Target point editing method and apparatus, breakpoint editing method and apparatus, and storage medium

Abstract

A target point editing method and apparatus, a breakpoint editing method and apparatus, and a storage medium. The target point editing method comprises: displaying a target point adjustment control in an interactive interface (S402); and in response to an adjustment operation for the target point adjustment control, marking the position of an adjusted target point in a motion route of a movable platform displayed in the interactive interface, wherein the target point adjustment control allows a user to select one adjustment mode from a plurality of different adjustment modes to adjust the position of the target point on the motion route, an adjustment amount of the position of the target point in the interactive interface is mapped to a real-world position change amount, and the target point can be allowed to be adjusted between two adjacent path points on the motion route, the adjustment mode being associated with the adjustment precision of the position of the target point on the motion route (S404). The target point editing method provided in the embodiments of the present application enables more flexible and precise adjustment of target points.

Description

Target point editing method, breakpoint editing method, device and storage medium Technical Field

[0001] This application relates to the field of mobile platform technology, and more specifically, to a target point editing method, a breakpoint editing method, an apparatus, and a storage medium. Background Technology

[0002] In some scenarios, users need to set target points along the movement path of a mobile platform in order to control the platform to perform specific tasks at those points. In related technologies, when editing target points, users can either only select path points on the platform's movement path or manually drag target point markers along the path to adjust them. This adjustment method is relatively simple, lacks precision, and is inflexible, failing to meet the needs of users in different scenarios. Summary of the Invention

[0003] In view of this, this application provides a target point editing method, a breakpoint editing method, an apparatus, and a storage medium.

[0004] According to a first aspect of this application, a target point editing method is provided, the method comprising:

[0005] Display target point adjustment controls in the interactive interface; and

[0006] In response to the adjustment operation of the target point adjustment control, the position of the adjusted target point is marked in the motion path of the movable platform displayed in the interactive interface;

[0007] The target point adjustment control allows the user to select one of several different adjustment methods to adjust the position of the target point on the movement path. The adjustment amount of the target point's position on the interactive interface maps to the position change in the real world, and allows the target point to be adjusted to be between two adjacent path points on the movement path. The adjustment method is related to the adjustment accuracy of the target point's position on the movement path.

[0008] By applying the solution provided in this application, a target point adjustment control can be set up. This control allows users to select one of multiple adjustment methods to adjust the position of the target point on the movement path of the movable platform. The adjustment method is related to the adjustment precision of the target point's position on the movement path, allowing users to flexibly choose the appropriate adjustment method based on their actual needs for adjustment precision. Furthermore, during the adjustment of the target point using this control, the adjustment amount of the target point's position on the interactive interface maps to the change in position in the real world. This allows users to intuitively perceive how much the target point has moved in the real world due to the current adjustment operation, making the target point adjustment more accurate. Compared to related technologies that can only use path points as target points, this application allows the target point to be adjusted to be between two path points on the movement path of the movable platform, making the target point adjustment more precise.

[0009] According to a second aspect of this application, a target point editing method is provided, the method comprising:

[0010] The interactive interface displays a target point adjustment control and a target point marker. The target point adjustment control includes operation controls, the target point marker indicates the position of the target point on the movement path, and the operation controls are for user operation to adjust the position of the target point on the movement path.

[0011] In response to the adjustment operation of the operation control, the position of the adjusted target point is marked in the motion path of the movable platform displayed on the interactive interface;

[0012] The operation controls are located away from the target point marker. The adjustment amount of the target point's position on the interactive interface maps to the real-world position change, and allows the target point to be adjusted to be between two adjacent path points on the movement route.

[0013] By applying the solution provided in this application, the operation control is set away from the target point mark, thus preventing the user from obscuring the position of the target point mark when operating the operation control, thereby improving the adjustment accuracy of the target point position. At the same time, the target point is adjusted to be between two adjacent path points on the movement path, further improving the adjustment accuracy of the target point position.

[0014] According to a third aspect of this application, a breakpoint editing method is provided, the method comprising:

[0015] Display breakpoint adjustment controls in the interactive interface; and

[0016] The interactive interface displays the motion path and breakpoint markers of the movable platform, with the breakpoint markers indicating the current breakpoint position in the motion path of the movable platform;

[0017] In response to the adjustment operation of the breakpoint adjustment control, the breakpoint marker is adjusted and the adjusted breakpoint marker is displayed on the interactive interface. The adjusted breakpoint marker indicates the position of the adjusted breakpoint in the motion path.

[0018] The breakpoint adjustment control includes a distance percentage setting component and / or a distance adjustment component. The distance percentage setting component allows the user to adjust the position of the breakpoint on the movement route by setting different distance percentages. The distance adjustment component allows the user to adjust the position of the breakpoint on the movement route based on different adjustment step sizes, where the adjustment step size maps to the real-world distance change.

[0019] By applying the solution provided in this application, a breakpoint adjustment control allows users to adjust the position of the breakpoint on the movement path of the mobile platform based on the proportion of distance traveled, and / or allows users to adjust the position of the breakpoint on the movement path of the mobile platform based on different adjustment step sizes. The adjustment step size maps to the change in distance in the real world, making breakpoint editing more precise and accurate, thus more flexibly meeting user needs in different scenarios. For example, when fine-grained breakpoint adjustment is required, the adjustment step size can be set smaller, while when rapid breakpoint adjustment is needed to improve efficiency, the adjustment step size can be set larger. In addition, the method of setting breakpoints based on the proportion of distance traveled can also meet the needs of scenarios where multiple mobile platforms work together, allowing breakpoints to be set quickly based on the task allocation of each mobile platform.

[0020] According to a fourth aspect of this application, a target point editing method is provided, the method comprising:

[0021] The interactive interface displays a virtual space, which includes a model of the working area of ​​the mobile platform and the movement path of the mobile platform; and

[0022] In response to the target point adjustment operation, the position of the adjusted target point is marked on the motion path, and the displayed content of the model changes with the change of the target point position.

[0023] By applying the solution provided in this application, during the user's editing of the target point, a virtual space including a model of the mobile platform's working area and the mobile platform's movement route can be displayed on the interactive interface, and the adjusted target point's position can be marked on this movement route. The displayed model content of the working area can change as the target point changes, allowing the user to clearly and intuitively understand the adjusted target point's position in the real scene, achieving more precise and accurate target point adjustment.

[0024] According to a fifth aspect of this application, a breakpoint editing method is provided, the method comprising:

[0025] The interactive interface displays a virtual space, which includes a model of the working area of ​​the mobile platform and the movement path of the mobile platform; and

[0026] In response to the breakpoint adjustment operation, the position of the adjusted breakpoint is marked on the motion path, and the display perspective of the virtual space changes with the position of the breakpoint.

[0027] By applying the solution provided in this application, during the process of editing breakpoints, the position of the adjusted breakpoint can be marked on the movement path of the movable platform in the virtual space displayed in the interactive interface. The display perspective of the virtual space changes with the position of the breakpoint. Since the virtual space includes a three-dimensional model of the working area of ​​the movable platform, users can clearly and intuitively know the position of the adjusted breakpoint in the real scene, thus achieving more refined and accurate breakpoint settings.

[0028] According to a sixth aspect of this application, a target point editing apparatus is provided, comprising:

[0029] At least one processor; and

[0030] At least one memory containing computer program code;

[0031] In this embodiment, at least one of the memory and computer program code, together with at least one of the processors, are configured to cause the target point editing device to perform at least the methods mentioned in any one of the first to fifth aspects above.

[0032] According to a seventh aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed, implements the methods mentioned in any one of the first to fifth aspects above.

[0033] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0034] 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.

[0035] Figure 1 is a schematic diagram of the target point editing scheme in the related technology of this application.

[0036] Figure 2 is a schematic diagram of the target point editing scheme in the related technology of this application.

[0037] Figure 3 is a schematic diagram of an application scenario of an embodiment of this application.

[0038] Figure 4 is a flowchart of a target point editing method according to an embodiment of this application.

[0039] Figure 5 is a flowchart of a target point editing method according to another embodiment of this application.

[0040] Figure 6 is a schematic diagram of a target point adjustment control according to an embodiment of this application.

[0041] Figure 7 is a schematic diagram of a target point adjustment control according to another embodiment of this application.

[0042] Figure 8 is a schematic diagram of a target point adjustment control according to another embodiment of this application.

[0043] Figure 9 is a schematic diagram of a target point adjustment control according to another embodiment of this application.

[0044] Figure 10 is a schematic diagram of a target point adjustment control according to another embodiment of this application.

[0045] Figure 11 is a schematic diagram of a target point adjustment control according to another embodiment of this application.

[0046] Figure 12 is a schematic diagram of a virtual space according to an embodiment of this application.

[0047] Figure 13 is a schematic diagram showing the change of the virtual space display perspective in one embodiment of this application.

[0048] Figure 14 is a schematic diagram of the location of a target point marked in a real-time image displayed on an interactive interface according to an embodiment of this application.

[0049] Figure 15 is a flowchart of a breakpoint editing method according to another embodiment of this application.

[0050] Figure 16 is a flowchart of a target point editing method according to another embodiment of this application.

[0051] Figure 17 is a flowchart of a breakpoint editing method according to another embodiment of this application.

[0052] Figure 18 is a schematic diagram of the logical structure of a target point adjustment control according to an embodiment of this application. Detailed Implementation

[0053] The technical solutions of 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. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] In some scenarios, users need to set target points along the movement path of a mobile platform to control it to perform specific operations at those points. For example, a target point can be a breakpoint; by setting a breakpoint, the mobile platform can be controlled to pause its movement after reaching the breakpoint. In some cases, the mobile platform will pause its movement at the breakpoint and execute an interrupted task, such as returning to a preset location, which could be the platform's starting point or resupply point. Alternatively, a target point can also be a work point; by setting a work point, the mobile platform can be controlled to move to that point and perform corresponding work tasks.

[0055] In related technologies, as shown in Figure 1, users can pre-set path points, and the motion route is generated based on these pre-set path points. For example, the motion route might be a path that traverses all path points. Therefore, when editing target points, some editing methods select path points on the movable platform's motion route as target points. This method cannot set points outside the path points as target points, and the adjustment precision is limited by the distance between path points, making accurate adjustment of the target point impossible. As shown in Figure 2, some editing methods involve the user manually dragging target point markers on the motion route to adjust the target point's position. This adjustment method has an adjustment step size of the finger width, which is uncontrollable, and the adjustment precision is limited by the finger width, making fine adjustment impossible.

[0056] However, there are some scenarios where users may need to set target points precisely. For example, taking a mobile platform as an unmanned aerial vehicle (UAV), when the UAV is performing close-up photography tasks, the scene in the work area is usually quite complex. Therefore, when setting target points, precise settings are required to meet actual needs.

[0057] It is evident that the target point editing solutions provided by the relevant technologies offer relatively simple adjustment methods and uncontrollable adjustment precision, making them inflexible and unable to meet the needs of users in different scenarios.

[0058] Based on this, this application provides a target point editing method, which can set a target point adjustment control. The target point adjustment control can provide multiple adjustment methods, wherein the adjustment method is related to the adjustment precision. Thus, the user can select a suitable adjustment method from multiple adjustment methods to adjust the target point according to actual needs, making the adjustment of the target point more flexible and enabling more precise adjustment.

