-off area in the horizontal direction to wait; the UAV D3 is queued in the second place, the control UAV D3 hovers at a position 200 meters above the landing and taking-off area in the horizontal direction to wait; the UAV D4 is queued in the last place, the control UAV D4 hovers at a position 300 meters above the landing and taking-off area in the horizontal direction to wait.

[0133] If the UAV D1 is moved away and the parking apron is idle, at this time, the UAV D2 can land, the UAV D3 advances to hover at a position 100 meters above the landing and taking-off area in the horizontal direction to wait, and the UAV D4 advances to hover at a position 200 meters above the landing and taking-off area in the horizontal direction to wait.

[0134] In some embodiments, as shown in FIG. 8, in step S104, in response to the target stopping position being occupied, the control movable platform hovers at a target pause position to wait, including step S1041 and step S1042.

[0135] S1041, obtaining indication information, the indication information is used to characterize that the target stopping position is occupied, and the indication information is sent by a device monitoring the state of the target stopping position;

[0136] S1042, controlling the movable platform to hover at the target pause position to wait.

[0137] The device monitoring the state of the target stopping position includes but is not limited to a remote server, a monitoring device arranged at the target stopping position, etc., and in an embodiment, the device monitoring the state of the target stopping position can also be a UAV parked at the target stopping position, which can send information that the target stopping position has been occupied to the control terminal or the task UAV. When the device monitoring the state of the target stopping position monitors that the target stopping position is occupied, the indication information is sent to the terminal, the terminal receives the indication information sent by the device monitoring the state of the target stopping position. In response to the obtained indication information, the movable platform is controlled to hover at the target pause position to wait. The determination of the target pause position can refer to the foregoing description in the foregoing embodiments, which will not be described here.

[0138] In some embodiments, in step S1041, the indication information is obtained, including:

[0139] In response to the horizontal distance between the UAV and the target stopping position being within a preset distance range, the indication information is obtained.

[0140] In actual applications, it is unnecessary to consider whether the target stop position is occupied during the take-off stage of the UAV. In order to avoid invalid processing, the indication information indicating that the target stop position is occupied is acquired only when the horizontal distance between the UAV and the target stop position is within the preset distance range, that is, the UAV is about to reach the target stop position.

[0141] For example, the preset distance range is set as (0, 300] meters, and the indication information is acquired in response to the horizontal distance between the UAV and the target stop position being within 300 meters. It should be noted that the preset distance range can be flexibly set according to actual conditions, and is not specifically limited in the present application.

[0142] For example, the state query request of the target stop position is sent to the device monitoring the state of the target stop position when the horizontal distance between the UAV and the target stop position is within the preset distance range. For example, the state query request of the target stop position is sent to the device monitoring the state of the target stop position when the horizontal distance between the UAV and the target stop position is 300 meters, 200 meters and 100 meters, respectively. The device monitoring the state of the target stop position returns the indication information indicating that the target stop position is occupied or returns the information that the target stop position is not occupied each time after receiving the request.

[0143] In response to acquiring the indication information, the UAV is controlled to hover and wait at the target stop position. In response to acquiring the information that the target stop position is not occupied, the UAV is controlled to continue to navigate.

[0144] In some embodiments, in response to the target stop position being occupied, prompt information is output, wherein the prompt information includes but is not limited to voice broadcast information. Through the prompt information, the user is informed that the target stop position is occupied, so that the user knows the reason why the movable platform is paused at the target stop position, thereby further improving the user experience.

[0145] In some embodiments, the control method of the movable platform further includes:

[0146] In response to the horizontal distance between the first movable platform and the target start position being less than the safety distance threshold, the second movable platform is prohibited from leaving the target start position, and the first movable platform and the second movable platform both start from the target start position.

[0147] In order to further ensure the safe movement of the movable platform, after the movable platform starts from the target start position, only when the horizontal distance between the movable platform and the target start position has reached the safety distance threshold, other movable platforms are allowed to start from the target start position. In this way, the distance between the movable platforms starting from the target start position in front and behind can be avoided to be too close, so that danger is avoided.

[0148] It should be noted that the safety distance threshold can be flexibly set according to actual conditions, and is not specifically limited in the present application.

