Motion trajectory planning method for movable platform, control method for movable platform, and apparatus

Abstract

A motion trajectory planning method for a movable platform, a control method for a movable platform, and an apparatus. The motion trajectory planning method for the movable platform comprises: generating a trajectory-related file on the basis of a map-based trajectory planning operation, the trajectory-related file comprising: information related to a motion trajectory of the movable platform and information related to a target operation associated with the motion trajectory (S101); and sending the trajectory-related file to the movable platform, so that the movable platform executes the target operation in a local area during travel along the motion trajectory (S102), the local area being used for representing a partial area within a real-time detection range of the movable platform where the target operation needs to be executed, the information related to the target operation comprising a target operation range determined from a map, and the local area being determined within the real-time detection range on the basis of the target operation range. The method allows a movable platform to execute a target operation in a local area during travel along a motion trajectory, thereby achieving strong pertinence and low latency.

Description

Motion trajectory planning method, control method and device for mobile platforms Technical Field

[0001] This invention relates to the field of mobile platform technology, and in particular to a motion trajectory planning method, control method and device for a mobile platform. Background Technology

[0002] With the rapid development of economy and technology, the use of mobile platforms to perform tasks has been widely applied in various industries, including disaster investigation and rescue, ecological environment protection, urban management, and infrastructure maintenance. Taking the inspection scenario of a specific object or area as an example, in related technologies, it is usually achieved through manual inspection operations. However, manual inspection operations are inefficient and increase the cost and difficulty of the inspection operation. Summary of the Invention

[0003] This invention provides a motion trajectory planning method, control method, and apparatus for a mobile platform, which can improve the quality and efficiency of target operations and reduce the execution cost of target operations.

[0004] A first aspect of the present invention is to provide a motion trajectory planning method for a mobile platform, comprising: a map-based trajectory planning operation to generate a trajectory-related file, wherein the trajectory-related file includes: relevant information about the motion trajectory of the mobile platform and relevant information about a target operation associated with the motion trajectory; and sending the trajectory-related file to the mobile platform so that the mobile platform performs the target operation within a local area during the execution of the motion trajectory; wherein the local area represents a portion of the real-time detection range of the mobile platform in which the target operation needs to be performed, and the relevant information about the target operation includes a target operation range determined from the map, and the local area is determined within the real-time detection range based on the target operation range.

[0005] A second aspect of the present invention is to provide a control method for a mobile platform, comprising: acquiring a trajectory-related file, wherein the trajectory-related file includes information related to the motion trajectory of the mobile platform and information related to a target operation associated with the motion trajectory; and, based on the trajectory-related file, controlling the mobile platform to perform the target operation within a local area during the execution of the motion trajectory; wherein the local area represents a portion of the real-time detection range of the mobile platform in which the target operation needs to be performed, the information related to the target operation includes a target operation range determined from a map, and the local area is determined within the real-time detection range based on the target operation range.

[0006] A third aspect of the present invention is to provide a motion trajectory planning method for a mobile platform, comprising: generating a trajectory-related file based on a trajectory planning operation, wherein the trajectory-related file includes relevant information about the motion trajectory of the mobile platform; and sending the relevant information about the motion trajectory to the mobile platform so that the mobile platform executes the motion trajectory; wherein the trajectory-related file also includes relevant information about a target operation associated with the motion trajectory, the relevant information about the target operation including preset alarm conditions and preset response measures, the preset response measures being used to indicate the response measures executed by the mobile platform in response to the target operation satisfying the preset alarm conditions during the execution of the motion trajectory, the preset response measures including pausing the execution of the motion trajectory to perform a tracking task on the target object of the target operation, and continuing the execution of the motion trajectory after the tracking task has been executed for a preset duration or after the tracking task has been completed.

[0007] A fourth aspect of the present invention is to provide a control method for a mobile platform, comprising: acquiring a trajectory-related file, the trajectory-related file including information related to the motion trajectory of the mobile platform; controlling the mobile platform to execute the motion trajectory based on the information related to the motion trajectory; and, during the execution of the motion trajectory, controlling the mobile platform to execute a preset response measure in response to a target operation satisfying a preset alarm condition; wherein the preset response measure includes pausing the execution of the motion trajectory to perform a tracking task on the target object of the target operation, and resuming the execution of the motion trajectory after the tracking task has been executed for a preset duration or after the tracking task has been completed.

[0008] A fifth aspect of the present invention is to provide a control method for a mobile platform, comprising:

[0009] During the movement of the mobile platform, the platform is controlled to perform a target operation on a target object within a local area. The local area represents a portion of the mobile platform's real-time detection range where the target operation needs to be performed. The target object within the local area is determined as follows: based on the relative position of the pixel corresponding to the target object in the image corresponding to the real-time detection range, first position information of the target object is determined; in response to the position corresponding to the first position information being located within the local area, second position information of the target object is determined, wherein the error between the position corresponding to the second position information and the physical position of the target object is not greater than the error between the position corresponding to the first position information and the physical position of the target object; and in response to the position corresponding to the second position information being located within the local area, the mobile platform is controlled to perform the target operation on the target object.

