Control method, display method, computer device and storage medium

Abstract

A control method, comprising: controlling an imaging apparatus carried by a movable platform to capture an image of a task area to obtain a captured image (S111); determining a target recognition range within the coverage of the captured image, wherein the target recognition range is used for representing an area in which a target object recognition task has been executed within the coverage of the captured image, and the target object recognition task is implemented on the basis of the captured image (S112); and generating data related to a target identifier for display, wherein the target identifier is used for identifying the target recognition range within the task area (S113).

Description

Control methods, display methods, computer equipment and storage media Technical Field

[0001] This application relates to the field of mobile platform technology, and in particular to a control method, display method, computer device and storage medium. Background Technology

[0002] When performing tasks such as searching and inspecting target objects, mobile platforms use imaging devices to capture images of the task area. However, the interactive information that can be presented to users in related technologies is very limited, which makes it difficult for users to judge the performance of tasks performed by mobile platforms and to make timely and effective adjustments to the performance of tasks performed by mobile platforms. Summary of the Invention

[0003] Based on this, embodiments of this application provide a control method, a display method, a computer device, and a storage medium, which aim to avoid repetitive or omitted tasks, thereby improving task execution efficiency.

[0004] In a first aspect, embodiments of this application provide a control method, including:

[0005] Control the imaging device mounted on the mobile platform to capture images of the mission area;

[0006] A target recognition range is determined within the coverage area of ​​the captured image, wherein the target recognition range represents the area within the coverage area of ​​the captured image where a target object recognition task has been performed, and the target object recognition task is implemented based on the captured image; and

[0007] Data associated with a target identifier is generated for display, wherein the target identifier is used to identify the target recognition range within the task area.

[0008] The control method provided in the first aspect uses an imaging device mounted on a mobile platform to capture images of the task area, determines the target recognition range within the coverage of the captured images, and generates data related to target identifiers used to mark the target recognition range within the task area for display. This allows users to intuitively and accurately know which areas within the coverage of the captured images have already undergone target object recognition tasks through the displayed target identifiers, facilitating users to judge the performance of the recognition tasks. This avoids the mobile platform from repeatedly executing tasks or omitting tasks, thereby improving the task execution efficiency of the mobile platform.

[0009] Secondly, embodiments of this application also provide a display method, including:

[0010] Display a topographic map of the task area on the user interface;

[0011] Acquire data related to a target identifier, which is used to identify the target recognition range within the task area; and

[0012] Based on the data related to the target identifier, the target identifier is displayed on the topographic map;

[0013] The target recognition range refers to the area within the coverage of the captured image where the target object recognition task has been performed. The captured image is obtained by capturing the task area using an imaging device mounted on a mobile platform, and the target object recognition task is achieved based on the captured image.

[0014] The second aspect provides a display method that displays target identifiers on the topographic map of the task area displayed on the user interface to identify the target recognition range within the task area. The target recognition range is used to indicate the area within the coverage of the captured image where the target object recognition task has been performed. This allows users to intuitively and accurately know which areas within the coverage of the captured image have already performed the target object recognition task through the displayed target identifiers. This makes it easier for users to judge the performance of the recognition task, thereby avoiding repeated or missed task execution by the mobile platform and improving the task execution efficiency of the mobile platform.

[0015] Thirdly, embodiments of this application also provide a display method, including:

[0016] Display a topographic map of the task area on the user interface;

[0017] The topographic map displays the real-time shooting range and the historical recognition range, whereby the historical recognition range represents the area within the historical shooting range where a target object recognition task has been performed.

[0018] Acquire data related to a target identifier, the target identifier being used to identify areas within the real-time shooting range where a target object recognition task has been performed; and

[0019] Based on the data related to the target identifier, the historical identification range is updated, and the updated historical identifier range is displayed on the topographic map;

[0020] The target object identification task is achieved based on the captured image, and the updated historical identifier range does not completely overlap with the union of the previous historical identifier range and the real-time shooting range.

[0021] The third aspect provides a display method that shows the real-time shooting range and historical recognition range on the topographic map of the task area displayed on the user interface. The historical recognition range is updated based on data related to the target identifier, and the updated historical identifier range is displayed on the topographic map. This helps users to intuitively and accurately know the update status of the historical recognition range, and also helps users to intuitively and accurately know which areas in the entire task area have already performed the target object recognition task. This makes it easier for users to judge the execution effect of the recognition task, thereby avoiding the repeated execution or omission of tasks on the mobile platform and improving the task execution efficiency of the mobile platform.

[0022] Fourthly, embodiments of this application also provide a control method, including:

[0023] The imaging device mounted on the mobile platform is controlled to sequentially capture multiple images of multiple sub-regions within the mission area.

[0024] Based on the coverage area of ​​the multiple captured images, data associated with a range identifier is generated for display, wherein the range identifier is used to identify at least a portion of the coverage area of ​​the multiple captured images within the task area; and

[0025] Based on the time-related information corresponding to multiple captured images, data related to time markers is generated for display. The time markers can map the shooting sequence information of the imaging device for multiple sub-regions and / or the shooting duration information of the imaging device for multiple sub-regions.

[0026] The control method provided in the fourth aspect generates data related to range identifiers used to identify the coverage of multiple captured images within the task area, and generates data related to time identifiers used to represent the shooting timing information and / or shooting duration information of multiple sub-regions of the shooting task area. On the one hand, this allows users to intuitively understand the coverage of the captured images through the displayed range identifiers. On the other hand, it allows users to intuitively understand the shooting timing information and / or shooting duration information of multiple sub-regions through the time identifiers. This multi-dimensional information presentation facilitates users to more comprehensively evaluate the performance of the mobile platform's task execution, so as to adjust the task execution strategy of the mobile platform in a timely manner and thus improve the task execution efficiency of the mobile platform.

[0027] Fifthly, embodiments of this application also provide a display method, including:

[0028] A topographic map of the task area is displayed on the user interface, the task area comprising multiple sub-areas;

[0029] Retrieve data related to the range identifier and data related to the time identifier;

[0030] Based on the data related to the extent identifier, the extent identifier is displayed on the topographic map; and

[0031] Based on the time-related data, the time marker is displayed on the topographic map;

[0032] The range identifier is used to identify at least a portion of the coverage area of ​​multiple captured images within the task area, wherein the multiple captured images are obtained by sequentially capturing multiple sub-regions based on an imaging device mounted on a mobile platform; the time identifier can map the shooting sequence information of the imaging device for the multiple sub-regions and / or the shooting duration information of the imaging device for the multiple sub-regions.

[0033] The fifth aspect provides a display method that displays range markers for identifying at least a portion of the coverage area of ​​multiple captured images on a topographic map of the task area, and time markers for displaying the shooting sequence information and / or shooting duration information of multiple sub-regions of the shooting task area. On the one hand, this allows users to intuitively understand the coverage area of ​​the captured images through the displayed range markers; on the other hand, it allows users to intuitively understand the shooting sequence information and / or shooting duration information of multiple sub-regions through the time markers. This multi-dimensional information presentation facilitates users to more comprehensively evaluate the performance of the mobile platform's task execution, so as to adjust the task execution strategy of the mobile platform in a timely manner and thereby improve the task execution efficiency of the mobile platform.

[0034] Sixthly, embodiments of this application also provide a computer device, the computer device including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, to implement the methods described in the first aspect, second aspect, third aspect, fourth aspect, or fifth aspect.

[0035] In a seventh aspect, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the methods described in the first, second, third, fourth, or fifth aspects.

[0036] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 is a schematic flowchart of the steps of a control method provided in an embodiment of this application;

[0039] Figure 2 is a schematic diagram of the coverage area, target recognition area and remaining area of ​​the captured image in an embodiment of this application;

[0040] Figure 3 is another schematic diagram of the coverage area, target recognition area and remaining area of ​​the captured image in an embodiment of this application;

[0041] Figure 4 is a schematic diagram of the coverage area and target recognition range of the captured image in an embodiment of this application;

[0042] Figure 5 is a schematic diagram of a user interface displaying a target identifier in an embodiment of this application;

[0043] Figure 6 is another schematic diagram of a user interface displaying a target identifier in an embodiment of this application;

[0044] Figure 7 is a schematic diagram of a target identifier in an embodiment of this application;

[0045] Figure 8 is another schematic diagram of the target identifier in an embodiment of this application;

[0046] Figure 9 is another schematic diagram of the target identifier in an embodiment of this application;

[0047] Figure 10 is a schematic flowchart of the steps of a display method provided in an embodiment of this application;

[0048] Figure 11 is a schematic flowchart of another display method provided in an embodiment of this application;

[0049] Figure 12 is a schematic diagram of a user interface displaying the real-time shooting range and the historical recognition range in an embodiment of this application;

[0050] Figure 13 is a schematic diagram of a user interface displaying the historical identification range in an embodiment of this application;

[0051] Figure 14 is a schematic diagram of the historical identification range and the real-time shooting range in an embodiment of this application;

[0052] Figure 15 is a schematic flowchart of another control method provided in an embodiment of this application;

[0053] Figure 16 is a schematic diagram of a user interface displaying range and time indicators in an embodiment of this application;

[0054] Figure 17 is another schematic diagram of a user interface displaying range and time indicators in an embodiment of this application;

[0055] Figure 18 is another schematic diagram of a user interface displaying range and time indicators in an embodiment of this application;

[0056] Figure 19 is a schematic flowchart of another display method provided in an embodiment of this application;

[0057] Figure 20 is a schematic block diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0058] 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, 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.

[0059] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0060] Currently, when mobile platforms perform target object identification tasks such as searching and inspection, they utilize onboard imaging devices to capture images of the task area and indicate the captured area using the coverage of the images. Taking an aircraft as an example, the aircraft flies above the task area and uses its onboard imaging device to capture images of the task area to identify target objects within the task area.

[0061] In some embodiments, when the mobile platform of this application is connected to a control platform, the user can use controls on the control platform to control the movement of the mobile platform within the task area and / or adjust the posture of the imaging device, so that the mobile platform can identify target objects within the task area through the imaging device. The controls may include physical controls and / or virtual controls. Physical controls include one or more of buttons, joysticks, or dials. Virtual controls may be, for example, virtual controls displayed on a screen, and may include buttons or sliders. The mobile platform and the control platform can be connected wirelessly, such as via Bluetooth, Wi-Fi, or cellular communication. The mobile platform can send images captured by the imaging device of the task area to the control platform, which then displays the images. This allows the user to control the controls on the control platform to control the mobile platform to perform the target object identification task within the task area.

[0062] The control platform in this application embodiment includes a control terminal or a cloud server. For example, the control terminal includes a remote control device that has a direct or indirect communication connection with the mobile platform. For example, the control terminal can be a mobile phone, tablet, computer, or other terminal device; it can also be a remote control; or it can be a portable wearable device (e.g., a head-mounted wearable device (e.g., glasses), a wrist-worn wearable device (e.g., a watch, a bracelet, etc.)). The wearable device includes a head-mounted display device, which can include a virtual reality (VR) display device or a first-person view (FPV) display device. When the mobile platform is an aircraft, the control terminal includes the pilot's remote control device, the ground airport corresponding to the aircraft, the aircraft's monitoring terminal, and other terminal devices capable of directly or indirectly controlling the aircraft's actions.

[0063] For example, the control platform may include an output device such as a display device, which can output images captured by the mobile platform. For instance, the control platform can receive images transmitted from the mobile platform and display them via the display device. The display device can be integrated into the control platform (in this case, the control platform and the display device are integrated together). In other alternative embodiments, the display device can be external, meaning the control platform and the display device are separate, and the control platform and the display device can establish a communication connection. Through this communication connection, the control platform can display images captured by the mobile platform using an external display device. This communication connection can be a wired or wireless communication connection, such as a WiFi connection, Bluetooth connection, or high-frequency wireless signal connection. The display device of the control platform can be a touch screen with touch functionality.

[0064] For example, the control platform may include an input device that can detect user control operations on the control platform. The control platform can then generate control commands for the movable platform based on the user control operations detected by the input device. For instance, the control platform can generate a yaw control command based on the user's yaw control operation detected by the input device, and send the yaw control command to the movable platform. The input device may be a physical control such as a touch display, joystick, button, or dial, used to receive user input.

[0065] In some embodiments, when the mobile platform of this application is connected to a control platform, a user can use the control platform to send task information to one mobile platform, thereby controlling the mobile platform to execute tasks according to the task information. Alternatively, different task information can be sent to multiple different mobile platforms, thereby controlling the different mobile platforms to execute tasks according to their respective task information. The task information may include task path and / or location information, where the location information may be the location information of different sub-regions within the same task area; that is, multiple different mobile platforms can execute tasks within different sub-regions of the same task area. In other embodiments, the control terminal can also communicate with a cloud server.

[0066] In some embodiments, the control platform can identify areas on a topographic map of the task area displayed in the user interface where multiple different mobile platforms have performed target object identification tasks. The control platform may include output devices such as a display device, which can display a topographic map of the task area through its user interface and identify areas on the map where multiple different mobile platforms have performed target object identification tasks. The display device can be integrated into the control platform (in this case, the control platform and the display device are integrated together). In other alternative embodiments, the display device can be external, i.e., the control platform and the display device are separate, and the control platform and the display device can establish a communication connection, enabling the control platform to display information via the external display device. This communication connection can be wired or wireless, such as via WiFi, Bluetooth, or high-frequency wireless signals. The display device of the control platform can be a touchscreen display with touch functionality.