[0059] Figure 3 illustrates an application scenario of one embodiment of this application. The mobile platform can communicate with a control terminal, allowing the user to control the mobile platform via the control terminal. The control terminal includes a user interface that displays the mobile platform's movement path and the aforementioned target point adjustment controls. The user can edit the target point using these controls. After editing, the control terminal saves the target point's relevant information (e.g., the target point's location information, task information to be performed at the target point), and sends this information back to the mobile platform so that the mobile platform can execute the corresponding task based on the target point's information.

[0060] The mobile platform in the embodiments of this application may be at least one of aircraft, vehicles, ships and mobile robots, but is not limited thereto.

[0061] Aircraft can include rotorcraft, fixed-wing aircraft, or hybrid fixed-wing / rotorcraft. Rotorcraft can be single-rotor, dual-rotor, tri-rotor, quadcopter, hexacopter, octacopter, decacopter, or dodecacopter. Aircraft can include, but are not limited to, manned aircraft, logistics aircraft, aerial photography aircraft, agricultural plant protection aircraft, and industry rescue aircraft. The above are merely illustrative examples, and this application does not specifically limit the type of aircraft. Aircraft include unmanned aerial vehicles (UAVs) and manned aircraft. Aircraft can be used for one or more tasks such as aerial photography, aerial reconnaissance, geographic mapping, environmental monitoring, and security patrol.

[0062] The control terminal in this application embodiment can be any type of terminal device that is communicatively connected to the mobile platform and includes an interactive interface. For example, it can be a remote control, mobile phone, tablet, computer, head-mounted glasses, etc. that are compatible with the mobile platform. This application embodiment does not impose any restrictions.

[0063] In this application embodiment, the target point can be any type of location point set by the user on the movement route of the mobile platform for a specific purpose. For example, the target point can be a breakpoint, a work point, a waypoint, etc., and this application example does not impose any limitations.

[0064] For example, in some embodiments, the target point can be a breakpoint, where the breakpoint can be an interruption point set on the movement path of the mobile platform. For example, in some embodiments, after the mobile platform moves along the movement path to the breakpoint, it can pause its movement. In some cases, the mobile platform pauses its movement along the movement path after reaching the breakpoint and performs an interruption task, such as returning to a preset position, which could be the starting point or resupply point of the mobile platform. Optionally, the mobile platform can also return from the preset position to the breakpoint and continue moving along the movement path. For example, taking an unmanned aerial vehicle (UAV) as an example, the starting point can include the UAV's return point, the resupply point can include the UAV's endurance point, such as a charging base station, and the movement path can include a flight path. The UAV can move along the flight path and perform tasks. When it reaches the breakpoint, it pauses its movement, interrupts the execution of tasks, and performs an interruption task, such as returning to the return point or charging base station to replenish its endurance. After the endurance is replenished, it returns to the breakpoint to resume the execution of tasks.

[0065] In some embodiments, a breakpoint can be the start point and / or end point of a task. For example, in some scenarios, after generating the movement route of a mobile platform, it may only be necessary for the mobile platform to perform operations within certain intervals of the movement route. Therefore, breakpoints can be set on the movement route as the start or end points of the task, thereby enabling the execution of the task in intervals.

[0066] In some embodiments, the breakpoint can be the starting point for re-executing the job task set for the mobile platform. For example, the target point editing method can be executed during the execution of the job on the mobile platform. After the user completes the setting of the target point through the target point setting operation, the mobile platform can be controlled to stop executing the job and move to the position of the adjusted target point to start executing the job again.

[0067] For example, taking the mobile platform performing an inspection task as an example, if the user finds that the current area does not need to be inspected, the user can reset the breakpoint in the movement route using the breakpoint editing method in this application embodiment as the starting point of the inspection task. The control terminal can send the relevant information of the breakpoint set by the user to the mobile platform. After receiving the location information of the breakpoint, the mobile platform can stop executing the inspection task, move to the breakpoint, and restart the inspection task.

[0068] In some embodiments, the target point can also be a work point. Users can edit work points in the movement route using the target point editing method, set the work tasks that the mobile platform needs to perform at the work point, and then send them to the mobile platform so that the mobile platform can perform the corresponding tasks.

[0069] In some embodiments, the target point editing method can be executed before the mobile platform performs a task. For example, before the mobile platform performs a task, the movement route of the mobile platform can be obtained first, and the target points can be edited on the movement route. Then, the relevant information of the edited target points and the movement route can be sent to the mobile platform so that the mobile platform can perform the corresponding task based on the target points.

[0070] In some embodiments, the target point editing method can also be executed during the execution of a task by the mobile platform. For example, if it is found that the work area or work point of the mobile platform needs to be redefined during the execution of a task by the mobile platform, the target point can be edited using the target point editing method provided in this application embodiment as the starting point or ending point of the rework, or as a reset work point, and then the relevant information of the edited target point is sent to the mobile platform.

[0071] The target point editing method in this application embodiment can be executed by the aforementioned control terminal. As shown in Figure 4, in some embodiments, the target point editing method 400 provided in this application may include the following steps:

[0072] S402. Display the target point adjustment control in the interactive interface;

[0073] In step S402, a target point adjustment control can be displayed on the interactive interface. For example, the target point adjustment control can be displayed on the interactive interface of the control terminal of the mobile platform, so that the user can adjust the position of the target point on the movement path of the mobile platform based on the target point adjustment control.

[0074] The control terminal is used to communicate with and control the mobile platform. For example, the control terminal can be one or more of a remote control, mobile phone, tablet, computer, or head-mounted glasses. The control terminal includes a display device, which can be touch-sensitive or non-touch-sensitive. The display device can be used to display the interactive interface, thereby enabling the display of target point adjustment controls on the interactive interface.

[0075] The style of the target point adjustment control can be flexibly set according to actual needs. For example, it can be a slider, button, input box, or a combination of the above controls. This application embodiment does not impose any restrictions.

[0076] S404. In response to the adjustment operation of the adjustment control for the target point, mark the position of the adjusted target point in the motion path of the movable platform displayed in the interactive interface.

[0077] The target point adjustment control allows users to select one of several different adjustment methods to adjust the position of the target point on the movement path. The adjustment amount of the target point's position on the interactive interface maps to the change in position in the real world, and allows the target point to be adjusted to be between two adjacent path points on the movement path. The adjustment method is related to the adjustment precision of the target point's position on the movement path.

[0078] To overcome the problem that the target point adjustment method in related technologies is singular and cannot meet the adjustment needs of different scenarios, the target point adjustment control in this embodiment can be set with multiple different adjustment methods. These adjustment methods are related to the adjustment precision of the target point's position on the movement path; for example, different adjustment methods can correspond to different adjustment precisions, allowing users to flexibly choose the appropriate adjustment method based on their actual needs for adjustment precision. Furthermore, during the user's adjustment of the target point using this control, the amount of adjustment of the target point's position on the interactive interface can map to the amount of position change in the real world. This allows the user to intuitively perceive how much the target point has moved in the real world due to the current adjustment operation, making the target point adjustment more accurate. In addition, this target point adjustment control allows users to adjust the target point to be between two adjacent path points on the movement path of the movable platform, thereby making the target point adjustment more accurate and precise.

[0079] In step S404, after detecting an adjustment operation on the target point adjustment control, the adjusted target point position can be marked on the movement path of the movable platform displayed on the interactive interface. This adjustment operation can be triggered by a user or by other devices; this embodiment does not impose any limitations. The adjustment operation can be a user's adjustment of the target point adjustment control through the interactive interface, or a user's adjustment operation issued to the target point adjustment control through some physical controls in the control terminal. For example, the target point adjustment control can be a step button displayed on the interactive interface, and the interactive operation can be the user directly clicking the step button. Alternatively, the user's operation on certain physical buttons on the control terminal can be mapped to a click operation on the step button; the user touching the physical button is equivalent to clicking the step button.

[0080] To allow users to intuitively understand the adjusted target point's position on the mobile platform's movement path, the platform's movement path can be displayed on the interactive interface, and the current target point's position can be marked on the path. The marking method can be varied, as long as it allows the user to know the target point's position on the movement path; this application does not impose any limitations. For example, the adjusted target point's position can be determined on the movement path, and a target point marker can be displayed at that location. This marker can be some kind of identifier representing the target point, such as an icon or similar identifier. The shape, size, and style of the identifier can be set according to requirements; this application does not impose any limitations.

[0081] In related technologies, as shown in Figure 2, some editing methods involve the user manually dragging target point markers along the movement path to adjust the target point. Because this method directly uses the target point markers as the user's control for adjusting the target point, the user cannot see the specific location of the target point on the movement path when their finger obscures the markers, making it inconvenient for the user to adjust the target point. Therefore, one embodiment of this application provides a target point editing method that separates the user's control for adjusting the target point from the target point markers when setting the target point adjustment controls, thereby avoiding the user's finger obscuring the target point markers during the adjustment process.

[0082] As shown in Figure 5, method 500 may include the following steps:

[0083] S502. Display the target point adjustment control and the target point marker in the interactive interface. The target point adjustment control includes operation controls, the target point marker is used to indicate the position of the target point on the movement path, and the operation controls are used by the user to adjust the position of the target point on the movement path.

[0084] In step S502, a target point adjustment control and a target point marker can be displayed in the interactive interface. The target point adjustment control includes an operation control for user operation to adjust the position of the target point on the movement path. For example, the operation control can be a slider, a button, or other types of controls; this embodiment of the application does not impose any limitations.

[0085] Target point markers can be used to indicate the location of a target point on a movement route. For example, the target point marker can be an object representing the target point. The shape, size, and style of the object can be set according to requirements, and this application does not impose any restrictions. For example, the object can be an icon representing a target point.

[0086] S504. In response to the adjustment operation on the operation control, mark the position of the adjusted target point in the motion path of the movable platform displayed in the interactive interface.

[0087] Among them, the operation controls are far away from the target point marker settings, the adjustment amount of the target point's position in the interactive interface maps the position change amount in the real world, and allows the target point to be adjusted to be between two adjacent path points on the movement route.

[0088] To prevent the target point marker from being obscured by the user's hand during manual adjustment, thus preventing the user from seeing the current position of the target point, the aforementioned operation controls can be placed away from the target point marker. For example, as shown in Figure 6, the operation component used to adjust the target point position can be a slider on a slider bar, or the operation component can be a button. This slider and button can be placed away from the breakpoint marker, thereby preventing the user from obscuring the breakpoint marker on the movement path when manipulating the operation component to adjust the target point.

[0089] Similarly, to allow users to intuitively perceive how much the target point has moved in the real world due to the current adjustment operation, the amount of adjustment of the target point's position on the interactive interface can be mapped to the amount of position change in the real world while the user is manipulating the control to adjust the target point. Furthermore, this target point adjustment control allows users to adjust the target point to be between two adjacent path points in the movement path of the movable platform, thereby making the adjustment of the target point more accurate and precise.