[0149] In some embodiments, in response to the target stop position being occupied, the time for the movable platform to start from the target start position is delayed, and the movable platform waits at the target start position. Compared with pausing at the target pause position after starting, the movable platform is safer.

[0150] In some embodiments, the control method of the movable platform further includes:

[0151] The real-time monitoring information includes at least one of the relevant information of the start position, the relevant information of the stop position, and the relevant information of the movable platform.

[0152] The display device includes, but is not limited to, a display screen of a device for monitoring the state of the target stop position, a display screen of a terminal, etc. By displaying the real-time monitoring information on the display device, the user can view the real-time monitoring information to timely understand the latest relevant information of the start position, the stop position, the movable platform, etc., thereby improving the user experience.

[0153] For example, the relevant information of the start position and / or the relevant information of the stop position includes a target time, and the target time includes a time at which the movable platform is expected to arrive at the stop position.

[0154] For example, a map is displayed by the display device, and positioning icons of all start positions and stop positions, a positioning icon of the movable platform, and a corresponding preset route are displayed on the map. When the user clicks the positioning icon of the start position / stop position, all associated tasks of the start position / stop position and the target time at which the movable platform is expected to arrive at the stop position are displayed.

[0155] In some embodiments, the control method of the movable platform further includes:

[0156] In response to a time difference between the current time and the target time being less than or equal to a preset time length, pre-completion prompt information is output, and the pre-completion prompt information is used to represent that the task of the movable platform is about to be completed.

[0157] The time difference between the current time and the target time being less than or equal to the preset time length indicates that the movable platform is about to arrive at the stop position, i.e., the task performed by the movable platform is about to be completed. At this time, the pre-completion prompt information is output. For example, push information is sent, the positioning icon of the stop position is flashed, and the like. Through the pre-completion prompt information, the user is reminded that the task of the movable platform is about to be completed, thereby further improving the user experience.

[0158] In some embodiments, in response to the movable platform being in a pause waiting state, the positioning icon of the movable platform is preset to be marked in a certain color (for example, marked in yellow), and the remaining pause waiting time is displayed, so that the user can know the status of the movable platform in time, thereby further improving the user experience.

[0159] Please refer to FIG. 9, which is a schematic block diagram of a control device according to an embodiment of the present application.

[0160] As shown in FIG. 9, the control device 100 can include at least one processor 110 and at least one memory 120 including computer program code, and the processor 110 and the memory 120 are connected through a bus, such as an I2C (Inter-integrated Circuit) bus.

[0161] Specifically, the processor 110 can be a microcontroller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP), etc.

[0162] Specifically, the memory 120 can be a flash chip, a read-only memory (ROM) disk, an optical disk, a U disk or a mobile hard disk, etc. The memory 120 stores various computer programs for the processor 110 to execute.

[0163] The at least one memory 120 and the computer program code are configured with the at least one processor 110 to make the control device 100 at least for executing the computer program and when executing the computer program, the following steps are implemented:

[0164] determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions including a plurality of starting and stopping areas of the movable platform located in a first area, the movable platform including an unmanned aerial vehicle capable of transporting articles, and the first area being set by a user;

[0165] determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions including a plurality of starting and stopping areas of the movable platform located in a second area, and the second area being set by a user;

[0166] controlling the movable platform to move from the target starting position to the target stopping position;

[0167] The target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform.

[0168] In some embodiments, the control device 100, when executing the computer program, implements the following steps:

[0169] The target starting position of the movable platform is determined from a plurality of starting positions, and the plurality of starting positions are located in a first area;

[0170] The target stopping position of the movable platform is determined from a plurality of stopping positions, and the plurality of stopping positions are located in a second area, and the first area is different from the second area;

[0171] The movable platform is controlled to move from the target starting position to the target stopping position;

[0172] The target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform.

[0173] In some embodiments, the control device 100, when implementing the target starting position of the movable platform is determined from a plurality of starting positions, is configured to:

[0174] In response to the existence of a schedulable resource, the target starting position of the movable platform is determined from a plurality of starting positions, and the schedulable resource is used to schedule the movable platform to move from the first area to the second area.

[0175] In some embodiments, the control device 100 is further configured to:

[0176] In response to the absence of the schedulable resource, prompt information is output to a user, and the prompt information is used to indicate the failure of scheduling the movable platform.