[0010] A sixth aspect of the present invention is to provide an electronic device comprising: a memory and a processor; the memory being configured to store a computer program; and the processor being configured to execute the computer program and, when executing the computer program, implement the method described in any one of the first to fifth aspects.

[0011] A seventh aspect of the present invention is to provide a portable platform comprising: a memory and a processor; the memory being used to store a computer program; and the processor being used to execute the computer program and, when executing the computer program, to implement the control method described in the second, fourth, or fifth aspects above.

[0012] An eighth aspect of the present invention is to provide a control terminal for a mobile platform, comprising: a memory and a processor; the memory for storing a computer program; and the processor for executing the computer program and, when executing the computer program, implementing the planning method described in the first or third aspect above.

[0013] A ninth aspect of the present invention is to provide a system comprising the mobile platform described in the seventh aspect and a control terminal for the mobile platform described in the eighth aspect.

[0014] A tenth aspect of the present invention is to provide a computer-readable storage medium storing program instructions for use in any one of the first to fifth aspects of the method. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 is a flowchart illustrating a motion trajectory planning method for a mobile platform provided in an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of a scenario for a motion trajectory planning method for a mobile platform provided in an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of the process of generating trajectory-related files based on map-based trajectory planning provided in an embodiment of the present invention.

[0019] Figure 3a is a schematic diagram of the interface for planning trajectory-related files provided in an embodiment of the present invention;

[0020] Figure 4 is a flowchart illustrating a control method for a mobile platform provided in an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of the process of controlling the movable platform to perform the target operation in a local area during the execution of the motion trajectory provided by an embodiment of the present invention;

[0022] Figure 6 is a schematic diagram of the first local region and the second local region provided in an embodiment of the present invention;

[0023] Figure 7 is a flowchart illustrating the process of controlling the movable platform to perform the target operation in a local area during the execution of the motion trajectory, according to an embodiment of the present invention.

[0024] Figure 7a is a schematic diagram of the target operation performed by the controlled aircraft at various trajectory elements during the execution of the motion trajectory provided in the embodiment of the present invention;

[0025] Figure 8 is a schematic diagram of the process for determining whether a detected target object is located within the local area according to an embodiment of the present invention;

[0026] Figure 9 is a flowchart illustrating the process of determining the first position information of the target object based on the relative position of the pixel corresponding to the target object in the image corresponding to the real-time detection range according to an embodiment of the present invention.

[0027] Figure 9a is a schematic diagram of determining the second location information according to an embodiment of the present invention;

[0028] Figure 10 is a schematic diagram of the process of controlling the mobile platform to perform the target operation in a local area during the execution of the motion trajectory provided by an embodiment of the present invention;

[0029] Figure 11 is a flowchart illustrating a motion trajectory planning method for a mobile platform according to an embodiment of the present invention;

[0030] Figure 12 is a flowchart illustrating a control method for a mobile platform provided in an embodiment of the present invention;

[0031] Figure 13 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention;

[0032] Figure 14 is a schematic diagram of the structure of a mobile platform provided in an embodiment of the present invention;

[0033] Figure 15 is a schematic diagram of the structure of a control terminal for a mobile platform provided in an embodiment of the present invention;

[0034] Figure 16 is a schematic diagram of the structure of a system provided in an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0037] In this embodiment, the mobile platform refers to a system or device capable of moving freely between different locations, including aircraft, vehicles, ships, and ground robots (such as robotic vacuum cleaners). Taking aircraft as an example, in this embodiment, aircraft are classified according to whether they are piloted inside a cabin, including unmanned aerial vehicles and manned aircraft; according to configuration, including rotorcraft, fixed-wing aircraft, and aircraft combining rotor and fixed wings; and according to purpose, including aerial photography aircraft, agricultural aircraft, surveying aircraft, and logistics aircraft.

[0038] The control terminal in this embodiment is used to control and operate the devices of the mobile platform. The control terminal includes, but is not limited to, remote controls, mobile phones, tablets, airport equipment, wearable devices (such as smart glasses, smartwatches, etc.), ground base stations, or cloud platform monitoring equipment.

[0039] To facilitate understanding of the specific implementation process of the technical solution in this embodiment, and for ease of description and comprehension, the following embodiments all use aircraft as examples to introduce the technical solutions in the embodiments. Other types of mobile platforms follow a similar principle, and for simplicity, they will not be repeated.

[0040] In related technologies, aircraft can capture images according to a pre-set trajectory, then transmit these images to the cloud for target object detection, thus completing the target object detection task. However, the above-mentioned task execution operation has the following drawbacks:

[0041] (1) It can only perform target object detection operations on the global range of the captured image, and cannot specify the detection area in a local range. For example, when the detection task is to detect traffic flow in a highway area, the captured image obtained by the aircraft may include: the highway area and the parking lot area next to the highway area. When performing object detection operations based on the captured image, not only will the traffic flow in the highway area be identified, but vehicles in the parking lot area next to the highway area will also be included, which increases the difficulty of detecting traffic flow in the highway area.