[0090] In step S504, after detecting an adjustment operation on the target point adjustment control, the adjusted target point position can be marked on the movement path of the movable platform displayed on the interactive interface. This adjustment operation can be a user's adjustment of the target point adjustment control through the interactive interface. For example, the target point adjustment control can be a step button displayed on the interactive interface, and the user can directly click the step button. Alternatively, the target point adjustment control can be a slider or a slider button displayed on the interactive interface, and the user can drag the slider to move it. Then, the adjusted target point position can be marked on the movement path of the movable platform displayed on the interactive interface. For example, the adjusted target point position can be determined on the movement path, and a target point marker can be displayed at that position.

[0091] In some embodiments, the multiple adjustment methods set on the target point adjustment control include adjusting the position of the target point on the movement path of the movable platform based on the adjustment step size, and adjusting the position of the target point on the movement path of the movable platform by setting the target index percentage. In related technologies, when adjusting the target point, users are usually only allowed to adjust the position of the target point on the movement path based on distance indicators. For example, each adjustment operation causes the target point to move a certain distance on the movement path, and this distance is uncontrollable. This adjustment method is relatively simple. There are some scenarios where users may not only want to know how far the current target point has moved, but may also want to know the index percentage of certain indicators corresponding to the adjusted target point position. To meet the needs of users in different scenarios, the target adjustment control provided in this application embodiment allows users to adjust the position of the target point based on the adjustment step size, and to adjust the position of the target point by setting the target index percentage, making the adjustment of the target point more flexible.

[0092] In some embodiments, allowing a user to select one of several different adjustment methods to adjust the position of a target point on the movement path includes allowing the user to adjust the position of the target point on the movement path based on different adjustment step sizes. In related technologies, when adjusting the position of a target point, the adjustment step size is fixed, and the user cannot set the adjustment step size. For example, the adjustment step size may be the distance between path points, or the adjustment step size may be determined by the width of a finger. However, in some scenarios, users may need to perform finer-grained adjustments, and a fixed adjustment step size prevents users from achieving precise adjustments, resulting in low adjustment accuracy. Of course, there are also some scenarios where users may want a single adjustment operation to correspond to a larger adjustment step size to improve the efficiency of target point setting; current adjustment methods cannot meet the needs of users in such scenarios. The target point adjustment component of this application embodiment allows users to adjust the position of the target point based on different adjustment step sizes, so that users can select an appropriate adjustment step size based on the needs of different scenarios, which can improve both adjustment accuracy and adjustment efficiency.

[0093] In some embodiments, the target point adjustment control includes a distance adjustment component that can control the target point to move along a movement path according to different adjustment steps, wherein the adjustment step size maps to the change in distance of the target point in the real world. For example, the adjustment amount corresponding to the target adjustment control is distance, meaning that when the user manipulates the target adjustment control, the target point can move along the movement path at different distances.

[0094] In some embodiments, the adjustment step size includes multiple predefined adjustment step sizes in the distance adjustment component. For example, the distance adjustment component may have multiple different predefined adjustment step sizes, from which the user can select a suitable adjustment step size to adjust the target point.

[0095] In some embodiments, the adjustment step size can also be set by the user. For example, before using the distance adjustment component to adjust the target point, the user can set the adjustment step size. For instance, the distance adjustment component may include an adjustment step size input box, where the user can enter the corresponding value to set the adjustment step size.

[0096] In some embodiments, the distance adjustment component includes a step button. Each time the user clicks the step button, the target point moves a distance corresponding to one adjustable step on the movement path. For example, if the adjustable step size corresponding to the step button is 10m, then each time the user clicks the step button, the target point moves 10m on the movement path.

[0097] In some embodiments, different adjustment steps are achieved through different step buttons. For example, as shown in Figure 7, the distance adjustment component may include multiple step buttons, each corresponding to an adjustment step. For instance, some step buttons with larger adjustment steps can be set for coarse adjustment, while some step buttons with smaller adjustment steps can be set for fine adjustment. For example, as shown in Figure 7, the adjustment steps corresponding to the step buttons are 1m and 10m, respectively.

[0098] In some embodiments, different adjustment step sizes can be achieved using the same step button. For example, the distance adjustment component can have only one step button, and the adjustment step size corresponding to this step button can be set by the user. Thus, only one step button is needed to achieve different adjustment step sizes. Compared to setting multiple step buttons, this method can reduce the area occupied by the distance adjustment component and provide more adjustment step sizes. As shown in Figure 8, only one set of step buttons can be set, with two step buttons corresponding to different adjustment directions. For example, one step button is used to control the target point to move along the starting direction of the movement path, and the other step button is used to control the target point to move along the ending direction of the movement path. Then, an adjustment step size setting component (such as the input box in the figure) can be set, and the user can set the adjustment step size corresponding to the step button through the adjustment step size setting component.

[0099] In some embodiments, each adjustment step size corresponds to a set of step buttons. One step button in each set controls the target point to move along the starting direction of the movement path, and the other step button controls the target point to move along the ending direction of the movement path. Since the target point moves in two directions along the movement path, such as towards the starting direction and towards the ending direction, to facilitate user adjustment in both directions, each adjustment step size can correspond to two step buttons, with each step button corresponding to one adjustment direction.

[0100] Of course, in some embodiments, each adjustment step may correspond to only one step button, and the adjustment direction corresponding to the step button can be set. When the user uses the step button to adjust the target point, the adjustment direction can be set first.

[0101] In the process of adjusting the position of the target point using the distance adjustment component, in order to dynamically simulate the movement of the target point on the movement path, in some embodiments, the target point adjustment control may further include an interval component and a target point position indicator component. The interval component is used to represent the movement path. In the process of adjusting the position of the target point using the distance adjustment component, the target point position indicator component can move within the interval component to indicate the position of the target point on the movement path.

[0102] In some embodiments, the interval component includes a slider, and the target point position indicator component includes a slider that can move on the slider to indicate the position of the target point in the movement path. Of course, the interval component is not limited to a slider and can be various components capable of indicating an interval of the movement path. Similarly, the target point position indicator component is not limited to a slider and can be various components that indicate the position of the target point. For example, as shown in Figure 9, the distance adjustment component can be a step button, and the target point adjustment control also includes a slider and a slider. The slider represents the movement path, and the slider is used to indicate the position of the target point on the movement path. While the user clicks the step button to adjust the position of the target point on the movement path, the slider also automatically moves within the slider to indicate the position of the target point. Simultaneously, the target point marker also moves along the movement path to indicate the position of the target point on the movement path.

[0103] In some scenarios, when setting a target point, users may want to know the proportion of certain indicators corresponding to the target point's location. For example, the proportion of the distance between the target point and the starting point to the total distance of the movement route, or the proportion of the workload corresponding to the distance between the target point and the starting point to the total workload of the movement route. Previous target point adjustment methods only allowed adjustment of the target point's position based on distance indicators, without providing users with information on the proportions of these indicators for the current target point. To meet the needs of such scenarios, some embodiments allow users to select one of several different adjustment methods to adjust the target point's position on the movement route. This includes allowing users to adjust the target point's position on the mobile platform's movement route by setting different target indicator proportions.

[0104] In some embodiments, the target point adjustment control includes a target indicator percentage setting component, which is used to set the percentage of the target indicator quantity corresponding to the target point location to the total target indicator quantity. In some scenarios, as shown in Figure 10, the target indicator percentage setting component can be an input box, where the user can directly input the value corresponding to the target indicator percentage, such as 10%. The target point adjustment control can then automatically determine the location of the target point based on the user's input value and mark that location on the movement path.

[0105] In some scenarios, the target indicator percentage setting component may include an interval component and a target point location indicator component. The interval component may represent the movement route of the movable platform, and the target point location indicator component is located within the interval component. Users can drag the target point location indicator component within the interval component to set the value of the target indicator percentage.

[0106] In some embodiments, the interval component includes a slider, and the target point position indicator component includes a slider that can move on the slider to indicate the position of the target point in the movement path. Of course, the interval component is not limited to a slider and can be various components capable of indicating an interval of the movement path; similarly, the target point position indicator component is not limited to a slider and can be various components that indicate the position of the target point. For example, as shown in Figure 10, the target indicator percentage setting component can have a slider and a slider, where the slider represents the movement path and the slider indicates the position of the target point on the movement path. The user can drag the slider within the slider to adjust the position of the target point, and the target point adjustment control can also include a target indicator percentage display component, which can display the current target indicator percentage in real time while the user drags the slider within the slider.

[0107] In some embodiments, the target indicator percentage includes the percentage of distance traveled and / or the percentage of workload. The workload can be the number of images collected by the mobile platform, the amount of pesticide sprayed, etc., and can be specifically set based on actual needs.

[0108] In some embodiments, the distance percentage is the ratio of the length of the interval between the target point and a designated point on the movement route to the total length of the movement route. For example, the distance percentage can be the ratio of the length of the interval between the target point and the starting point of the movement route to the total length of the movement route.

[0109] In some embodiments, the workload percentage is the ratio of the workload corresponding to the interval route between the target point and a designated point on the movement route to the total workload corresponding to the movement route. For example, the workload percentage can be the ratio of the workload corresponding to the interval route between the target point and the starting point of the movement route to the total workload corresponding to the movement route.

[0110] In some embodiments, the designated point includes the start and / or end point of the movement route. Of course, the designated point can also be a point other than the start or end point of the movement route; for example, the designated point can be a point set by the user based on actual needs.

[0111] In some embodiments, the mobile platform includes at least two mobile platforms, each moving along a section of a movement route to work collaboratively. A target indicator percentage is used to indicate the work content performed by each mobile platform. For example, in some scenarios, multiple mobile platforms need to work collaboratively. In this case, the work section of each mobile platform on the movement route can be divided by setting target points. Considering that the work content of each mobile platform can be pre-assigned, in order to quickly edit the target points according to the work content of each mobile platform, the target points can be determined by setting a target indicator percentage. This target indicator percentage can indicate the work content of the mobile platform, such as the distance the mobile platform needs to travel during the operation, or the workload of the mobile platform, etc. Then, the position of the target point on the movement route can be quickly determined based on the target indicator percentage.

[0112] For example, suppose there are two mobile platforms, each of which needs to travel 50% of the distance on the movement route to perform a complete task. Therefore, the target indicator percentage can be the distance percentage. The user only needs to set the distance percentage to 50% through the target indicator percentage setting component mentioned above. The control terminal can then determine the target point as the midpoint of the movement route based on the distance percentage set by the user, and then display the target point marker at the midpoint of the movement route to mark the position of the adjusted target point.

[0113] In some embodiments, when a user adjusts the target point, to facilitate the user's understanding of the target indicator percentage corresponding to the adjusted target point location, as shown in Figure 11, the target point adjustment control also includes a target indicator percentage display component. During the adjustment of the target point's position, this component can display in real time the percentage of the target indicator quantity corresponding to the adjusted target point location to the total target indicator quantity.

[0114] For example, as shown in Figure 11, taking the target point adjustment component including a step button as an example, the user can adjust the position of the target point on the movement path using the step button. Each time the user clicks the step button, the target indicator percentage display component will show the target indicator percentage corresponding to the adjusted target point position. At the same time, the target point marker in the movement path will also move along the movement path to indicate the adjusted target point position to the user, making it easier for the user to confirm whether the adjusted target point position meets their actual needs.

[0115] For example, as shown in Figure 11, taking the target point adjustment component, which includes a slider and a slide bar, as an example, when the user drags the slide bar to move it to adjust the position of the target point on the movement path, the target index ratio display component can display the target index ratio corresponding to the current adjusted target point position in real time, so that the user knows whether the current target point position meets expectations.