[0177] In some embodiments, the schedulable resource includes an idle movable platform and an idle preset route.

[0178] In some embodiments, the schedulable resource includes an idle preset route, and the control device 100, when implementing the target starting position of the movable platform is determined from a plurality of starting positions and the target stopping position of the movable platform is determined from a plurality of stopping positions, is configured to:

[0179] A target preset route is determined in the idle preset route;

[0180] A starting position corresponding to the target preset route is determined as the target starting position;

[0181] determining a stop position corresponding to the target preset route as the target stop position.

[0182] In some embodiments, the idle preset routes include a plurality of preset routes, and the control device 100 is configured to determine a target preset route from the idle preset routes by:

[0183] determining the idle preset route with the highest scheduling priority as the target preset route.

[0184] In some embodiments, the scheduling priority is related to at least one of route safety-related information, route efficiency-related information, and route power consumption-related information.

[0185] In some embodiments, the route safety-related information, the route efficiency-related information, and the route power consumption-related information have different weights affecting the scheduling priority.

[0186] In some embodiments, the route safety-related information has a weight greater than that of the route efficiency-related information, and the route efficiency-related information has a weight greater than that of the route power consumption-related information.

[0187] In some embodiments, the movable platform includes an unmanned aerial vehicle, and the route safety-related information includes take-off / landing conflict information of the unmanned aerial vehicle.

[0188] In some embodiments, the take-off / landing conflict information includes at least one of a take-off / take-off type conflict, a landing / landing type conflict, and a take-off / take-off type conflict.

[0189] In some embodiments, the take-off / take-off type conflict has a greater impact on the weight of the route safety-related information than the landing / landing type conflict, and the landing / landing type conflict has a greater impact on the weight of the route safety-related information than the take-off / take-off type conflict.

[0190] In some embodiments, the route efficiency-related information includes a condition of a start position and / or a stop position corresponding to the idle preset route.

[0191] In some embodiments, the condition of the start position and / or the stop position corresponding to the idle preset route includes at least one of the stop position being occupied by a taskless movable platform, the start position being free of a taskless movable platform, and the movable platform at the start position having a power level less than a power level replacement threshold.

[0192] In some embodiments, the stop position is occupied by the taskless movable platform, and an impact on a weight corresponding to the route efficiency related information is greater than an impact on the weight corresponding to the route efficiency related information when the start position is not occupied by the taskless movable platform, and the impact on the weight corresponding to the route efficiency related information when the start position is not occupied by the taskless movable platform is greater than an impact on the weight corresponding to the route efficiency related information when the power of the movable platform at the start position is less than a power replacement threshold.

[0193] In some embodiments, the route power consumption related information includes a power consumption of the movable platform when moving along the idle preset route.

[0194] In some embodiments, the movable platform includes an unmanned aerial vehicle, and the route power consumption related information is related to a height of the idle preset route, and the higher the height of the idle preset route, the greater the route power consumption.

[0195] In some embodiments, the schedulable resource includes the idle movable platform, and the control device 100, when implementing the control of the movable platform to move from the target start position to the target stop position, is further configured to implement:

[0196] determining a target movable platform from the plurality of idle movable platforms;

[0197] controlling the target movable platform to move from the target start position to the target stop position.

[0198] In some embodiments, the control device 100, when implementing the determination of the target movable platform from the plurality of idle movable platforms, is configured to implement:

[0199] determining the target movable platform from the plurality of idle movable platforms according to the remaining power of the idle movable platforms.

[0200] In some embodiments, the movable platform includes an unmanned aerial vehicle, and the control device 100 is further configured to implement:

[0201] in response to the target stop position being occupied, controlling the movable platform to pause and wait at a target pause position, the target pause position not having an overlapping area with the target stop position in a horizontal direction.

[0202] In some embodiments, the target pause position is related to a number of movable platforms queuing in front to reach the target stop position.

[0203] In some embodiments, the more the number of movable platforms in the front queue waiting to reach the target stop position, the farther the distance between the target pause position and the target stop position.

[0204] In some embodiments, the distance between the target pause position and the target stop position comprises a horizontal distance between the target pause position and the target stop position.