[0042] (2) The current object detection operation only supports cloud detection. The aircraft cannot perform the detection operation locally, which will cause many problems: the aircraft will send the real-time image back to the cloud to perform the detection operation. The back transmission causes a time delay between the image targeted by the detection operation and the real-time image of the aircraft, making it impossible to achieve timely detection operation; it must be used when the aircraft and the cloud are connected. Otherwise, the bit stream cannot be sent back, and thus the target object detection operation cannot be performed.

[0043] To address the aforementioned technical problems, this embodiment provides a motion trajectory planning method, control method, and apparatus for a mobile platform. The motion trajectory planning method facilitates the execution of target operations by the mobile platform during the execution of the motion trajectory, resulting in low latency. Furthermore, it can determine a local area from the real-time detection range based on the target operation range determined in the map during planning, and execute the target operation within the local area, thereby improving the accuracy and precision of the target operation execution.

[0044] The following detailed description, with reference to the accompanying drawings, outlines some embodiments of a motion trajectory planning method, a control method, and a device for a mobile platform according to the present invention. Where there is no conflict between the embodiments, the following embodiments and features thereof can be combined with each other.

[0045] Figure 1 is a flowchart illustrating a motion trajectory planning method for a mobile platform according to an embodiment of the present invention; Figure 2 is a scenario illustration illustrating a motion trajectory planning method for a mobile platform according to an embodiment of the present invention; Referring to Figures 1 and 2, this embodiment provides a motion trajectory planning method for a mobile platform. The executing entity of this motion trajectory planning method can be a mobile platform (such as a control system of a mobile platform), a control terminal (such as a control system of a control terminal), or any combination thereof. For aircraft, the executing entity of this motion trajectory planning method can, for example, be a remote controller, a cloud server, an aircraft, or any combination thereof.

[0046] The motion trajectory planning method specifically includes:

[0047] Step S101: Map-based trajectory planning operation to generate trajectory-related files, wherein the trajectory-related files include: information related to the motion trajectory of the mobile platform and information related to the target operation associated with the motion trajectory;

[0048] In some embodiments, the map can be a two-dimensional map or a three-dimensional map containing elevation information. When the map is a two-dimensional map, the area to be moved is a two-dimensional area, and the planned movement trajectory is a two-dimensional movement trajectory. When the map is a three-dimensional map, the area to be moved is a three-dimensional area, and the planned movement trajectory is a three-dimensional movement trajectory. The map is usually presented in a planar or three-dimensional form, for example, using various symbols, colors, and scales to express geographical information. The map can be derived from existing navigation maps, such as Google offline maps, or it can be obtained by three-dimensional reconstruction of the aircraft, with the aircraft reconstructing the map while flying.

[0049] In some embodiments, to enable trajectory planning operations via a trajectory planning device, a map can be displayed in the motion trajectory planning interface before generating trajectory-related files for map-based trajectory planning operations. This map includes the area to be moved by the mobile platform; when the mobile platform is an aircraft, the map includes the area to be flown by the aircraft. After displaying the map in the trajectory planning interface, the user can input trajectory planning operations onto the map, thereby generating trajectory-related files corresponding to the area to be moved, ensuring the reliability of the generated trajectory-related files. For trajectory planning operations, exemplary embodiments include at least one of the following: interactive operations such as touch operations, gesture operations, voice operations, head movements, and eye movements; the touch operations include, but are not limited to, click operations, double-click operations, long-press operations, swipe operations, pinch operations, or mouse hover operations; swipe operations include, but are not limited to, straight-line swipes and curved-line swipes. The configuration of trajectory elements can be performed by the user or automatically by the system.

[0050] For example, Figure 3 is a schematic diagram of the process of generating trajectory-related files based on map-based trajectory planning provided in an embodiment of the present invention.

[0051] Step S301: Based on the configuration operations of multiple trajectory elements in the map, determine the relevant information of the motion trajectory;

[0052] The motion trajectory can be composed of multiple trajectory elements. Taking an aircraft as an example, these multiple trajectory elements include waypoints or flight segments, and the connection of these multiple trajectory elements forms the aircraft's motion trajectory. Optionally, the configuration operations for trajectory elements include one or more of the following: (a) determining the location of the trajectory elements on the map, for example, marking the locations of multiple trajectory elements on the map; (b) determining the aircraft's state parameters at the trajectory elements, for example, the aircraft's state parameters may include the aircraft's speed parameters, acceleration parameters, attitude parameters, heading parameters, etc.; (c) determining the state parameters of the aircraft's load at the trajectory elements, for example, the aircraft's load includes spraying devices, spreading devices, carrying devices, photographing devices, etc., and the load's state parameters may include whether the load has started operation, or the state parameters when the load is operating; (d) determining the state parameters of the aircraft's onboard sensors at the trajectory elements, for example, the onboard sensor's state parameters include the onboard sensor's detection direction, detection range, etc.

[0053] Step S302: Based on the configuration operation for the target operation at at least one trajectory feature, determine the relevant information of the target operation associated with the trajectory feature.

