Methods, apparatuses and systems for controlling mobile platform, and mobile platform, terminal device and medium

Abstract

Provided in the present application are methods, apparatuses and systems for controlling a mobile platform, and a mobile platform, a terminal device and a medium. A method comprises: during the operation of a mobile platform, in response to the mobile platform having identified within a current sensing range a plurality of target items extending from a preset node, unlocking the sensing range of the mobile platform, so as to allow the adjustment of the sensing range of the mobile platform, such that the mobile platform identifies within the adjusted sensing range whether there is a newly added target item; determining one of the target items from among the identified target items to serve as a target object; and controlling the mobile platform to move along a target path, wherein the target path is substantially parallel to the extension direction along which the target object extends from the preset node. The present embodiment helps to improve the integrity of a mobile platform in executing related operation tasks.

Description

Control methods, devices, systems, mobile platforms, terminal equipment, and media for mobile platforms Technical Field

[0001] This application relates to the field of mobile platform technology, and more specifically, to a control method, apparatus, system, mobile platform, terminal equipment, and medium for a mobile platform. Background Technology

[0002] Currently, mobile platforms can be used to perform various tasks in many scenarios, such as aerial photography, agriculture, surveying, logistics, and inspection. However, mobile platforms still have some shortcomings in performing tasks, such as poor task completion rates. Therefore, a better control scheme for mobile platforms is needed to enable them to better complete tasks.

[0003] Summary of the Invention

[0004] In view of this, this application provides a control method, apparatus, system, mobile platform, terminal equipment, and medium for a mobile platform to solve the problem that mobile platforms cannot perform their tasks well in related technologies.

[0005] Firstly, a control method for a mobile platform is provided, the method comprising:

[0006] During the operation of the mobile platform, in response to the mobile platform identifying multiple target objects extending from a preset node within the current sensing range, the sensing range of the mobile platform is unlocked to allow adjustment of the sensing range of the mobile platform, so that the mobile platform can identify whether there are any new target objects within the adjusted sensing range.

[0007] From the identified target objects, determine one of the target objects as the target object; and

[0008] The movable platform is controlled to move along a target path, wherein the target path is approximately parallel to the extension direction of the target object extending from the preset node.

[0009] By applying the method of the first aspect, during the operation of the mobile platform, in response to the mobile platform identifying multiple target objects extending from the preset node within the current sensing range, the sensing range of the mobile platform can be unlocked to allow adjustment of the sensing range of the mobile platform. This allows the mobile platform to identify whether there are any new target objects within the adjusted sensing range, thereby avoiding the omission of corresponding target objects due to the locking or restriction of the sensing range when determining the target object from the target objects, which helps to improve the completeness of the mobile platform in performing related tasks.

[0010] Secondly, a control method for a mobile platform, the method comprising:

[0011] During the process of power line inspection performed by the mobile platform, in response to the mobile platform identifying multiple power lines extending from preset nodes within the current sensing range, the sensing range of the mobile platform is unlocked to allow adjustment of the sensing range of the mobile platform, so that the mobile platform can identify whether there are any newly added power lines within the adjusted sensing range.

[0012] From the identified power lines, one of the power lines is determined as the target power line; and

[0013] The mobile platform is controlled to inspect the target power line along a target path, which is approximately parallel to the direction in which the target power line extends from the preset node.

[0014] Thirdly, a control method for a mobile platform, the method comprising:

[0015] Acquire the location information of multiple target objects and related task information, wherein the multiple target objects extend from a preset node in a direction away from the preset node;

[0016] Based on the location information of multiple target objects and related task information, the identification information of multiple target objects is automatically determined. The identification information of multiple target objects includes the location of each target object and information indicating whether the relevant task for the target object has been completed or / or information indicating whether the relevant task for the target object has not been completed; and

[0017] Send identification information for multiple target objects.

[0018] Fourthly, a control method for a mobile platform, the method comprising:

[0019] Acquire the identification information of multiple target objects, wherein the multiple target objects extend from a preset node in a direction away from the preset node; and

[0020] A marker is displayed on an image containing multiple target objects to indicate the identification information of the multiple target objects. The identification information of the multiple target objects is automatically determined based on the location information of the multiple target objects and related task information. The identification information of the multiple target objects includes the location of each target object and relevant information indicating that the relevant task of the target object has been completed or / and relevant information indicating that the relevant task of the target object has not been completed.

[0021] Fifthly, a control method for a mobile platform, the method comprising:

[0022] Acquire the location information of multiple target objects and related task information, wherein the multiple target objects extend from a preset node in a direction away from the preset node;

[0023] Based on the location information of multiple target objects and related task information, the identification information of multiple target objects is automatically determined. The identification information of the multiple target objects includes the location of each target object and information indicating whether the relevant task for the target object has been completed, or / and information indicating whether the relevant task for the target object has not been completed; and

[0024] Display markers on an image containing multiple target objects to indicate the identification information of the multiple target objects.

[0025] By applying any of the methods in aspects three through five, the mobile platform can automatically determine the identification information of multiple target objects extending from preset nodes during operation. This identification information includes the location of each target object and whether its related tasks have been completed. This helps users intuitively and quickly locate target objects that have not yet performed related tasks as target objects, thereby controlling the mobile platform to perform related tasks on those target objects. This improves the completeness and efficiency of user control over the mobile platform's execution of related tasks. For example, during power line inspection, the platform can display the location of each power line extending from the intersection and whether it has already been inspected, helping users quickly locate uninspected power lines, preventing missed or repeated inspections, and improving the completeness and efficiency of the mobile platform's power line inspection tasks.

[0026] A sixth aspect, a control device for a mobile platform, comprising: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the at least one processor are configured individually or jointly with the computer program code to enable the control device to perform at least the steps of the method according to any one of the first to fifth aspects.

[0027] A seventh aspect, a mobile platform, comprising: a body; a power unit disposed on the body for providing power to the mobile platform; and one or more processors disposed on the body for performing the method described in the first, second, third, or fifth aspect of the claims.

[0028] Eighth aspect, a terminal device including at least one processor for performing the method described in the fourth aspect.

[0029] Ninth aspect, a control system for a mobile platform, comprising the mobile platform described in the seventh aspect and the terminal equipment described in the eighth aspect.

[0030] A tenth aspect is a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the method as described in any one of the first to fifth aspects. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 is a schematic diagram of the control system of a mobile platform according to an embodiment of this application.

[0033] Figure 2 is a schematic diagram of the structure of an aircraft according to an embodiment of this application.

[0034] Figure 3A is a flowchart of a control method for a mobile platform according to an embodiment of this application.

[0035] Figure 3B is a schematic diagram of a power inspection scenario according to an embodiment of this application.

[0036] Figure 4A is a schematic diagram of the user interface of one embodiment of this application.

[0037] Figure 4B is a schematic diagram of the user interface of one embodiment of this application.

[0038] Figure 4C is a schematic diagram of the user interface of one embodiment of this application.

[0039] Figure 5 is a flowchart of a control method for a mobile platform according to an embodiment of this application.

[0040] Figure 6 is a flowchart of a control method for a mobile platform according to an embodiment of this application.

[0041] Figure 7 is a flowchart of a control method for a mobile platform according to an embodiment of this application.

[0042] Figure 8 is a flowchart of a control method for a mobile platform according to an embodiment of this application.

[0043] Figure 9 is a structural diagram of a control device for a mobile platform according to an embodiment of this application.

[0044] Figure 10 is a structural diagram of a terminal device according to an embodiment of this application.

[0045] Figure 11 is a structural diagram of an aircraft according to an embodiment of this application. Detailed Implementation

[0046] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0047] To address the problems in related technologies, this application provides a control system for a mobile platform. Referring to Figure 1, the system may include a terminal device 100 and a mobile platform 200. For ease of illustration, Figure 1 only shows one terminal device 100 and one mobile platform 200. It is understood that in actual scenarios, the number of terminal devices 100 and mobile platforms 200 can be arbitrary, and this embodiment does not limit this.

[0048] The terminal device 100 can be communicatively connected to the mobile platform 200 and can be any electronic device with communication and interaction functions with the mobile platform 200, including but not limited to remote control devices with displays, smartphones, personal digital assistants, tablet computers, multimedia devices, wearable devices or personal computers, etc. This embodiment does not limit this.

[0049] Both the terminal device 100 and the mobile platform 200 have the ability to communicate with each other. Information exchange between the two parties can be relayed through a cloud server or through the remote control device of the mobile platform 100; or a communication link can be established between the terminal device 100 and the mobile platform 200, and the two parties can exchange information based on the established communication link.

[0050] The mobile platform 200 in this embodiment can refer to any movable device. In some embodiments, the mobile platform 200 may have its own power unit, which can drive the mobile platform 200 to move. In some embodiments, the mobile platform 200 requires an external device to drive its movement. The above is only for illustrative purposes, and this embodiment does not specifically limit how the mobile platform 200 achieves movement. The mobile platform 200 can be a manned platform device or an unmanned platform device. The mobile platform 200 includes, but is not limited to, aircraft, vehicles, cleaning equipment, ships, tunnel or pipeline inspection equipment, agricultural robots, logistics vehicles, inspection equipment or underwater operation equipment, handheld gimbals, action cameras, etc. In different practical application scenarios, the mobile platform 100 in this embodiment can be different devices. For example, in scenarios such as power line inspection, river inspection, or pipeline survey, the mobile platform 100 can be an aircraft; in scenarios such as underground pipeline inspection, the mobile platform 100 can be an aircraft, a ship, or a mobile robot; or, the mobile platform 100 can be a comprehensive mobile platform that can navigate in the air, on the water, and underwater, or a platform that can move on the ground and in the air, etc.

[0051] Taking the mobile platform 200 as an example of an aircraft, it will be apparent to those skilled in the art that any type of aircraft can be used without restriction; for example, the aircraft can be small or large. The aircraft can be a manned aircraft or an unmanned aircraft. In some embodiments, the aircraft can be a rotorcraft, such as a multi-rotor aircraft propelled by multiple propulsion devices through the air. The aircraft can also be a fixed-wing aircraft, or a combination of rotor and fixed-wing. The embodiments of this application are not limited to these, and the aircraft can also be other types of aircraft.

[0052] In an exemplary embodiment, please refer to FIG2, which is a schematic diagram of an aircraft 200 in this embodiment. The aircraft 200 may include a power system 210, a flight control system 220, a frame, and a gimbal 230 mounted on the frame.

[0053] The frame may include a fuselage and landing gear (also known as landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, the arms extending radially from the center frame. The landing gear is connected to the fuselage and provides support during landing of the aircraft 200.

[0054] The power system 210 may include one or more electronic speed controllers (ESCs) 211, one or more propellers 213, and one or more motors 212 corresponding to the propellers 213. The motors 212 are connected between the ESCs 211 and the propellers 213, and the motors 212 and propellers 213 are mounted on the arms of the aircraft 200. The ESCs 211 receive drive signals generated by the flight control system 220 and provide drive current to the motors 212 according to the drive signals to control the rotational speed of the motors 212. The motors 212 drive the propellers to rotate, thereby providing power for the flight of the aircraft 200, enabling the aircraft 200 to achieve one or more degrees of freedom of motion. In some embodiments, the aircraft 200 may rotate about one or more rotation axes. For example, the rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motors 212 may be DC motors or AC motors. Additionally, the motors 212 may be brushless motors or brushed motors.