[0205] In some embodiments, the control device 100, in implementing the controlling the movable platform to pause at a target pause position in response to the target stop position being occupied, is configured to:

[0206] obtain indication information, the indication information being indicative of the target stop position being occupied, the indication information being sent by a device monitoring a state of the target stop position;

[0207] control the movable platform to pause at a target pause position.

[0208] In some embodiments, the control device 100, in implementing the obtaining the indication information, is configured to:

[0209] obtain the indication information in response to a horizontal distance between the target stop position and the target pause position being within a preset distance range.

[0210] In some embodiments, the control device 100 is further configured to:

[0211] in response to a horizontal distance of a first movable platform from the target start position being less than a safety distance threshold, prohibit a second movable platform from leaving the target start position, the first movable platform and the second movable platform both being from the target start position.

[0212] In some embodiments, the control device 100 is further configured to:

[0213] display real-time monitoring information on a display device, the real-time monitoring information comprising at least one of information related to the start position, information related to the stop position, and information related to the movable platform.

[0214] In some embodiments, the information related to the start position and / or the information related to the stop position comprises a target time, the target time comprising a time at which the movable platform is expected to reach the stop position.

[0215] In some embodiments, the control device 100 is further configured to:

[0216] In response to a time difference between the current time and the target time being less than or equal to a preset time length, output a pre-completion prompt information, the pre-completion prompt information being used to represent that the task of the movable platform is about to be completed.

[0217] In some embodiments, the control device 100 is further used to implement:

[0218] In response to an input of a user, add a new route in the route library, the new route including a starting position corresponding to the new route, a stopping position corresponding to the new route, and a moving path between the starting position corresponding to the new route and the stopping position corresponding to the new route.

[0219] In some embodiments, the control device 100 is further used to implement:

[0220] In response to the starting position corresponding to the new route and / or the stopping position corresponding to the new route and / or the moving path conflicting with other preset routes in the route library, delete the new route.

[0221] In the embodiments of the present application, a terminal is also provided, the terminal including a control device, which can be the control terminal 100 in the above embodiments, and the control device implements the control method of the movable platform provided in the embodiments of the present application.

[0222] In the embodiments of the present application, a computer readable storage medium is also provided, the computer readable storage medium storing a computer program, the computer program including program instructions, and the processor executes the program instructions to implement the steps of the control method of the movable platform provided in the embodiments of the present application.

[0223] The computer readable storage medium can be an internal storage unit of the terminal or the control device, such as a hard disk or a memory of the terminal or the control device. The computer readable storage medium can also be an external storage device of the terminal or the control device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0224] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of controlling a movable platform, characterized by, The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions comprising a plurality of starting and stopping areas of the movable platform in a first region, the movable platform comprising an unmanned aerial vehicle capable of transporting an article, the first region being set by a user; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions comprising a plurality of starting and stopping areas of the movable platform in a second region, the second region being set by a user; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform, the preset route being approved by a regulatory authority of the movable platform.

2. A control method of a movable platform, characterized by, The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform.

3. The method according to claim 1 or 2, characterized in that, The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; 4. The method of claim 3, wherein, determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; 5. The method of claim 3, wherein, wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform.

6. The method of claim 3, wherein, The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; 7. The method of claim 6, wherein, wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform. The method comprises:

8. The method of claim 7, wherein, determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; 9. The method of claim 8, wherein, determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform. The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform. The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform. The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform. The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform. The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform. The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform. The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform. The method comprises: determining a target starting position of the movable platform in a plurality of starting positions, the plurality of starting positions being in a first region; determining a target stopping position of the movable platform in a plurality of stopping positions, the plurality of stopping positions being in a second region, the first region being different from the second region; controlling the movable platform to move from the target starting position to the target stopping position; wherein the target starting position and the target stopping position are determined according to a preset route in a route library of the movable platform.

10. The method of claim 9, wherein, The weight corresponding to the route safety-related information is greater than the weight corresponding to the route efficiency-related information, and the weight corresponding to the route efficiency-related information is greater than the weight corresponding to the route power consumption-related information.

11. The method of claim 8, wherein, The movable platform comprises a UAV, and the route safety-related information comprises take-off / landing conflict information of the UAV.