[0054] In some embodiments, the relevant information of the target operation associated with a trajectory element represents the relevant information for performing the target operation at that trajectory element. For example, if relevant information A of the target operation is set at trajectory element P1 and relevant information B of the target operation is set at trajectory element P2, then relevant information A of the target operation is associated with trajectory element P1, and relevant information B of the target operation is associated with trajectory element P2. Relevant information A and relevant information B can represent different types of target operations, or they can represent the same type of target operation but with different execution strategies. Associating the relevant information of the target operation with the trajectory element allows the execution of the target operation to mirror the execution process of the motion trajectory, achieving the execution of the desired target operation at the desired trajectory element, thus improving the orderliness and planning of the target operation execution.

[0055] It should be noted that the configuration of target operations can be based on user actions or automatically performed by the system. For example, the system can automatically configure relevant information for the target operation based on the characteristics of the map where the movement trajectory is located. Furthermore, the relevant information for the target operation can include different types of related information, and the configuration operations for the target operation can include different types of configuration operations. Different types of configuration operations are used to configure different types of related information. The planning end provides rich configuration parameters, making the planning process more intuitive. Examples will be given below. It should be noted that different types of related information can be used individually or in combination.

[0056] Firstly, in some embodiments, the information related to the target operation may include the type of the target operation. Optionally, the information related to the target operation associated with the trajectory elements may include the type of the target operation, where different target operation types indicate any of the following: the type of target object targeted by the target operation is different; the type of detection parameters of the target object targeted by the target operation is different; or the type of target event targeted by the target operation is different. For example, the type of target event mentioned above may include at least one of the following: physical damage event, traffic incident, illegal event, pollution incident, disaster event, etc. For example, the detection parameters of the target object mentioned above may include quantitative parameters or temperature parameters, such as statistical quantity or detection temperature. In some instances, the type of target object may include a static object or a moving object. Specifically, the type of target object includes at least one of the following: person, animal, vehicle, ship, smoke, etc.

[0057] In some embodiments, the target operation includes any one of the following: a target object identification operation, a target event detection operation, or a user-defined operation. The types of target operations described above are merely examples; in practical applications, they can be set according to application requirements. For instance, target operations can be user-defined and extended as needed. Furthermore, custom target operations can also be templated for easy retrieval and reuse.

[0058] In some embodiments, at least two different types of target operations can be associated with the same trajectory element. For example, the at least two different types of target operations associated with the same trajectory element can be executed simultaneously or in batches. For example, at least two different types of target operations can be executed simultaneously when flying a route once, or some of the target operations can be executed when flying a route for the first time, and other target operations can be executed when flying a route for the second time.

[0059] In some embodiments, different trajectory elements of the same motion trajectory can be associated with different types of target operations. For example, a first type of target operation is associated with trajectory element P1, and a second type of target operation is associated with trajectory element P2. As the aircraft moves from trajectory element P1 to trajectory element P2, the first type of target operation is executed first, and then the second type of target operation is executed. This allows multiple different types of target operations to be completed while flying through the motion trajectory, thereby improving the execution efficiency of target operations.

[0060] It is important to note that for multiple trajectory elements constituting a motion trajectory, after configuring the target operation at at least one trajectory element, some trajectory elements in the motion trajectory are associated with the target operation, while others are not. In other words, trajectory elements in the motion trajectory can be divided into two categories based on whether they are associated with a target operation. To facilitate users' quick understanding of the configuration information for the target operation, trajectory elements associated with and unassociated with the target operation can be differentiated on the map. For example, trajectory elements associated with the target operation can be highlighted on the map, while those unassociated can be displayed in grayscale. Alternatively, trajectory elements associated with the target operation can be displayed in a preset highlight color (e.g., red, yellow), while those unassociated can be displayed in grayscale. This allows users to quickly and intuitively view the trajectory elements associated with the target operation.

[0061] Secondly, in some embodiments, the relevant information of the target operation may include the target operation range determined from the map. The target operation range may be at least a portion of the map area. Furthermore, the target operation range corresponds to a local area within the real-time detection range of the aircraft's onboard sensors that needs to perform the target operation. The local area is used to represent the portion of the real-time detection range of the aircraft that needs to perform the target operation.

[0062] Optionally, the real-time detection range includes the detection range acquired from a non-orthogonal detection perspective. This non-orthogonal detection perspective refers to the method of observing and acquiring data from an inclined or non-perpendicular angle. Unlike traditional observation from a completely perpendicular angle, detection operations from a non-orthogonal perspective can provide richer spatial information. Thus, the mobile platform does not need to maintain a strictly orthogonal detection perspective at all times, reducing the constraints on the mobile platform's target operations and improving its flexibility.

[0063] For example, the configuration operation of the target operation range can be implemented through a user-inputted area selection operation. For instance, the target operation range can be determined by the user's area selection operation on the map. The area selection operation can include any of the following: a positive selection operation for determining the target operation range on the map, for example, for cases where the target operation range is small; or a negative selection operation for determining a non-target operation range on the map, for example, for cases where the target operation range is large. In this case, the area corresponding to the positive selection operation can be at least a part of the target operation range, while the area corresponding to the negative selection operation cannot be a part of the target operation range.