[0055] The flight control system 220 may include a flight controller 221 and a sensing system 222. The sensing system 222 is used to measure the attitude information of the aircraft 200, i.e., the position and state information of the aircraft 200 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system can also be used to collect observation data from the space environment. The sensing system 222 may include one or more of the following: gyroscope, ultrasonic sensor, electronic compass, inertial measurement unit (IMU), visual sensor, infrared sensor, TOF (Time of Flight) sensor, lidar, millimeter-wave radar, thermal imager, global navigation satellite system, barometer, etc. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 221 is used to control the flight of the aircraft 200; for example, it can control the flight of the aircraft 200 based on the attitude information and observation data measured by the sensing system 222. It should be understood that the flight controller 221 can control the aircraft 200 according to pre-programmed instructions; or, it can control the aircraft 200 in response to one or more remote control signals from other devices, which may be devices that can communicate with the aircraft 200, including but not limited to the mobile platform 100, the aircraft 200 remote control device, the user's mobile device, etc.

[0056] The gimbal 230 may include a motor 232. The gimbal is used to carry the shooting device. The flight controller 221 can control the movement of the gimbal 230 via the motor 232. It should be understood that the gimbal 230 may be independent of the aircraft 200 or may be part of the aircraft 200. It should be understood that the motor 232 may be a DC motor or an AC motor. In addition, the motor 232 may be a brushless motor or a brushed motor. It should also be understood that the gimbal may be located at the top or bottom of the aircraft 200.

[0057] The payload 233 includes, but is not limited to, at least one of the following: a shooting device, a radar device, an acoustic detection device, a mapping device, a spraying device, an infrared detection device, a lighting device, a communication device, and a robotic arm. For example, the shooting device may be a camera or video camera, etc., used to capture images. The shooting device can communicate with the flight controller and take pictures under the control of the flight controller. In this embodiment, the shooting device 233 includes at least a photosensitive element, such as a complementary metal-oxide-semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. This embodiment uses a shooting device as an example of a payload; other types of payloads can be described similarly. It is understood that the payload 233 can also be directly fixed to the aircraft 200, thus the gimbal 230 can be omitted. The payload can be a sensing sensor mounted on a mobile platform. Optionally, the sensing sensor may include one or more sensors capable of sensing the environment surrounding the aircraft 200. Optionally, the sensing sensor may also include one or more sensors capable of sensing the state of the aircraft 200 itself. The sensing sensor may include a single type or multiple types of sensors.

[0058] Currently, the mobile platform 200 can be used to perform tasks in many scenarios. However, in one exemplary scenario, when the mobile platform 200 identifies multiple target objects extending from preset nodes during operation, it needs to select one as the target object. The mobile platform 200 is then controlled to move along a direction roughly parallel to the extension of the target object, thereby performing the relevant task during movement. However, due to the locked sensing range of the mobile platform 200, only one target object can be selected from the multiple target objects identified within the current sensing range. Other target objects outside the current sensing range may not be identified, potentially causing other target objects to be missed, thus affecting the completeness of the mobile platform 200's task execution.

[0059] To address the aforementioned technical problems, in some embodiments, as shown in Figure 3A, which is a flowchart of a control method for a movable platform 200 in this embodiment (denoted as 300 in the figure), the method may include the following steps:

[0060] In step 302, during the operation of the mobile platform 200, in response to the mobile platform 200 identifying multiple target objects extending from the preset node within the current sensing range, the sensing range of the mobile platform 200 is unlocked to allow adjustment of the sensing range of the mobile platform 200 so that the mobile platform 200 can identify whether there are any new target objects within the adjusted sensing range.

[0061] In step 304, one target object is identified from the identified target objects as the target object.

[0062] In step 306, the movable platform 200 is controlled to move along the target path. The target path is approximately parallel to the extension direction of the target object extending from the preset node.

[0063] In this embodiment, during the operation of the mobile platform 200, in response to the mobile platform 200 identifying multiple target objects extending from preset nodes within the current sensing range, the sensing range of the mobile platform 200 can be unlocked to allow adjustment of the sensing range of the mobile platform 200. This allows the mobile platform 200 to identify whether there are any new target objects within the adjusted sensing range, thereby avoiding the omission of corresponding target objects due to the locking or restriction of the sensing range when determining target objects from among the target objects. This helps to improve the completeness of the mobile platform 200 in performing related tasks.

[0064] In some embodiments, process 300 may be applied to mobile platform 200. It should be noted that certain or all aspects of process 300 (or any other process diagram described herein, or variations and / or combinations thereof) may be executed by one or more processors or combinations thereof on mobile platform 200, terminal device 100, any other system or device. Certain or all aspects of process 300 (or any other process herein, or variations and / or combinations thereof) may be executed under the control of one or more computer / control systems configured with executable instructions, and may be collectively executed on one or more processors in the form of code (e.g., executable instructions, one or more computer programs, or one or more application programs) via hardware or a combination thereof. The code may be stored on a computer-readable storage medium, for example, in the form of a computer program containing multiple instructions executable by one or more processors. The computer-readable storage medium may be non-transitory. The order of the described operations is not intended to be limiting; any number of described operations may be combined in any order and / or in parallel to implement the process.

[0065] In practical applications, various factors can limit the sensing range of the mobile platform 200, making it difficult for it to achieve 360-degree sensing capability without requiring adjustments. For example, the mobile platform 200 can be set to automatically execute tasks. The purpose of automatic task execution is to minimize user intervention; therefore, the mobile platform 200 typically does not require much user control during automatic task execution. For instance, the sensing range of the mobile platform 200 may be locked during automatic task execution. However, due to the hardware limitations of the sensing sensor itself, the sensing range is finite. Within this limited sensing range, the mobile platform 200 can only sense a limited environment, such as being unable to achieve 360-degree sensing.

[0066] As an example, taking a power line inspection scenario, the mobile platform 200 can inspect power lines. During inspection, the mobile platform 200 typically moves automatically along a path roughly parallel to the power line to collect data from the power line using sensors such as LiDAR and cameras. This data can then be used for modeling and other processing. For instance, the mobile platform 200 supports autonomous identification and automatic tracking of transmission and distribution power lines, achieving automatic flight and data collection. In the case of an aircraft, this can be called line-following flight. Therefore, the sensors of the mobile platform 200 can be directed towards the power line. During operation, the sensing range is typically locked, maintaining movement along a path roughly parallel to the power line, keeping the power line within a certain position within the sensing range. It can be assumed that frequent adjustments to the sensing range of the mobile platform 200 will affect the inspection results. For example, if the power line initially remains in the middle of the sensing range, frequent adjustments to the sensing range will cause the power line's position within the sensing range to change frequently, thus affecting the inspection results or subsequent modeling. For example, this could cause the accuracy of the established model to become uneven. Therefore, when the mobile platform 200 automatically performs tasks, the sensing range is usually locked, and adjusting the sensing range of the mobile platform 200 is not a routine operation.

[0067] However, the field of view of the sensing sensors mounted on the mobile platform 200 is limited. For example, taking LiDAR as an example, some LiDARs that perform repetitive scanning have a horizontal field of view of 70° and a vertical field of view of 3°; some non-repetitive scanning LiDARs also have a horizontal field of view of 70° and a vertical field of view of 3°. When the sensing range is locked, the mobile platform 200 cannot have 360-degree sensing capability, which may result in missed detections of other target objects outside the current sensing range. In particular, for some more complex scenarios, such as when there may be many target objects at a certain node, the probability of missed detections is higher.

[0068] For example, in a power line inspection scenario, as shown in Figure 3B, which is a schematic diagram of a power line inspection scenario illustrated in this embodiment, multiple power towers are shown in Figure 3B. The movable platform 200 can start power line inspection from the leftmost power tower G10 in Figure 3B. A set of power lines extends from the leftmost power tower G10 to the next power tower G20. Starting from the second power tower G20, power tower G20 can have multiple sets of different power lines extending in different directions to other power towers at different locations, as shown in the three sets of power lines in Figure 3B, extending to power towers G31, G32, and G33 respectively. There are also three sets of power lines at power tower G32, extending to power towers G41, G42, and G43 respectively. It can be seen that power towers G20 and G32 actually form a fork in the road.

[0069] As an example, the mobile platform 200 starts its inspection along the power line from G10, continuing at tower G20 along the second group of power lines shown in Figure 3B. This group of power lines extends to tower G32, and then to tower G42. When inspecting the second group of power lines, due to the locked sensing range and the limited field of view of the mobile platform 200's sensors, the mobile platform 200 can only identify two groups of power lines within this limited sensing range, such as the first and second groups. The third group of power lines is not detected because it is not within the sensing range. Alternatively, the third group of power lines may be within the sensing range, but due to factors such as viewing angle, it is not easy for the mobile platform 200 to accurately identify it. Therefore, the third group of power lines may be missed by the mobile platform 200.

[0070] In addition to the power line inspection scenarios mentioned above, similar problems also exist in inspection scenarios such as rivers, pipelines, or tunnels.

[0071] As can be seen, in automated operation scenarios, the conventional operation of a mobile platform is to lock its sensing range. However, this embodiment provides a solution contrary to existing approaches, which can unlock the sensing range during operation to allow adjustment of the sensing range of the mobile platform 200. Based on this, during the operation of the mobile platform 200, in response to the mobile platform 200 identifying multiple target objects extending from preset nodes within the current sensing range, the locking of the sensing range of the mobile platform 200 can be unlocked to allow adjustment of the sensing range. This allows the mobile platform 200 to identify whether there are any newly added target objects within the adjusted sensing range. Therefore, when identifying target objects from among the target objects, it avoids missing corresponding target objects due to the locking or restriction of the sensing range, which helps to improve the completeness of the mobile platform 200 in performing related tasks.

[0072] The solution in this embodiment can be applied to various scenarios. For example, in a power line inspection scenario, the preset node can be a power tower, and the target object can be a power line extending from the power tower. In a pipeline inspection scenario, the preset node can be an object that can extend into multiple pipelines, such as a support structure or a pipeline intersection, and the pipelines can be water pipelines or gas pipelines. In a river inspection scenario, the preset node can be a diversion point, and the target object can be the river. The above scenarios are just examples, and other application scenarios are possible in actual applications. This embodiment does not limit these scenarios.

[0073] As an example, the mobile platform 200 may be equipped with one or more sensing sensors to perceive environmental information of the surrounding environment; the sensing sensors include, but are not limited to, image sensors, infrared sensors, thermal imagers, lidar, millimeter-wave radar or ultrasonic sensor imaging devices, etc., and the mobile platform 200 may acquire the sensing data collected by the sensing sensors.

[0074] During the movement of the movable platform 200, if the current sensing range only identifies a target object, the movable platform 200 can follow the target path. If the current sensing range identifies a preset node but no multiple target objects extend from that preset node (e.g., no target objects extend from it or there is only one target object), the sensing range can remain locked. If multiple target objects extend from the preset node, the sensing range of the movable platform 200 can be unlocked.

[0075] As an example, the mobile platform 200 can identify preset nodes and whether multiple target objects extend from the preset nodes in various ways. For example, it can identify objects based on data collected by sensing sensors; if the collected data includes data collected by lidar, it can identify objects based on point cloud recognition or other technologies; if the collected data includes data collected by a camera, it can identify objects based on image recognition or other technologies; it can also combine point cloud recognition and image recognition technologies for identification.