12. The method of claim 11, wherein, The take-off / landing conflict information comprises at least one of take-off / take-off type conflict, landing / landing type conflict, and take-off / take-off type conflict.

13. The method of claim 12, wherein, The influence of the take-off / take-off type conflict on the weight corresponding to the route safety-related information is greater than the influence of the landing / landing type conflict on the weight corresponding to the route safety-related information, and the influence of the landing / landing type conflict on the weight corresponding to the route safety-related information is greater than the influence of the take-off / take-off type conflict on the weight corresponding to the route safety-related information.

14. The method of claim 8, wherein, The route efficiency-related information comprises a condition of a starting position and / or a stopping position corresponding to the idle preset route.

15. The method of claim 14, wherein, The condition of the starting position and / or the stopping position corresponding to the idle preset route comprises at least one of the stopping position being occupied by a taskless movable platform, the starting position being free of the taskless movable platform, and the movable platform at the starting position having a power less than a power replacement threshold.

16. The method of claim 15, wherein, The influence of the stopping position being occupied by the taskless movable platform on the weight corresponding to the route efficiency-related information is greater than the influence of the starting position being free of the taskless movable platform on the weight corresponding to the route efficiency-related information, and the influence of the starting position being free of the taskless movable platform on the weight corresponding to the route efficiency-related information is greater than the influence of the movable platform at the starting position having the power less than the power replacement threshold on the weight corresponding to the route efficiency-related information.

17. The method of claim 8, wherein, The route power consumption-related information comprises power consumption of the movable platform when moving on the idle preset route.

18. The method of claim 17, wherein, The movable platform comprises a UAV, and the route power consumption-related information is related to a height of the idle preset route, and the higher the height of the idle preset route, the greater the route power consumption.

19. The method of claim 3, wherein, The schedulable resource comprises the idle movable platform, and the control of the movable platform from the target starting position to the target stopping position further comprises: determining a target movable platform from the plurality of idle movable platforms; controlling the target movable platform from the target starting position to the target stopping position.

20. The method of claim 3, wherein, The determination of the target movable platform from the plurality of idle movable platforms comprises: determining the target movable platform from the plurality of idle movable platforms according to residual power of the idle movable platforms.

21. The method of claim 1 or 2, wherein, The movable platform comprises a UAV, and the method further comprises: in response to the target stopping position being occupied, controlling the movable platform to pause at a target pause position, the target pause position not having an overlapping area with the target stopping position in a horizontal direction.

22. The method of claim 21, wherein, The target pause position is related to a number of movable platforms queuing in front to arrive at the target stopping position.

23. The method of claim 22, wherein, The more the number of the movable platforms in the front queue waiting to reach the target stop position, the farther the distance between the target pause position and the target stop position.

24. The method of claim 23, wherein, The distance between the target pause position and the target stop position includes a horizontal distance between the target pause position and the target stop position.

25. The method of claim 21, wherein, The step of controlling the movable platform to pause at the target pause position in response to the target stop position being occupied includes: obtaining indication information, the indication information being used to represent that the target stop position is occupied, the indication information being sent by a device monitoring a state of the target stop position; controlling the movable platform to pause at the target pause position.

26. The method of claim 25, wherein, The step of obtaining the indication information includes: obtaining the indication information in response to a horizontal distance between the target stop position and the unmanned aerial vehicle being within a preset distance range.

27. The method of claim 1 or 2, wherein, The method further includes: inhibiting a second movable platform from leaving the target start position in response to a horizontal distance between the target start position and a first movable platform leaving the target start position being less than a safety distance threshold, the first movable platform and the second movable platform both departing from the target start position.

28. The method of claim 1 or 2, wherein, The method further includes: displaying real-time monitoring information on a display device, the real-time monitoring information including at least one of relevant information of the start position, relevant information of the stop position, and relevant information of the movable platform.

29. The method of claim 28, wherein, The relevant information of the start position and / or the relevant information of the stop position includes a target time, the target time including a time at which the movable platform is expected to arrive at the stop position.

30. The method of claim 29, wherein, The method further includes: outputting a pre-completion prompt information in response to a time difference between a current time and the target time being less than or equal to a preset time length, the pre-completion prompt information being used to represent that a task of the movable platform is about to be completed.