[0067] Any mobile platform in the embodiments of this application may include aircraft, vehicles, ships, mobile robots (e.g., sweeping robots), etc. Aircraft may include unmanned aerial vehicles (UAVs) or manned aircraft, and may include fixed-wing aircraft, rotorcraft, or a combination of rotorcraft and fixed-wing aircraft. Rotorcraft may be, for example, single-rotor, dual-rotor, quadcopter, hexacopter, or octocopter. According to the application industry, aircraft can be classified as agricultural aircraft, industrial aircraft, aerial photography aircraft, logistics and transportation aircraft, etc. This application embodiment uses a mobile platform as an example of an aircraft; related embodiments can be extended to other types of mobile platforms besides aircraft.

[0068] In some embodiments, the aircraft includes a fuselage, a power system, and an imaging device. The fuselage may include a nose. In some embodiments, the aircraft also includes an arm connected to the fuselage, which is used to mount the power system; in some embodiments, the power system may be directly mounted on the fuselage. In some embodiments, the power system may also be detached from the fuselage. The power system provides flight propulsion for the aircraft and may include a drive unit (e.g., an electric motor) and a propeller mounted on and driven by the drive unit. The power system can drive the fuselage to rotate about one or more rotation axes. For example, the rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system drives the fuselage to rotate about the yaw axis, the yaw direction of the fuselage nose changes, meaning the fuselage yaw rotation can be controlled by controlling the power system. It should be understood that the electric motor can be a DC motor or an AC motor. Additionally, the electric motor can be a brushless motor or a brushed motor. The imaging device is directly mounted on the fuselage or mounted on the fuselage via an attitude adjustment device (including a gimbal or robotic arm) for acquiring and capturing images. The imaging device may include a visible light imaging device, an infrared imaging device, or a radar imaging device.

[0069] When performing tasks such as searching and inspecting to identify target objects, mobile platforms utilize their onboard imaging devices to capture images of the target area. For example, in the security field, when using mobile platforms to search and count target objects within a security area, users primarily rely on manually observing the captured images to determine where they are looking and what areas they have visited. In large-scale searches without environmental features, users find it difficult to determine the geographical location and scope of their search and easily forget which areas they have searched.

[0070] In related technologies, although the coverage area of ​​the captured image can be known, this coverage area can only indicate the captured range at most, and cannot indicate which areas within it have undergone target object recognition. For example, if the target object is far from the mobile platform, although the captured image coverage area can cover the target object, if the target object is relatively peripheral and its image size in the captured image is relatively small, then the target object recognition task may not have been performed on the entire coverage area of ​​the captured image. Therefore, users cannot intuitively and accurately know the areas that have been recognized, which is not conducive to users' judgment and response to the mobile platform's recognition task performance, and can easily lead to the mobile platform repeatedly performing tasks or missing tasks.

[0071] To address the aforementioned issues, this application provides a control method. This method determines the target recognition range within the coverage area of ​​a captured image and generates data related to target identifiers used to mark the target recognition range within the task area for display. This allows users to intuitively and accurately identify which areas within the coverage area of ​​the captured image have already undergone target object recognition tasks through the displayed target identifiers. It facilitates user assessment of the recognition task's performance, avoiding duplicate or missed tasks and improving the task execution efficiency of the mobile platform. Taking the security field as an example, using a mobile platform to search and count target objects within a security area, the control method provided in the above embodiment can calculate the target recognition range within the coverage area of ​​the captured image and mark the target recognition range on a topographic map. This allows users to easily identify the actual location of the current search and avoids users getting lost in repetitive texture scenes, not knowing where they have searched.

[0072] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0073] Please refer to Figure 1, which is a schematic flowchart of the steps of a control method provided in an embodiment of this application.

[0074] As shown in Figure 1, the control method includes steps S111 to S113.

[0075] Step S111: Control the imaging device mounted on the mobile platform to take pictures of the mission area to obtain the captured images.

[0076] Step S112: Determine the target recognition range within the coverage area of ​​the captured image. The target recognition range is used to represent the area within the coverage area of ​​the captured image where the target object recognition task has been performed. The target object recognition task is implemented based on the captured image.

[0077] Step S113: Generate data related to the target identifier for display, wherein the target identifier is used to identify the target recognition range within the task area.

[0078] This embodiment determines the target recognition range within the coverage area of ​​the captured image and generates data related to target identifiers used to mark the target recognition range within the task area for display. This allows users to intuitively and accurately understand which areas within the coverage area of ​​the captured image have already undergone target object recognition tasks through the displayed target identifiers. This facilitates users' assessment of the recognition task's performance, thereby preventing the mobile platform from repeatedly executing tasks or missing tasks, and improving the task execution efficiency of the mobile platform. It should be noted that the user in this embodiment can be the operator of the mobile platform, such as a drone pilot, or the supervisor of the mobile platform, such as a cloud server supervisor for the drone, or other relevant parties related to the tasks performed by the mobile platform. This application does not impose any restrictions on this.

[0079] It should be noted that the control method provided in this application embodiment can be applied to a mobile platform or a control platform, or some steps can be applied to a mobile platform while others are applied to a control platform. For example, the mobile platform controls the onboard imaging device to capture an image of the task area. Then, the mobile platform determines the target recognition range within the coverage area of ​​the captured image and generates data related to a target identifier used to identify the target recognition range within the task area for display. For example, the data related to the target identifier generated by the control method corresponding to Figure 1 can be sent to the display method corresponding to Figure 10 or Figure 11 for display.

[0080] For example, the control platform controls the imaging device mounted on the mobile platform to capture images of the task area. The control platform then determines the target recognition range within the coverage area of ​​the captured image and generates data related to target identifiers used to mark the target recognition range within the task area for display. As another example, the mobile platform controls the onboard imaging device to capture images of the task area and sends these images to the control platform. The control platform then determines the target recognition range within the coverage area of ​​the captured image and generates data related to target identifiers used to mark the target recognition range within the task area for display.

[0081] In some embodiments, the control method provided in this application further includes: displaying the target identifier on a topographic map of the task area displayed on the user interface based on data related to the target identifier. The topographic map of the task area may include a real-time view from an imaging device or a navigation map. Displaying the target identifier in a real-time view allows users to gain a more immersive understanding of the area corresponding to the target identifier in the real physical world; displaying the target identifier on a navigation map, such as a satellite map, allows users to have a more global perspective of the area corresponding to the target identifier and its relative proportion within the overall navigation map. It is understood that the step of displaying the topographic map of the task area on the user interface can be performed before, after, or simultaneously with steps S111, S112, or S113, and the step of displaying the target identifier on the topographic map of the task area displayed on the user interface based on data related to the target identifier can be performed after step S113. This embodiment displays target markers on the topographic map of the task area, which helps users intuitively and accurately know which areas within the coverage of the captured image have already performed the target object recognition task. This makes it easier for users to judge the performance of the recognition task, thereby avoiding repeated or missed tasks by the mobile platform and improving the task execution efficiency of the mobile platform.

[0082] In some embodiments, the control method provided in this application is applied to a mobile platform. Displaying a target identifier on a topographic map of the task area displayed on the user interface based on data related to the target identifier may include: the mobile platform sending data related to the target identifier to a control platform, and the control platform displaying the target identifier on the topographic map of the task area displayed on the user interface based on the data related to the target identifier. Alternatively, the mobile platform sending data related to the target identifier to the control platform, and the control platform displaying the target identifier on the topographic map of the task area displayed on the user interface based on the data related to the target identifier.

[0083] In some embodiments, the control method provided in this application is applied to a control platform. Displaying a target identifier on a topographic map of the task area displayed on the user interface based on data related to the target identifier may include: controlling a display device to display the target identifier on the topographic map of the task area displayed on the user interface based on data related to the target identifier. The display device may be integrated into the control platform (in this case, the control platform and the display device are integrated together), or the control platform and the display device may be separately configured, and the control platform and the display device may establish a communication connection.

[0084] In some embodiments, the coverage area of ​​the captured image corresponds to the entire image region of the captured image, and the target recognition range corresponds to a portion of the image region of the captured image. Specifically, the portion of the image region corresponding to the target recognition range includes the portion of the image region where the target object can be accurately identified. Since the range for accurately identifying the target object is limited, it is impossible to guarantee accuracy in identifying the target object within the entire image region of the captured image. Therefore, performing the target object recognition task within the portion of the image region where the target object can be accurately identified ensures the accuracy of target object recognition and improves the accuracy of the target object recognition task.

[0085] In most scenarios, the target recognition range corresponds to a portion of the captured image area. However, in a few scenarios, such as when the image quality is very high, the target recognition range can also correspond to the entire captured image area; that is, the entire captured image can be used to perform the target object recognition task.

[0086] It should be noted that in the embodiments of this application, the area where the target object recognition task has been performed indicates that if a target object exists in the area, it can be identified, but it does not necessarily mean that a target object exists in the area. For example, in a search and rescue scenario, if a target object exists in an area where the target object recognition task has been performed, then the target object can be found, and the search and rescue task can be completed; even if no target object is found in an area where the target object recognition task has been performed, it means that the search task in that area has been completed, and there is no need to repeat the search.

[0087] In some embodiments, the coverage area of ​​an image is characterized by the size of the area within the task region captured by the imaging device. The coverage area of ​​an image is not related to the specific content captured; for example, two images may have the same coverage area but capture different content. It is understood that a larger area within the task region captured by the imaging device results in a larger coverage area, and vice versa.

[0088] In some embodiments, the coverage area of ​​the captured image includes a target recognition range and a remaining range. The remaining range represents the area within the coverage area of ​​the captured image where no target object recognition task has been performed. Further, the target recognition range represents the area within the coverage area of ​​the captured image where a target object recognition task has been performed and the target object can be accurately identified. The remaining range represents the area within the coverage area of ​​the captured image where a target object recognition task has not been performed and the target object cannot be accurately identified. Not performing a target object recognition task means that even if a target object exists in the area, it cannot be identified; it does not necessarily mean that a target object does not exist in the area. It should be noted that not performing a target object recognition task can mean that the mobile platform did not perform a recognition task in that area, or it can mean that the mobile platform performed a recognition task in that area but could not determine whether a target object existed due to the quality of the captured image in that area, i.e., an invalid target object recognition task was performed. The target recognition range can also be simply understood as the range within the captured image where the mobile platform can "clearly see the target object," and the remaining range can be simply understood as the range within the captured image where the mobile platform cannot "clearly see the target object."

[0089] In some embodiments, the target recognition range corresponds to the area geographically closer to the mobile platform within the coverage area of ​​the captured image, while the remaining range corresponds to the area geographically farther from the mobile platform within the coverage area of ​​the captured image. Since the image of the area geographically closer to the mobile platform within the coverage area of ​​the captured image is clearer and has richer details, the accuracy of identifying target objects in the area geographically closer to the mobile platform within the coverage area of ​​the captured image is higher than the accuracy of identifying target objects in the area geographically farther from the mobile platform within the coverage area of ​​the captured image. In some embodiments, after determining the target recognition range and the remaining range, the target object recognition task can be performed only within the target recognition range, and not within the remaining range. Targeted performance of the recognition task helps reduce computational load and avoids performing invalid recognition tasks within the remaining range.

[0090] In some embodiments, the target object recognition task is achieved based on captured images. For example, the captured image can be input into a preset recognition program for target object recognition, or a portion of the captured image corresponding to the target recognition range can be input into the recognition program for target object recognition. The recognition program can run based on recognition algorithms in related technologies, such as machine learning recognition algorithms.

[0091] In some embodiments, when the angle between the optical axis of the imaging device and the imaging surface where the target object is located is 90 degrees, the remaining range is symmetrically distributed on both sides of the target recognition range. Figure 2 shows a schematic diagram of the coverage area of ​​an image captured by an imaging device mounted on an aircraft. As shown in Figure 2, the angle θ between the optical axis of the imaging device and the imaging surface 10 where the target object is located is 90 degrees, and the coverage area of ​​the captured image includes the target recognition range 11 and the remaining range 12, with the remaining range 12 symmetrically distributed on both sides of the target recognition range 11.

[0092] In some embodiments, when the angle between the optical axis of the imaging device and the imaging surface where the target object is located is not 90 degrees, the target recognition range is located in the imaging area geographically closer to the movable platform within the coverage area of ​​the captured image, and the remaining range is located in the imaging area geographically farther from the movable platform on the opposite side within the coverage area of ​​the captured image. Figure 3 shows another schematic diagram of the coverage area of ​​the captured image of an imaging device mounted on an aircraft. As shown in Figure 3, the angle θ between the optical axis of the imaging device and the imaging surface 10 where the target object is located is not 90 degrees. The coverage area of ​​the captured image includes a target recognition range 11 and a remaining range 12. The target recognition range 11 is located in the imaging area geographically closer to the movable platform within the coverage area of ​​the captured image, and the remaining range 12 is located in the imaging area geographically farther from the movable platform on the opposite side within the coverage area of ​​the captured image.