[0076] There are several ways to unlock the sensing range, such as the mobile platform 200 unlocking itself, the mobile platform 200 unlocking itself after prompting the user, the mobile platform 200 unlocking after receiving confirmation from the user after prompting the user, or unlocking based on a received user command, etc.

[0077] The adjustment of the sensing range of the mobile platform 200 can be achieved in various ways. For example, the mobile platform 200 can adjust itself, it can adjust itself after prompting the user, it can adjust after receiving confirmation from the user, or it can adjust based on received user commands, and so on. Furthermore, adjusting the sensing range can include adjusting the position and / or orientation of the mobile platform 200, adjusting the position and / or orientation of the sensing sensors on the mobile platform 200, and adjusting the position and / or orientation of the gimbal equipped with the sensing sensors on the mobile platform 200. After adjusting the sensing range, a new sensing range is obtained, and the mobile platform 200 can identify whether there are any newly added target objects within the adjusted sensing range to prevent missed detections. For example, the adjusted sensing range may or may not contain newly added target objects.

[0078] As can be seen from the above embodiments, in practical applications, users can see changes in the sensing range of the mobile platform from the user interface, or they may directly see changes in the pose of the mobile platform or its sensing sensors, or they may see changes in the target object identified by the mobile platform from the interactive interface.

[0079] As an example, as shown in Figure 3B, the mobile platform 200 can begin its inspection from power tower G10, identifying any extending power lines within its current sensing range. Depending on the needs, the mobile platform 200 may choose not to unlock the sensing range, or it may unlock the sensing range to allow adjustment of the sensing range to sense all power lines extending from power tower G10. At power tower G10, the mobile platform 200 can automatically target the power line extending from G10 and move along the target path, which is approximately parallel to the direction of the target line's extension. The movable platform 200 can identify power lines extending from the power tower G20 during movement and unlock the sensing range to allow adjustment of the sensing range to identify any newly added power lines. For example, in the illustration, the movable platform 200 identifies the first and second groups of power lines within the current sensing range. After unlocking the sensing range to allow adjustment, the movable platform 200 can further identify a newly added third group of power lines. Ultimately, the movable platform 200 can identify three groups of power lines extending from the power tower G20. These three groups of power lines are just an example; in real-world scenarios, the power tower G20 can extend any number of power lines. For example, the power tower G20 can extend four, five, six, or ten groups of power lines, and the movable platform 200 can identify all of these power lines, or even more power lines than currently within the sensing range. Of course, even after the movable platform 200 unlocks the sensing range to allow adjustment, it may not identify any new power lines. For example, power tower G20 may only extend two sets of power lines. In the illustration, the movable platform 200 can select the second set of power lines as the target object. The movable platform 200 can perform the process of identifying all target objects as described above, either before reaching power tower G20 or at power tower G20. If identification occurs before reaching power tower G20, the movable platform 200 can continue moving along the target path until the work on the power lines before power tower G20 is completed, and then continue moving along the target path corresponding to the second set of power lines of power tower G20.

[0080] Similarly, during its movement along the target path corresponding to the second group of power lines on power tower G20, the movable platform 200 will detect power lines extending from power tower G32 and unlock the sensing range to allow adjustment of the sensing range to identify any newly added power lines. For example, in the illustration, the movable platform 200 identifies the first and second groups of power lines within the current sensing range. After unlocking the sensing range to allow adjustment, the movable platform 200 can further identify the newly added third group of power lines. Ultimately, the movable platform 200 can identify three groups of power lines extending from power tower G32. The movable platform 200 can select the second group of power lines extending from power tower G32 as the target object. After completing the task of working on the second group of power lines extending from power tower G20, the movable platform 200 continues to move along the target path corresponding to the second group of power lines extending from power tower G32. The movable platform 200 can identify power tower G42, which does not have any power lines extending from it. Based on the identified power towers and their extant target objects, the mobile platform 200 determines an unfinished target object as the target object, and controls the mobile platform 200 to move along the target path of the newly determined target object. For example, the first group of power lines extending from power tower G32 can be selected. The mobile platform 200 can repeatedly execute the above process to eventually complete the work tasks for all power lines.

[0081] In some examples, the method may further include controlling the mobile platform 200 to perform relevant work tasks while it moves along the target path. In this embodiment, the mobile platform 200, after identifying a target object as the target, can perform relevant work tasks while moving along the target path, thus enabling automated work on the target object.

[0082] In practical applications, there can be various related tasks; for example, it can be a cleaning task, a data collection task, a spraying task, a maintenance task, or a robotic arm operation task. The tasks can be set according to the actual scenario, and this embodiment does not limit them.

[0083] In some examples, controlling the mobile platform 200 to perform related tasks may include controlling the sensing sensors mounted on the mobile platform 200 to collect sensing data toward the target object. In this embodiment, the target object is the task object, and the mobile platform 200 can automatically control the sensing sensors to collect sensing data toward the target object, thereby realizing the task on the target object. For example, the mobile platform 200 can control devices such as lidar and / or imaging equipment to collect sensing data toward the target object. The collected sensing data can have various uses, such as identifying the target object, or subsequently modeling the target object, etc.

[0084] For example, taking a power line as the target object, the mobile platform 200 moves along a path roughly parallel to the power line, and can simultaneously perform power line inspection tasks. As an example, performing related tasks may include the mobile platform 200 acquiring data collected by sensing sensors on the target object, and may also include the mobile platform 200 acquiring other data through other sensors, such as obtaining geographical location information and other information.

[0085] In some examples, controlling the movable platform 200 to move along a target path may include controlling the movable platform 200 to move above the target object along the target path. In this embodiment, the movable platform 200 can move above the target object along the target path, which facilitates the movable platform 200 in collecting data based on sensing sensors, ensures the safety of the movable platform 200, and allows the movable platform 200 to easily observe the environment. For example, the movable platform 200 can move above a power line in a direction approximately parallel to the power line.

[0086] In some examples, identifying multiple target objects extending from a preset node can include: identifying a preset node based on sensing data from the mobile platform 200, from which multiple target objects can extend. In real-world scenarios, the number of target objects extending from a preset node can be one or more. In this embodiment, by identifying a preset node and the multiple target objects extending from it, it is possible to accurately determine whether the sensing range needs to be adjusted. For example, if the mobile platform 200 identifies a power tower based on sensing data, and the power tower extends into multiple (two or more) power lines, it can determine that the sensing range of the mobile platform 200 can be unlocked to allow adjustment of the sensing range. In real-world scenarios, there may be situations where two power lines with different extension directions intersect. However, if no preset node is observed within the sensing range, it is not necessary to determine whether the sensing range needs to be adjusted, thus preventing false identification. For example, if there are two power lines with different extension directions, but no power tower appears, it indicates that these two power lines with different extension directions do not extend from a single power tower. Therefore, it is known that there is no intersection within the current sensing range of the mobile platform 200.

[0087] In some cases, the target objects intersect at preset nodes, or the target objects extend in different directions from different positions at the preset nodes. For example, based on actual sensing data and recognition technology, the mobile platform may identify the points where power lines intersect with power towers; or, it may identify power towers from sensing data and identify that power lines extend in different directions from different positions on the power towers. Upon identifying such situations, the mobile platform 200 can accurately determine that a preset node exists within its sensing range, and that multiple target objects extend from the preset node, to determine whether to unlock the sensing range of the mobile platform 200.

[0088] There are several ways to unlock the sensing range of the mobile platform 200. In some examples, unlocking the sensing range of the mobile platform 200 may include switching from an automatic control mode to a manual control mode. In practical applications, the mobile platform 200 can have multiple modes. For example, the mobile platform 200 can perform tasks in automatic control mode; in automatic control mode, the user does not need to control the mobile platform 200. To solve the problem of missed detection, after recognizing that the sensing range needs to be unlocked, the mobile platform 200 exits the automatic control mode and switches from automatic control mode to manual control mode. Thus, the user can issue a sensing range adjustment command to the mobile platform 200 based on the mobile platform 200 being in manual control mode. Therefore, the mobile platform 200 of this embodiment can determine the best time to unlock the sensing range under automatic control and adjust the sensing range in a timely manner.

[0089] In some examples, adjusting the sensing range of the mobile platform 200 may include: automatically adjusting the sensing range of the mobile platform 200; for example, the mobile platform 200 may automatically adjust the sensing range, thereby eliminating the need for manual control by the user and reducing user operations.

[0090] Besides the automatic adjustment of the sensing range by the mobile platform 200, in other examples, adjusting the sensing range of the mobile platform 200 may include adjusting the sensing range in response to receiving instruction A. As an example, instruction A may be issued by a user, and the mobile platform 200 may acquire instruction A through identification or reception. For example, it may be received by the mobile platform 200 from a communicable terminal device 100. For instance, if the user issues instruction A through terminal device 100, the mobile platform 200 can adjust its sensing range under the control of instruction A. As an example, instruction A may be an instruction indicating confirmation that the sensing range of the mobile platform 200 can be adjusted; in this case, the mobile platform 200 can perform specific adjustments to the sensing range after receiving instruction A.

[0091] As an example, adjusting the sensing range of the mobile platform 200 in response to receiving instruction A may include: determining prompt information a, prompt information a being used to prompt the user to manually control the mobile platform 200; and adjusting the sensing range of the mobile platform 200 in response to receiving instruction A, wherein instruction A is generated based on the user's control operation.

[0092] In this embodiment, the prompt message 'a' can be implemented in various ways to prompt the user to manually control the movable platform 200. Through this prompt message 'a', the user can be informed of the need or reason for adjusting the sensing range. For example, if the movable platform 200 currently observes multiple target objects extending from a preset node, the user can issue command A to the movable platform 200 through the terminal device 100, enabling the movable platform 200 to adjust to a better sensing range.

[0093] In some examples, adjusting the sensing range of the mobile platform 200 in response to receiving instruction A may include: exiting the automatic control mode to receive instruction A; and adjusting the sensing range of the mobile platform 200 in response to receiving instruction A. In this embodiment, the timing of the mobile platform 200 exiting the automatic control mode may be performed after determining the prompt message a, so that the mobile platform 200 can receive instruction A issued by the user through the terminal device 100.

[0094] As an example, taking the output of prompt message 'a' in the user interface as an example, prompt message 'a' can be an image, text, or a live view of the captured image. Figure 4A shows a schematic diagram of prompt message 'a' in this embodiment. Prompt message 'a' in Figure 4A can contain a combination of various information, such as images captured by the camera mounted on the mobile platform 200. As shown in Figure 4A, the user interface displays the power tower and three sets of power lines extending from the power tower captured by the mobile platform 200, prompting the user that the mobile platform 200 has identified the power tower and the multiple sets of power lines extending from it. Furthermore, to highlight the power lines in the captured image, the user interface also displays the identification information of each identified power line, including the numbers of the three identified power lines and the power lines displayed using AR (Augmented Reality). The user interface also displays the text "Manual Takeover" in the captured image, prompting the user to manually take over the mobile platform 200 to control it to adjust the sensing range for line identification.

[0095] In some examples, the instructions in this embodiment can be obtained by the terminal device 100 based on the user's operation behavior on the terminal device 100 towards the mobile platform 200 and sent directly to the mobile platform 200, or they can be relayed through other devices.