31. The method of claim 1 or 2, wherein, The method further includes: adding a new route in the route library in response to an input of a user, the new route including a moving path between a start position corresponding to the new route and a stop position corresponding to the new route.

32. The method of claim 31, wherein, The method further includes: issuing a prompt information and / or deleting the new route in response to a conflict between the start position corresponding to the new route and / or the stop position corresponding to the new route and / or the moving path and other preset routes in the route library.

33. A control device characterized by comprising: includes: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the control device to at least perform the computer program and, when the computer program is executed, implement the following steps: determining a target start position of the movable platform in a plurality of start positions, the plurality of start positions including a plurality of start-stop areas of the movable platforms located in a first area, the movable platform including an unmanned aerial vehicle capable of transporting an article, the first area being set by a user; determining a target stop position of the movable platform in a plurality of stop positions, the plurality of stop positions comprising a plurality of stop areas of the movable platform located in a second region, the second region being set by a user; controlling the movable platform to move from the target start position to the target stop position; wherein the target start position and the target stop position are determined according to a preset route in a route library of the movable platform, the preset route being approved by a supervisory authority of the movable platform.

34. A control device characterized by comprising: comprise: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the control device to at least perform the computer program and when executing the computer program, implement the following steps: determining a target start position of the movable platform in a plurality of start positions, the plurality of start positions being located in a first region; determining a target stop position of the movable platform in a plurality of stop positions, the plurality of stop positions being located in a second region, the first region being different from the second region; controlling the movable platform to move from the target start position to the target stop position; wherein the target start position and the target stop position are determined according to a preset route in a route library of the movable platform.

35. The apparatus of claim 33 or 34, wherein, when implementing the determining a target start position of the movable platform in a plurality of start positions, the control device is configured to implement: in response to the presence of a schedulable resource, determining a target start position of the movable platform in a plurality of start positions, the schedulable resource being used to schedule the movable platform to move from the first region to the second region.

36. The device of claim 35, wherein, the control device is further configured to implement: in response to the absence of the schedulable resource, outputting prompt information to a user, the prompt information being used to indicate a scheduling failure of the movable platform.

37. The device of claim 35, wherein, the schedulable resource comprises an idle movable platform and an idle preset route.

38. The device of claim 35, wherein, the schedulable resource comprises an idle preset route, and when implementing the determining a target start position of the movable platform in a plurality of start positions and the determining a target stop position of the movable platform in a plurality of stop positions, the control device is configured to implement: determining a target preset route in the idle preset route; determining a start position corresponding to the target preset route as the target start position; determining a stop position corresponding to the target preset route as the target stop position.

39. The device of claim 38, wherein, the idle preset route comprises a plurality of idle preset routes, and when implementing the determining a target preset route in the idle preset route, the control device is configured to implement: determining the idle preset route with the highest scheduling priority as the target preset route.

40. The device of claim 39, wherein, the scheduling priority is related to at least one of route safety-related information, route efficiency-related information, and route power consumption-related information.

41. The device of claim 40, wherein, the route safety-related information, the route efficiency-related information, and the route power consumption-related information have different weights affecting the scheduling priority.

42. The device of claim 41, wherein, The weight corresponding to the route safety-related information is greater than the weight corresponding to the route efficiency-related information, and the weight corresponding to the route efficiency-related information is greater than the weight corresponding to the route power consumption-related information.

43. The device of claim 40, wherein, The movable platform comprises a UAV, and the route safety-related information comprises take-off / landing conflict information of the UAV.

44. The device of claim 43, wherein, The take-off / landing conflict information at least comprises one of take-off / take-off type conflict, landing / landing type conflict, and take-off / take-off type conflict.

45. The device of claim 44, wherein, The influence of the take-off / take-off type conflict on the weight corresponding to the route safety-related information is greater than the influence of the landing / landing type conflict on the weight corresponding to the route safety-related information, and the influence of the landing / landing type conflict on the weight corresponding to the route safety-related information is greater than the influence of the take-off / take-off type conflict on the weight corresponding to the route safety-related information.

46. The device of claim 40, wherein, The route efficiency-related information comprises a condition of a starting position and / or a stopping position corresponding to the idle preset route.