[0093] In some embodiments, the target recognition range shares a boundary with the near end of the coverage area of ​​the captured image, and / or, the target recognition range shares a boundary with the far end of the coverage area of ​​the captured image. The near end of the coverage area of ​​the captured image is closer to the movable platform than the far end of the coverage area of ​​the captured image. For example, as shown in FIG3, the target recognition range 11 shares a boundary with the near end of the coverage area of ​​the captured image.

[0094] In some embodiments, the coverage area of ​​the captured image is related to the field of view (FOV) of the imaging device, the distance between the imaging device and the imaging surface where the target object is located, and the angle between the optical axis of the imaging device and the imaging surface. For example, as shown in FIG2 or 3, the coverage area of ​​the captured image is determined based on the field of view (FOV) of the imaging device, the distance L between the imaging device and the imaging surface 10 where the target object is located, and the angle θ between the optical axis of the imaging device and the imaging surface 10.

[0095] In some embodiments, the field of view of the imaging device is positively correlated with the size of the image sensor. For example, the larger the size of the image sensor, the larger the field of view; conversely, the smaller the image sensor, the smaller the field of view. When the size of the image sensor remains constant, the field of view remains constant.

[0096] In some embodiments, the coverage area of ​​the captured image is positively correlated with the field of view of the imaging device. Furthermore, with the distance between the imaging device and the imaging plane containing the target object, and the angle between the optical axis of the imaging device and the imaging plane remaining constant, the coverage area of ​​the captured image is positively correlated with the field of view of the imaging device. Specifically, the larger the field of view of the imaging device, the larger the coverage area of ​​the captured image; conversely, the smaller the field of view of the imaging device, the smaller the coverage area of ​​the captured image.

[0097] In some embodiments, the coverage area of ​​the captured image is positively correlated with the distance between the imaging device and the imaging surface. Furthermore, with the field of view of the imaging device and the angle between the optical axis of the imaging device and the imaging surface remaining constant, the coverage area of ​​the captured image is positively correlated with the distance between the imaging device and the imaging surface. Specifically, the greater the distance between the imaging device and the imaging surface, the larger the coverage area of ​​the captured image; conversely, the closer the distance between the imaging device and the imaging surface, the smaller the coverage area of ​​the captured image.

[0098] In some embodiments, the proportion of the target recognition range within the coverage area of ​​the captured image is related to the attribute information of the target object. This proportion can be determined based on the target object's attribute information, which in some cases is determined by detected user input related to the target object's attributes. Furthermore, for the same captured image, different target object attribute information results in different proportions of the target recognition range within the image's coverage area. The target object includes moving or stationary objects, and the target recognition range is less than or equal to the coverage area of ​​the captured image. In this embodiment, the proportion of the target recognition range within the image's coverage area is related to the target object's attribute information, ensuring that the target recognition range meets the accuracy requirements for recognizing the target object based on its corresponding attribute information, thereby guaranteeing the accuracy of target object recognition and improving the accuracy of the target object recognition task.

[0099] In some embodiments, the attribute information of the target object includes the category of the target object or the physical size of the target object; that is, the proportion of the target recognition range within the coverage area of ​​the captured image is related to the category or physical size of the target object. It should be noted that the classification of the target object can follow general classification principles within the sociological framework. For example, the categories of the target object include humans, animals, vehicles, ships, power towers, or power lines, etc. In this embodiment, the proportion of the target recognition range within the coverage area of ​​the captured image is related to the category or physical size of the target object, ensuring that the target recognition range meets the accuracy requirements for the recognition of target objects of the corresponding category or physical size, thereby guaranteeing the accuracy of target object recognition and improving the accuracy of the target object recognition task.

[0100] In some embodiments, for the same captured image, the proportion of the target recognition range within the coverage area of ​​the captured image varies depending on the physical size of the target object. Specifically, for the same captured image, the marked range of the target recognition range on the topographic map of the task area varies depending on the physical size of the target object. This embodiment uses different target recognition range sizes for target objects of different physical sizes to perform the target object recognition task, thereby ensuring that the target recognition range meets the recognition accuracy requirements for target objects of corresponding physical sizes, thus guaranteeing the accuracy of target object recognition and improving the accuracy of the target object recognition task.

[0101] In some embodiments, for the same captured image, the proportion of the target recognition range within the coverage area of ​​the captured image varies depending on the category of the target object. Specifically, for the same captured image, the marked range of the target recognition range on the topographic map of the task area varies depending on the category of the target object. This embodiment uses different sizes of the target recognition range for different categories of target objects to perform the target object recognition task, thereby ensuring that the target recognition range meets the recognition accuracy requirements of the corresponding category of target object, thus guaranteeing the accuracy of target object recognition and improving the accuracy of the target object recognition task.

[0102] In some embodiments, the category of a target object is related to its physical size. The physical size of the target object is characterized by its physical size in the most significant dimensional direction. For example, if the height of the target object is most significant, then the physical size of the target object is its height. Similarly, if the length of the target object is most significant, then the physical size of the target object is its length. Likewise, if the width of the target object is most significant, then the physical size of the target object is its width. And if the diameter of the target object is most significant, then the physical size of the target object is its diameter.

[0103] In some embodiments, for target objects of the same category, their physical dimensions fall within a preset size range. This preset size range can be set based on actual circumstances, and this application embodiment does not specifically limit it. For example, when searching for and rescuing a pet cat, the pet cat's physical dimensions (length) might fall within the range of 15 cm to 50 cm.

[0104] In some embodiments, a more refined method for determining the target recognition range is employed. For example, a physical size is defined for each target object to be identified. For the same captured image, the target recognition range determined by searching for a 15cm pet cat is different from that determined by searching for a 40cm pet cat; the target recognition range determined for a 15cm pet cat is smaller than that determined for a 30cm pet cat. The refined method determines the target recognition range more accurately, but the computational load is also relatively larger. In other embodiments, a relatively coarse method for determining the target recognition range can also be used. For example, the category of the target object to be identified is selected; for pet cats, the category of cats is selected. A statistical physical size, such as 30cm, is used as the uniform physical size for the category of pet cats. It is not necessary to know the actual physical size of the pet cat to be searched to determine a relatively coarse target recognition range, but the computational load is also relatively smaller.

[0105] In some embodiments, the physical size of the target object is characterized by its statistical physical size. This statistical physical size is obtained by statistically analyzing the physical sizes of multiple different target objects of the same class. For example, the statistical physical size includes at least one of the following: the mean of the sample physical sizes, the median of the sample physical sizes, and the mode of the sample physical sizes. It should be noted that the mean of the sample physical sizes refers to the average of the physical sizes of multiple different target objects of the same class, the median of the sample physical sizes refers to the median of the physical sizes of multiple different target objects of the same class, and the mode of the sample physical sizes refers to the mode of the physical sizes of multiple different target objects of the same class. This embodiment uses the statistical physical size of the target object to characterize its physical size, thereby ensuring the universality of the target object's physical size.

[0106] In some embodiments, the larger the physical size of the target object, the larger the proportion of the target recognition range in the coverage area of ​​the captured image. For example, if the target object is an elephant, the proportion of its target recognition range in the coverage area of ​​the captured image is k1; if the target object is a cheetah, the proportion of its target recognition range in the coverage area of ​​the captured image is k2. Since the physical size of an elephant is larger than that of a cheetah, k1 is greater than k2.

[0107] In some embodiments, for target objects of the same category, the corresponding pixel size threshold is the same. The pixel size threshold is used to represent the minimum pixel size that the target object can be identified in the captured image. The pixel size threshold for the target object includes a pixel height threshold and / or a pixel width threshold. It is understood that the pixel size threshold can be set based on the category of the target object, and this embodiment does not specifically limit this.

[0108] In some embodiments, determining the target recognition range within the coverage area of ​​the captured image may include: obtaining a pixel size threshold for the target object, where the pixel size threshold represents the minimum pixel size at which the target object can be recognized in the captured image, and the pixel size threshold is related to the category of the target object; and determining the target recognition range within the coverage area of ​​the captured image based on the pixel size threshold of the target object. The pixel size threshold is set by the user or automatically by the mobile platform, and the target recognition range is less than or equal to the coverage area of ​​the captured image. In related technologies, although the coverage area of ​​the captured image can cover the target object, the target object is relatively peripheral and its image size in the captured image is relatively small, resulting in the target object recognition task not being performed on the entire coverage area of ​​the captured image. To solve the above problems, this embodiment sets a pixel size threshold for the target object, where the pixel size threshold represents the minimum pixel size at which the target object can be recognized in the captured image, which can automatically help the user converge the areas where the target object recognition task has been performed.

[0109] In some embodiments, determining the target recognition range within the coverage area of ​​the captured image based on a pixel size threshold of the target object may include: determining the near-end boundary of the coverage area of ​​the captured image as a first boundary of the target recognition range when the angle between the optical axis of the imaging device and the imaging plane where the target object is located is not 90°; determining the distance between a second boundary of the target recognition range and the far-end boundary of the coverage area of ​​the captured image based on a pixel size threshold of the target object; determining the second boundary of the target recognition range within the coverage area of ​​the captured image according to this distance; and defining the closed region within the coverage area of ​​the captured image, consisting of the first boundary, the second boundary, and the remaining boundaries of the coverage area of ​​the captured image, as the target recognition range. Wherein, the larger the pixel size threshold of the target object, the smaller the distance between the second boundary of the target recognition range and the far-end boundary of the coverage area of ​​the captured image; the smaller the pixel size threshold of the target object, the larger the distance between the second boundary of the target recognition range and the far-end boundary of the coverage area of ​​the captured image.

[0110] In some embodiments, for the same captured image, the proportion of the target recognition range within the coverage area of ​​the captured image varies depending on the pixel size threshold used. Specifically, for the same captured image, the marked range of the target recognition range on the topographic map of the task area varies depending on the pixel size threshold used. This embodiment uses different target recognition range sizes for target objects with different pixel size thresholds to perform the target object recognition task, thereby ensuring that the target recognition range meets the recognition accuracy requirements of the target object for the corresponding pixel size threshold, thus guaranteeing the accuracy of target object recognition and improving the accuracy of the target object recognition task.

[0111] In some embodiments, the pixel size threshold is used to characterize the smallest pixel size at which a target object can be statistically identified. Further, the pixel size threshold represents the smallest pixel size at which a target object can be statistically identified in the captured image. It should be noted that the smallest pixel size at which a target object can be statistically identified is obtained by statistically analyzing the smallest pixel sizes at which multiple target objects of the same category can be identified.

[0112] In some embodiments, the proportion of the target recognition area within the coverage area of ​​the captured image is positively correlated with the pixel size threshold. It should be noted that this positive correlation between the proportion of the target recognition area within the coverage area of ​​the captured image and the pixel size threshold is obtained while keeping other factors affecting the proportion of the target recognition area within the coverage area of ​​the captured image constant. It can be understood that a larger pixel size threshold results in a larger proportion of the target recognition area within the coverage area of ​​the captured image, and a smaller pixel size threshold results in a smaller proportion of the target recognition area within the coverage area of ​​the captured image.

[0113] In some embodiments, the pixel size threshold is positively correlated with the physical size of the target object. It is understood that the larger the physical size of the target object, the larger the pixel size threshold, and vice versa.

[0114] In some embodiments, the proportion of the target recognition range in the coverage area of ​​the captured image is also related to one or more of the following: the distance between the imaging device and the imaging surface where the target object is located; the angle between the optical axis of the imaging device and the direction of gravity; and the display size of the display device that displays the target recognition range.

[0115] In some embodiments, the proportion of the target recognition range within the coverage area of ​​the captured image is negatively correlated with the distance between the imaging device and the imaging surface. It should be noted that this negative correlation between the proportion of the target recognition range within the coverage area of ​​the captured image and the distance between the imaging device and the imaging surface is obtained under the condition that all other factors affecting the proportion of the target recognition range within the coverage area of ​​the captured image, except for the distance between the imaging device and the imaging surface, remain constant. It is understood that the greater the distance between the imaging device and the imaging surface, the smaller the proportion of the target recognition range within the coverage area of ​​the captured image; conversely, the smaller the distance between the imaging device and the imaging surface, the larger the proportion of the target recognition range within the coverage area of ​​the captured image.

[0116] In some embodiments, the proportion of the target recognition range within the coverage area of ​​the captured image is negatively correlated with the angle between the optical axis of the imaging device and the direction of gravity. It should be noted that this negative correlation between the proportion of the target recognition range within the coverage area of ​​the captured image and the angle between the optical axis of the imaging device and the direction of gravity is obtained under the condition that all other factors affecting the proportion of the target recognition range within the coverage area of ​​the captured image, except for the angle between the optical axis of the imaging device and the direction of gravity, remain constant. It is understood that the larger the angle between the optical axis of the imaging device and the direction of gravity, the smaller the proportion of the target recognition range within the coverage area of ​​the captured image; conversely, the smaller the angle between the optical axis of the imaging device and the direction of gravity, the larger the proportion of the target recognition range within the coverage area of ​​the captured image.