[0064] For example, the configuration of the target operating range can be automatically determined based on semantic information. This semantic information can be keywords related to the motion task identified through map analysis or keywords input by the user to limit the target operating range. After obtaining the semantic information, the target operating range can be automatically determined based on it. For example, if the obtained semantic information is a parking lot, then parking lots can be automatically selected as the target operating range on the map based on the aforementioned semantic information, without requiring manual selection by the user.

[0065] For example, the configuration of the target operation range can be determined based on natural language description information. This description information can be the desired target operation, and the system automatically selects the target operation range with a high probability of executing the target operation based on this description. Alternatively, it can be a sentence or paragraph entered by the user to limit the target operation range. After obtaining the natural language description information, the system can automatically determine the target operation range based on the language information. For example, if the user inputs: "I need to inspect power transmission lines," the system will automatically select areas on the map where power transmission lines may exist as the target operation range, such as the vicinity of power towers.

[0066] In some embodiments, the number of target operation ranges can be one or more. When there are multiple target operation ranges, they can be displayed on the map in a switchable or simultaneous manner, and / or the target operation types corresponding to the multiple target operation ranges can be the same or different. The map can include not only the areas corresponding to the configured multiple target operation ranges but also areas outside the target operation ranges. To enable users to intuitively view the areas corresponding to the target operation ranges and the areas outside the target operation ranges, the target operation ranges and the areas outside the target operation ranges can be displayed differently on the map. For example, the areas corresponding to the target operation ranges can be highlighted on the map; the areas outside the target operation ranges can be displayed in grayscale; or, the edges of the areas corresponding to the target operation ranges can be highlighted with a preset color, and the areas outside the target operation ranges can be displayed in grayscale, etc.

[0067] To ensure that the aircraft can perform target operations on local areas within the target operation range during the execution of its motion trajectory, after obtaining the user's area selection operation on the map, the method in this embodiment may further include: if the area selected by the area selection operation is outside a preset distance of the motion trajectory, then the area selection operation is not responded to. The preset distance is related to the real-time detection range of the aircraft's onboard sensors, thus preventing the selected target operation range from being outside the real-time detection range of the aircraft's onboard sensors and thus preventing execution. This preset distance is used to indicate that the target detection range is relatively close to the motion trajectory. The preset distance is the range that the aircraft's onboard sensors can cover. The specific value of the preset distance is related to the type of onboard sensor. As an example of an onboard sensor, the onboard sensor includes an image sensor. Further, the image sensor includes any of the following: a visible light sensor, an infrared light sensor, an ultraviolet light sensor, or a radar sensor.

[0068] Thirdly, in some embodiments, the relevant information of the target operation may include preset alarm conditions, and the configuration operation of the target operation includes the configuration operation of preset alarm conditions. The preset alarm conditions are used to indicate that the executed target operation meets the alarm conditions. Optionally, the preset alarm conditions include one or more of the following: (a) a target object is identified within the scope of the target operation, such as identifying a suspicious license plate number; (b) the detection parameters of the target object targeted by the target operation meet preset parameter conditions, such as detecting a vehicle speeding; (c) the changing trend of the detection parameters of the target object targeted by the target operation meets preset change conditions, such as detecting a gradually increasing flame temperature; (d) the distribution of the target object targeted by the target operation meets preset distribution conditions, such as detecting an excessively dense distribution of people in a public place; (e) the behavior of the target object targeted by the target operation meets preset behavior conditions, such as detecting illegal parking or illegal lane changes by vehicles; (f) a target event is identified within the scope of the target operation, such as detecting an abnormal animal migration event in a certain area; (g) the evolution trend of the target event targeted by the target operation meets preset evolution conditions, such as detecting a garbage accumulation event in a certain area indicating an environmental pollution level.

[0069] In some embodiments, under different preset alarm conditions, different display modes of the target object are configured, wherein the different display modes of the target object include either a high-gain display mode or a low-gain display mode. The high-gain display mode can refer to a mode in which a higher gain setting is used to amplify the input signal during image acquisition or signal processing to optimize image quality; the low-gain display mode can refer to a mode in which a lower gain setting is used to amplify the input signal during image acquisition or signal processing to reduce the amplification of the input signal to optimize image quality.

[0070] Furthermore, in order to accurately determine whether a target operation meets the preset alarm conditions, different target operations can correspond to preset upper limit conditions and / or lower limit conditions. The preset alarm conditions corresponding to the target operation can be no greater than the upper limit condition, and / or the preset alarm conditions corresponding to the target operation can be no less than the lower limit condition. In some embodiments, when the preset alarm conditions are implemented as numerical information, the preset alarm conditions can be implemented as a numerical range consisting of the lower limit value and the upper limit value, so as to control the setting of the preset alarm conditions to deviate from common sense and also conform to the computing power configuration of the system.