[0116] In some embodiments, as shown in Figure 11, the target point adjustment component may include a slider and a slide bar, a step button, and a target indicator percentage display component. Users can first drag the slide bar to perform coarse adjustments. During the adjustment process, the target indicator percentage display component can display the current target indicator percentage in real time. After adjusting the target point to the desired position, users can use the step button for fine adjustments. Similarly, each time the user clicks the step button, the target indicator percentage display component will show the target indicator percentage corresponding to the adjusted target point position.

[0117] In related technologies, some techniques display the current target point's location on a satellite cloud image overlaid with the mobile platform's movement path during the editing process. However, since the satellite cloud image doesn't show the actual scene, users need to be very familiar with the area to achieve accurate target point editing. Other technologies display the target point's location within a model of the mobile platform's work area. While this model can show the actual scene of the work area, the target point's position changes in real-time during adjustments, meaning the corresponding real-world scene also changes. In contrast, the displayed content of the work area model in these technologies remains fixed, preventing users from viewing the target point's location within the real-world scene from the optimal perspective, thus hindering accurate target point setting.

[0118] Based on this, in some embodiments, as shown in Figure 12, when marking the adjusted target point's position on the movement path of the mobile platform displayed in the interactive interface, a virtual space can be displayed in the interactive interface, and the adjusted target point can be marked on the mobile platform's movement path within the virtual space. The virtual space includes a model of the mobile platform's working area and its movement path. To allow users to clearly see the adjusted target point's position in the real scene, the displayed content of this model can change according to the target point's position.

[0119] Considering that users usually want to know the location of the target point in the real world when adjusting the target point, for example, taking the mobile platform as an unmanned aerial vehicle and the target point as the work point where the unmanned aerial vehicle performs the photo-taking task, users usually want to take pictures of a specific location in the target scene. In order to let users know whether the currently set target point is the location expected by the user in the real scene, a virtual space can be displayed in the interactive interface.

[0120] The virtual space may include a model. This model can be a model obtained by modeling the real world, reflecting information from the real world. Specifically, the real world may include the operating area of ​​a mobile platform. The model can be a two-dimensional model or a three-dimensional model; this application embodiment does not impose any limitations.

[0121] The virtual space can include movement routes. These routes can be the movement routes of a mobile platform in the real world. Similarly, the real world can include the operating area of ​​the mobile platform. These movement routes can be planned for the mobile platform in the real world.

[0122] To allow users to intuitively understand the real-world scenario corresponding to the adjusted target point, the model and motion route can be displayed simultaneously in the interactive interface. The motion route can be a planned route for the mobile platform in the real world, while the model can be a model derived from the real world. Displaying them simultaneously facilitates the presentation of the relative positional relationship between the motion route and the model, allowing users to intuitively understand the real-world scenario corresponding to each point on the mobile platform's motion route. Specifically, this real world can include the mobile platform's operating area. After the user adjusts the target point, the adjusted target point can be marked on the motion route, allowing the user to intuitively understand the actual location of the adjusted target point within the mobile platform's operating area.

[0123] When displaying the model and motion path in the interactive interface, the motion path can be overlaid on the model or embedded in the model. The specific settings can be based on actual needs, and this application embodiment does not impose any restrictions.

[0124] Considering that the real-world scene corresponding to the target point changes with its location, the displayed content of the model can change accordingly to allow users to clearly understand the real-world scene corresponding to the current target point. For example, assuming the current target point is located in area A of the real-world scene, the model of area A can be displayed on the interactive interface. When the target point's position is adjusted and it moves to area B of the real-world scene, the model of area B can be displayed on the interactive interface.

[0125] In some scenarios, to facilitate users' viewing of the real-world scene corresponding to the adjusted target point, users can move, rotate, and scale the model in the interactive interface after adjusting the target point to view its status.

[0126] In some embodiments, the displayed content of the model can change with the position of the target point by varying the model's scaling ratio. For example, when the target point is in different positions, the model can be displayed at different scaling ratios so that users can clearly see the real scene corresponding to the location of the target point.

[0127] In some embodiments, the display content of the model changes with the position of the target point, which can be achieved by changing the display perspective of the model with the position of the target point. For example, when the position of the target point changes, the optimal viewing perspective for observing the target point often changes as well. Therefore, the display perspective of the model can be adjusted in real time based on the position of the target point to provide an optimal perspective for users to observe the target point in the real world.

[0128] In some embodiments, when a user's target point adjustment operation is first detected, the model's display perspective can be controlled to change according to the target point's position. Subsequently, as the user adjusts the target point's position, the model's display perspective can remain unchanged, only adjusting the displayed content, such as only displaying the model corresponding to the area surrounding the target point. For example, after the user's target point adjustment operation is first detected, an optimal display perspective that facilitates the user's observation of the target point's position can be selected, and the model can be displayed using this perspective. In subsequent adjustments, this optimal display perspective can be consistently used, only changing the displayed model area. For example, as shown in Figure 13, the left figure is a schematic diagram of the virtual space when no target point adjustment operation is detected, and the right figure is a schematic diagram of the virtual space when a user's target point adjustment operation is detected. As can be seen from the figures, compared to the display perspective of the virtual space in the left figure, the display perspective of the virtual space in the right figure has changed. The left figure allows the user to view the overall situation of the target point in the work area model, while the right figure allows the user to view the local situation of the target point in the work area model. In some embodiments, the model's display perspective can also be adjusted every time a user's target point adjustment operation is detected. For example, in some scenarios, users use a large adjustment step when adjusting the position of the target point, meaning that each adjustment operation causes a large change in the position of the target point. As a result, the best viewing angle for observing the target point is also different. Therefore, after each target point adjustment operation is detected, the best display angle of the model corresponding to the current target point position can be determined, and the model can be displayed based on this display angle.

[0129] In some embodiments, the model's display perspective can be the perspective of the real scene corresponding to the target point that the user can observe. For example, the model's display perspective can be various perspectives, as long as it ensures that the user can observe the real scene corresponding to the target point based on the displayed model.

[0130] In some embodiments, the model's display perspective can be set based on the user's expected observations. For example, in different scenarios, the specific content that the user expects to observe at the target point's location will vary. In some scenarios, the user may want to understand the environment in front of the target point, while in others, the user may want to understand the environment surrounding the target point. To meet the user's needs in different scenarios, when displaying the model on the interactive interface, the user can set the model's display perspective based on their expected observations.

[0131] For example, in some embodiments, if the user expects to observe the surrounding environment of the target point, the display perspective can be a third-person perspective.

[0132] In some embodiments, the subject corresponding to the third-person perspective is different when the target point is set in different ways. For example, if the user sets the position of the target point by controlling the movement of the movable platform, the display perspective can be a third-person perspective located at the rear of the movable platform.

[0133] In some embodiments, if the user sets the target point using a target point adjustment control on the interactive interface, the display perspective can be a third-person perspective located at the tail of the target point.

[0134] In some embodiments, if the user expects to observe the environment in front of the target point, the display perspective can be a first-person perspective.

[0135] In some embodiments, the display perspective can also be a user-defined perspective. For example, the display perspective can be a 45° angled perspective, so that the user can better observe the target work area they wish to observe, and perceive whether the target point has been adjusted to the target work area they wish to observe.

[0136] In some embodiments, in order to facilitate users to observe the real scene corresponding to the target point in real time during the adjustment process, the target point can be switched to a preset position in the display screen corresponding to the virtual space during the user's adjustment of the target point, so that the target point is always displayed in the preset position in the display screen.

[0137] In some embodiments, the preset position can be the center of the display screen. By switching the display screen in real time based on the position of the target point, the position of the target point is always in the center of the screen, which can better show the situation of the target point's location and make it easier for users to observe the target point.

[0138] In some embodiments, considering that the position of the target point changes, in order to better display the position of the target point on the movement route, the content displayed on the movement route can also change with the position of the target point.

[0139] In some embodiments, the displayed content of the motion route changes with the position of the target point, which can be achieved by adjusting the scaling of the motion route to reflect the position of the target point. For example, the motion route can be zoomed in or out to allow users to observe the position of the target point within the motion route in different scenarios.

[0140] In some embodiments, the content displayed on the motion route changes with the position of the target point, which can be achieved by changing the display perspective of the motion route with the position of the target point. For example, when the position of the target point changes, the perspective that is most suitable for observing the target point's position on the motion route can be selected, and the motion route can be displayed from that perspective.

[0141] In some embodiments, the displayed content of the model and the displayed content of the motion path can change in tandem. For example, if the displayed content of the model changes, the displayed content of the motion path will also change accordingly. For instance, if the scaling ratio of the model increases, the scaling ratio of the motion path will also increase by the same amount. Or, if the display perspective of the model switches from a first-person perspective to a third-person perspective, the display perspective of the motion path will also switch from a first-person perspective to a third-person perspective.

[0142] In some embodiments, the displayed content of the model and the displayed content of the motion path can change independently. For example, the changes in the displayed content of the two are independent and unrelated. After the display perspective of the model changes, the display perspective of the motion path can remain unchanged, or even if it changes, the way it changes is different, so that the model and the motion path can be displayed in the way that is most convenient for users to observe.

[0143] Considering that during the movement of the mobile platform, the camera mounted on the platform can capture images of the current movement area in real time and return them to the control terminal. The control terminal can display this real-time image in the interactive interface so that the user can understand the environment in which the mobile platform is located. To allow the user to more clearly understand the real-world scene corresponding to the adjusted target point, in some embodiments, the position of the adjusted target point can also be marked in the real-time image captured by the mobile platform displayed in the interactive interface. Thus, the user can clearly know the real-world location of the target point and its surrounding environment based on the real-time image captured by the mobile platform, and can then determine whether to adjust the target point to the desired position.

[0144] Since the target point is a three-dimensional point within the working area of ​​the mobile platform in the real world, its three-dimensional coordinates can be determined after adjustment. Therefore, based on the intrinsic and extrinsic parameters of the camera that acquires the real-time image on the mobile platform, the target point can be projected onto the real-time image to determine the corresponding pixel in the image, and then the location of that pixel can be marked. The marking method can include various approaches, as long as it allows the user to clearly see the target point's position in the real-time image.

[0145] In some embodiments, as shown in Figure 14, when marking the position of the adjusted target point in a real-time image captured by a mobile platform displayed on an interactive interface, the position of the adjusted target point in the real-time image can be determined first, and a virtual target point can be displayed at that position. The virtual target point can be a virtual object representing the target point, such as an icon.

[0146] After setting the target point, the user can store the location information and then send it to the mobile platform. The mobile platform can then execute corresponding tasks based on the target point's location. For example, if the target point is a work point, the corresponding work task can be executed at the target point; if the target point is a breakpoint, the user can stop moving and return to the preset position after reaching the target point along the movement route.

[0147] Therefore, in some embodiments, after the target point adjustment is completed based on the user's target point adjustment operation, if a user's target point confirmation operation is detected, the location information of the target point can be stored. For example, a target point confirmation button can be set in the interactive interface. After the user completes the setting of the target point based on the target point adjustment control, they can click the target point confirmation button to issue a target point confirmation operation, so that the control terminal can store the location information of the currently set target point after receiving the target point confirmation operation.