[0096] In other examples, instructions can be generated based on user gestures recognized by the camera. For instance, the camera of terminal device 100 can capture a user image, then recognize the user gestures within the image, and generate corresponding instructions based on the meaning indicated by the gestures. Alternatively, the camera of mobile platform 200 can face the user, capture a user image, then recognize the user gestures within the image, and generate corresponding instructions based on the meaning indicated by the gestures. It is understood that the meanings represented by different user gestures can be specifically set according to the actual application scenario, and this embodiment does not impose any limitations in this regard.

[0097] In other examples, instructions can also be generated based on voice signals collected by a voice acquisition component. For instance, after the voice acquisition component of terminal device 100 collects voice signals, it performs speech recognition on the voice signals to obtain semantic content, and then generates instructions based on the semantic content. In other embodiments, terminal device 100 can be a motion-sensing remote control, and instructions can also be generated based on motion data collected by the motion-sensing remote control. For example, the motion-sensing remote control includes a lever, which the user can operate to issue corresponding instructions.

[0098] In other examples, commands can also be generated based on eye movement information recognized by a camera component facing the user's eyes. For instance, terminal device 100 is a wearable device equipped with a camera component facing the user's eyes, allowing the user to issue commands through eye movements. The device can collect eye movement data based on the camera component and determine the command issued by the user through the recognized eye movement information.

[0099] Instruction A in this embodiment can be implemented using any of the above-described instruction generation methods. Similarly, the generation of other subsequent instructions can also be achieved using any of the embodiments described herein.

[0100] Through the above embodiments, prompt message a can prompt the user to manually control the movable platform 200, so that the user can perform control operations to generate command A, thereby adjusting the sensing range of the movable platform 200. Therefore, the user can take over the movable platform 200 in a timely manner, allowing the movable platform 200 to adjust the sensing range to identify whether there are any new target objects, and prevent missed detection.

[0101] In some examples, adjusting the sensing range of the mobile platform 200 may include implementing it in at least one of the following ways:

[0102] ① Adjust the position and / or orientation of the movable platform 200. Adjusting the position of the movable platform 200 can include adjusting its longitude, latitude, or height. For example, raising the height of the movable platform 200, or moving it to another position at the same height, can obtain a new sensing range. Alternatively, the position of the movable platform 200 can remain unchanged, but its orientation can be adjusted to obtain a new sensing range. Or, both the position and orientation of the movable platform 200 can be adjusted.

[0103] ② Adjust the position and / or orientation of the sensing sensor mounted on the movable platform 200. For example, since the sensing sensor is mounted on the movable platform 200, adjusting the position and / or orientation of the movable platform 200 as described in embodiment ① above may adjust the position and / or orientation of the sensing sensor, thereby obtaining a new sensing range. Alternatively, the position and / or orientation of the movable platform 200 may not be adjusted, but the sensing sensor is movable on the movable platform 200. For example, the position of the sensing sensor can be moved, and adjusting the position can obtain a new sensing range; or the orientation of the sensing sensor can be adjusted, and adjusting the orientation of the sensing sensor can obtain a new sensing range.

[0104] Optionally, the movable platform 200 is equipped with a gimbal, and a sensing sensor is mounted on the gimbal. Adjusting the position and / or orientation of the sensing sensor mounted on the movable platform 200 includes adjusting the position and / or orientation of the sensing sensor by adjusting the position and / or orientation of the gimbal. Based on this, this embodiment can also achieve the adjustment of the sensing sensor by adjusting the position and / or orientation of the gimbal.

[0105] ③ Adjust the sensing parameters of the sensor mounted on the movable platform 200. The sensing parameters can be adjusted based on different sensors, as long as they allow for adjustments to the sensor's sensing range. For example, in the case of a shooting device, the sensing parameters may include parameters such as focal length.

[0106] The above three adjustment methods can be adjusted in one way or in any combination of the three, depending on the need. This embodiment does not limit this.

[0107] As an example, when the mobile platform 200 needs to adjust its sensing range, it can do so while hovering, thus ensuring the accuracy of the adjustment; alternatively, the mobile platform 200 can adjust its sensing range while moving, thus balancing operational efficiency. During the process of adjusting the sensing range, the mobile platform 200 may choose not to perform the relevant tasks or may continue to perform them.

[0108] In some examples, the adjusted sensing range may include a 360-degree sensing range. As an example, a 360-degree sensing range may include a sensing range with a horizontal angle of 360 degrees and / or a sensing range with a vertical angle of 360 degrees. For instance, if the movable platform 200 is located above the target object, the 360-degree sensing range may be a sensing range with a horizontal angle of 360 degrees.

[0109] As an example, the sensing range of the movable platform 200 can be rotated 360 degrees to obtain a 360-degree sensing range. The movable platform 200 can identify any newly added target objects during this rotation. Optionally, this 360-degree rotation of the sensing range can be achieved by rotating the movable platform 200 360 degrees while it is hovering. Alternatively, it can be achieved by rotating the sensing sensor 360 degrees. Or, it can be achieved by rotating both the movable platform 200 and the sensing sensor by a certain degree. Based on this, since the adjusted sensing range includes a 360-degree sensing range, the movable platform 200 can observe the entire surrounding environment to completely identify all target objects extending from the preset node, preventing missed detections.

[0110] In other examples, the sensing range can be adjusted once or multiple times. For instance, taking one adjustment as an example, the movable platform 200 adjusts its current sensing range once, and the current sensing range and the adjusted sensing range (e.g., the sum of the two sensing ranges) can cover a 360-degree sensing range. That is, before and after the adjustment, the movable platform 200 can observe the entire surrounding environment, so as to completely identify all target objects extending from the preset node and prevent missed detections. Of course, in practical applications, depending on the size of the sensing range of the sensor and the adjustment method, after the movable platform 200 adjusts its current sensing range once, the current sensing range and the adjusted sensing range may not yet cover a 360-degree sensing range. Further adjustments can be made as long as the current sensing range and the adjusted sensing range (including the sensing range after each adjustment) can cover a 360-degree sensing range.

[0111] In some examples, the method may further include: indicating information C on an interactive control; wherein information C includes at least one of the following: information associated with a target object, information associated with a preset node. As an example, the interactive control may include an interactive control on a movable platform 200, or an interactive control on a terminal device 100. Exemplarily, interaction can be achieved through one or more interactive forms such as voice commands, gesture control, virtual reality (VR), augmented reality (AR), and haptic feedback. Indicating information C on the interactive control includes displaying information C on the user interface, and may also include outputting information C via voice, or prompting information C via indicator lights, etc.; in practical applications, this can be implemented as needed, and this embodiment does not limit this.

[0112] Information C includes information associated with the target object and / or information associated with preset nodes, allowing users to view the target object or preset nodes through interactive controls. For example, information associated with power lines and / or power towers allows users to view power lines or power towers through interactive controls.

[0113] For example, in the user interface shown in Figure 4A, the information associated with the target object includes the target object's number, i.e., "1", "2", and "3" in the figure, as well as the direction of the target object's extension. For example, on a power line, the direction of the extension is indicated by the arrow shown. Enhanced display of the target object may also be included; for example, power lines may be displayed using AR to allow users to view them more intuitively. Optionally, the information associated with the target object may also include the target object's name or location, or other arbitrary related information. In practical applications, this can be configured according to the actual scenario, and this embodiment does not limit this.

[0114] The information associated with the preset node may include any relevant information such as the name, geographical location or number of the preset node. In actual applications, it can be configured according to the actual scenario. This embodiment does not limit this.

[0115] In some examples, the information associated with the target object may include information about the relevant tasks that characterize the target object. Therefore, this embodiment allows users to view information about the relevant tasks of the target object.

[0116] In some examples, the information on the relevant tasks of the target object may include at least one of the following: information on the completion and / or non-completion of the relevant tasks of each target object; and information on the progress of the completion of the relevant tasks of each target object.

[0117] For example, information about the tasks related to a target object could include information on completed tasks, allowing users to see both completed and incomplete tasks. Conversely, it could also show incomplete tasks, again indicating whether they are complete. Alternatively, the information could include both completed and incomplete tasks, with separate prompts for each category.

[0118] As an example, as shown in Figure 3B, the mobile platform 200 can display the target objects identified by the mobile platform 200. For target objects that have completed the relevant tasks and those that have not, the mobile platform 200 can use different colors or other methods to distinguish and display them, so that users can intuitively see which target objects have completed the relevant tasks and which target objects have not.

[0119] Alternatively, it may also include information regarding the completion progress of related tasks for the target object. As an example, if the target object extends to a certain length, the mobile platform 200 can display relevant information about the target object's related tasks in real time on the user interface, such as real-time captured footage, allowing the user to view the completion progress of the target object's related tasks. Based on this, through the above embodiments, users can view the completion status of related tasks for each target object.

[0120] In some examples, the information associated with the target object may include at least one of the following:

[0121] ① Identification information used to distinguish each target object. As an example, the identification information can be a name or a number; for example, the numbers of the target objects shown in Figures 3B and 4A. Identification information can be set for each target object. By indicating the identification information of each target object on the interactive control, users can intuitively and conveniently distinguish each target object. The identification information can also be stored for subsequent processing, such as recording the completion status of related tasks, path planning, or modeling of the target object, etc. As an example, using numbers as identification, such as "1, 2, 3...", can be used to indicate each target object.

[0122] ② Information used to represent the location of each target object. For example, location information can be represented using coordinates such as latitude and longitude; alternatively, if a target object extends from one preset node to another, it can be represented by its position at one of the nodes, or its position at both nodes. Based on this, users can view the location information of the target objects, and this information can also be stored for subsequent processing, such as recording the completion status of related tasks, path planning, or modeling.

[0123] ③ Information used to characterize the orientation of each target object. As an example, the orientation information could be the direction of extension of the target object at a preset node, as shown by the arrow in Figure 4A.

[0124] ④ Identification information used to distinguish the target object from other target objects among multiple target objects. As an example, the identification information for the target object and other target objects among multiple target objects can be differentiated identifiers to allow for a differentiated display of the target object and other target objects not selected as target objects. For example, as shown in Figure 3B, the mobile platform 200 selects the second group of power lines extending from power tower G20 as the target object, and the target object is distinguished from other target objects by color, so that the user can intuitively see the target object currently selected by the mobile platform 200 to perform the relevant work task.

[0125] In some examples, the preset node includes at least one; the information associated with the preset node includes at least one of the following: identification information for distinguishing each preset node, and information for characterizing the position of each preset node.

[0126] For example, the identification information of a preset node can be a name or a number; identification information can be set for each preset node, and by indicating the identification information of each preset node on the interactive control, users can intuitively and conveniently distinguish each preset node. The identification information can also be stored for subsequent processing, such as recording preset nodes, path planning, or modeling, etc. As an example, as shown in Figure 3B, the user interface displays the number of each preset node to allow users to distinguish between them.

[0127] The location information of preset nodes can be obtained using latitude and longitude coordinates. As an example, a mobile platform can be equipped with sensors such as GPS to acquire its own geographical location information. The mobile platform can identify preset nodes through sensor data and calculate their location information using the sensor data and its own geographical location information. Based on this, users can view the location information of target objects, and the location information can also be stored for subsequent processing, such as recording preset nodes, path planning, or modeling.

[0128] Optionally, the association information between a preset node and each target object extending from the preset node can also be determined. For example, the association can be established by linking the identification information of the preset node with the identification information of each target object extending from the preset node.