[0117] In some embodiments, the proportion of the target recognition area within the coverage area of ​​the captured image is positively correlated with the display size of the display device. It should be noted that this positive correlation between the target recognition area and the display size is obtained under the condition that all other factors affecting the proportion of the target recognition area within the coverage area of ​​the captured image, except for the display size of the display device, remain constant. It is understood that a larger display size results in a larger proportion of the target recognition area within the coverage area of ​​the captured image, and a smaller display size results in a smaller proportion of the target recognition area within the coverage area of ​​the captured image.

[0118] In some embodiments, determining the target recognition range within the coverage area of ​​the captured image may include: determining the proximal boundary of the coverage area of ​​the captured image as a first boundary of the target recognition range when the angle between the optical axis of the imaging device and the direction of gravity is not 0; determining a second boundary of the target recognition range within the coverage area of ​​the captured image based on the physical size of the target object, the focal length of the image sensor in the imaging device, the display size of the display device displaying the target recognition range, the pixel size threshold of the target object, and the size of the image sensor in the imaging device; and determining the closed region within the coverage area of ​​the captured image, consisting of the first boundary, the second boundary, and the remaining boundaries of the coverage area of ​​the captured image, as the target recognition range.

[0119] For example, the calculation process is as follows: Determining the second boundary of the target recognition range within the coverage area of ​​the captured image, based on the physical size parameter tp of the target object, the focal length Sensor.F of the image sensor in the imaging device, the display size parameter video.h of the display device showing the target recognition range, the pixel size threshold min.pixel of the target object, and the size parameter Sensor.H of the image sensor in the imaging device, may include: [The text abruptly ends here, so the translation also ends here.] The first multiplication operation is performed on eo.h to obtain the first multiplication result; the second multiplication operation is performed on the pixel size threshold min.pixel of the target object and the size parameter Sensor.H of the image sensor in the imaging device to obtain the second multiplication result; the first multiplication result is divided by the second multiplication result to obtain the target distance max.D = (tp * Sensor.F * video.h) / (min.pixel * Sensor.H); based on the target distance, the current position of the movable platform and the imaging surface where the target object is located, the second boundary of the target recognition range is determined within the coverage area of ​​the captured image.

[0120] For example, as shown in Figure 4, a sphere is drawn with the current position P of the movable platform as the center and the target distance max.D as the radius. The part of the sphere within the coverage area of ​​the captured image that intersects with the imaging surface where the target object is located is determined as the second boundary C of the target recognition range. The near-end boundary A of the coverage area AB of the captured image is determined as the first boundary A of the target recognition range. Then, the closed area within the coverage area of ​​the captured image, composed of the first boundary A, the second boundary C, and the remaining boundaries of the coverage area of ​​the captured image, is determined as the target recognition range.

[0121] In some embodiments, the target identifier is a closed shape. The shape of the target identifier is generally an isosceles trapezoid, a sector ring, or a circular ring, etc.

[0122] Regarding the display method of target identification, in some embodiments, only the target identification range may be displayed without displaying the coverage area of ​​the captured image. As shown in Figure 5, the user interface 20 displays a topographic map 21 of the task area, and a target identification 22 with a shape approximately an isosceles trapezoid is displayed on the topographic map 21.

[0123] In other embodiments, both the target identification range and the coverage and remaining range of the captured image can be displayed. In some embodiments, the target identifier includes a first identifier element and a second identifier element. The first identifier element indicates the coverage of the captured image, and the second identifier element indicates the target identification range in the captured image. The second identifier element is superimposed on the identifier range of the first identifier element.

[0124] For example, as shown in Figure 6, the target identifier 22 includes a first identifier element 221 and a second identifier element 222. The first identifier element 221 indicates the coverage area 23 of the captured image, and the second identifier element 222 indicates the target recognition area 231 in the captured image. The second identifier element includes a dividing line, which divides the coverage area of ​​the captured image into a target recognition area and a remaining area. The remaining area represents the region within the coverage area of ​​the captured image where no target object recognition task has been performed. For example, as shown in Figure 6, the dividing line of the second identifier element 222 divides the coverage area 23 of the captured image into a target recognition area 231 and a remaining area 232.

[0125] In some embodiments, the first identification element and the second identification element have different visual features. These differences include variations in color, thickness, and / or fill pattern. This embodiment uses visually distinct first and second identification elements to differentiate the coverage area and target recognition range of the captured image. This allows users to intuitively and accurately determine which areas within the captured image's coverage have already undergone target object recognition, facilitating the assessment of the recognition task's effectiveness. This avoids redundant or missed task execution on the mobile platform, thus improving the platform's task execution efficiency.

[0126] In some embodiments, the target identifier can also map the elevation information of the terrain corresponding to the coverage area of ​​the captured image. For example, it can be represented by a chromaticity map of the background, where higher chromaticity indicates higher terrain elevation. This embodiment allows users to intuitively understand the elevation information of the terrain corresponding to the coverage area of ​​the captured image, facilitating the adjustment of the mobile platform's height when controlling it to perform tasks, thereby ensuring the safety of the mobile platform during task execution.

[0127] In some embodiments, the topographic map also displays area information of the target identification range. By displaying the area information of the target identification range, this embodiment allows users to know the area of ​​the region where the target object identification task has been performed, thereby facilitating users' understanding of the execution progress of the task area and enabling users to adjust the execution strategy of the mobile platform task in a timely manner, thus improving the execution efficiency of the mobile platform task.

[0128] In some embodiments, the topographic map also displays historical shooting times for multiple sub-regions of the task area by the imaging device. This embodiment, by displaying historical shooting times, allows the user to know the shooting times for multiple sub-regions of the task area by the imaging device, facilitating the user's understanding of the task's execution time.

[0129] In some embodiments, multiple images are captured, and correspondingly, multiple target recognition ranges are also captured. In this case, the target identifier can be displayed in two ways, one of which can be selected in different embodiments:

[0130] The first method involves a target identifier that can independently indicate multiple different target recognition ranges. For example, a target identifier includes multiple range identifier elements, with each range identifier element corresponding to a target recognition range. For instance, as shown in Figure 7, the target identifier includes nine range identifier elements, each indicating a different target recognition range.

[0131] Furthermore, the target identifier includes overlapping area identifier elements and non-overlapping area identifier elements. The overlapping area identifier elements are used to represent the overlapping areas of at least two adjacent target recognition ranges. The visual features of the overlapping area identifier elements and the non-overlapping area identifier elements are different. For example, as shown in Figure 7, the target identifier includes nine overlapping area identifier elements 31 and nine non-overlapping area identifier elements 32. Any overlapping area identifier element 31 is used to represent the overlapping area of ​​two adjacent target recognition ranges. This embodiment uses overlapping area identifier elements to represent the overlapping areas between adjacent target recognition ranges, which helps users intuitively and accurately understand which areas overlap, facilitating timely adjustments to task execution strategies to improve task execution effectiveness and efficiency.

[0132] In some embodiments, the salience of the visual features of the overlapping region identifier element is related to the number of target recognition ranges to which the overlapping region represented by the overlapping region identifier element belongs. Specifically, the more target recognition ranges to which the overlapping region represented by the overlapping region identifier element belongs, the higher the salience of the visual features of the overlapping region identifier element; conversely, the fewer target recognition ranges to which the overlapping region represented by the overlapping region identifier element belongs, the lower the salience of the visual features of the overlapping region identifier element. This embodiment uses the salience of the visual features of the overlapping region identifier element to characterize the number of target recognition ranges to which the overlapping region represented by the overlapping region identifier element belongs, which helps users to know the number of target recognition ranges to which the overlapping region belongs through the overlapping region identifier element.

[0133] The second method involves a target identifier that indicates the geometrically merged recognition range of multiple target recognition ranges. At least one captured image is taken in a direction different from the forward direction of the mobile platform at the time of capture. The target identifier is roughly "donut" shaped. For example, by geometrically merging the nine different target recognition ranges indicated by the nine range identifier elements in Figure 7, the recognition range indicated by the target identifier, as shown in Figure 8 or 9, can be obtained.

[0134] It should be noted that the method for geometrically merging multiple target recognition ranges can be set based on the actual situation, and this application embodiment does not impose specific limitations on this. For example, a polygon for each target recognition range in multiple target recognition ranges can be generated, and the polygon of the union of these multiple polygons can be determined on the plane to obtain the merged recognition range.

[0135] As an example of a geometry merging algorithm, the steps are as follows:

[0136] (1) The bottom polygon of the plane is generated by the field of view (FOV) of the captured image and the reference point corresponding to the laser ranging on the captured image, and the sampling frequency is controlled at 10 FPS.

[0137] (2) Use clipper to merge polygons, and use FillRule::NonZero to fill the data, generating multiple sets of polygon data. FillRule::NonZero is a graphic fill rule used to determine whether a point is located within the fill area of ​​a shape. In graphics processing, the FillRule::NonZero rule determines whether a point is inside a graphic by detecting the intersection of rays and paths.

[0138] (3) ES310 / Pilot map polygons do not support the NonZero fill method. The merging process is as follows: Read the bounding box of the polygons. If two polygons have an inclusion relationship, then merge these polygons into a group. For polygons in the same group, connect them end to end to merge them into one polygon; for polygons not in the bounding box, they are displayed separately.

[0139] (4) For the intersection of different planes, the height is the average of the two planes.

[0140] In practical applications, imaging devices are typically arranged sequentially during the movement of a mobile platform. For the sake of display simplicity and to reduce computational load, it's unnecessary to determine a target recognition range and display a corresponding target identifier for each captured image frame. Instead, frame sampling can be performed for calculation and labeling at a certain frequency, ensuring both coverage and display quality while reducing computational burden.

[0141] Please refer to Figure 10, which is a schematic flowchart of the steps of a display method provided in an embodiment of this application.

[0142] As shown in Figure 10, the display method includes steps S121 to S123.

[0143] Step S121: Display the topographic map of the task area on the user interface.

[0144] Step S122: Obtain data related to the target identifier, which is used to identify the target recognition range within the task area.

[0145] Step S123: Based on the data related to the target identifier, display the target identifier on the topographic map. The target recognition range is used to indicate the area within the coverage of the captured image where the target object recognition task has been performed. The captured image is obtained by capturing the task area based on the imaging device mounted on the mobile platform. The target object recognition task is achieved based on the captured image.

[0146] This embodiment displays target markers on the topographic map of the task area displayed on the user interface to identify the target recognition range within the task area. The target recognition range indicates the area within the coverage of the captured image where the target object recognition task has been performed. This allows users to intuitively and accurately know which areas within the coverage of the captured image have already performed the target object recognition task through the displayed target markers. This makes it easier for users to judge the performance of the recognition task, thereby avoiding repeated or missed task execution by the mobile platform and improving the task execution efficiency of the mobile platform.

[0147] It should be noted that the display method provided in this application embodiment can be applied to a control platform. For example, a topographic map of the task area is displayed on the user interface of the control platform; a mobile platform controls an onboard imaging device to capture images of the task area, then the mobile platform determines the target identification range within the coverage area of ​​the captured images and generates data related to the target identifier, and sends the data related to the target identifier to the control platform; the control platform receives the data related to the target identifier sent by the mobile platform and, based on the data related to the target identifier, displays the target identifier on the topographic map of the task area displayed on its user interface.

[0148] For example, the control platform displays a topographic map of the task area on the user interface; the mobile platform controls its onboard imaging device to capture images of the task area, then the mobile platform determines the target identification range within the coverage area of ​​the captured images and generates data related to the target identifier, which is then sent to the control platform; the control platform receives the data related to the target identifier sent by the mobile platform and, based on this data, displays the target identifier on the topographic map. For instance, the display method corresponding to Figure 10 can receive the data related to the target identifier generated by the control method corresponding to Figure 1, for displaying the target identifier on its user interface.

[0149] It should be noted that, for the sake of convenience and brevity, the specific descriptions of the topographic map of the task area, the coverage of the captured image, the target recognition range, and the target identifier in the display method provided in this embodiment can be referred to the corresponding descriptions in the aforementioned control method embodiments, and will not be repeated here.

[0150] Please refer to Figure 11, which is a schematic flowchart of another display method provided in an embodiment of this application.

[0151] As shown in Figure 11, the display method includes steps S131 to S134.

[0152] Step S131: Display the topographic map of the task area on the user interface.

[0153] Step S132: Display the real-time shooting range and the historical recognition range on the topographic map. The historical recognition range is used to represent the area within the historical shooting range where the target object recognition task has been performed.

[0154] Step S133: Obtain data related to the target identifier, which is used to identify the area where the target object recognition task has been performed within the real-time shooting range.

[0155] Step S134: Based on the data related to the target identifier, update the historical identification range and display the updated historical identifier range on the topographic map. The target object identification task is achieved based on the captured images, and the updated historical identifier range does not completely overlap with the union of the previous historical identifier range and the real-time captured range.