[0148] In related technologies, only a single target point can be set on the movement route, and the setting of interval routes is not possible. However, there are some scenarios where it may be necessary to extract a segment of the movement route as the working route of the mobile platform. To meet the needs of the above scenarios, in some embodiments, the target point editing scheme of this application can also set interval routes.

[0149] For example, in some embodiments, the target point determined based on the above target point adjustment operation is the first target point. After detecting the confirmation operation for the second target point, the location information of the second target point can be stored, and the route between the first target point and the second target point can be used as the target route.

[0150] For example, users can set up single-point editing mode and interval route editing mode. In single-point editing mode, users can edit one or more target points and then store their location information. In interval route editing mode, in some scenarios, users can edit a target point and then store the interval route between that target point and a specified point as the target route. For example, the specified point can be the start or end point of the movement route, or other points set by the user. In some scenarios, users can also edit two target points and then store the interval route between those two target points as the target route.

[0151] In some embodiments, after editing the target route, the target route can be marked on the motion route displayed in the interactive interface. The marking methods can include various approaches, such as highlighting the target route. For example, the target route can be bolded or set to a different color to emphasize its position within the overall motion route.

[0152] In some embodiments, after the target route is edited, the target route can be sent to the mobile platform, and the mobile platform can be controlled to move along the target route.

[0153] In some embodiments, while controlling the mobile platform to move along the target route, the mobile platform can be controlled to perform related work tasks.

[0154] In some scenarios, multiple mobile platforms may need to work together. Each mobile platform needs to move within a section of the movement route to perform the work. In this case, multiple section routes can be edited, with each mobile platform corresponding to one section route. Each mobile platform can move within its corresponding section route to achieve collaborative work.

[0155] In some embodiments, the motion route can be the work route when the mobile platform performs a task. The motion route can be sent to the mobile platform, and the mobile platform can be controlled to move along the motion route.

[0156] In some embodiments, as the mobile platform moves along a path, it can be controlled to perform relevant tasks. For example, the mobile platform can perform tasks throughout the entire path, or it can perform tasks only at certain specific locations (e.g., waypoints) along the path.

[0157] In some embodiments, controlling the mobile platform to perform relevant tasks may involve controlling the sensing sensors mounted on the mobile platform to collect sensing data toward the target work area. These sensing sensors may be visible light cameras, infrared cameras, lidar, millimeter-wave radar, etc.

[0158] In some embodiments, the sensing sensor may be a camera, and the relevant task may be either a surveying task or an inspection task.

[0159] Furthermore, this application embodiment also provides a breakpoint editing method, as shown in Figure 15, which includes the following steps:

[0160] S1502. Display breakpoint adjustment controls in the interactive interface; and display the motion path and breakpoint markers of the movable platform in the interactive interface, with the breakpoint markers indicating the current breakpoint position in the motion path of the movable platform.

[0161] In step S1502, the breakpoint adjustment component can be displayed on the interactive interface, as well as the motion path and breakpoint markers of the movable platform. The motion path is a motion path planned for the movable platform in the real world, and the breakpoint markers are used to indicate the current breakpoint position of the motion path of the movable platform. The breakpoint markers can be some kind of identifier representing the breakpoint, such as an icon.

[0162] S1504. In response to the adjustment operation of the breakpoint adjustment control, the breakpoint marker is adjusted and the adjusted breakpoint marker is displayed on the interactive interface. The adjusted breakpoint marker indicates the position of the adjusted breakpoint in the motion path.

[0163] The breakpoint adjustment control includes a distance percentage setting component and / or a distance adjustment component. The distance percentage setting component allows users to adjust the position of the breakpoint on the movement path by setting different distance percentages. The distance adjustment component allows users to adjust the position of the breakpoint on the movement path based on different adjustment step sizes, and the adjustment step size maps the change in distance in the real world.

[0164] Considering the varying needs of users when adjusting breakpoints in different scenarios—for example, some scenarios require fine-tuning, others require rapid adjustment, and still others require understanding the proportion of the currently set breakpoint within the entire movement path—this breakpoint adjustment component can include one or more of a distance proportion setting component and a distance adjustment component to meet these diverse needs. The distance adjustment component allows users to adjust the breakpoint's position on the movement path based on different adjustment step sizes, which map to real-world distance changes. For instance, the distance adjustment component allows users to adjust the breakpoint's position with different step sizes such as 1m or 10m. Because there are multiple adjustment step sizes, users can choose the appropriate step size to adjust the breakpoint based on their current requirements.

[0165] The distance percentage setting component allows users to adjust the position of the breakpoint on the movement route by setting different distance percentages. The distance percentage can be the ratio of the distance of the interval between the current breakpoint and the specified point to the total distance of the movement route. The specified point can be the start point, end point, or a user-defined point of the movement route.

[0166] In step S1504, after detecting an adjustment operation on the breakpoint adjustment control, the breakpoint marker can be adjusted. This adjustment operation can be triggered by a user or by another device; this embodiment does not impose any limitations. The adjustment operation can be a user-initiated operation on the breakpoint adjustment control via an interactive interface, or a user-issued adjustment operation via physical controls in a control terminal. For example, the breakpoint adjustment control can be a slider or glide bar displayed on the interactive interface, and the interactive operation can be a user dragging the glide bar to adjust the position of the breakpoint along the movement path. Alternatively, user operations on certain physical buttons on the control terminal can be mapped to dragging the glide bar; for example, rotating the dial is equivalent to dragging the glide bar.

[0167] Adjusting the breakpoint marker can involve adjusting its position on the movement path so that the adjusted marker indicates the location of the adjusted breakpoint. Of course, besides adjusting the position of the breakpoint marker, its shape, color, size, etc., can also be adjusted; this application embodiment does not impose any limitations.

[0168] After adjusting the breakpoint markers, the adjusted breakpoint markers can be displayed in the interactive interface so that users can determine the position of the target point in the movement path based on the adjusted breakpoint markers.

[0169] By setting breakpoint adjustment controls, users can adjust the position of breakpoints on the movement path of the mobile platform based on the distance traveled, and / or adjust the position of breakpoints on the movement path of the mobile platform based on different adjustment step sizes. The adjustment step size maps to the change in distance in the real world, making breakpoint editing more precise and accurate, thus more flexibly meeting user needs in different scenarios. For example, when fine-grained breakpoint adjustment is needed, the adjustment step size can be set smaller, while when rapid breakpoint adjustment is needed to improve efficiency, the adjustment step size can be set larger. In addition, setting breakpoints based on distance traveled can also meet the needs of scenarios where multiple mobile platforms work together, allowing breakpoints to be set quickly based on the task allocation of each mobile platform.

[0170] In related technologies, some techniques display the current target point's location on a satellite cloud image overlaid with the mobile platform's movement path during the editing process. However, since the satellite cloud image doesn't show the actual scene, users need to be very familiar with the area to achieve accurate target point editing. Other technologies display the target point's location within a model of the mobile platform's work area. While this model can show the actual work area, the target point's position changes in real-time during adjustments, and the user's perspective changes accordingly. In contrast, the displayed content of the work area model in these technologies remains fixed, preventing users from viewing the target point's location from the optimal angle and thus hindering accurate target point setting.

[0171] Based on this, this application provides a target point editing method, as shown in Figure 16, which may include the following steps:

[0172] S1602. Display a virtual space on the interactive interface. The virtual space includes a model of the working area of ​​the mobile platform and the movement route of the mobile platform.

[0173] In step S1602, considering that when adjusting the target point, users usually want to know the location of the target point in the real world, for example, taking the mobile platform as an unmanned aerial vehicle and the target point as the work point where the unmanned aerial vehicle performs the photo-taking task, users usually want to take pictures of a specified location of the target scene. In order to let users know whether the currently set target point is the location expected by the user in the real scene, a virtual space can be displayed on the interactive interface.

[0174] The virtual space may include a model. This model can be a model obtained by modeling the real world, reflecting information from the real world. Specifically, the real world may include the operating area of ​​a mobile platform. The model can be a two-dimensional model or a three-dimensional model; this application embodiment does not impose any limitations.

[0175] The virtual space can include movement routes. These routes can be the movement routes of a mobile platform in the real world. Similarly, the real world can include the operating area of ​​the mobile platform. These movement routes can be pre-planned movement routes for the mobile platform in the real world.

[0176] To allow users to intuitively understand the real-world scenario corresponding to the adjusted target point, the model and motion route can be displayed simultaneously in the interactive interface. The motion route can be a planned route for the mobile platform in the real world, while the model can be a model derived from the real world. Displaying them simultaneously facilitates the presentation of the relative positional relationship between the motion route and the model, allowing users to intuitively understand the real-world scenario corresponding to each point on the mobile platform's motion route. Specifically, this real world can include the mobile platform's operating area. After the user adjusts the target point, the adjusted target point can be marked on the motion route, allowing the user to intuitively understand the actual location of the adjusted target point within the mobile platform's operating area.

[0177] S1604. In response to the target point adjustment operation, mark the position of the adjusted target point on the motion path, and the displayed content of the model changes with the position of the target point.

[0178] In step S1604, after detecting the target point adjustment operation, the adjusted target point position can be marked on the movement route. The target point adjustment operation can be triggered by the user in various ways, such as through a target point adjustment control displayed in the interactive interface, through a physical control in the control terminal, or through movement controlled by a movable platform. This embodiment of the application does not impose any limitations on this.

[0179] To allow users to clearly see the adjusted target point's location in the real scene, the model's displayed content can change according to the target point's position.

[0180] In some embodiments, the display content of the model changes with the position of the target point, including: the display viewpoint of the model changes with the position of the target point.

[0181] In some embodiments, the display content of the model changes with the position of the target point, including: the scaling ratio of the model changes with the position of the target point.

[0182] In some embodiments, the display perspective includes the perspective of the real scene corresponding to the target point that the user can observe.

[0183] In some embodiments, the display perspective is set based on the user's expected observation content.

[0184] In some embodiments, if the observed content includes the surrounding environment of the target point, the display perspective includes a third-person perspective.

[0185] In some embodiments, where the target point adjustment operation is an operation that controls the movement of a movable platform to set a target point, the display perspective includes a third-person perspective located at the rear of the movable platform.

[0186] In some embodiments, when the target point adjustment operation is an operation of setting a target point through a target point adjustment control on an interactive interface, the display perspective includes a third-person perspective located at the tail of the target point.

[0187] In some embodiments, if the observed content includes the environment in front of the target point, the display perspective includes a first-person perspective.

[0188] In some embodiments, the display perspective includes a user-defined perspective.

[0189] In some embodiments, in response to the first detection of a user's target point adjustment operation, the display perspective of the model changes according to the position of the target point.

[0190] In some embodiments, in response to an adjustment operation on the target point adjustment control, the target point is switched to a preset position on the display screen corresponding to the virtual space.

[0191] In some embodiments, the preset position includes the center position of the screen.

[0192] In some embodiments, the method further includes: the displayed content of the motion route changes as the position of the target point changes.

[0193] In some embodiments, the displayed content of the motion route changes according to the location of the target point, including:

[0194] In some embodiments, the scaling of the motion path changes with the position of the target point; and / or, the display view of the motion path changes with the position of the target point.