[0129] In some examples, the method may also include: indicating information D on the interactive control; information D includes at least one of the following: sensing data collected by the sensing sensors mounted on the mobile platform 200, an electronic map, and the motion trajectory of the mobile platform 200.

[0130] As an example, the motion trajectory of the mobile platform 200 can refer to a sequence containing time and location. The mobile platform 200 can collect and store location information at each acquisition time during the motion process to obtain the motion trajectory.

[0131] As an example, Figure 4B is a schematic diagram of another user interface shown in this embodiment. The user interface displays images captured by the imaging device, and an electronic map is also displayed in the lower left corner to show the current geographical location of the mobile platform 200 on the map. Figure 4C is a schematic diagram of another user interface shown in this embodiment. The user interface displays an electronic map, the location information of preset nodes, and the movement trajectory of the mobile platform 200.

[0132] Based on this, users can learn about the environment of the mobile platform 200 through the sensor data indicated on the interactive controls; they can learn about the map situation through the electronic map indicated on the interactive controls; and they can learn about the movement of the mobile platform 200 through the movement trajectory indicated on the interactive controls. Furthermore, they can also learn which target objects the mobile platform 200 has selected as target objects.

[0133] In some examples, the interactive controls include an interactive interface, and information C and information D are configured to be displayed together on the same interactive interface. The two types of information mentioned above can be displayed together on the same interactive interface, allowing the user to view information C and information D simultaneously on a single interface. For example, any one of the information in information C related to the target object or the information related to a preset node can be displayed together on the same interactive interface with any one of the sensing data collected by the sensing sensors mounted on the mobile platform 200, the electronic map, or the motion trajectory of the mobile platform 200 in information D. For example, Figure 4A shows the associated display of information related to the target object and sensing data. Figure 4C shows the associated display of the electronic map, the location information of the preset node, and the motion trajectory of the mobile platform 200.

[0134] In some examples, the interactive controls include an interactive interface, and information C and information D are configured to be displayed together on the interactive interface. As an example, information C and information D can be configured to be displayed together on the same interactive interface or on different interactive interfaces, so that the user can view information C and information D through the interactive interface.

[0135] In some examples, identifying a target object as the target object may include: obtaining information on completed and / or incomplete tasks related to each target object; and identifying a target object as the target object from among the target objects that have not completed their tasks. In this embodiment, since multiple target objects extending from preset nodes are identified, the movable platform 200 can automatically select one of the target objects that have not completed their tasks as the target object to perform the relevant tasks on the target object. This avoids both missing unfinished target objects and performing duplicate tasks on already completed target objects.

[0136] As an example, the mobile platform 200 can identify each target object and record information about whether or not the relevant tasks for each target object have been completed. For instance, after completing the relevant tasks for a target object, the system records the information about the completion of the relevant tasks for that target object. Target objects without such information indicate that the relevant tasks have not been completed.

[0137] As an example, determining which target object to use as the target can be done by the mobile platform 200 itself, by the mobile platform 200 prompting the user to select a target object, or by the user selecting the target object after being prompted by the mobile platform 200. In the case where the mobile platform 200 determines the target object itself, it can randomly select from target objects that have not yet completed the relevant task, or it can determine a target object based on a set strategy. The specific set strategy could be a sequential selection strategy, etc., and can be set as needed in actual implementation; this embodiment does not limit this.

[0138] In this embodiment, by acquiring information on the completion and / or incomplete tasks of each target object, target objects with completed tasks can be excluded, and target objects with incomplete tasks can be selected as target objects. Thus, the movable platform 200 can prevent duplicate tasks and, based on the completion status of each target object's tasks, select from incomplete target objects each time, ensuring that all target objects extending from the preset node are selected as target objects, thereby guaranteeing that all target objects complete their tasks.

[0139] In some examples, the method may also include: marking on an image containing multiple target objects relevant information about completed and / or incomplete tasks related to the target objects.

[0140] As an example, on the user interface of the terminal device 100, an image containing multiple target objects can be displayed. Specific markers can be used to indicate whether the relevant tasks for each target object have been completed, or only specific markers can be used to indicate whether they have not been completed. Alternatively, different markers can be used to differentiate between completed and incomplete tasks. This allows users to easily see whether each target object has completed its relevant tasks. For example, as shown in Figure 3B, the mobile platform 200 selects the second set of power lines extending from power tower G20 as the target object. The target object is marked with a different color than other target objects to distinguish whether each target object has completed its relevant tasks, allowing users to intuitively see the target object currently selected by the mobile platform 200 to perform the relevant tasks.

[0141] In some examples, determining a target object as the target object may include: the movable platform 200 automatically determining one of a plurality of target objects as the target object; or, in response to receiving instruction B, determining one of a plurality of target objects as the target object.

[0142] In this embodiment, the method for determining the target object can be automatically determined by the mobile platform 200 or determined by the user. For example, the user can issue command B. The method for generating command B in this embodiment can refer to the aforementioned embodiment of command generation methods. The mobile platform 200 determines one of the multiple target objects as the target object based on command B. Thus, this embodiment provides a flexible method for determining the target object.

[0143] In some examples, determining one of multiple target objects as the target object in response to receiving instruction B may include: determining a prompt message b, which prompts the user to select one of the multiple target objects as the target object; and determining the target object in response to receiving instruction B, wherein instruction B is generated based on the user's selection operation.

[0144] In this embodiment, the user can be prompted to select one of multiple target objects as the target object. Based on this prompt information b, the user can then issue an instruction B as needed. For example, the user can perform a selection operation on the terminal device 100, and the terminal device 100 can generate an instruction B based on the user's selection operation and send it to the mobile platform 200. As an example, as shown in Figure 4B, the user interface displays the text message "Fork in the road ahead, please select a route" as prompt information b, prompting the user to select one of multiple target objects as the target object. Optionally, the user interface also displays two sets of power lines "3" and "4" of the power tower in the current shooting frame, and on the left side of the user interface, controls corresponding to power line "3" and power line "4" are displayed. The user can click to select one of the controls, and then click the "Confirm" control. Based on this, the terminal device 100 can generate an instruction B containing the power line selected by the user and send it to the mobile platform 200.

[0145] Therefore, this embodiment allows the user to select the target object after being prompted, thereby satisfying the user's selection needs and enabling the mobile platform 200 to work under the user's instructions.

[0146] The different embodiments described above involve different information, such as information a, information b, information C, and information D; they also involve different instructions, such as instruction A and instruction B. It is understood that the symbols used here are for the purpose of distinguishing these different information and instructions.

[0147] In some examples, the target path includes a first target path, the target object includes a first target object, and the method may further include: in response to the movable platform 200 moving to the vicinity of the boundary of the first target path, determining a second target object to control the movable platform 200 to move along the second target path, wherein the second target path is generally parallel to the extension direction of the second target object.

[0148] In real-world scenarios, a target object extending from a preset node will reach another node; the vicinity of the boundary of the first target path is the vicinity of the node reached by the target object. For example, a power line extending from a power tower will reach another power tower. In this embodiment, the movable platform 200 can determine a second target object when it moves to the vicinity of the boundary of the first target path, allowing the movable platform 200 to continue moving along the second target path corresponding to the second target object after completing the task on the first target object. As an example, as shown in Figure 3B, the movable platform 200 moves along the target path corresponding to the second group of power lines extending from power tower G20. At this time, the second group of power lines extending from power tower G20 is the first target object. Near the boundary of the first target object, i.e., before power tower G32, the movable platform 200 can identify the three groups of power lines extending from G32 and determine the second target object, such as the second group of power lines extending from power tower G32. After completing the task on the first target object, the movable platform 200 can continue moving along the second target path corresponding to the second target object.

[0149] In some examples, the second target path may include paths that the mobile platform 200 has not previously traversed, and / or, the second target object may include target objects for which related job tasks have not been completed. Thus, the mobile platform 200 can continue to perform tasks on target objects for which related job tasks have not been completed, thereby completing the job tasks for each target object and improving the completeness and efficiency of the job.

[0150] In some examples, the preset node may include a first preset node, and determining the second target object includes: determining a second preset node, which can extend into multiple target objects; and determining the second target object from the multiple target objects extending from the second preset node.

[0151] As an example, when the mobile platform 200 moves to the vicinity of the boundary of the first target path, it can continue to identify a second preset node. If the second preset node can extend into multiple target objects, it can then determine the second target object. For instance, as shown in Figure 3B, near the boundary of the second group of power lines of power tower G20, the mobile platform 200 can identify power tower G32, using G32 as the second preset node, and determine the second target object from each group of power lines of power tower G32. In this way, the mobile platform 200 can continuously complete the identification of preset nodes and target objects, ensuring the integrity of the related work tasks performed by the mobile platform 200, and also allowing for efficient continuation of operations.

[0152] In some examples, determining the second preset node may include: determining multiple candidate nodes, and determining the second preset node from the multiple candidate nodes based on the first position information of the movable platform 200 and the second position information of each candidate node.

[0153] In this embodiment, after completing the task on the first target object, the mobile platform 200 needs to determine the second target object. This embodiment may first determine a second preset node, and then determine the second target object from among the target objects of the second preset node. There are various ways to determine the second preset node; this embodiment uses the first location information of the mobile platform 200 and the second location information of each candidate node to determine it.

[0154] As an example, multiple candidate nodes can be pre-set by the user or determined by the mobile platform 200 from historical data, such as candidate nodes identified by the mobile platform 200 during previous movements. Therefore, after completing the task of the first target object, the mobile platform 200 can determine a second preset node from other candidate nodes. The determination method is based on the first position information of the mobile platform 200 and the second position information of each candidate node, thereby selecting a second preset node with a suitable position, and then determining the second target object from the target objects of the second preset node.

[0155] As an example, as shown in Figure 3B, before the mobile platform 200 reaches the power tower G42, since power towers G20 and G32 have already been identified, and can be considered as candidate nodes, the mobile platform 200 can select one of these two candidate nodes as the second preset node. Then, it selects the second target object from the target objects of the selected power tower. Which node is specifically selected as the second preset node can be configured as needed in practical applications; this embodiment does not limit this.

[0156] In some examples, determining a second preset node from multiple candidate nodes based on the first location information of the mobile platform 200 and the second location information of each candidate node may include: determining the distance between the mobile platform 200 and each candidate node based on the first location information and each second location information; and determining the second preset node based on each distance.

[0157] In this embodiment, the selection of the second preset node is determined based on the first position information of the movable platform 200 and the second position information of each candidate node. Therefore, this embodiment can select a second preset node with a suitable distance based on the distance between the first position information and each of the second position information; as an example, it can be the closest second preset node, allowing the movable platform 200 to move efficiently to the second preset node.

[0158] In some examples, the method may further include controlling the mobile platform 200 to perform relevant work tasks while it moves along the second target path. Based on this, the mobile platform 200 can continue working on the second target object after completing the work on the first target object, thereby improving the work efficiency of the mobile platform 200.

[0159] In some examples, the boundary of the first target path may include the location of the termination node, where no target object extends from the termination node. For example, as shown in Figure 3B, power towers G41, G42, and G43 are termination nodes. The termination node can be identified from the collected data. Since the target object extending from the previous node reaches the termination node, and no further target object extends from the termination node, it can be identified as the termination node.