47. The device of claim 46, wherein, The condition of the starting position and / or the stopping position corresponding to the idle preset route comprises at least one of the stopping position being occupied by the taskless movable platform, the starting position being free of the taskless movable platform, and the movable platform at the starting position having a power less than a power replacement threshold.

48. The device of claim 47, wherein, The influence of the stopping position being occupied by the taskless movable platform on the weight corresponding to the route efficiency-related information is greater than the influence of the starting position being free of the taskless movable platform on the weight corresponding to the route efficiency-related information, and the influence of the starting position being free of the taskless movable platform on the weight corresponding to the route efficiency-related information is greater than the influence of the movable platform at the starting position having the power less than the power replacement threshold on the weight corresponding to the route efficiency-related information.

49. The device of claim 40, wherein, The route power consumption-related information comprises power consumption of the movable platform when moving on the idle preset route.

50. The device of claim 49, wherein, The movable platform comprises a UAV, and the route power consumption-related information is related to a height of the idle preset route, and the higher the height of the idle preset route, the greater the route power consumption.

51. The device of claim 34, wherein, The schedulable resource comprises the idle movable platform, and the control device, when implementing the control of the movable platform from the target starting position to the target stopping position, is further configured to implement: determining a target movable platform from the plurality of idle movable platforms; controlling the target movable platform from the target starting position to the target stopping position.

52. The device of claim 35, wherein, When implementing the determination of the target movable platform from the plurality of idle movable platforms, the control device is configured to implement: determining the target movable platform from the plurality of idle movable platforms according to residual power of the idle movable platforms.

53. The device of claim 33 or 34, wherein, The movable platform comprises a UAV, and the control device is further configured to implement: in response to the target stopping position being occupied, controlling the movable platform to pause at a target pause position, and the target pause position does not have an overlapping area with the target stopping position in a horizontal direction.

54. The device of claim 53, wherein, The target pause position is related to a number of movable platforms that are queued in front of the target stop position.

55. The device of claim 54, wherein, The more the number of movable platforms that are queued in front of the target stop position, the farther the distance between the target pause position and the target stop position.

56. The device of claim 55, wherein, The distance between the target pause position and the target stop position includes a horizontal distance between the target pause position and the target stop position.

57. The device of claim 53, wherein, The control device, when implementing the control of the movable platform to pause at the target pause position in response to the target stop position being occupied, is configured to: obtain indication information, the indication information being used to represent that the target stop position is occupied, the indication information being sent by a device that monitors a state of the target stop position; control the movable platform to pause at the target pause position.

58. The device of claim 57, wherein, The control device, when obtaining the indication information, is configured to: obtain the indication information in response to a horizontal distance between the target stop position and the unmanned aerial vehicle being within a preset distance range.

59. The device of claim 33 or 34, wherein, The control device is further configured to: inhibit a second movable platform from leaving the target start position in response to a horizontal distance between the target start position and a first movable platform being less than a safety distance threshold, the first movable platform and the second movable platform both being from the target start position.

60. The device of claim 33 or 34, wherein, The control device is further configured to: display real-time monitoring information on a display device, the real-time monitoring information including at least one of relevant information of the start position, relevant information of the stop position, and relevant information of the movable platform.

61. The device of claim 60, wherein, The relevant information of the start position and / or the relevant information of the stop position includes a target time, the target time including a time at which the movable platform is expected to arrive at the stop position.

62. The device of claim 61, wherein, The control device is further configured to: output a pre-completion prompt information in response to a time difference between a current time and the target time being less than or equal to a preset time length, the pre-completion prompt information being used to represent that a task of the movable platform is about to be completed.

63. The device of claim 33 or 34, wherein, The control device is further configured to: add a new route in the route library in response to an input of a user, the new route including a movement path between a start position corresponding to the new route and a stop position corresponding to the new route.

64. The device of claim 63, wherein, The control device is further configured to: issue a prompt information and / or delete the new route in response to the start position corresponding to the new route and / or the stop position corresponding to the new route and / or the movement path conflicting with other preset routes in the route library.

65. A terminal, comprising: The control device is configured to implement the control method of the movable platform according to any one of claims 1 to 32.

66. A storage medium for computer readable use comprising: The storage medium stores a computer program, the computer program being executed by a processor to cause the processor to implement the control method of the movable platform according to any one of claims 1 to 32.

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