[0195] The specific details of how the displayed content of the model changes as the position of the target point changes can be found in the description in the above embodiments, and will not be repeated here.

[0196] Considering that the virtual space includes a model, which can be obtained by modeling the real world and reflects information from the real world. Specifically, the real world may include the working area of ​​the mobile platform, allowing users to clearly know the specific location information of the target point within the working area of ​​the mobile platform, enabling users to intuitively and conveniently set the target point. Therefore, in some embodiments, the target point setting operation can be an interactive operation between the user and the virtual space, with the adjusted target point position determined based on the aforementioned interactive operation. For example, in some embodiments, the interactive operation can be a click operation by the user in the virtual space, with the adjusted target point position determined based on the click location. For example, considering that the model in the virtual space is obtained by modeling the real world, meaning that users can observe information from the real world through the model, users can select a position that meets their expectations as the target point position based on the model. For example, users can rotate, move, or scale the model, then determine a suitable position based on the content displayed by the model, and click on that position. The control terminal can then determine the target point position based on the user's click location. In some scenarios, the location clicked by the user can be a location on the movement route. For example, since the movement route and the model are related, the real-world scene corresponding to each location point on the movement route can be determined based on the content displayed by the model. Therefore, the user can select a suitable location on the movement route based on the content displayed by the model and click on that location to use it as the target point.

[0197] In some scenarios, the user might click on a location outside the movement path. In such cases, the clicked location can be projected onto the movement path, and the projected location can be used as the target point. For example, the point closest to the clicked location within the movement path can be identified as the target point.

[0198] In some embodiments, target point markers are displayed on the movement route. The interactive operation can be that the user drags the target point marker to move it along the movement route, and the adjusted position of the target point is the position where the target point marker stops moving. For example, a target point marker can be set on the movement route displayed in the virtual space. The target point marker can be an indicator indicating the position of the target point, and the user can drag the target point marker to move it along the movement route to adjust the position of the target point.

[0199] During the movement of the mobile platform, cameras mounted on the platform can capture images of the current movement area in real time and return them to the control terminal. The control terminal can display these real-time images in an interactive interface so that users can understand the environment in which the mobile platform is located. Considering that the real-time images can display real-world scenes, it is convenient for users to determine whether the selected target point meets their expectations. In some embodiments, the target point setting operation can also be an interactive operation between the user and the real-time image, and the position of the adjusted target point is determined based on this interactive operation.

[0200] For example, in some embodiments, the interactive operation can be a user's click operation on the real-time image, and the position of the adjusted target point can be determined based on the click position.

[0201] In some embodiments, a target point marker is displayed on the real-time image. The target point marker may be an identifier indicating the location of the target point. The interactive operation may be an operation in which the user drags the target point marker to move it on the real-time image. The adjusted position of the target point is the position where the target point marker stops moving.

[0202] In some embodiments, the target point setting operation can also be an operation that controls the movement of a movable platform. The adjusted target point position can be determined based on the target position where the movable platform stops moving. For example, in some scenarios, users need to accurately set target points. To let users know whether the current target point position meets their needs, users can control the movable platform to move along a movement path. During the movement, the camera on the movable platform can capture an image of the platform's current position and return it to the control terminal. The control terminal can display the image, allowing users to determine whether the current position of the movable platform is suitable as a target point. If suitable, the target point position can be determined based on the current position of the movable platform. In this way, users can accurately set target points that meet their needs, achieving precise target point setting.

[0203] The target location where the movable platform stops moving can be a location on the movement path or a location outside the movement path. In some embodiments, if the target location is a location on the movement path, then that target location is directly used as the target point.

[0204] In some embodiments, if the target location is a location outside the movement path, the projection point of the target location on the movement path can be used as the adjusted target location. This projection point can be the point on the movement path that is closest to the target location.

[0205] In some embodiments, to facilitate user setting of target points, users can also edit target points through the control terminal of the mobile platform. For example, the target point setting operation can also be a user control operation on the control terminal of the mobile platform, and the position of the adjusted target point is determined based on the control operation.

[0206] In some embodiments, the control terminal is provided with a control control, and the position of the adjusted target point can be determined based on the user's control operation of the control control. For example, the user can operate the control control to adjust the position of the target point to a position at a specific distance from the current target point.

[0207] In some embodiments, the control control may include multiple controls, each corresponding to multiple adjustment directions of the target point's position. For example, it may include two control controls: one control controls the target point to move a specific distance along the starting direction of the movement path, and the other control controls the target point to move a specific distance along the ending direction of the movement path.

[0208] The control can be a physical control such as a button, a dial, or a joystick on the control terminal, or a virtual control set on the interactive interface of the control terminal.

[0209] For example, taking buttons as control controls, different buttons can represent different adjustment directions of the target point. Each time the user touches a button, the target point can move a specific distance in the corresponding direction. This specific distance can be predefined or set by the user.

[0210] Taking a pulsator as an example, the direction of the pulsator's rotation represents different adjustment directions of the target point, and the number of rotations can be mapped to the distance the target point moves. For instance, turning the pulsator clockwise means the target point moves along the starting point of the movement path, while turning it counterclockwise means the target point moves along the ending point of the movement path. Each rotation of the pulsator represents the target point moving 10 meters along the movement path.

[0211] Taking a joystick as an example, the direction of the stick movement can be mapped to the adjustment direction of the target point, and the amount of stick movement can be mapped to the distance the target point moves. For example, if the user moves the stick forward, it means that the target point moves along the starting direction of the movement path; if the user moves the stick forward again, it means that the target point moves along the beginning and end directions of the movement path.

[0212] In some embodiments, the control control can be a combination of physical and virtual controls. For example, a joystick can be a physical control, and a button can be a virtual control. The user can control the button by manipulating the joystick, and adjust the target point by adjusting the button. For example, the joystick direction can control the button to select different adjustment directions, and the joystick amount can control the button to select a specific distance, thereby controlling the target point to move a specific distance in the corresponding adjustment direction, thus determining the position of the adjusted target point.

[0213] In some embodiments, the target point setting operation can also be triggered by a target point adjustment control in the interactive interface. The characteristics of the target point adjustment control and the specific method of adjusting the target point based on it can be found in the descriptions of the above embodiments, and will not be repeated here.

[0214] Furthermore, this application embodiment also provides a breakpoint editing method, as shown in Figure 17, which may include the following steps:

[0215] S1702. Display a virtual space on the interactive interface. The virtual space includes a model of the working area of ​​the mobile platform and the movement route of the mobile platform.

[0216] In step S1702, the virtual space may include a model. This model can be a model obtained by modeling the real world, reflecting information from the real world. Specifically, the real world includes the operating area of ​​the mobile platform. The model can be a two-dimensional model or a three-dimensional model; this embodiment of the application does not impose any limitations.

[0217] The virtual space can include movement routes. These movement routes can be the movement routes of a mobile platform in the real world. The real world can include the operating area of ​​the mobile platform. The movement routes can be pre-planned movement routes for the mobile platform in the real world.

[0218] Referring to the foregoing, to allow users to intuitively understand the real-world scenario corresponding to the adjusted breakpoints, both the model and the motion path can be displayed simultaneously. The motion path can be a planned motion route for the mobile platform in the real world, and the model can be a model obtained by modeling the real world. By intuitively displaying the relative positional relationship between the motion path and the model, users can understand the real-world scenario corresponding to each point on the mobile platform's motion path. Specifically, this real world can include the mobile platform's operating area. After the user adjusts the breakpoint, the adjusted breakpoint can be marked on the motion path, allowing the user to intuitively understand the actual location of the adjusted breakpoint within the mobile platform's operating area.

[0219] S1704. In response to the breakpoint adjustment operation, the position of the adjusted breakpoint is marked on the motion path, and the display perspective of the virtual space changes with the position of the breakpoint.

[0220] In step S1704, after detecting the breakpoint adjustment operation, the adjusted breakpoint position can be marked on the motion path. The breakpoint adjustment operation can be triggered by the user in various ways, such as through a breakpoint adjustment control displayed in the interactive interface, through a physical control in the control terminal, or through movement controlled by a movable platform. This embodiment of the application does not impose any limitations on these methods.

[0221] To allow users to clearly see the adjusted breakpoints in the real-world scene, the displayed content of the model can change according to the position of the breakpoints.

[0222] The specific details of breakpoint adjustment and the specific details of changes in the virtual space display perspective can be found in the descriptions in the above embodiments, and will not be repeated here.

[0223] During the process of editing breakpoints, users can mark the adjusted breakpoint position on the movement path of the movable platform in the virtual space displayed in the interactive interface. The display perspective of the virtual space changes with the position of the breakpoint. Since the virtual space includes a 3D model of the movable platform's working area, users can clearly and intuitively know the position of the adjusted breakpoint in the real scene, achieving more refined and accurate breakpoint settings.

[0224] The following example illustrates the process, using an aircraft as an example of a mobile platform. The specific implementation process may include one or more of the following steps:

[0225] a) Specifically, a virtual space can be displayed on the interactive interface, including a model of the aircraft's operating area and flight path. Optionally, this virtual space can include a three-dimensional virtual space. Simultaneously, breakpoint adjustment controls can be displayed on the interactive interface, allowing users to easily adjust breakpoints. The adjusted breakpoint positions can also be marked on the flight path displayed on the interactive interface.

[0226] Optionally, the breakpoint adjustment control may include a target metric percentage setting component. This component is used to set the percentage of the target metric quantity corresponding to the target point's location relative to the total target metric quantity. Specifically, this target metric percentage setting component may include a slider and a slider. The slider represents the flight path, and the slider indicates the breakpoint's position on the flight path. Users can drag the slider within the slider to precisely adjust the breakpoint's position on the flight path.

[0227] Optionally, the breakpoint adjustment control may include a distance adjustment component. This component controls the breakpoint's movement along the flight path based on an adjustment step size, where the adjustment step size maps to the breakpoint's distance change in the real world. Specifically, this distance adjustment component may include a step button, allowing the user to click the step button to move the breakpoint along the flight path by the distance corresponding to the adjustment step size, thereby precisely adjusting the breakpoint's position on the flight path. Multiple adjustment step sizes may be available, allowing the user to select a suitable step size for breakpoint adjustment.

[0228] Users can roughly adjust the position of the breakpoint on the flight path using sliders and slides, or fine-tune the position of the breakpoint according to its actual location in the real world using step buttons. Compared with traditional adjustment methods, this method combines precision and convenience.

[0229] Optionally, the breakpoint adjustment control may include a target indicator percentage display component. While the user drags the slider within the slider, and / or after the user clicks the step button, the target indicator percentage display component can display the target indicator percentage corresponding to the adjusted breakpoint in real time. Simultaneously, the breakpoint marker on the flight path will also move synchronously along the flight path to indicate the location of the adjusted breakpoint to the user, facilitating confirmation that the adjusted breakpoint location meets their actual needs.

[0230] b) Specifically, to allow users to clearly see the adjusted breakpoint's location in the real-world scene, the model's display perspective can change according to the breakpoint's position. This display perspective is set based on the user's expected observation content. If the observation content includes the breakpoint's surrounding environment, the display perspective includes a third-person view. For example, while adjusting the breakpoint, the model's display will also follow the aircraft's tail in a third-person view, facilitating quick location of the breakpoint in complex scenes.