[0160] In some examples, the sensing range of the mobile platform 200 may include the sensing range of the sensing sensors mounted on the mobile platform 200.

[0161] In some examples, the sensing sensor includes one or more combinations of the following: laser sensor, vision sensor, ultrasonic sensor, infrared sensor, microwave sensor.

[0162] In some examples, the sensing sensor is tilted downward relative to the movable platform 200. In this embodiment, the sensing sensor is tilted downward, allowing the movable platform 200 to move above the target object. This enables it to perform tasks on the target object while simultaneously sensing the surrounding environment, ensuring the safe movement of the movable platform 200.

[0163] In some cases, the sensing angle of the sensing sensor is less than 360°. In this embodiment, the movable platform 200 can be equipped with a sensing sensor with a sensing angle of less than 360°, thereby saving costs. Even when the sensing range of the sensing sensor is limited, the movable platform can still detect all target objects of the preset node by implementing the solution of this embodiment, thus preventing missed detections.

[0164] In some examples, the sensing sensor includes a laser sensor with a horizontal sensing angle of less than 180° and a vertical sensing angle of less than 180°. In this embodiment, the laser sensor mounted on the mobile platform 200 does not require high cost. For example, some repetitive scanning LiDARs can have a horizontal field of view of 70° and a vertical field of view of 3°; some non-repetitive scanning LiDARs can also have a horizontal field of view of 70° and a vertical field of view of 3°. By implementing the scheme of this embodiment, the mobile platform can still sense all target objects at the preset nodes, thus preventing missed detections.

[0165] Figure 5 shows a flowchart of a control method for another movable platform 200 according to an exemplary embodiment of this specification. The method is indicated by 500 in the figure and may include:

[0166] In step 502, during the process of the mobile platform 200 performing power line inspection, in response to the mobile platform 200 identifying multiple power lines extending from preset nodes within the current sensing range, the sensing range of the mobile platform 200 is unlocked to allow adjustment of the sensing range of the mobile platform 200 so that the mobile platform 200 can identify whether there are any newly added power lines within the adjusted sensing range.

[0167] In step 504, one power line is identified as the target power line from the identified power lines; and

[0168] In step 506, the movable platform 200 is controlled to inspect the target power line along the target path, which is roughly parallel to the extension direction of the target power line from the preset node.

[0169] In some embodiments, process 500 may be applied to mobile platform 500. It should be noted that certain or all aspects of process 500 (or any other process diagram described herein, or variations and / or combinations thereof) may be executed by one or more processors or combinations thereof on mobile platform 200, terminal device 100, any other system or device. Certain or all aspects of process 300 (or any other process herein, or variations and / or combinations thereof) may be executed under the control of one or more computer / control systems configured with executable instructions, and may be collectively executed on one or more processors in the form of code (e.g., executable instructions, one or more computer programs, or one or more application programs) via hardware or a combination thereof. The code may be stored on a computer-readable storage medium, for example, in the form of a computer program containing multiple instructions executable by one or more processors. The computer-readable storage medium may be non-transitory. The order of the described operations is not intended to be limiting; any number of described operations may be combined in any order and / or in parallel to implement the process.

[0170] In some examples, identifying a power line as a target power line may include: obtaining information on whether the relevant inspection tasks for each power line have been completed and / or not completed; and identifying a power line as the target power line from among the power lines whose relevant inspection tasks have not been completed.

[0171] As can be seen from the above embodiments, during the process of the mobile platform 200 performing power line inspection, in response to the mobile platform 200 identifying multiple power lines extending from preset nodes within the current sensing range, the sensing range of the mobile platform 200 can be unlocked to allow adjustment of the sensing range of the mobile platform 200, thereby facilitating the identification of whether there are any newly added power lines within the adjusted sensing range. Therefore, it is possible to avoid missing corresponding power lines due to the locking or restriction of the sensing range, thereby improving the completeness of the power line inspection task performed by the mobile platform 200.

[0172] This embodiment takes a power inspection scenario as an example and provides an embodiment of the control method for a mobile platform 200. The specific implementation process can be referred to the description of the foregoing embodiment, and will not be repeated here.

[0173] Next, we will use the power line inspection scenario as an example to illustrate.

[0174] Mobile platforms such as aircraft (200) can be applied to power line inspection scenarios. For power towers that extend into multiple power lines, branching points will form at the tower locations. The mobile platform (200) can identify these branching points using machine learning based on point cloud data collected by LiDAR. However, during automated line-following flight, the limited field of view (FOV) of LiDAR prevents the identification of all power line branches in complex power scenarios. Currently, the position, attitude, and gimbal angle of the aircraft cannot be adjusted during automated line inspection. Users need to stop the current line-following flight to observe whether there are more branches on the current line. Since power line branches are common in real-world scenarios, frequently terminating the inspection task to find power line branches significantly reduces inspection efficiency.

[0175] Currently, marking of power lines mainly relies on manual marking by users on maps, which is inefficient. Users need to remember which power lines were passed through and which were selected during a single power inspection, making it difficult to identify power lines that haven't been inspected. This is especially problematic when the inspection area is large and requires multiple days of work; users may struggle to identify uninspected power lines when working on alternate days.

[0176] The identification of intersections relies on the FOV of the radar camera. Currently, the mobile platform 200 does not record all intersection numbers. If you want to continue patrolling a certain intersection, you still need to manually control the sensor on the aircraft to align with the intersection.

[0177] After marking the branch points and inspected lines, the identification of uninspected lines relies on sensor data and the number of power lines identified at each branch point. If some branch points do not identify all power lines, these uninspected lines will not be automatically inspected by the aircraft during automatic inspection, resulting in missed inspections.

[0178] Currently, users need to manually identify the power lines, stopping the automatic line inspection and adjusting the aircraft's attitude and gimbal angle. Furthermore, users must remember whether each line has been inspected, and with so many power lines, users often easily forget.

[0179] Based on this, this embodiment automatically identifies power lines extending from power towers. Users can manually intervene or the aircraft can automatically identify all power lines on a single tower. Furthermore, during the inspection process, it automatically records the power lines for which work has been completed and can automatically mark the locations of branch lines. It can also automatically plan uninspected paths based on the branch lines where inspected power lines are located.

[0180] The full identification of automatic power line inspection junctions can help users solve the problem of line identification in complex power grids, improving the efficiency of inspection operations. Furthermore, compared to the traditional method of manually memorizing inspection paths, this embodiment improves user convenience and operational efficiency by automatically recording inspection paths and junctions, and automatically planning previously uninspected network paths.

[0181] As an example, the mobile platform 200 in this embodiment can be configured with the following functions: 1) It can identify power towers and their extended power lines using lidar or imaging equipment, and identify branch information through machine learning, that is, identify power towers that extend into multiple sets of power lines. Power towers that extend into only one set of power lines will not form multiple paths, i.e., they are not considered branches. 2) When automatically patrolling to a branch, it can provide a manual takeover option for the user. The user can manually operate the aircraft to adjust its sensing range to observe the branches around the power tower, or choose to let the aircraft automatically adjust its sensing range to find the branches around the power tower. 3) It can mark each power tower, or automatically mark each branch. It can record the latitude and longitude coordinates of the branches, and can also configure a name and number for each power tower and the power lines extending from the power tower. 4) It can save the executed patrol trajectories, and plan uninspected power lines based on the patrol trajectories and branches. 5) It can introduce temporary manual takeover during automatic patrol to compensate for the shortcomings of radar in automatic identification.

[0182] As an example, the terminal device 100 corresponding to the mobile platform 200 can be configured with the following functions: 1) prompting the user to manually take over or explore the surrounding branches after reaching the intersection; 2) displaying all branch numbers at the intersection and showing the identified branches in AR format; 3) displaying the branch locations on the map; 4) displaying the inspection trajectory on the map; 5) prompting the user whether to automatically inspect any uninspected branches found during the current inspection after completing the inspection of a power line.

[0183] In other examples, implementations can be tailored to different tower types, ensuring compatibility with various tower types and supporting both main grid and distribution network power lines. User management is supported for branch point location markings and patrol trajectory recordings; users can periodically clear marked branch points or patrol trajectories as needed. For particularly complex power lines, users can manually take over and conduct manual patrols along a section of the route, then select automatic patrol once the operating conditions are satisfactory.

[0184] As an example, for branch line identification, the system could receive and identify data collected by sensors such as lidar. If two or more power lines are identified, the aircraft can automatically hover (without exiting the point cloud scanning task). Then, based on user input, the sensing range can be adjusted under user control to identify any newly added power lines. Alternatively, the aircraft can explore automatically.

[0185] For example, when the user takes over manually, the aircraft can temporarily relinquish control. At this time, it can respond to the remote control commands input by the user. The user can freely control the aircraft's horizontal movement (forward, backward, left, right), yaw movement, or up and down movement. The user can also control the aircraft's camera gimbal to perform pitch or yaw movements.

[0186] For autonomous exploration, the aircraft can hover, automatically rotate 360 ​​degrees in the hovering position, and record and save all identified power lines. Alternatively, by adjusting the position / attitude of the sensing sensors or other methods, the aircraft can output all identified power lines.

[0187] If one or more intersections exist, the identified intersections can be listed and numbered. If there are no intersections within the current sensing range, the identified information may not be displayed. For marking intersections and patrol tracks: the system can wait for user input to determine if it is the power line selected by the user for inspection. After user confirmation, the system can obtain and record the latitude and longitude coordinates of the aircraft's current position.

[0188] The latitude and longitude coordinates can be assigned a name and a branch number, which can automatically increment upwards, such as branch 1, branch 2, branch 3, etc. Each branch number corresponds to a power tower number. The system can continuously record the latitude and longitude coordinates of the aircraft at every moment during the line patrol process, and generate a movement trajectory.

[0189] For patrolling other branch roads: The prerequisite is that a patrol path and branch road already exist, and the branch road has multiple branches (one inspected branch road and one or more uninspected branch roads). The user can input whether to proceed with patrolling other branch roads. When the user confirms to continue patrolling uninspected branch roads, the aircraft can find the earliest marked branch road and automatically fly to start patrolling. At the branch road, it excludes the inspected branch road direction and finds one uninspected branch road from the remaining multiple branch roads to begin patrolling. After the user manually inputs a command to end the patrol, the aircraft stops operating.

[0190] As can be seen from the above embodiments, this embodiment provides a method for introducing manual takeover during the automatic line inspection phase. This method overcomes the limitations of sensing sensors, such as lidar, in identifying branch lines and helps users reduce the burden of memorizing line inspection paths by marking branch lines and line inspection tracks, thereby improving the efficiency of aircraft line inspection in power scenarios.

[0191] Previously, when the mobile platform 200 identified multiple target objects extending from multiple preset nodes during operation, it needed to select one as the target object to perform the relevant task. However, the previous solution required the user to remember the information associated with multiple target objects, including their locations and whether each target object had already performed relevant tasks. The mobile platform 200 did not support automatic recording, which easily led to the omission of target objects that had not yet performed tasks, thus affecting the completeness and efficiency of the mobile platform 200's work. For example, during the execution of a power line inspection task, there are many branches in the power line network, and the user can easily forget or misremember the locations of the power lines extending from the branches and whether each power line has been inspected.

[0192] To address the aforementioned technical problems, Figure 6 shows a flowchart of a control method for another movable platform 200 according to an exemplary embodiment of this specification. The method, indicated by 600 in the figure, may include:

[0193] In step 602, the location information of multiple target objects and related task information are acquired. These multiple target objects extend from a preset node in a direction away from the preset node.