[0156] This embodiment displays the real-time shooting range and historical recognition range on the topographic map of the task area displayed on the user interface. Based on the data related to the target identifier, the historical recognition range is updated and displayed on the topographic map. This helps users to intuitively and accurately know which areas in the entire task area have already performed the target object recognition task, making it easier for users to judge the execution effect of the recognition task. This avoids the mobile platform from repeatedly performing tasks or omitting tasks, thus improving the task execution efficiency of the mobile platform.

[0157] For example, as shown in Figure 12, the user interface 20 displays a topographic map 21 of the task area. The topographic map 21 shows the real-time shooting range 41 and the historical recognition range 42. After updating the historical recognition range 42 based on data related to the target identifier (the area within the real-time shooting range 41 where the target object recognition task has been performed), the updated historical identifier range 43 shown on the topographic map in Figure 13 can be obtained. Furthermore, the updated historical identifier range 43 does not completely overlap with the union of the real-time shooting range 41 and the previous historical recognition range 42; the updated historical identifier range 43 is smaller than the union of the real-time shooting range 41 and the previous historical recognition range 42. This allows users to intuitively and dynamically understand the impact of each captured image on the historical recognition range and to perceive the update process of the historical identifier range, facilitating timely adjustments to the operation progress of the mobile platform.

[0158] For example, the historical identification range and the real-time shooting range can be presented with different visual features, such as different colors, to make it easier for users to distinguish them.

[0159] In most scenarios, the real-time shooting range does not overlap with the historical recognition range before the update. Each time the historical recognition range is updated, its corresponding coverage area will be wider, meaning that the mobile platform is always performing new shooting tasks. However, in some scenarios, the real-time shooting range overlaps with the historical recognition range before the update, meaning that the mobile platform performs supplementary shooting tasks on the basis of the original shooting area. The coverage area corresponding to the updated historical recognition range may not necessarily be wider than the coverage area corresponding to the previous update.

[0160] It should be noted that the display method provided in this application embodiment can be applied to a control platform, which may include a control terminal or a cloud server. For example, a topographic map of the task area is displayed on the user interface of the control platform; the real-time shooting range and the historical identification range are displayed on the topographic map; the mobile platform determines the area where the target object identification task has been performed within the real-time shooting range, generates data related to the target identifier, and sends the data related to the target identifier to the control platform; the control platform receives the data related to the target identifier sent by the mobile platform and updates the historical identification range based on the data related to the target identifier, and displays the updated historical identifier range on the topographic map.

[0161] For example, the control platform displays a topographic map of the task area on the user interface; the topographic map displays the real-time shooting range and the historical recognition range; the mobile platform determines the area where the target object recognition task has been performed within the real-time shooting range of the imaging device, generates data related to the target identifier, and sends the data related to the target identifier to the control platform; the control platform receives the data related to the target identifier sent by the mobile platform and updates the historical recognition range based on the data related to the target identifier, and displays the updated historical identifier range on the topographic map. For instance, the display method corresponding to Figure 11 can receive the data related to the target identifier generated by the control method corresponding to Figure 1 to display the target identifier on its user interface.

[0162] In some embodiments, the historical identification range is determined based on at least one data related to the target identifier received before the current moment, and the real-time shooting range is the coverage area of ​​the real-time captured image obtained by the imaging device mounted on the mobile platform at the current moment when it captures the task area. The target identification range is the area within the real-time shooting range where the target identifier has performed the target object identification task.

[0163] In some embodiments, displaying the real-time shooting range on a topographic map may include: acquiring data related to the real-time shooting range, and displaying the real-time shooting range on the topographic map based on the data related to the real-time shooting range. The data related to the real-time shooting range is generated by the mobile platform based on the coverage area of ​​a real-time image obtained by the imaging device capturing the task area at the current moment.

[0164] In some embodiments, updating the historical identification range based on data related to the target identifier may include merging the identifier range corresponding to the data related to the target identifier with the historical identification range. For example, as shown in FIG14, merging the identifier range 411 corresponding to the data related to the target identifier in the real-time shooting range 41 with the historical identification range 42 can yield the updated historical identifier range 43 shown in FIG13.

[0165] In some embodiments, a time marker is also displayed on the topographic map showing the real-time shooting range and the historical identification range. The time marker is located within the historical identification range, or it is located within both the real-time shooting range and the historical identification range. For example, multiple marker elements included in the time marker are all located within the historical identification range. Another example is that one of the multiple marker elements included in the time marker is located within the real-time shooting range, and the remaining marker elements are all located within the historical identification range. It should be noted that the specific description of the time marker in this embodiment can be referred to the corresponding description in the following control method embodiments, and will not be repeated here.

[0166] It should be noted that, for the sake of convenience and brevity, the specific descriptions of the topographic map of the task area, the coverage of the captured image, the target recognition range, and the target identifier in the display method provided in this embodiment can be referred to the corresponding descriptions in the aforementioned control method embodiments, and will not be repeated here.

[0167] When performing tasks such as searching and inspecting to identify target objects, mobile platforms use imaging devices on the platform to capture images of the task area. While the coverage of the captured images can be known, other dimensions of information cannot be known, resulting in a very limited range of information presented to the user, which is not conducive to the user's refined evaluation of the task's performance.

[0168] To address the aforementioned issues, embodiments of this application provide a control method. This method generates data related to range identifiers used to identify at least a portion of the coverage area of ​​multiple captured images within a task area, and generates data related to time identifiers used to represent the shooting sequence information and / or shooting duration information of multiple sub-regions within the shooting task area. On the one hand, this allows users to intuitively understand the coverage area of ​​the captured images through the displayed range identifiers; on the other hand, it allows users to intuitively understand the shooting sequence information and / or shooting duration information of multiple sub-regions through the time identifiers. This multi-dimensional information presentation facilitates users to more comprehensively evaluate the performance of the mobile platform task execution, enabling timely adjustments to the mobile platform task execution strategy and thereby improving the efficiency of the mobile platform task execution.

[0169] Please refer to Figure 15, which is a schematic flowchart of another control method provided in an embodiment of this application.

[0170] As shown in Figure 15, the control method includes steps S211 to S213.

[0171] Step S211: Control the imaging device mounted on the mobile platform to sequentially capture multiple sub-regions in the task area to obtain multiple captured images.

[0172] Step S212: Based on the coverage of multiple captured images, generate data related to the range identifier for display, wherein the range identifier is used to identify at least a portion of the coverage of the multiple captured images within the task area.

[0173] Step S213: Based on the time-related information corresponding to multiple captured images, generate data related to time markers for display. The time markers can map the shooting sequence information of the imaging device for multiple sub-regions and / or the shooting duration information of the imaging device for multiple sub-regions.

[0174] This embodiment generates data related to range identifiers used to identify the coverage of multiple captured images within a task area, and data related to time identifiers used to represent the shooting timing information and / or shooting duration information of multiple sub-regions within the shooting task area. On the one hand, this allows users to intuitively understand the coverage of the captured images through the displayed range identifiers. On the other hand, it allows users to intuitively understand the shooting timing information and / or shooting duration information of multiple sub-regions through the time identifiers. This multi-dimensional information presentation facilitates users to more comprehensively evaluate the performance of the mobile platform's task execution, enabling timely adjustments to the mobile platform's task execution strategy and thereby improving the mobile platform's task execution efficiency.

[0175] It should be noted that the control method provided in this application embodiment can be applied to a mobile platform, a control platform, or some steps can be applied to a mobile platform while the remaining steps are applied to a control platform. For example, the mobile platform controls the onboard imaging device to sequentially capture multiple sub-regions in the task area to obtain multiple captured images. Then, based on the coverage area of ​​the multiple captured images, the mobile platform generates data related to the range identifier for display, and generates data related to the time identifier based on the time-related information corresponding to the multiple captured images for display. For example, the data related to the range identifier and the data related to the time identifier generated by the control method corresponding to FIG15 can be sent to the display method corresponding to FIG19 for display.

[0176] For example, the control platform controls the imaging device mounted on the mobile platform to sequentially capture multiple images of multiple sub-regions within the task area. Then, based on the coverage area of ​​the multiple images, the control platform generates data related to the coverage area for display, and also generates data related to the time based on the time-related information corresponding to the multiple images. As another example, the mobile platform controls the onboard imaging device to sequentially capture multiple images of multiple sub-regions within the task area and sends these images to the control platform. The control platform generates data related to the coverage area of ​​the multiple images for display, and also generates data related to the time based on the time-related information corresponding to the multiple images.

[0177] In some embodiments, the control method provided in this application is applied to a mobile platform or a control platform. The control method further includes: controlling the user interface to display a range identifier based on data related to a range identifier and / or controlling the user interface to display a time identifier based on data related to a time identifier. For example, the mobile platform sends data related to a range identifier and / or data related to a time identifier to the control platform; the control platform receives the data related to the range identifier sent by the mobile platform and displays the range identifier on the user interface based on the data related to the range identifier; and / or receives the data related to the time identifier sent by the mobile platform and displays the time identifier on the user interface based on the data related to the time identifier.

[0178] For example, the control platform controls the display device to display the range identifier on the user interface based on data related to the range identifier, and / or controls the display device to display the time identifier on the user interface based on data related to the time identifier. As another example, the mobile platform sends data related to the range identifier and / or data related to the time identifier to the control platform; the control platform receives the data related to the range identifier sent by the mobile platform and controls the display device to display the range identifier on the user interface based on the data related to the range identifier, and / or receives the data related to the time identifier sent by the mobile platform and controls the display device to display the time identifier on the user interface based on the data related to the time identifier.

[0179] In some embodiments, the control method provided in this application further includes: displaying a topographic map of the task area on the user interface; and displaying a time marker and a range marker on the topographic map. The visual features of the range marker differ from the visual features of the time marker. For example, as shown in FIG16, the user interface 20 displays a topographic map 21 of the task area, and the topographic map 21 displays a range marker 51 and a time marker 52. The topographic map of the task area may include a real-time viewfinder image from an imaging device or a navigation map.

[0180] It is understood that the step of displaying the topographic map of the task area on the user interface can be performed before, after, or simultaneously with steps S211, S212, or S213, and the step of displaying time markers and range markers on the topographic map can be performed after step S213. This embodiment, by displaying time markers and range markers, allows users to intuitively understand the coverage area of ​​the captured image through the displayed range markers. Furthermore, the time markers also allow users to intuitively understand the shooting sequence information and / or shooting duration information of multiple sub-regions. This multi-dimensional information presentation facilitates a more comprehensive evaluation of the mobile platform's task execution performance, enabling timely adjustments to the mobile platform's task execution strategy and thereby improving the mobile platform's task execution efficiency.

[0181] In some embodiments, the coverage of the plurality of captured images includes at least a portion of the range of each of the plurality of captured images. Alternatively, at least a portion of the coverage of the plurality of captured images includes a target recognition range defined within the coverage of each captured image, the target recognition range representing the area within the coverage of the captured image where a target object recognition task has been performed.

[0182] It should be noted that, for the sake of convenience and brevity, the specific descriptions of the coverage area and target recognition range of the captured images in this embodiment can be referred to the corresponding descriptions in the aforementioned control method embodiments, and will not be repeated here. In scenarios where multiple images are captured, the target identifier in the aforementioned embodiments is equivalent to the range identifier in this embodiment. At least one captured image has a shooting direction different from the forward direction of the mobile platform at the time of shooting.

[0183] In some embodiments, the range identifier can independently indicate multiple different target identification ranges. For example, as shown in Figure 7, the range identifier can independently indicate nine different target identification ranges.

[0184] In some embodiments, the range identifier includes overlapping region identifier elements and non-overlapping region identifier elements. The overlapping region identifier elements are used to represent the overlapping region of at least two adjacent target recognition ranges. The visual features of the overlapping region identifier elements and the non-overlapping region identifier elements are different. For example, as shown in FIG7, the range identifier includes nine overlapping region identifier elements 31 and nine non-overlapping region identifier elements 32, where any overlapping region identifier element 31 is used to represent the overlapping region of two adjacent target recognition ranges.

[0185] In some embodiments, the salience of the visual features of the overlapping region identifier element is related to the number of target recognition ranges to which the overlapping region represented by the overlapping region identifier element belongs. Specifically, the more target recognition ranges to which the overlapping region represented by the overlapping region identifier element belongs, the higher the salience of the visual features of the overlapping region identifier element; conversely, the fewer target recognition ranges to which the overlapping region represented by the overlapping region identifier element belongs, the lower the salience of the visual features of the overlapping region identifier element.

[0186] In some embodiments, the range identifier can indicate the recognition range after geometrically merging multiple target recognition ranges. The range identifier is approximately "donut" shaped. For example, when the mobile platform enables the task recording function, target recognition ranges are recorded at a fixed frequency. At the end of the task recording, multiple target recognition ranges can be obtained, and these ranges can be geometrically merged to obtain the merged recognition range. Alternatively, each time a target recognition range is recorded, the new target recognition range can be geometrically merged with the previously merged ranges in real time to obtain a new merged recognition range. This process continues until the task recording ends, at which point the last target recognition range is geometrically merged with the previously merged ranges to obtain the final merged recognition range. The fixed frequency can be set based on actual conditions, and this embodiment does not specifically limit it. For example, the fixed frequency is 3 times per second.