[0231] c) Specifically, it also supports using the aircraft's own positioning as the breakpoint location. Users only need to control the aircraft to fly to the location where the breakpoint needs to be added, operate the control controls, and the aircraft will determine the waypoint on the route closest to the aircraft's current position as the breakpoint. The breakpoint can be displayed in AR projection on the real-time image captured by the camera device on the aircraft, and also displayed synchronously in virtual space.

[0232] d) Referring to the steps above for adjusting breakpoints based on virtual space, users can select the end position of the flight path in the virtual space. By adjusting breakpoints, they can select a specific flight path segment to execute the operation. Simultaneously, the flight path identifiers in the virtual space, such as shape and color, will change accordingly to show the user the final flight path segment to be executed.

[0233] e) While the aircraft is moving along the flight path and performing operations, the user can use physical controls on the control terminal, such as the C1 / C2 buttons on the remote controller, to quickly skip a specific flight path distance forward or backward. That is, the operation will stop from the current position of the aircraft and will only continue after moving a specific flight path distance, so as to quickly adjust the operation.

[0234] It is easy to understand that the solutions described in the above embodiments can be combined to obtain new solutions when there is no conflict. For example, in some embodiments, this application also provides a target point editing method, which includes the following steps:

[0235] Step (1): Display the target point adjustment control in the interactive interface, and display the virtual space in the interactive interface; the virtual space includes a model of the working area of ​​the mobile platform and the movement route of the mobile platform.

[0236] Step (2): In response to the adjustment operation of the adjustment control for the target point, the position of the adjusted target point is marked in the motion path of the movable platform displayed in the interactive interface, and the display content of the model changes with the change of the target point's position.

[0237] The target point adjustment control allows users to select one of several different adjustment methods to adjust the position of the target point on the movement path. The adjustment amount of the target point's position on the interactive interface maps to the change in position in the real world, and allows the target point to be adjusted to be between two adjacent path points on the movement path. The adjustment method is related to the adjustment precision of the target point's position on the movement path.

[0238] The specific details of the above target point editing method can be found in the description of the above embodiments, and will not be repeated here.

[0239] For example, in some embodiments, this application also provides a target point editing method, which includes the following steps:

[0240] Step (1): Display the target point adjustment control and target point marker in the interactive interface, and display the virtual space in the interactive interface; wherein, the target point adjustment control includes operation control, the target point marker is used to indicate the position of the target point on the movement route, and the operation control is used for user operation to adjust the position of the target point on the movement route; the virtual space includes a model of the working area of ​​the mobile platform and the movement route of the mobile platform.

[0241] Step (2): In response to the adjustment operation of the operation control, mark the position of the adjusted target point in the motion path of the movable platform displayed in the interactive interface, and the display content of the model changes with the change of the target point position.

[0242] Among them, the operation controls are far away from the target point marker settings, the adjustment amount of the target point's position in the interactive interface maps the position change amount in the real world, and allows the target point to be adjusted to be between two adjacent path points on the movement route.

[0243] The specific details of the above target point editing method can be found in the description of the above embodiments, and will not be repeated here.

[0244] For example, in some embodiments, this application also provides a breakpoint editing method, which includes the following steps:

[0245] Step (1): Display the breakpoint adjustment control in the interactive interface, display the movement path and breakpoint marker of the mobile platform in the interactive interface, and display the virtual space in the interactive interface. The breakpoint marker indicates the position of the current breakpoint in the movement path of the mobile platform. The virtual space includes a model of the working area of ​​the mobile platform and the movement path of the mobile platform.

[0246] Step (2): In response to the adjustment operation of the breakpoint adjustment control, the breakpoint marker is adjusted and the adjusted breakpoint marker is displayed on the interactive interface. The adjusted breakpoint marker indicates the position of the adjusted breakpoint in the motion path, and the display view of the virtual space changes with the position of the breakpoint.

[0247] The breakpoint adjustment control includes a distance percentage setting component and / or a distance adjustment component. The distance percentage setting component allows users to adjust the position of the breakpoint on the movement path by setting different distance percentages. The distance adjustment component allows users to adjust the position of the breakpoint on the movement path based on different adjustment step sizes, and the adjustment step size maps the change in distance in the real world.

[0248] The specific details of the above target point editing method can be found in the description of the above embodiments, and will not be repeated here.

[0249] Of course, the above are just combinations of solutions obtained by combining some of the embodiments of this application. It is easy to understand that, in the absence of conflict, the solutions of each embodiment of this application can be freely combined to obtain new solutions, which will not be elaborated here.

[0250] In some embodiments, methods 400, 500, 1500, 1600, and 1700 can be applied to a mobile platform. It should be noted that some or all aspects of methods 400, 500, 1500, 1600, and 1700 (or any other flowcharts described herein, or variations and / or combinations thereof) can be executed by one or more processors or combinations thereof on a mobile platform, control terminal, any other system, or device. Some or all aspects of methods 400, 500, 1500, 1600, and 1700 (or any other flow herein, or variations and / or combinations thereof) can be executed under the control of one or more computer / control systems configured with executable instructions, and can 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 can 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 can be non-transitory. The order of the descriptive operations is not a limitation; any number of descriptive operations can be combined in any order and / or in parallel to implement the process.

[0251] Furthermore, this application embodiment also provides a target point editing device, as shown in FIG18. The target point editing device 180 includes at least one processor 181 and at least one memory 182 including computer program code. The at least one memory 180 and the computer program code together with the at least one processor 181 are configured to cause the target point editing device to perform at least the method of any of the above embodiments.

[0252] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the target point editing device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0253] Accordingly, embodiments of this application also provide a computer storage medium storing a program, which, when executed by a processor, implements the method in any of the above embodiments.

[0254] The embodiments of this application 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, 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.

[0255] 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.

[0256] 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.

[0257] 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 target point editing method characterized by comprising: The method includes: Display target point adjustment controls in the interactive interface; and In response to the adjustment operation of the target point adjustment control, the position of the adjusted target point is marked in the motion path of the movable platform displayed in the interactive interface; The target point adjustment control allows the user to select one of several different adjustment methods to adjust the position of the target point on the movement path. The adjustment amount of the target point's position on the interactive interface maps to the position change in the real world, and allows the target point to be adjusted to be between two adjacent path points on the movement path. The adjustment method is related to the adjustment accuracy of the target point's position on the movement path.

2. A target point editing method characterized by comprising: The method includes: The interactive interface displays target point adjustment controls and target point markers. The target point adjustment controls include operation controls, the target point markers indicate the position of the target point on the movement path of the movable platform, and the operation controls are for user operation to adjust the position of the target point on the movement path. In response to the adjustment operation of the operation control, the position of the adjusted target point is marked in the motion path displayed on the interactive interface; The operation controls are located away from the target point marker. The adjustment amount of the target point's position on the interactive interface maps to the real-world position change, and allows the target point to be adjusted to be between two adjacent path points on the movement route.

3. The method of claim 1, wherein, The various adjustment methods include: adjusting the position of the target point on the movement path based on the adjustment step size, and adjusting the position of the target point on the movement path of the movable platform by setting the target index ratio.

4. The method of claim 1, wherein, The provision allowing the user to select one of several different adjustment methods to adjust the position of the target point on the movement path includes: allowing the user to adjust the position of the target point on the movement path based on different adjustment step sizes.

5. The method of claim 4, wherein, The target point adjustment control includes a distance adjustment component, which can control the target point to move along the movement path according to different adjustment steps, wherein the adjustment step size maps the change in distance of the target point in the real world.

6. The method of claim 5, wherein, The adjustment step size includes multiple predefined adjustment step sizes in the distance adjustment component, or the adjustment step size is set by the user.

7. The method of claim 5, wherein, The distance adjustment component includes a step button.

8. The method of claim 7, wherein, Different adjustment steps can be achieved using different step buttons; or different adjustment steps can be achieved using the same step button.

9. The method of claim 7, wherein, Each adjustment step corresponds to a set of step buttons. One step button in each set is used to control the target point to move along the starting point of the movement path, and the other step button is used to control the target point to move along the ending point of the movement path.

10. The method of claim 5, wherein, The target point adjustment control includes an interval component and a target point position indicator component. The interval component is used to represent the movement route. During the process of adjusting the position of the target point using the distance adjustment component, the target point position indicator component can move within the interval component to indicate the position of the target point in the movement route.

11. The method of claim 10, wherein, The interval component includes a slider, and the target point position indication component includes a slider movable on the slider to indicate the position of the target point in the motion path.

12. The method of claim 1, wherein, The provision allowing the user to select one of several different adjustment methods to adjust the position of the target point on the movement path includes: allowing the user to adjust the position of the target point on the movement path of the mobile platform by setting different target index percentages.

13. The method of claim 12, wherein, The target point setting control includes a target indicator percentage setting component, which is used to set the percentage of the target indicator corresponding to the location of the target point to the total target indicator.

14. The method of claim 1, wherein, The target point setting control also includes a target indicator percentage display component. During the adjustment of the target point's position, the target indicator percentage display component can display in real time the percentage of the target indicator's value at the adjusted target point's location relative to the total target indicator value.

15. The method according to claim 12 or 14, characterized in that, The target indicator percentages include the percentage of distance traveled and / or the percentage of workload.

16. The method of claim 15, wherein, The distance ratio is the ratio of the distance between the target point and a designated point on the movement route to the total length of the movement route.

17. The method of claim 15, wherein, The workload percentage is the ratio of the workload corresponding to the interval route between the target point and the designated point on the movement route to the total workload corresponding to the movement route.

18. The method according to claim 16 or 17, characterized in that, The designated point includes the start and / or end point of the movement route.

19. The method of claim 12, wherein, The mobile platform includes at least two mobile platforms, which move along a section of the movement route to work together. The target indicator ratio is used to indicate the work performed by each mobile platform.

20. The method of claim 14, wherein, The target point adjustment control further includes an interval component and a target point position indicator component. The interval component is used to represent the movement route, and adjusting the position of the target point includes: The position of the target point can be adjusted by dragging the target point position indicator component within the interval component.

21. The method of claim 20, wherein, The interval component includes a slider, and the target point position indication component includes a slider movable on the slider to indicate the position of the target point in the motion path.

22. The method of claim 1, wherein, The step of marking the adjusted target point position in the movement route of the mobile platform displayed on the interactive interface includes: displaying a virtual space on the interactive interface and marking the adjusted target point on the movement route in the virtual space, wherein the virtual space includes a model of the working area of ​​the mobile platform and the movement route, and the displayed content of the model changes with the position of the target point.

23. The method of claim 22, wherein, The display content of the model changes with the position of the target point, including: the scaling ratio of the model changes with the position of the target point.

24. The method of claim 22, wherein, The display content of the model changes with the position of the target point, including: the display perspective of the model changes with the position of the target point.

25. The method of claim 24, wherein, The display perspective includes the perspective from which the user can observe the real scene corresponding to the target point.

26. The method of claim 24, wherein, The display perspective is set based on the user's expected observation content.

27. The method of claim 26, wherein, If the observed content includes the surrounding environment of the target point, the display perspective includes a third-person perspective.

28. The method of claim 27, wherein, When the target point adjustment operation is an operation that controls the movement of a movable platform to set a target point, the display perspective includes a third-person perspective located at the rear of the movable platform.