[0071] Fourthly, in some embodiments, the relevant information of the target operation includes preset response measures, and the configuration operation of the target operation may include the configuration operation of the preset response measures. The preset response measures characterize the response measures that the mobile platform needs to execute when the target operation meets preset alarm conditions. Optionally, the preset response measures may include one or more of the following: (a) a tracking operation, such as tracking the target object after discovering it and meeting the preset alarm conditions, in order to obtain more detailed information about the target object; (b) an automatic zoom operation, such as zooming the single target object that meets the preset alarm conditions to 70% of the frame before taking a picture, in order to clearly capture the detailed information of the target object; (c) a shooting operation, such as taking a partial picture of the target object that meets the preset alarm conditions, or taking a single picture that can accommodate multiple or all target objects that meet the preset alarm conditions, or taking a picture when the preset alarm conditions are met. After the preset alarm conditions are met, recording will begin. The recording duration can be set from 1s to 1800s (the default is the target tracking duration). (d) Waiting for takeover operation, for example: when a target object that meets the preset alarm conditions is found, the aircraft hovers and waits for the user to take over. After the set duration is reached, the aircraft will continue to execute the motion trajectory. (e) Shouting operation, for example: when a target object that meets the preset alarm conditions is found, a shouting operation will begin. Specific shouting files, whether to loop, volume, and other information can be configured. (f) Searchlight operation (for example: when the ambient light dims, the searchlight can be turned on; when the ambient light changes, the luminous flux of the searchlight can be adjusted).

[0072] In some embodiments, the execution priority of the preset response measure may be higher than the execution priority of the motion trajectory. In this case, controlling the aircraft to execute the preset response measure corresponding to the preset alarm condition may include: controlling the aircraft to suspend the execution of the motion trajectory and then executing the preset response measure. Specifically, when the target operation meets the preset alarm condition, since the execution priority of the preset response measure is higher than the execution priority of the motion trajectory, the aircraft can be controlled to first execute the preset response measure corresponding to the preset alarm condition and then suspend the execution of the motion trajectory. Further, after the preset response measure is completed or after a preset duration of the preset response measure has been executed, the aircraft can be controlled to continue executing the motion trajectory.

[0073] Fifthly, in some embodiments, the relevant information of the target operation includes a preset alarm prompt, and the configuration operation of the target operation may include a configuration operation of the preset alarm prompt, wherein the preset alarm prompt is used to indicate the prompt information that needs to be output when the executed target operation meets the preset alarm conditions. Optionally, the preset alarm prompt may be used to prompt one or more of the following information: (a) the location information of the target object targeted by the target operation, for example, prompting the coordinate position of the target object; (b) a map jump link for locating the target object targeted by the target operation, for example, clicking the map jump link allows the user to easily understand the relative relationship between the target object and the surrounding environment; (c) a partial image of the target object targeted by the target operation, for example, prompting a partial enlarged view of the license plate number of the violating vehicle; (d) preset response measures applied to the target object targeted by the target operation, for example, prompting the tracking path and tracking duration of the tracking operation for the target object.

[0074] As a specific planning scenario, as shown in Figure 3a, a route setting page is provided for implementing route planning operations. On this page, users can perform corresponding planning operations on routes, including: planning route length, planning route execution time, planning waypoints (locations) along the route, and planning the number of photos to be taken along the route. For example, the left side of Figure 3a displays various waypoints and the planning operations associated with each waypoint. Furthermore, users can configure detection areas for routes, selecting them from the "Recognition Area" entry point. Detection areas can be located near the route, and multiple detection areas can be configured, such as: illegal parking detection area, intrusion detection area, detection area 2, etc. Then, target operation planning operations can be performed for each detection area, such as: the type of target operation (target objects include people, vehicles, ships, etc.) and the content of the target operation (e.g., personnel recognition operation, vehicle illegal parking detection operation), etc.

[0075] Continuing as shown in Figure 3a, users can also perform configuration operations related to target operations. For example, the figure shows that one or more target objects reaching a preset quantity threshold can be set as an alarm condition, and the preset quantity threshold can be input by the user; users can also set preset response measures when the preset alarm condition is reached, which can be selected or entered through the "Trigger Action" entry in the figure. The trigger action can include at least one of the following: point-by-point aerial photography, video recording, waiting phase, etc.; users can also set preset alarm prompts to be input when the preset alarm condition is reached, which can be selected or entered through the "Alarm Information" entry in the figure, such as: "AI recognition route for illegal parking inspection around XX coastline has identified abnormal targets," etc.

[0076] After generating the trajectory-related file as described in the above embodiments, the trajectory-related file can be sent to the execution terminal for execution. This application also provides a control method for a mobile platform. This control method is executed by the aircraft or the aircraft's control system.

[0077] Step S102: Send the trajectory-related files to the mobile platform so that the mobile platform can perform the target operation during the execution of the motion trajectory.

[0078] After obtaining the trajectory-related files, these files can be sent to the mobile platform. The mobile platform can then execute a motion trajectory based on these files, allowing it to move according to the trajectory and perform target operations during the trajectory execution, thus completing the trajectory planning operation. It's important to note that executing the target operation during trajectory execution can be either synchronous (e.g., the aircraft identifies a target object while flying) or asynchronous (as long as the target operation is completed within the entire trajectory execution process). For example, the aircraft can pause at a trajectory element to execute the target operation associated with that element, and then continue executing the remaining trajectory elements. Although the target operation is not synchronous with the trajectory flight, it is still completed within the trajectory flight process.