[0187] In some embodiments, the time stamp includes multiple identifier elements that can map the imaging device's shooting timing information and / or shooting duration information for multiple sub-regions. For example, as shown in FIG16, the time stamp 52 includes 6 identifier elements, through which the user can intuitively and accurately know the imaging device's shooting timing information and / or shooting duration information for 6 sub-regions.

[0188] In some embodiments, the direction of the identification elements can map the timing information of the imaging device capturing images of multiple sub-regions. The identification elements may include directional icons. For example, directional icons may include triangles or arrows. For instance, as shown in FIG16, the time marker 52 includes six identification elements, all of which are triangles.

[0189] In some embodiments, the directional icons point in the forward direction of the shooting sequence. For example, as shown in FIG16, the time marker 52 includes 6 directional icons. Let's assume that, in order from left to right, the first directional icon corresponds to sub-region A1, the second directional icon corresponds to sub-region A2, the third directional icon corresponds to sub-region A3, the fourth directional icon corresponds to sub-region A4, the fifth directional icon corresponds to sub-region A5, and the sixth directional icon corresponds to sub-region A6. Therefore, through these 6 directional icons, we can know that the shooting sequence of the imaging device for these 6 sub-regions is: first, sub-region A1 is shot, then sub-region A2 is shot, then sub-region A3 is shot, then sub-region A4 is shot, then sub-region A5 is shot, and finally sub-region A6 is shot.

[0190] In some embodiments, the number of identifier elements included in the time stamp can map the shooting duration information of the imaging device for multiple sub-regions. Each identifier element can map to a preset shooting duration, which can be set based on actual conditions; this embodiment does not specifically limit this. For example, the preset shooting duration is 1 / 3 second. For instance, as shown in Figure 16, if the time stamp 52 includes 6 identifier elements, then the shooting duration information of the imaging device for the 6 sub-regions is 6 * (1 / 3) = 2 seconds.

[0191] In some embodiments, the number of identifying elements is positively correlated with the shooting duration information. It is understood that the longer the shooting duration indicated by the shooting duration information, the more identifying elements there are, and the shorter the shooting duration indicated by the shooting duration information, the fewer identifying elements there are.

[0192] In some embodiments, the time marker includes multiple marker elements, which are discretely distributed at multiple preset positions within the marked range of the range marker. Each preset position represents the location of a reference point on the corresponding captured image. The reference point is set by the user or automatically by the mobile platform. For example, as shown in Figure 16, the time marker 52 includes six marker elements discretely distributed at six preset positions within the marked range of the range marker 52.

[0193] For example, when the task recording function is enabled on a mobile platform, the location information of reference points is recorded at a fixed frequency. After the task recording is completed, the location information of multiple reference points can be obtained. Data related to time stamps can be generated by recording the location information of multiple reference points. The fixed frequency can be set based on the actual situation, and this application embodiment does not specifically limit it. For example, the fixed frequency is 3 times per second.

[0194] In some embodiments, the topographic map also displays an elevation difference determined based on the maximum and minimum elevations of a set of elevations corresponding to multiple reference points at a given time. In some embodiments, the topographic map also displays area information of the region where the target object identification task was performed, indicated by a range marker, and the topographic map also displays historical imaging periods for multiple sub-regions of the task area captured by the imaging device. In some embodiments, the topographic map also displays the locations of reference points.

[0195] For example, as shown in Figure 16, after the user clicks on the display area where the range identifier 51 is located, the user interface shown in Figure 17 is displayed on the topographic map 21. The user interface in Figure 17 displays an information description pop-up window 53 with the range identifier 51. The area information of the region where the target object identification task was performed, indicated by the range identifier 51, is 12312.0 m². 2 The displayed height difference is 12.3m, and the historical shooting time for the six sub-areas of the mission area shown by the imaging device is 17:30-17:45. The information description pop-up window 53 also displays an editing control 531 and a deletion control 532. When the user clicks the deletion control 532, the displayed range indicator 51 and time indicator 52 are deleted.

[0196] When the user clicks the edit control 531, the user interface shown in Figure 18 is displayed on the topographic map 21. The user interface in Figure 18 displays a shooting record pop-up window 54, which shows the area information of the region where the target object identification task was performed, indicated by the range marker 51, i.e., 12312.0m. 2 The display shows the height difference, i.e., 12.3m, and the historical shooting time period for the imaging device in the six sub-areas of the mission area, i.e., 17:30-17:45. The user can modify this historical shooting time period. The shooting record pop-up window 54 also displays a color adjustment bar, which the user can use to adjust the display color of the range indicator 51. The shooting record pop-up window 54 also displays a delete control or a complete control. The user can click the delete control to delete the displayed range indicator 51 and time indicator 52, and the user can click the complete control to adjust the color of the range indicator 51 and / or modify the historical shooting time period.

[0197] In some embodiments, the location of the reference point is determined based on measurement data from the ranging device of the movable platform, and the reference point corresponds to the intersection of the ranging device's measurement beam on the imaging plane. The ranging device includes a lidar. The ranging device and the imaging device have a preset physical calibration relationship. It is understood that the preset physical calibration relationship is determined based on the installation positions of the ranging device and the imaging device on the movable platform.

[0198] In some embodiments, the reference point is located at a preset position in the captured image. This preset position can be set based on actual conditions, and this application embodiment does not specifically limit it. For example, the preset position may include the center position of the captured image.

[0199] In some embodiments, each identifier element included in the time stamp carries location information of its corresponding reference point. The control method further includes: in response to a user's selection operation on at least two identifier elements, generating a replay path for the mobile platform within the task area based on the location information of the reference point corresponding to the selected identifier element. The replay path can be generated by a control platform and sent to the mobile platform, enabling the mobile platform to re-execute the target object recognition task within the task area according to the replay path. This embodiment generates a replay path using the recorded reference point location information, allowing the mobile platform to re-execute the target object recognition task in areas missed by the task according to the replay path, thereby improving the performance of the mobile platform's recognition task.

[0200] In some embodiments, the location information of the path points in the recreated path is obtained by adding a preset safety height value to the location information of the reference point corresponding to the selected identifier element, wherein the preset safety height value is greater than 0. For example, the preset safety height value is 0 to 100 meters, and further, it is 30 to 50 meters. In this embodiment, the location information of the path points in the recreated path is obtained by adding a certain height to the location information of the reference point. This avoids collisions during task execution by the mobile platform due to excessively low path point heights, thereby improving the safety of the mobile platform.

[0201] In some embodiments, data associated with the range identifier is stored in association with the identity information of the mobile platform performing the task. For example, the control platform stores data associated with the range identifier in association with the identity information of the mobile platform performing the task. This embodiment stores data associated with the range identifier in association with the identity information of the mobile platform, facilitating quick retrieval of data associated with the range identifier using the identity information of the mobile platform later.

[0202] In some embodiments, data associated with a range identifier is stored in association with the task area of ​​the task being executed. For example, the control platform stores data associated with a range identifier in association with the task area of ​​the task being executed. This embodiment stores data associated with a range identifier in association with the task area of ​​the task being executed, facilitating quick retrieval of data associated with the range identifier through the task area later.

[0203] In some embodiments, time-stamped data is stored in association with the identity information of the mobile platform performing the task. For example, the control platform stores time-stamped data in association with the identity information of the mobile platform performing the task. This embodiment stores time-stamped data in association with the identity information of the mobile platform, facilitating quick retrieval of time-stamped data using the mobile platform's identity information.

[0204] In some embodiments, time-related data is stored in association with the task area of ​​the task being executed. For example, the control platform stores time-related data in association with the task area of ​​the task being executed. This embodiment stores time-related data in association with the task area of ​​the task being executed, facilitating quick retrieval of time-related data through the task area later.

[0205] In some embodiments, in response to receiving range identifier-related data sent by the mobile platform, the control platform controls the user interface to display the range identifier based on the range identifier-related data. For example, the control platform displays the range identifier on the topographic map of the task area displayed on the user interface based on the range identifier-related data. This embodiment controls the display of range identifiers on the user interface through the control platform, allowing the user (who may be a third party other than the operator of the mobile platform, such as a commander or supervisor) to know which areas within the task area have been used for target object identification tasks. This facilitates the user in adjusting the mobile platform's task execution strategy in a timely manner through the control platform, thereby improving the efficiency and effectiveness of task execution.

[0206] In some embodiments, the user interface displays multiple range identifiers, each based on data related to the range identifier sent by multiple different mobile platforms. For example, the control platform receives data related to the range identifier sent by a first mobile platform and data related to the range identifier sent by a second mobile platform. Based on the data sent by the first mobile platform, a first range identifier is displayed on the user interface; based on the data sent by the second mobile platform, a second range identifier is displayed on the user interface. This embodiment, by displaying multiple range identifiers, allows regulatory personnel to intuitively understand the task execution status of each of the multiple mobile platforms. This enables regulatory personnel to coordinate the task execution strategies of the multiple mobile platforms in a timely manner based on the overall task execution status, thereby improving the efficiency and effectiveness of task execution.

[0207] In some embodiments, the identification ranges of the multiple range identifiers at least partially do not overlap. For example, the first range identifier and the second range identifier do not overlap at all. Or, the first range identifier and the second range identifier partially overlap and partially do not overlap. In this embodiment, when the identification ranges of the multiple range identifiers at least partially do not overlap, the areas where multiple different mobile platforms have performed the target object recognition task at least partially do not overlap. That is, multiple different mobile platforms perform the task in different areas, which can improve the execution efficiency of the task.

[0208] In some embodiments, multiple different mobile platforms execute tasks in different regions. For example, a first mobile platform executes task region A, and a second mobile platform executes task region B. In this embodiment, executing tasks in different regions on multiple different mobile platforms allows multiple different mobile platforms to collaborate on the same task region, thereby improving the task execution efficiency of the task region.

[0209] In some embodiments, after the control platform displays the range identifier on the user interface, it further includes: the control platform sending task information to the mobile platform, the task information including the location information of the area to be executed. The area to be executed includes the area outside the range identifier of the task area. This embodiment, by displaying the range identifier, helps users know which areas within the task area have performed the target object identification task, facilitating the user's assessment of the task's performance. This allows users to send task information to the mobile platform through the control platform when they find that some areas have poor performance or have been missed, enabling the mobile platform to re-execute the task in the areas with poor performance or in the missed areas, thus ensuring the effectiveness of the identification task. For example, the commander can use the displayed range identifier to know which areas within the task area have performed the target object identification task, and based on this area, re-plan a supplementary search area (e.g., areas where no task was performed) or a re-search area (e.g., areas with poor performance), and then send task information to the mobile platform, which will then execute the task within the supplementary search area or the re-search area.

[0210] In some embodiments, in response to receiving time-related data sent by the mobile platform, the control platform controls the user interface to display the time marker based on the time-related data. For example, the control platform displays the time marker on the topographic map of the task area displayed on the user interface based on the time-related data. This embodiment, by controlling the user interface to display the time marker through the control platform, allows users to intuitively understand the shooting sequence information and / or shooting duration information of multiple sub-areas through the time marker, facilitating the evaluation of the task execution effect and enabling timely adjustment of the task execution strategy, thereby improving task execution efficiency.

[0211] In some embodiments, the user interface displays multiple time markers, each based on time-related data sent from multiple different mobile platforms. These multiple mobile platforms represent different areas of the task execution region. For example, the control platform receives time-related data from a first mobile platform and also receives time-related data from a second mobile platform. Based on the data from the first mobile platform, a first time marker is displayed on the user interface; based on the data from the second mobile platform, a second time marker is displayed. This embodiment, by displaying multiple time markers, allows users to intuitively understand the task execution status of multiple mobile platforms. This enables users to coordinate task execution strategies across multiple mobile platforms in a timely manner based on their performance, thereby improving task execution efficiency and effectiveness.

[0212] In some embodiments, the positions of the multiple time markers are at least partially non-overlapping. For example, the positions of the first time marker and the second time marker are completely non-overlapping. Alternatively, the positions of the first time marker and the second time marker may partially overlap and partially non-overlap.

[0213] In some embodiments, after the control platform displays a time marker on the user interface, the method further includes: the control platform sending task information to the mobile platform, the task information including the path of the task to be executed. This embodiment, by displaying a time marker, allows users to intuitively understand the task execution status of the mobile platform. It also facilitates users sending task information to the mobile platform through the control platform based on the task execution status, enabling the mobile platform to re-execute the task in areas with poor performance, thus ensuring the effectiveness of the identified task execution.

[0214] In some embodiments, the task path to be executed is generated based on input operations on time markers. For example, each marker element included in the time marker carries location information of its corresponding reference point. Generating the task path to be executed based on input operations on the time marker may include: in response to a user's selection operation on at least two marker elements, generating the task path to be executed based on the location information of the reference point corresponding to the selected marker element.

[0215] Please refer to Figure 19, which is a schematic flowchart of another display method provided in an embodiment of this application.

[0216] As shown in Figure 19, the control method includes steps S221 to S223.

[0217] Step S221: Display the topographic map of the task area on the user interface. The task area includes multiple sub-areas.