29. The method of claim 27, wherein, When the target point adjustment operation is an operation of setting the target point through the target point adjustment control on the interactive interface, the display perspective includes a third-person perspective located at the tail of the target point.

30. The method of claim 26, wherein, If the observed content includes the environment in front of the target point, the display perspective includes a first-person perspective.

31. The method of claim 26, wherein, The display perspective includes user-defined perspectives.

32. The method of claim 24, wherein, In response to the first detection of a user's target point adjustment operation, the display perspective of the model changes according to the position of the target point.

33. The method of claim 22, wherein, In response to the adjustment operation of the target point adjustment control, the target point is switched to the preset position of the display screen corresponding to the virtual space.

34. The method of claim 33, wherein, The preset position includes the center position of the image.

35. The method of claim 1, wherein, The method further includes: the displayed content of the movement route changes according to the position of the target point.

36. The method of claim 35, wherein, The displayed content of the movement route changes according to the position of the target point, including: The scaling ratio of the motion path changes with the position of the target point; and / or, The viewing angle of the movement route changes as the position of the target point changes.

37. The method of claim 1, wherein, The method further includes marking the position of the adjusted target point in the real-time image captured by the mobile platform displayed on the interactive interface.

38. The method of claim 37, wherein, Marking the position of the adjusted target point in the real-time image acquired by the mobile platform and displayed on the interactive interface includes: determining the position of the adjusted target point in the real-time image and displaying the virtual target point at the position.

39. The method of claim 1, wherein, The method further includes: in response to the user's target point confirmation operation, storing the location information of the target point.

40. The method according to claim 39, characterized in that, The target point is a first target point, and the method further includes: in response to a confirmation operation for a second target point, storing the location information of the second target point, and taking the route between the first target point and the second target point as the target route.

41. The method of claim 40, wherein, The method further includes: sending the target route to the mobile platform and controlling the mobile platform to move along the target route.

42. The method of claim 41, wherein, As the mobile platform moves along the target route, the system controls the mobile platform to perform relevant operational tasks.

43. The method of claim 40, wherein, The target route is highlighted in the interactive interface.

44. The method of claim 40, wherein, The mobile platform includes at least two, each mobile platform corresponding to one of the target routes, and the at least two mobile platforms move on their respective target routes to work together.

45. The method of claim 1, wherein, The method further includes: sending the motion route to the movable platform and controlling the movable platform to move along the motion route.

46. The method of claim 45, wherein, The method further includes controlling the mobile platform to perform relevant operational tasks as the mobile platform moves along the target route.

47. The method of claim 46, wherein, The control of the mobile platform to perform related tasks includes: controlling the sensing sensors mounted on the mobile platform to collect sensing data toward the target work area.

48. The method of claim 47, wherein, The relevant work tasks include at least one of the following: surveying and mapping tasks, and inspection tasks.

49. The method of claim 1, wherein, The target point includes any of the following: path point, task point, breakpoint.

50. The method according to claim 49, characterized in that, The breakpoints include the start point and / or end point of the task.

51. The method of claim 1, wherein, The target point editing method is executed during the execution of a task on the mobile platform.

52. The method of claim 51, wherein, The method further includes: during the operation of the mobile platform, in response to the target point setting operation, controlling the mobile platform to stop performing the operation and move to the position of the adjusted target point to start performing the operation again.

53. A method of breakpoint editing, comprising: The method includes: Display breakpoint adjustment controls in the interactive interface; and The interactive interface displays the motion path and breakpoint markers of the movable platform, with the breakpoint markers indicating the current breakpoint position in the motion path of the movable platform; In response to the adjustment operation of the breakpoint adjustment control, the breakpoint marker is adjusted and the adjusted breakpoint marker is displayed on the interactive interface. The adjusted breakpoint marker indicates the position of the adjusted breakpoint in the motion path. The breakpoint adjustment control includes a distance percentage setting component and / or a distance adjustment component. The distance percentage setting component allows the user to adjust the position of the breakpoint on the movement route by setting different distance percentages. The distance adjustment component allows the user to adjust the position of the breakpoint on the movement route based on different adjustment step sizes, where the adjustment step size maps to the real-world distance change.

54. A method for editing target points, characterized in that, The method includes: The interactive interface displays a virtual space, which includes a model of the working area of ​​the mobile platform and the movement path of the mobile platform; and In response to the target point adjustment operation, the position of the adjusted target point is marked on the motion path, and the displayed content of the model changes with the change of the target point position.

55. The method according to claim 54, characterized in that, The display content of the model changes with the position of the target point, including: the scaling ratio of the model changes with the position of the target point.

56. The method according to claim 54, characterized in that, The display content of the model changes with the position of the target point, including: the display perspective of the model changes with the position of the target point.

57. The method according to claim 56, characterized in that, The display perspective includes the perspective from which the user can observe the real scene corresponding to the target point.

58. The method according to claim 57, characterized in that, The display perspective is set based on the user's expected observation content.

59. The method according to claim 58, characterized in that, If the observed content includes the surrounding environment of the target point, the display perspective includes a third-person perspective.

60. The method of claim 59, wherein, When the target point adjustment operation is an operation that controls the movement of a movable platform to set a target point, the display perspective includes a third-person perspective located at the rear of the movable platform.

61. The method of claim 59, wherein, When the target point adjustment operation is an operation of setting the target point through the target point adjustment control on the interactive interface, the display perspective includes a third-person perspective located at the tail of the target point.

62. The method of claim 58, wherein, If the observed content includes the environment in front of the target point, the display perspective includes a first-person perspective; and / or The display perspective includes user-defined perspectives.

63. The method according to claim 56, characterized in that, In response to the first detection of a user's target point adjustment operation, the display perspective of the model changes according to the position of the target point.

64. The method of claim 54, wherein, In response to the adjustment operation of the target point adjustment control, the target point is switched to the preset position of the display screen corresponding to the virtual space; and / or The method further includes: the displayed content of the movement route changes according to the position of the target point.

65. The method according to claim 64, characterized in that, The preset position includes the center position of the displayed screen.

66. The method according to claim 64, characterized in that, The displayed content of the movement route changes according to the position of the target point, including: The scaling ratio of the motion path changes with the position of the target point; and / or, The viewing angle of the movement route changes as the position of the target point changes.

67. The method according to claim 54, characterized in that, The target point setting operation includes: an interaction operation with the virtual space, wherein the position of the adjusted target point is determined based on the interaction operation.

68. The method according to claim 67, characterized in that, The movement path displays an icon indicating the location of the target point. The interactive operation includes dragging the icon to move along the movement path, and the adjusted target point is the position where the icon stops moving.

69. The method according to claim 67, characterized in that, The interactive operation includes a click operation in the virtual space, and the position of the adjusted target point is determined based on the click position of the click operation.

70. The method according to claim 54, characterized in that, The interactive interface also displays real-time images currently collected by the mobile platform. The target point setting operation includes interactive operations with the real-time images, and the position of the adjusted target point is determined based on the interactive operations.

71. The method according to claim 70, characterized in that, The real-time image displays an icon indicating the location of the target point. The interactive operation includes dragging the icon to move it on the real-time image. The adjusted position of the target point is the position where the icon stops moving.

72. The method according to claim 70, characterized in that, The interactive operation includes a click operation on the real-time image, and the position of the adjusted target point is determined based on the click position of the click operation.

73. The method according to claim 54, characterized in that, The target point setting operation also includes controlling the movement of the movable platform, and the position of the adjusted target point is determined based on the target position where the movable platform stops moving.

74. The method according to claim 73, characterized in that, The adjusted target point is the position of the projection point of the target position on the movement path.

75. The method according to claim 54, characterized in that, The target point setting operation also includes control operations on the control device of the movable platform, and the position of the adjusted target point is determined based on the control operations.

76. The method according to claim 75, characterized in that, The control device is equipped with control controls, and the position of the adjusted target point is determined based on the control operation, including: adjusting the position of the current target point to a position at a specific distance from the current target point based on the control operation of the control controls.

77. The method according to claim 76, characterized in that, The control controls include multiple controls, each of which controls multiple adjustment directions of the target point's position.

78. The method according to claim 54, characterized in that, The method further includes: during the operation of the mobile platform, in response to the target point setting operation, controlling the mobile platform to stop performing the operation and move to the position of the adjusted target point to start performing the operation again.

79. The method according to claim 54, characterized in that, The method further includes marking the position of the adjusted target point in the real-time image captured by the mobile platform displayed on the interactive interface.

80. The method according to claim 79, characterized in that, Marking the position of the adjusted target point in the real-time image acquired by the mobile platform and displayed on the interactive interface includes: determining the position of the adjusted target point in the real-time image and displaying the virtual target point at the position.

81. The method according to claim 54, characterized in that, The method further includes: in response to the user's target point confirmation operation, storing the location information of the target point.

82. The method according to claim 81, characterized in that, The target point is a first target point, and the method further includes: in response to a confirmation operation for a second target point, storing the location information of the second target point, and using the route between the first target point and the second target point as the target route.

83. The method according to claim 82, characterized in that, Also includes: The target route is sent to the mobile platform, and the mobile platform is controlled to move along the target route.

84. The method according to claim 83, characterized in that, As the mobile platform moves along the target route, the system controls the mobile platform to perform relevant operational tasks.

85. The method according to claim 82, characterized in that, The target route is highlighted in the interactive interface.

86. The method according to claim 82, characterized in that, The mobile platform includes at least two, each mobile platform corresponding to one of the target routes, and the at least two mobile platforms move on their respective target routes to work together.

87. The method according to claim 54, characterized in that, The motion path is sent to the movable platform, and the movable platform is controlled to move along the motion path.

88. The method according to claim 87, characterized in that, As the mobile platform moves along the target route, the system controls the mobile platform to perform relevant operational tasks.

89. The method according to claim 88, characterized in that, The control of the mobile platform to perform related tasks includes: controlling the sensing sensors mounted on the mobile platform to collect sensing data toward the target work area.

90. The method according to claim 89, characterized in that, The relevant work tasks include at least one of the following: surveying and mapping tasks, and inspection tasks.

91. The method according to claim 54, characterized in that, The target point includes any of the following: path point, task point, breakpoint.

92. The method according to claim 91, characterized in that, The breakpoints include the start point and / or end point of the task.

93. The method according to claim 54, characterized in that, The target point editing method is executed during the operation of the mobile platform.

94. The method according to claim 93, characterized in that, The method further includes, in response to the target point setting operation, controlling the mobile platform to stop performing the operation and move to the adjusted target point position to start performing the operation again during the operation of the mobile platform.

95. A breakpoint editing method, characterized in that, The method includes: The interactive interface displays a virtual space, which includes a model of the working area of ​​the mobile platform and the movement path of the mobile platform; and In response to the breakpoint adjustment operation, the position of the adjusted breakpoint is marked on the motion path, and the display perspective of the virtual space changes with the position of the breakpoint.

96. A target point editing device, characterized in that, include: At least one processor; as well as At least one memory containing computer program code; In this embodiment, at least one of the memory and computer program code, together with at least one of the processor, are configured to cause the target point editing device to perform at least the method as described in any one of claims 1 to 95.

97. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1-95.

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