[0079] The trajectory planning method for a mobile platform provided in this embodiment generates trajectory-related files based on map trajectory planning operations. These files are then sent to the mobile platform, enabling it to perform target operations during the motion trajectory execution process. This solves the problems in related technologies where delays caused by data backhaul operations lead to untimely target operation execution and insufficient precision in target operation execution. It also addresses the low efficiency and high cost of manual detection operations. Specifically, the mobile platform can autonomously perform target operations within the real-time detection range. Since data analysis and data transmission between the mobile platform and the trajectory planning device are not required, the real-time performance and efficiency of target operation execution are improved to a certain extent. This also enhances the accuracy, precision, quality, and efficiency of target operation execution, while reducing the execution cost and ensuring the practicality of the method.

[0080] Figure 4 is a flowchart illustrating a control method for a mobile platform according to an embodiment of the present invention. Referring to Figure 4, this embodiment provides a control method for a mobile platform. Some details in this embodiment are similar to those in the foregoing embodiments. For the specific determination process of similar parts, please refer to the above description, which will not be repeated below. The executing entity of this control method can be a mobile platform (such as an onboard processor of a mobile platform).

[0081] For ease of description and understanding, the control method implemented by the control device based on the aforementioned mobile platform may specifically include:

[0082] Step S401: Obtain trajectory-related files, wherein the trajectory-related files include information related to the motion trajectory of the mobile platform and information related to the target operation associated with the motion trajectory;

[0083] The trajectory-related files can be derived from the trajectory-related files planned in the aforementioned embodiments, which will not be elaborated further here.

[0084] Step S402: Based on the trajectory-related files, control the mobile platform to perform target operations within a local area during the execution of the motion trajectory.

[0085] The aforementioned local area is used to represent the part of the mobile platform's real-time detection range where the target operation needs to be performed. The relevant information of the target operation includes the target operation range determined from the map. The local area is determined based on the target operation range within the real-time detection range.

[0086] Since the target operation is executed by a mobile platform, even when the mobile platform is disconnected from external devices or is offline, the onboard computing power of the mobile platform can still execute the target operation, improving reliability in special environments. Taking an aircraft as an example, the external device can be the aircraft's control terminal or its cloud server. Specifically, the external device and the aircraft can be in a communicating or non-communicating state. The non-communicating state can include a disconnected communication state or an offline state. Specifically, a disconnected communication state can refer to a state where the aircraft and the external device initially communicated but then broke down, while an offline state can refer to a state where the aircraft and the external device have never communicated. When the aircraft and the external device are not communicating, the onboard server controls the aircraft to execute the target operation within a local area during the execution of its trajectory, thus ensuring the stability and reliability of the target operation execution to a certain extent.

[0087] The mobile platform control method provided in this embodiment obtains trajectory-related files and then controls the mobile platform to perform target operations in a local area during the execution of the motion trajectory based on the trajectory-related files. On the one hand, the target operation is executed locally on the mobile platform, which improves the real-time performance and efficiency of the target operation execution to a certain extent and reduces latency. On the other hand, it can map the part of the target operation that needs to be performed within the real-time detection range based on the target detection range, which improves the accuracy and precision of the target operation execution to a certain extent and ensures the practicality of the method.

[0088] Figure 5 is a flowchart illustrating the process of a control mobile platform performing a target operation within a local area during the execution of a motion trajectory, as provided in the embodiment of the present invention. Based on the above embodiment, referring to Figure 5, for a local area, there can be a geographical location mapping relationship with the target operation range, that is, the local area corresponds to actual geographical location information. For example, based on the geographical coordinate boundary of the target operation range on the map, a local area belonging to the geographical location boundary can be mapped in the real-time detection range. The geographical location mapping is not limited by image recognition and can improve the reliability and accuracy of the location mapping.

[0089] In some embodiments, controlling a mobile platform to perform a target operation within a local area during the execution of a motion trajectory may further include:

[0090] S501: At the first moment of executing the motion trajectory, acquire the first local area within the real-time detection range of the movable platform where the target operation needs to be performed;

[0091] S502: Control the mobile platform to perform the target operation within the first local area;

[0092] S503: At the second moment of executing the motion trajectory, acquire the second local area within the real-time detection range of the movable platform where the target operation needs to be performed; the second moment is later than the first moment; and

[0093] S504: Control the movable platform to perform the target operation in the second local area;

[0094] The first local region and the second local region have geographical location mapping relationships with different parts of the target operation range, respectively.