[0194] In step 604, the identification information of multiple target objects is automatically determined based on the location information of multiple target objects and related task information.

[0195] The identification information for multiple target objects includes the location of each target object and information indicating whether the relevant tasks for the target object have been completed or / or information indicating whether the relevant tasks for the target object have not been completed.

[0196] In step 606, identification information of multiple target objects is sent.

[0197] In this embodiment, during the operation of the mobile platform 200, the identification information of multiple target objects extending from preset nodes can be automatically determined. This identification information includes the location of each target object and whether its related tasks have been completed. This helps users intuitively and quickly locate target objects that have not yet performed related tasks as target objects, thereby controlling the mobile platform 200 to perform related tasks on those target objects. This improves the completeness and efficiency of the user's control over the mobile platform 200 in performing related tasks. For example, during power line inspection, the location of each power line extending from the intersection and whether it has been inspected can be displayed, assisting the user in quickly locating uninspected power lines, preventing missed or repeated inspections, and improving the completeness and efficiency of the mobile platform 200 in power line inspection tasks.

[0198] In some embodiments, process 600 may be applied to mobile platform 200. It should be noted that certain or all aspects of process 600 (or any other process diagram described herein, or variations and / or combinations thereof) may be executed by one or more processors or combinations thereof on mobile platform 200, terminal device 100, any other system or device. Certain or all aspects of process 300 (or any other process herein, or variations and / or combinations thereof) may be executed under the control of one or more computer / control systems configured with executable instructions, and may be collectively executed on one or more processors in the form of code (e.g., executable instructions, one or more computer programs, or one or more application programs) via hardware or a combination thereof. The code may be stored on a computer-readable storage medium, for example, in the form of a computer program containing multiple instructions executable by one or more processors. The computer-readable storage medium may be non-transitory. The order of the described operations is not intended to be limiting; any number of described operations may be combined in any order and / or in parallel to implement the process.

[0199] In order to identify the location of a preset node, in some examples, the method may also include: obtaining the location information of the preset node; automatically determining the identification information of the preset node based on the location information of the preset node, the identification information of the preset node including the location of the preset node; and sending the identification information of the preset node.

[0200] As an example, a mobile platform can be equipped with sensors such as GPS to obtain its own geographical location information. The mobile platform can identify preset nodes through the sensing data, and calculate the location information of the preset nodes using the sensing data and its own geographical location information. It can then obtain identification information representing the location of the preset nodes and send this identification information, for example, to terminal device 100, so that terminal device 100 can display the location of the preset nodes.

[0201] In some examples, the positional information of multiple target objects is determined at least based on the positional information of preset nodes. As an example, if a target object extends from a preset node, its positional information can be determined based on the positional information of the preset node. For instance, the positional information of the end of the target object connected to the preset node is the positional information of the preset node.

[0202] In some examples, the position information of multiple target objects is determined at least based on the position information of preset nodes, including: the position information of multiple target objects is determined based on the position information of preset nodes and the sensing data of sensing sensors mounted on the mobile platform 200. As an example, the mobile platform can identify target objects extending from preset nodes through sensing data, and can determine the position information of target objects based on the position information of preset nodes and sensing data.

[0203] This embodiment describes how the mobile platform 200 assists users in quickly locating unoccupied target objects from the perspective of automatically determining the identification information of multiple target objects. For example, it helps users quickly locate power lines that have not been inspected, preventing users from missing inspections or conducting repeated inspections.

[0204] In this embodiment, various embodiments of the aforementioned control method for the mobile platform can also be executed. For example, this embodiment can be combined with any embodiment of the aforementioned control method. For instance, during the operation of the mobile platform, in response to the mobile platform identifying multiple target objects extending from a preset node within its current sensing range, the sensing range of the mobile platform is unlocked to allow adjustment of the sensing range, so that the mobile platform can identify whether there are any new target objects within the adjusted sensing range; the location information of the multiple target objects and related task information are acquired; based on the location information of the multiple target objects and related task information, the identification information of the multiple target objects is automatically determined; the identification information of the multiple target objects includes the location of each target object and related information indicating that the related task of the target object has been completed or / and related information indicating that the related task of the target object has not been completed; the identification information of the multiple target objects is sent; from the identified target objects, one target object whose related task has not been completed is determined as the target object; and the mobile platform is controlled to move along the target path, wherein the target path is approximately parallel to the extension direction of the target object extending from the preset node. In this way, the mobile platform can identify whether there are any new target objects within the adjusted sensing range. This avoids missing target objects due to locked or limited sensing range when identifying target objects from among them. Furthermore, it can automatically determine the identification information of multiple identified target objects, including their location and whether their related tasks have been completed. This helps users intuitively and quickly locate target objects that have not yet performed related tasks as target objects, thereby controlling the mobile platform 200 to perform related tasks on those target objects. This helps improve the completeness and efficiency of the mobile platform in performing related tasks. Specific implementation methods can be found in the description of the foregoing embodiments, and will not be repeated here.

[0205] Figure 7 shows a flowchart of another control method for a movable platform 200 according to an exemplary embodiment of this specification. The method is indicated by 700 in the figure and may include:

[0206] In step 702, the identification information of multiple target objects is obtained. These multiple target objects extend from a preset node in a direction away from the preset node.

[0207] In step 704, markers indicating the multiple target objects are displayed on the image containing the multiple target objects. The marker information for the multiple target objects is automatically determined based on the location information of the multiple target objects and related task information. The marker information includes the location of each target object and information indicating whether the relevant task for the target object has been completed, or / or information indicating whether the relevant task for the target object has not been completed.

[0208] In some embodiments, process 700 may be applied to terminal device 100. It should be noted that certain or all aspects of process 700 (or any other process diagram described herein, or variations and / or combinations thereof) may be executed by one or more processors or combinations thereof on mobile platform 200, terminal device 100, any other system or device. Certain or all aspects of process 300 (or any other process herein, or variations and / or combinations thereof) may be executed under the control of one or more computer / control systems configured with executable instructions, and may be collectively executed on one or more processors in the form of code (e.g., executable instructions, one or more computer programs, or one or more application programs) via hardware or a combination thereof. The code may be stored on a computer-readable storage medium, for example, in the form of a computer program containing multiple instructions executable by one or more processors. The computer-readable storage medium may be non-transitory. The order of the described operations is not intended to be limiting; any number of described operations may be combined in any order and / or in parallel to implement the process.

[0209] In this embodiment, during the operation of the mobile platform 200, the identification information of multiple target objects extending from preset nodes can be automatically determined. This identification information includes the location of each target object and whether its related tasks have been completed. This helps users intuitively and quickly locate target objects that have not yet performed related tasks as target objects, thereby controlling the mobile platform 200 to perform related tasks on those target objects. This improves the completeness and efficiency of the user's control over the mobile platform 200 in performing related tasks. For example, during power line inspection, the location of each power line extending from the intersection and whether it has been inspected can be displayed, assisting the user in quickly locating uninspected power lines, preventing missed or repeated inspections, and improving the completeness and efficiency of the mobile platform 200 in power line inspection tasks.

[0210] In this embodiment, from the perspective of the terminal device 100, an embodiment of the control method of the mobile platform 200 executed by the terminal device 100 is described. For specific implementation methods, please refer to the description of any of the foregoing embodiments, which will not be repeated here.

[0211] Figure 8 illustrates another control method for a movable platform 200 according to an exemplary embodiment of this specification. The platform is indicated by 800 in the figure. The method may include:

[0212] In step 802, the location information of multiple target objects and related task information are acquired. These multiple target objects extend from a preset node in a direction away from the preset node.

[0213] In step 804, based on the location information of multiple target objects and related task information, the identification information of multiple target objects is automatically determined. The identification information of multiple target objects includes the location of each target object and related information indicating that the relevant task of the target object has been completed or / and related information indicating that the relevant task of the target object has not been completed.

[0214] In step 806, a marker is displayed on the image containing multiple target objects to indicate the multiple target objects.

[0215] In some embodiments, process 800 may be applied to terminal device 100 or mobile platform 200. It should be noted that certain or all aspects of process 300 (or any other process diagram described herein, or variations and / or combinations thereof) may be executed by one or more processors or combinations thereof on mobile platform 200, terminal device 100, any other system or device. Certain or all aspects of process 300 (or any other process herein, or variations and / or combinations thereof) may be executed under the control of one or more computer / control systems configured with executable instructions, and may be collectively executed on one or more processors in the form of code (e.g., executable instructions, one or more computer programs, or one or more application programs) via hardware or a combination thereof. The code may be stored on a computer-readable storage medium, for example, in the form of a computer program containing multiple instructions executable by one or more processors. The computer-readable storage medium may be non-transitory. The order of the described operations is not intended to be limiting; any number of described operations may be combined in any order and / or in parallel to implement the process.

[0216] As an example, the mobile platform can acquire the location information of multiple target objects and related task information, and can automatically determine the identification information of multiple target objects based on the location information of multiple target objects and related task information; the terminal device 100 can display markers on the image containing multiple target objects to indicate the identification information of multiple target objects.

[0217] In this embodiment, during the operation of the mobile platform 200, the identification information of multiple target objects extending from preset nodes can be automatically determined. This identification information includes the location of each target object and whether its related tasks have been completed. This helps users intuitively and quickly locate target objects that have not yet performed related tasks as target objects, thereby controlling the mobile platform 200 to perform related tasks on those target objects. This improves the completeness and efficiency of the user's control over the mobile platform 200 in performing related tasks. For example, during power line inspection, the location of each power line extending from the intersection and whether it has been inspected can be displayed, assisting the user in quickly locating uninspected power lines, preventing missed or repeated inspections, and improving the completeness and efficiency of the mobile platform 200 in power line inspection tasks.

[0218] The control method embodiments of the above-described mobile platform can be implemented through software, hardware, or a combination of both. Taking software implementation as an example, as a logical device, it is formed by its processor reading the corresponding computer program instructions from non-volatile memory into memory and executing them.

[0219] In some embodiments, a control device for a mobile platform is also provided. FIG9, which is a structural diagram of the control device for the mobile platform, may include: at least one processor 91; and at least one memory 92 including computer program code, wherein the at least one memory 92 and the at least one processor 91 are configured individually or jointly with the computer program code to enable the control device to at least execute the steps of any of the foregoing method embodiments. In some embodiments, the control device may be applied to a mobile platform. In other embodiments, the control device may be applied to a terminal device.

[0220] In some embodiments, as shown in FIG10, a terminal device 100 is also provided, including at least one processor for executing the steps of any of the foregoing method embodiments.

[0221] In some embodiments, a mobile platform is also provided, as shown in FIG11, which is a structural diagram of the mobile platform 110, which may include: a body 111; a power unit 112 disposed on the body 111 for providing power to the mobile platform; and one or more processors 113 disposed on the body 111 for executing the steps of any of the aforementioned method embodiments.

[0222] In some embodiments, a control system for a mobile platform is also provided, as shown in FIG1, including the aforementioned mobile platform embodiment and the aforementioned terminal device embodiment.

[0223] In some embodiments, a computer-readable storage medium is also provided, having stored thereon computer instructions that, when executed by a processor, implement the steps of the aforementioned control method embodiments for a mobile platform.