[0218] Step S222: Obtain data related to the range identifier and data related to the time identifier.

[0219] Step S223: Display the range identifier on the topographic map based on the data related to the range identifier and display the time identifier on the topographic map based on the data related to the time identifier. The range identifier is used to identify at least a portion of the coverage area of ​​multiple captured images within the mission area. The multiple captured images are obtained by sequentially capturing multiple sub-regions based on the imaging device mounted on the mobile platform. The time identifier can map the shooting sequence information of the imaging device for multiple sub-regions and / or the shooting duration information of the imaging device for multiple sub-regions.

[0220] This embodiment displays a range identifier for identifying at least a portion of the coverage area of ​​multiple captured images within the task area, and a time identifier for displaying the shooting sequence information and / or shooting duration information of multiple sub-regions within the shooting task area. On the one hand, this allows users to intuitively understand the coverage area of ​​the captured images through the displayed range identifier; on the other hand, it allows users to intuitively understand the shooting sequence information and / or shooting duration information of multiple sub-regions through the time identifier. This multi-dimensional information presentation facilitates users to more comprehensively evaluate the effectiveness of task execution, so as to adjust the task execution strategy in a timely manner and thereby improve task execution efficiency.

[0221] It should be noted that the display method provided in this application embodiment can be applied to a control platform. For example, the control platform displays a topographic map of the task area on the user interface; a mobile platform controls an onboard imaging device to sequentially capture multiple sub-regions in the task area to obtain multiple captured images; then, the mobile platform generates data related to the coverage area of ​​the multiple captured images, and generates data related to the time identifier based on the time-related information corresponding to the multiple captured images; the mobile platform sends the data related to the coverage area and the data related to the time identifier to the control platform; the control platform displays the coverage area identifier on the topographic map based on the data related to the coverage area identifier, and displays the time identifier on the topographic map based on the data related to the time identifier. For example, the display method corresponding to FIG19 can receive the data related to the coverage area identifier and the data related to the time identifier generated by the control method corresponding to FIG15, so as to display the coverage area identifier and the time identifier on its user interface.

[0222] For example, the control platform displays a topographic map of the task area on the user interface; the mobile platform controls the onboard imaging device to sequentially capture multiple images of multiple sub-areas within the task area, and sends these images to the control platform; the control platform acquires the multiple images sent by the mobile platform, and then generates data related to the coverage area based on the coverage of the multiple images, and generates data related to the time based on the time-related information corresponding to the multiple images; the control platform sends the data related to the coverage area and the data related to the time to the control platform; the control platform receives the data related to the coverage area and the data related to the time from the control platform, and displays the coverage area and the time on the topographic map based on the data related to the coverage area and the time on the topographic map based on the data related to the time.

[0223] It should be noted that, for the sake of convenience and brevity, the specific descriptions of the topographic map of the task area, the coverage of the captured image, the target recognition range, the time marker, and the range marker in the display method provided in this embodiment can be referred to the corresponding descriptions in the aforementioned control method embodiments, and will not be repeated here.

[0224] Please refer to Figure 20, which is a schematic block diagram of the structure of a computer device provided in an embodiment of this application.

[0225] As shown in Figure 20, the computer device 100 includes a processor 101 and a memory 102, which are connected by a bus 103, such as an I2C (Inter-integrated Circuit) bus.

[0226] Specifically, the processor 101 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0227] Specifically, the memory 102 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0228] The processor 101 is used to run a computer program stored in the memory 102, and performs the following steps when executing the computer program:

[0229] Control the imaging device mounted on the mobile platform to capture images of the mission area;

[0230] A target recognition range is determined within the coverage area of ​​the captured image, wherein the target recognition range represents the area within the coverage area of ​​the captured image where a target object recognition task has been performed, and the target object recognition task is implemented based on the captured image; and

[0231] Data associated with a target identifier is generated for display, wherein the target identifier is used to identify the target recognition range within the task area.

[0232] In some embodiments, the processor 101 is configured to run a computer program stored in the memory 102, and when executing the computer program, perform the following steps:

[0233] Display a topographic map of the task area on the user interface;

[0234] Acquire data related to a target identifier, which is used to identify the target recognition range within the task area; and

[0235] Based on the data related to the target identifier, the target identifier is displayed on the topographic map;

[0236] The target recognition range refers to the area within the coverage of the captured image where the target object recognition task has been performed. The captured image is obtained by capturing the task area using an imaging device mounted on a mobile platform, and the target object recognition task is achieved based on the captured image.

[0237] In some embodiments, the processor 101 is configured to run a computer program stored in the memory 102, and when executing the computer program, perform the following steps:

[0238] Display a topographic map of the task area on the user interface;

[0239] The topographic map displays the real-time shooting range and the historical recognition range, whereby the historical recognition range represents the area within the historical shooting range where a target object recognition task has been performed.

[0240] Acquire data related to a target identifier, the target identifier being used to identify areas within the real-time shooting range where a target object recognition task has been performed; and

[0241] Based on the data related to the target identifier, the historical identification range is updated, and the updated historical identifier range is displayed on the topographic map;

[0242] The target object identification task is achieved based on the captured image, and the updated historical identifier range does not completely overlap with the union of the previous historical identifier range and the real-time shooting range.

[0243] In some embodiments, the processor 101 is configured to run a computer program stored in the memory 102, and when executing the computer program, perform the following steps:

[0244] The imaging device mounted on the mobile platform is controlled to sequentially capture multiple images of multiple sub-regions within the mission area.

[0245] Based on the coverage area of ​​the multiple captured images, data associated with a range identifier is generated for display, wherein the range identifier is used to identify at least a portion of the coverage area of ​​the multiple captured images within the task area; and

[0246] Based on the time-related information corresponding to multiple captured images, data related to time markers is generated for display. The time markers can map the shooting sequence information of the imaging device for multiple sub-regions and / or the shooting duration information of the imaging device for multiple sub-regions.

[0247] In some embodiments, the processor 101 is configured to run a computer program stored in the memory 102, and when executing the computer program, perform the following steps:

[0248] A topographic map of the task area is displayed on the user interface, the task area comprising multiple sub-areas;

[0249] Retrieve data related to the range identifier and data related to the time identifier;

[0250] Based on the data related to the extent identifier, the extent identifier is displayed on the topographic map; and

[0251] Based on the time-related data, the time marker is displayed on the topographic map;

[0252] The range identifier is used to identify at least a portion of the coverage area of ​​multiple captured images within the task area, wherein the multiple captured images are obtained by sequentially capturing multiple sub-regions based on an imaging device mounted on a mobile platform; the time identifier can map the shooting sequence information of the imaging device for the multiple sub-regions and / or the shooting duration information of the imaging device for the multiple sub-regions.

[0253] In some embodiments, the processor 101 is located on a mobile platform;

[0254] The processor 101 is located on the control platform of the mobile platform; or

[0255] The processor 101 is partially located on the movable platform and partially located on the control platform of the movable platform.

[0256] In some embodiments, the computer device includes a mobile platform, a control platform for the mobile platform, or a system combining the mobile platform and the control platform.

[0257] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the computer device described above can be referred to the corresponding process in the aforementioned control method or display method embodiments, and will not be repeated here.

[0258] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of the control method provided in the above embodiments.

[0259] The computer-readable storage medium can be an internal storage unit of the computer device described in any of the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the computer device.

[0260] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0261] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0262] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, include: Control the imaging device mounted on the mobile platform to capture images of the mission area; A target recognition range is determined within the coverage area of ​​the captured image, wherein the target recognition range represents the area within the coverage area of ​​the captured image where a target object recognition task has been performed, and the target object recognition task is implemented based on the captured image; and Data associated with a target identifier is generated for display, wherein the target identifier is used to identify the target recognition range within the task area.

2. A display method, characterized in that, include: Display a topographic map of the task area on the user interface; Acquire data related to a target identifier, which is used to identify the target recognition range within the task area; as well as Based on the data related to the target identifier, the target identifier is displayed on the topographic map; The target recognition range refers to the area within the coverage of the captured image where the target object recognition task has been performed. The captured image is obtained by capturing the task area using an imaging device mounted on a mobile platform, and the target object recognition task is achieved based on the captured image.

3. A display method, characterized in that, include: Display a topographic map of the task area on the user interface; The topographic map displays the real-time shooting range and the historical recognition range, whereby the historical recognition range represents the area within the historical shooting range where a target object recognition task has been performed. Acquire data related to a target identifier, which is used to identify areas where a target object recognition task has been performed within the real-time shooting range; as well as Based on the data related to the target identifier, the historical identification range is updated, and the updated historical identifier range is displayed on the topographic map; The target object identification task is achieved based on the captured image, and the updated historical identifier range does not completely overlap with the union of the previous historical identifier range and the real-time shooting range.

4. A control method, characterized in that, include: The imaging device mounted on the mobile platform is controlled to sequentially capture multiple images of multiple sub-regions within the mission area. Based on the coverage area of ​​the multiple captured images, data associated with a range identifier is generated for display, wherein the range identifier is used to identify at least a portion of the coverage area of ​​the multiple captured images within the task area; and Based on the time-related information corresponding to multiple captured images, data related to time markers is generated for display. The time markers can map the shooting sequence information of the imaging device for multiple sub-regions and / or the shooting duration information of the imaging device for multiple sub-regions.

5. A display method, characterized in that, include: A topographic map of the task area is displayed on the user interface, the task area comprising multiple sub-areas; Retrieve data related to the range identifier and data related to the time identifier; Based on the data related to the extent identifier, the extent identifier is displayed on the topographic map; as well as Based on the time-related data, the time marker is displayed on the topographic map; The range identifier is used to identify at least a portion of the coverage area of ​​multiple captured images within the task area, wherein the multiple captured images are obtained by sequentially capturing multiple sub-regions based on an imaging device mounted on a mobile platform; the time identifier can map the shooting sequence information of the imaging device for the multiple sub-regions and / or the shooting duration information of the imaging device for the multiple sub-regions.

6. The method according to claim 4 or 5, characterized in that, At least a portion of the coverage area of ​​the plurality of captured images includes a target recognition range defined within the coverage area of ​​each captured image, the target recognition range being used to represent the area within the coverage area of ​​the captured images where a target object recognition task has been performed.

7. The method according to claim 1, 2, or 6, characterized in that, The coverage area of ​​the captured image corresponds to the entire image region of the captured image, and the target recognition range corresponds to a portion of the image region of the captured image.

8. The method according to claim 1, 2, 6 or 7, characterized in that, The coverage area of ​​the captured image is characterized by the size of the area in the task region captured by the imaging device.

9. The method according to claim 1, 2, 6, 7 or 8, characterized in that, The coverage area of ​​the captured image includes the target recognition range and the remaining range, wherein the remaining range is used to represent the area within the coverage area of ​​the captured image where the target object recognition task has not been performed.

10. The method according to claim 9, characterized in that, The target recognition range corresponds to the area within the coverage of the captured image that is geographically closer to the mobile platform, and the remaining range corresponds to the area within the coverage of the captured image that is geographically farther away from the mobile platform.

11. The method according to claim 9, characterized in that, When the angle between the optical axis of the imaging device and the imaging surface where the target object is located is 90 degrees, the remaining range is symmetrically distributed on both sides of the target recognition range.

12. The method according to claim 9, characterized in that, When the angle between the optical axis of the imaging device and the imaging surface where the target object is located is not 90 degrees, the target recognition range is located in the imaging area on the side of the captured image that is geographically closer to the movable platform, and the remaining range is located in the imaging area on the opposite side of the captured image that is geographically farther away from the movable platform.

13. The method according to claim 12, characterized in that, The target recognition range shares a boundary with the near end of the coverage area of ​​the captured image, and / or the target recognition range shares a boundary with the far end of the coverage area of ​​the captured image.

14. The method according to any one of claims 1-13, characterized in that, The coverage area of ​​the captured image is related to the field of view of the imaging device, the distance between the imaging device and the imaging surface of the target object, and the angle between the optical axis of the imaging device and the imaging surface.

15. The method according to claim 14, characterized in that, The field of view of the imaging device is positively correlated with the size of the image sensor of the imaging device.

16. The method according to claim 15, characterized in that, With the size of the image sensor of the imaging device remaining constant, the size of the field of view of the imaging device remains constant.

17. The method according to claim 14, characterized in that, The coverage area of ​​the captured image is positively correlated with the field of view of the imaging device.

18. The method according to claim 14, characterized in that, The coverage area of ​​the captured image is positively correlated with the distance between the imaging device and the imaging surface.

19. The method according to any one of claims 1, 2, 6-18, characterized in that, The proportion of the target recognition range within the coverage area of ​​the captured image is related to the attribute information of the target object.

20. The method according to claim 19, characterized in that, The attribute information of the target object includes the category of the target object or the physical size of the target object.

21. The method according to claim 20, characterized in that, For the same captured image, the proportion of the target recognition range within the coverage area of ​​the captured image varies depending on the physical size of the target object.

22. The method according to claim 20, characterized in that, For the same captured image, the target recognition range on the topographic map of the task area will vary depending on the physical size of the target object.