[0224] The embodiments of this specification may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0225] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this application.

[0226] The terms "specific example" or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples, which are included in at least one embodiment or example of this specification. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0227] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0228] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0229] The methods and apparatus provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method for a mobile platform, characterized in that, The method includes: During the operation of the mobile platform, in response to the mobile platform identifying multiple target objects extending from a preset node within the current sensing range, the sensing range of the mobile platform is unlocked to allow adjustment of the sensing range of the mobile platform, so that the mobile platform can identify whether there are any new target objects within the adjusted sensing range. From the identified target objects, determine one of the target objects as the target object; and The movable platform is controlled to move along a target path, wherein the target path is approximately parallel to the extension direction of the target object extending from the preset node.

2. The method according to claim 1, characterized in that, The method further includes: As the mobile platform moves along the target path, the system controls the mobile platform to perform relevant tasks.

3. The method according to claim 2, characterized in that, The control of the mobile platform to perform relevant tasks includes: The mobile platform is controlled to move its sensing sensors toward the target object to collect sensing data.

4. The method according to claim 1, characterized in that, Controlling the movable platform to move along the target path includes: controlling the movable platform to move above the target object along the target path.

5. The method according to claim 1, characterized in that, The identification of multiple target objects extending from a preset node includes: The preset node is identified based on sensing data from the mobile platform, and multiple target objects can extend from the preset node.

6. The method according to claim 1, characterized in that, Each of the target objects intersects the preset node, or each of the target objects extends in different directions from different positions at the preset node.

7. The method according to claim 1, characterized in that, The unlocking of the sensing range of the mobile platform includes: Switch from automatic control mode to manual control mode to unlock the sensing range of the mobile platform.

8. The method according to claim 1, characterized in that, Adjusting the sensing range of the mobile platform includes: Automatically adjust the sensing range of the movable platform; or, In response to receiving instruction A, the sensing range of the mobile platform is adjusted.

9. The method according to claim 8, characterized in that, The step of adjusting the sensing range of the mobile platform in response to receiving instruction A includes: A prompt message a is provided, which prompts the user to manually control the movable platform. In response to receiving the instruction A, the sensing range of the mobile platform is adjusted, wherein the instruction A is generated based on the user's control operation.

10. The method according to claim 8, characterized in that, The step of adjusting the sensing range of the mobile platform in response to receiving instruction A includes: Exit automatic control mode to receive instruction A; in response to receiving instruction A, adjust the sensing range of the mobile platform.

11. The method according to claim 1, characterized in that, Adjusting the sensing range of the mobile platform includes implementing it using at least one of the following methods: Adjust the position and / or orientation of the movable platform; Adjust the position and / or orientation of the sensing sensors mounted on the mobile platform; Adjust the sensing parameters of the sensing sensor mounted on the mobile platform.

12. The method according to claim 11, characterized in that, The mobile platform is equipped with a gimbal, and the sensing sensor is mounted on the gimbal. Adjusting the position and / or orientation of the sensing sensor mounted on the mobile platform includes: The position and / or attitude of the sensing sensor can be adjusted by adjusting the position and / or attitude of the gimbal.

13. The method according to claim 1, characterized in that, in, The adjusted sensing range includes a 360-degree sensing range.

14. The method according to claim 1, characterized in that, The method further includes: The interactive control indicates information C; wherein, information C includes at least one of the following: information associated with the target object, and information associated with the preset node.

15. The method according to claim 14, characterized in that, The information associated with the target object includes information on the relevant tasks used to characterize the target object.

16. The method according to claim 15, characterized in that, The information regarding the relevant tasks of the target object includes at least one of the following: Information on the completion and / or incomplete tasks of each of the target objects; Information related to the completion progress of the relevant tasks for each of the target objects.

17. The method according to claim 14, characterized in that, The information associated with the target object includes at least one of the following: identification information for distinguishing each target object, information for representing the position of each target object, information for representing the orientation of each target object, and identification information for distinguishing the target object from other target objects among the plurality of target objects.

18. The method according to claim 14, characterized in that, The preset node includes at least one; the information associated with the preset node includes at least one of the following: identification information for distinguishing each preset node, and information for characterizing the position of each preset node.

19. The method according to claim 14, characterized in that, The method further includes: The interactive control indicates information D; the information D includes at least one of the following: sensing data collected by the sensing sensors mounted on the mobile platform, an electronic map, and the motion trajectory of the mobile platform.

20. The method according to claim 19, characterized in that, The interactive control includes an interactive interface, and the information C and the information D are configured to be displayed together on the same interactive interface.

21. The method according to claim 19, characterized in that, The interactive control includes an interactive interface, and information C and information D are configured to be displayed together on the interactive interface.

22. The method according to claim 1, characterized in that, The step of determining a target object as the target object includes: Obtain relevant information on completed and / or incomplete tasks for each of the target objects; and From the target objects that have never completed the relevant task, one of the target objects is identified as the target object.

23. The method according to claim 22, characterized in that, The method further includes: On an image containing multiple target objects, information related to completed or incomplete tasks for the target objects is marked.

24. The method according to claim 1, characterized in that, The step of determining a target object as the target object includes: The mobile platform automatically determines one of the multiple target objects as the target object; or, In response to receiving instruction B, one of the plurality of target objects is determined as the target object.

25. The method according to claim 24, characterized in that, The step of determining one of the plurality of target objects as the target object in response to receiving instruction B includes: Determine prompt information b, which is used to prompt the user to select one of the multiple target objects as the target object; In response to receiving the instruction B, the target object is determined, wherein the instruction B is generated based on the user's selection operation.

26. The method according to claim 1, characterized in that, The target path includes a first target path, the target object includes a first target object, and the method further includes: In response to the mobile platform moving to the vicinity of the boundary of the first target path, a second target object is determined to control the mobile platform to move along the second target path, wherein the second target path is substantially parallel to the extension direction of the second target object.

27. The method according to claim 26, characterized in that, The second target path includes paths that the mobile platform has never moved in the past, and / or the second target object includes the target object for which the relevant job task has not been completed.

28. The method according to claim 26, characterized in that, The preset node includes a first preset node, and determining the second target object includes: A second preset node is determined, which can extend into multiple target objects; The second target object is determined from the plurality of target objects extending from the second preset node.

29. The method according to claim 28, characterized in that, The determination of the second preset node includes: Multiple candidate nodes are identified, and the second preset node is determined from the multiple candidate nodes based on the first location information of the mobile platform and the second location information of each candidate node.

30. The method according to claim 29, characterized in that, The step of determining the second preset node from multiple candidate nodes based on the first location information of the mobile platform and the second location information of each candidate node includes: Based on the first location information and each of the second location information, the distance between the mobile platform and each of the candidate nodes is determined; The second preset node is determined based on each of the distances.

31. The method according to claim 27, characterized in that, The method further includes: As the mobile platform moves along the second target path, the mobile platform is controlled to perform relevant work tasks.

32. The method according to claim 27, characterized in that, The boundary of the first target path includes the location of the termination node, wherein the target object does not extend from the termination node.

33. The method according to claim 1, characterized in that, The sensing range of the mobile platform includes the sensing range of the sensing sensors mounted on the mobile platform.

34. The method according to claim 33, characterized in that, The sensing sensor includes one or more of the following combinations: laser sensor, vision sensor, ultrasonic sensor, infrared sensor, and microwave sensor.

35. The method according to claim 34, characterized in that, The sensing sensor is tilted downward relative to the movable platform.

36. The method according to claim 34, characterized in that, The sensing angle of the sensor is less than 360°.

37. The method according to claim 36, characterized in that, The sensing sensor includes a laser sensor, the horizontal sensing angle of which is less than 180° and the vertical sensing angle of which is less than 180°.

38. A control method for a mobile platform, characterized in that, The method includes: During the process of power line inspection performed by the mobile platform, in response to the mobile platform identifying multiple power lines extending from preset nodes within the current sensing range, the sensing range of the mobile platform is unlocked to allow adjustment of the sensing range of the mobile platform, so that the mobile platform can identify whether there are any newly added power lines within the adjusted sensing range. From the identified power lines, one of the power lines is determined as the target power line; and The mobile platform is controlled to inspect the target power line along a target path, which is approximately parallel to the direction in which the target power line extends from the preset node.

39. The method according to claim 38, characterized in that, The step of identifying one of the power lines as the target power line includes: Obtain information on whether the inspection tasks for each of the aforementioned power lines have been completed and / or are incomplete; and Among the power lines that have never completed the relevant inspection tasks, one power line is identified as the target power line.

40. A control method for a mobile platform, characterized in that, The method includes: Acquire the location information of multiple target objects and related task information, wherein the multiple target objects extend from a preset node in a direction away from the preset node; Based on the location information of multiple target objects and related task information, the identification information of multiple target objects is automatically determined. The identification information of multiple target objects includes the location of each target object and information indicating whether the relevant task for the target object has been completed or / or information indicating whether the relevant task for the target object has not been completed; and Send identification information for multiple target objects.

41. The method according to claim 40, characterized in that, The method further includes: Obtain the location information of the preset node; Based on the location information of the preset node, the identification information of the preset node is automatically determined, wherein the identification information of the preset node includes the location of the preset node; and Send the identification information of the preset node.

42. The method according to claim 41, characterized in that, The position information of the multiple target objects is determined at least based on the position information of the preset nodes.

43. The method according to claim 42, characterized in that, The position information of the multiple target objects is determined at least based on the position information of the preset node, including: the position information of the multiple target objects is determined based on the position information of the preset node and the sensing data of the sensing sensors mounted on the mobile platform.

44. A control method for a mobile platform, characterized in that, The method includes: Acquire the identification information of multiple target objects, wherein the multiple target objects extend from a preset node in a direction away from the preset node; and A marker is displayed on an image containing multiple target objects to indicate the identification information of the multiple target objects. The identification information of the multiple target objects is automatically determined based on the location information of the multiple target objects and related task information. The identification information of the multiple target objects includes the location of each target object and relevant information indicating that the relevant task of the target object has been completed or / and relevant information indicating that the relevant task of the target object has not been completed.

45. A control method for a mobile platform, characterized in that, The method includes: Acquire the location information and related task information of multiple target objects, wherein the multiple target objects originate from a preset section. The point extends in a direction away from the preset node; Based on the location information of multiple target objects and related task information, the identification information of multiple target objects is automatically determined. The identification information of the multiple target objects includes the location of each target object and information indicating whether the relevant task for the target object has been completed, or / and information indicating whether the relevant task for the target object has not been completed; and Display markers on an image containing multiple target objects to indicate the identification information of the multiple target objects.

46. ​​A control device for a mobile platform, characterized in that, include: At least one processor; as well as At least one memory including computer program code, wherein at least one of the memory and at least one of the processors are configured separately or together with the computer program code to enable the control device to perform at least the steps of the method according to any one of claims 1 to 45.

47. A mobile platform, characterized in that, include: Organism; A power unit, located in the body, is used to provide power to the mobile platform; as well as One or more processors, disposed in the body, are used to perform the method according to any one of claims 1 to 43, 45.

48. A terminal device, characterized in that, It includes at least one processor for performing the method of claim 44.

49. A control system for a mobile platform, characterized in that, It includes the mobile platform as described in claim 47 and the terminal device as described in claim 48.

50. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the steps of the method as described in any one of claims 1 to 45.

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