23. The method according to claim 20, characterized in that, For the same captured image, the proportion of the target recognition range within the coverage area of ​​the captured image varies depending on the category of the target object.

24. The method according to claim 20, characterized in that, For the same captured image, the target recognition range on the topographic map of the task area will vary depending on the category of the target object.

25. The method according to claim 20, characterized in that, The category of the target object is related to the physical size of the target object.

26. The method according to claim 25, characterized in that, The physical dimensions are characterized by the physical dimensions in the most significant dimension direction of the target object.

27. The method according to claim 25, characterized in that, For the target objects of the same category, their physical dimensions are within a preset size range.

28. The method according to claim 25, characterized in that, The physical dimensions of the target object are characterized by the statistical physical dimensions of the target object.

29. The method according to claim 28, characterized in that, The statistical physical dimensions of the target object include at least one of the following: the mean of the sample physical dimensions, the median of the sample physical dimensions, and the mode of the sample physical dimensions.

30. The method according to claim 20, characterized in that, The larger the physical size of the target object, the larger the proportion of the target recognition range in the coverage area of ​​the captured image.

31. The method according to claim 20, characterized in that, For target objects of the same category, the corresponding pixel size threshold is the same, and the pixel size threshold is used to represent the minimum pixel size at which the target object can be identified in the captured image.

32. The method according to claim 1, characterized in that, Determining the target recognition range within the coverage area of ​​the captured image includes: Obtain a pixel size threshold for the target object, wherein the pixel size threshold represents the minimum pixel size at which the target object can be identified in the captured image, and the pixel size threshold is related to the category of the target object; and The target recognition range is determined within the coverage area of ​​the captured image based on the pixel size threshold of the target object.

33. The method according to claim 32, characterized in that, For the same captured image, the proportion of the target recognition range within the coverage area of ​​the captured image varies depending on the pixel size threshold used.

34. The method according to claim 32, characterized in that, For the same captured image, the target recognition range on the topographic map of the task area will be different depending on the pixel size threshold used.

35. The method according to claim 32, characterized in that, The pixel size threshold includes the pixel height threshold and / or pixel width threshold of the target object.

36. The method according to claim 32, characterized in that, The pixel size threshold is used to characterize the smallest pixel size that the target object can be identified in a statistical sense.

37. The method according to claim 32, characterized in that, The proportion of the target recognition range within the coverage area of ​​the captured image is positively correlated with the size of the pixel size threshold.

38. The method according to claim 32, characterized in that, The pixel size threshold is set by the user or automatically by the mobile platform.

39. The method according to claim 32, characterized in that, The pixel size threshold is positively correlated with the physical size of the target object.

40. The method according to claim 19, characterized in that, The target recognition range is less than or equal to the coverage area of ​​the captured image.

41. The method according to any one of claims 19-40, characterized in that, The proportion of the target recognition range within the coverage area of ​​the captured image is also related to one or more of the following: The distance between the imaging device and the imaging surface where the target object is located; The angle between the optical axis of the imaging device and the direction of gravity; The display size of the display device that displays the target recognition range.

42. The method according to claim 41, characterized in that, The proportion of the target recognition range within the coverage area of ​​the captured image is negatively correlated with the distance between the imaging device and the imaging surface.

43. The method according to claim 41, characterized in that, The proportion of the target recognition range within the coverage area of ​​the captured image is negatively correlated with the angle between the optical axis of the imaging device and the direction of gravity.

44. The method according to claim 41, characterized in that, The proportion of the target recognition range within the coverage area of ​​the captured image is positively correlated with the display size of the display device.

45. The method according to claim 1, characterized in that, The method further includes: Based on the data related to the target identifier, the target identifier is displayed on the topographic map of the task area shown in the user interface.

46. ​​The method according to claim 2 or 45, characterized in that, The target identifier includes a first identifier element and a second identifier element. The first identifier element is used to indicate the coverage area of ​​the captured image, and the second identifier element is used to indicate the target recognition range in the captured image.

47. The method according to claim 46, characterized in that, The second identifier element is superimposed on the identifier area of ​​the first identifier element.

48. The method according to claim 46, characterized in that, The first identification element has different visual characteristics from the second identification element.

49. The method according to claim 48, characterized in that, The first identifying element includes a closed graphic.

50. The method according to claim 48, characterized in that, The second identification element includes a dividing line, which is used to divide the coverage area of ​​the captured image into the target recognition range and the remaining range, wherein the remaining range is used to represent the area within the coverage area of ​​the captured image where the target object recognition task has not been performed.

51. The method according to claim 2 or 45, characterized in that, The target identifier is a closed shape.

52. The method according to claim 51, characterized in that, The target identifier is roughly in the shape of an isosceles trapezoid, a fan-shaped ring, or a circular ring.

53. The method according to claim 2 or 45, characterized in that, The target identifier can also map the elevation information of the terrain corresponding to the coverage area of ​​the captured image.

54. The method according to claim 2 or 45, characterized in that, The topographic map also displays area information of the target identification range.

55. The method according to claim 2 or 45, characterized in that, The topographic map also shows the historical shooting periods of multiple sub-regions of the mission area captured by the imaging device.

56. The method according to claim 1, 2, or 45, characterized in that, The captured images are multiple, and correspondingly, the target recognition range is multiple, and the target identifier can independently indicate multiple different target recognition ranges.

57. The method according to claim 56, characterized in that, The target identifier includes overlapping region identifier elements and non-overlapping region identifier elements. The overlapping region identifier elements are used to represent the overlapping regions of at least two adjacent target identification ranges.

58. The method according to claim 57, characterized in that, The visual characteristics of the overlapping area identifier elements and the non-overlapping area identifier elements are different.

59. The method according to claim 57, characterized in that, The salience of the visual features of the overlapping region identifier element is related to the number of target recognition ranges to which the overlapping region represented by the overlapping region identifier element belongs.

60. The method according to claim 1, 2, or 45, characterized in that, The captured images are multiple, and correspondingly, the target recognition range is multiple. The target identifier can indicate the recognition range after the multiple target recognition ranges are geometrically merged.

61. The method according to claim 60, characterized in that, The target identifier is roughly in the shape of a "donut".

62. The method according to claim 6, characterized in that, The range identifier can independently indicate multiple different target identification ranges.

63. The method according to claim 62, characterized in that, The range identifier includes overlapping region identifier elements and non-overlapping region identifier elements. The overlapping region identifier elements are used to represent the overlapping regions of at least two adjacent target identification ranges.

64. The method according to claim 6, characterized in that, The range identifier can indicate the recognition range after geometrically merging multiple target recognition ranges.

65. The method according to claim 64, characterized in that, The shape of the range marker is roughly "donut".

66. The method according to claim 4, characterized in that, The method further includes: A topographic map of the task area is displayed on the user interface, the task area comprising multiple sub-areas; The time marker and the range marker are displayed on the topographic map.

67. The method according to claim 5 or 66, characterized in that, The time stamp includes multiple stamping elements, which can map the imaging device's shooting timing information and / or shooting duration information for multiple sub-regions.

68. The method according to claim 67, characterized in that, The orientation of the identification element can map the timing information of the imaging device for capturing multiple sub-regions.

69. The method according to claim 68, characterized in that, The identification elements include directional icons.

70. The method according to claim 69, characterized in that, The pointing icons include triangles or arrows.

71. The method according to claim 69, characterized in that, The directional icon points in the positive direction of the shooting sequence.

72. The method according to claim 67, characterized in that, The number of the identification elements can map the imaging device's shooting duration information for multiple sub-regions.

73. The method according to claim 72, characterized in that, The number of the identification elements is positively correlated with the shooting duration information.

74. The method according to claim 72, characterized in that, Each of the aforementioned identifier elements can be mapped to a preset shooting duration.

75. The method according to claim 5 or 66, characterized in that, The time marker includes multiple marker elements, which are discretely distributed at multiple preset positions within the range of the range marker. The preset positions represent the locations of the corresponding reference points on the captured image.

76. The method according to claim 75, characterized in that, The topographic map also displays an elevation difference, which is determined based on the maximum and minimum elevations of the multiple reference points corresponding to the time marker.

77. The method according to claim 75, characterized in that, The reference point is set by the user, or the reference point is set automatically by the mobile platform.

78. The method according to claim 75, characterized in that, The location of the reference point is determined based on the measurement data of the ranging device of the movable platform, and the reference point corresponds to the intersection of the measuring beam of the ranging device on the imaging plane.

79. The method according to claim 78, characterized in that, The ranging device and the imaging device have a preset physical calibration relationship.

80. The method according to claim 78, characterized in that, The ranging device includes a lidar.

81. The method according to claim 75, characterized in that, The reference point is located at a preset position in the captured image.

82. The method according to claim 81, characterized in that, The preset position includes the center position of the captured image.

83. The method according to claim 75, characterized in that, Each of the aforementioned identifier elements carries location information of its corresponding reference point, and the method further includes: In response to a user's selection of at least two of the identified elements, a replay path of the mobile platform within the task area is generated based on the location information of the reference point corresponding to the selected identified element.

84. The method according to claim 83, characterized in that, The location information of the path points in the replay path is obtained by adding a preset safety height value to the location information of the reference point corresponding to the selected identification element, wherein the preset safety height value is greater than 0.

85. The method according to claim 5 or 66, characterized in that, The visual features of the range identifier are different from the visual features of the time identifier.

86. The method according to claim 4, characterized in that, The method further includes: Based on the data associated with the range identifier, the user interface is controlled to display the range identifier.

87. The method according to claim 4 or 86, characterized in that, The method further includes: Based on the data associated with the time identifier, the user interface is controlled to display the time identifier.

88. The method according to claim 4, characterized in that, The method further includes: Data related to the range identifier and / or data related to the time identifier are sent to the control platform.

89. The method according to claim 88, characterized in that, The control platform includes a control terminal or a cloud server.

90. The method according to claim 88, characterized in that, The data associated with the range identifier is stored in association with the identity information of the mobile platform performing the task.

91. The method according to claim 88, characterized in that, The data associated with the range identifier is stored in association with the task area where the task is executed.

92. The method according to claim 88, characterized in that, The data associated with the time stamp is stored in association with the identity information of the mobile platform performing the task.

93. The method according to claim 88, characterized in that, The data associated with the time identifier is stored in association with the task area where the task is executed.

94. The method according to claim 88, characterized in that, In response to receiving the range identifier-related data sent by the mobile platform, the control platform controls the user interface to display the range identifier based on the range identifier-related data.

95. The method according to claim 94, characterized in that, The user interface displays multiple range identifiers, each of which is displayed based on data related to the range identifier sent from multiple different mobile platforms.

96. The method according to claim 95, characterized in that, The identification ranges of the multiple range identifiers do not overlap at least partially.

97. The method according to claim 95, characterized in that, Multiple different mobile platforms perform the task in different regions of the region.

98. The method according to claim 94, characterized in that, After the control user interface displays the range identifier, it also includes: The control platform sends task information to the mobile platform, and the task information includes the location information of the area where the task to be performed is to be performed.

99. The method according to claim 98, characterized in that, The area to be executed includes the area outside the range marked by the range identifier in the task area.

100. The method according to claim 88, characterized in that, In response to receiving the time-related data sent by the mobile platform, the control platform controls the user interface to display the time identifier based on the time-related data.

101. The method according to claim 100, characterized in that, The user interface displays multiple time markers, each based on data related to the time markers sent from multiple different mobile platforms.

102. The method according to claim 101, characterized in that, The positions of the multiple time markers do not overlap at least partially.

103. The method according to claim 101, characterized in that, Multiple different mobile platforms perform the task in different regions of the region.

104. The method according to claim 100, characterized in that, After the control user interface displays the time indicator, it also includes: The control platform sends task information to the mobile platform, the task information including the path of the task to be executed.

105. The method according to claim 104, characterized in that, The path of the task to be executed is generated based on the input operation of the time identifier.

106. The method according to claim 2, 3, 5, 45 or 66, characterized in that, The topographic map includes the real-time view from the imaging device or a navigation map.

107. The method according to any one of claims 1-106, characterized in that, The mobile platform includes an aircraft.

108. The method according to any one of claims 1, 2, 3, 6-107, characterized in that, The target objects are categorized into humans, animals, vehicles, ships, power towers, and power lines.

109. The method according to any one of claims 1, 2, 3, 6-108, characterized in that, The target object includes moving objects or stationary objects.

110. The method according to any one of claims 1-109, characterized in that, At least one of the captured images is taken in a direction different from the forward direction of the movable platform at the time of capture.

111. The method according to any one of claims 1-110, characterized in that, The imaging device includes any one of the following: a visible light imaging device, an infrared imaging device, or a radar imaging device.

112. A computer device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, in executing the computer program, to implement the method as described in any one of claims 1-111.

113. The computer device according to claim 112, characterized in that, The processor is located on a mobile platform; or, The processor is located on the control platform of the mobile platform; or The processor is partially located on the mobile platform and partially located on the control platform of the mobile platform.

114. The computer device according to claim 112, characterized in that, The computer device includes a mobile platform, a control platform for the mobile platform, or a system combining the mobile platform and the control platform.

115. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the method as described in any one of claims 1-111.

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