[0095] For example, a relatively large target operating range is defined on the map. During the flight trajectory execution, the onboard sensors continuously operate, capturing images of multiple real-time detection ranges. For instance, referring to Figure 6, at a first moment, an image of the first real-time detection range captured by the onboard sensors is acquired. A first local region (diagonal line region) is determined from this first real-time detection range, and the target operation is performed within this first local region. At a second moment after the first moment, an image of the second real-time detection range captured by the onboard sensors is acquired. A second local region (diagonal line region) is determined from this second real-time detection range, and the target operation is performed within this second local region. The first and second local regions have geographical location mapping relationships with different parts of the target operating range, respectively. That is, the target operating range defined on the map is gradually obtained from the real-time detection ranges, and different parts of the target operating range defined on the map are dynamically loaded from the images of the real-time detection ranges until the entire target operating range is traversed. Of course, this embodiment does not exclude the possibility that the entire target operating range is covered by a single real-time detection range.

[0096] In some embodiments, controlling a mobile platform to perform a target operation within a local area during the execution of a motion trajectory may further include:

[0097] In response to a preset execution event, the movable platform is controlled to perform target operations within a local area during the execution of its motion trajectory.

[0098] The preset execution event can include the mobile platform moving to a trajectory element of the motion trajectory, and the trajectory element being configured with relevant information about the target operation. For example, the preset execution event can include the aircraft moving to a trajectory element of the motion trajectory, and the trajectory element being configured with relevant information about the target operation. After detecting the preset execution event, the aircraft can be controlled to perform the target operation within a local area during the execution of the motion trajectory based on the detected preset execution event.

[0099] In some embodiments, the number of trajectory elements can be one or more, and the multiple trajectory elements can include a first trajectory element and a second trajectory element. Then, the aircraft can be sequentially controlled to perform target operations based on different trajectory elements. Specifically, referring to Figure 7, controlling the mobile platform to perform target operations in a local area during the execution of the motion trajectory can include: in response to the mobile platform moving to the first trajectory element, controlling the mobile platform to perform a target operation associated with the first trajectory element until the mobile platform moves to the second trajectory element; and in response to the mobile platform moving to the second trajectory element, controlling the mobile platform to perform a target operation associated with the second trajectory element, wherein the target operation associated with the second trajectory element is of a different type than the target operation associated with the first trajectory element.

[0100] For example, referring to Figure 7a, a first trajectory element is associated with a target operation M, and a second trajectory element is associated with a target operation N. The target operation M associated with the first trajectory element and the target operation N associated with the second trajectory element are of different types. It is possible to first detect whether the aircraft has moved to the first trajectory element. When the aircraft is detected to have moved to the first trajectory element, the aircraft is controlled to execute the target operation M associated with the first trajectory element until the aircraft moves to the second trajectory element. Then, the aircraft can be controlled to execute the target operation N associated with the second trajectory element.

[0101] In some embodiments, controlling a mobile platform to perform a target operation in a local area during the execution of a motion trajectory may include: in response to the mobile platform moving to a first trajectory element, controlling the mobile platform to perform a target operation associated with the first trajectory element until the aircraft moves to a second trajectory element; and in response to the aircraft moving to the second trajectory element, controlling the aircraft to stop performing the target operation, wherein no information related to the target operation is associated with the second trajectory element.

[0102] For example, continuing to refer to Figure 7a, during the execution of the aircraft's trajectory, the aircraft will move along different trajectory elements. When the aircraft moves to the second trajectory element, the second trajectory element is associated with a target operation N, while the third trajectory element is not associated with any target operation. In order to ensure the stability and reliability of the aircraft's execution of the target operation to a certain extent, it is possible to first detect whether the aircraft has moved to the second trajectory element. When it is detected that the aircraft has moved to the second trajectory element, it is controlled to execute the target operation N associated with the second trajectory element until the aircraft moves to the third trajectory element. When the aircraft moves to the third trajectory element, since there is no relevant information about the target operation associated with the third trajectory element, it is possible to control the aircraft not to execute any target operation. In this way, the selective control of whether the aircraft executes the target operation is achieved by whether the target operation is associated with different trajectory elements.

[0103] Based on any of the above embodiments, before performing target operations in a local area during the process of controlling the aircraft to execute its motion trajectory, it is possible to selectively detect whether the target object is located in the local area. In this case, the method in this embodiment may further include: determining whether the detected target object is located in the local area.

[0104] During the execution of motion trajectories by the mobile platform, the platform can detect target objects using onboard sensors and further identify whether the detected target objects are located within a local area. However, relying solely on the relative position of the target object's pixels in the image corresponding to the real-time detection range makes it difficult to accurately determine whether the target object is located within a local area. For example, when the target object is a large building, spatial occlusion can easily lead to positioning errors, resulting in deviations in the execution of target operations.

[0105] Based on this, referring to Figure 8, determining whether the detected target object is located within a local area may include:

[0106] Step S801: Determine the first position information of the target object based on the relative position of the pixels corresponding to the target object in the image corresponding to the real-time detection range;

[0107] In order to identify whether the detected target object is located in a local area, the image corresponding to the real-time detection range can be acquired first, and the pixels corresponding to the target object can be obtained in the image. Then, the relative position of the pixels corresponding to the target object in the image corresponding to the real-time detection range can be determined. Then, the first position information of the target object can be determined based on the relative position of the pixels corresponding to the target object in the image corresponding to the real-time detection range. This first position information is used to identify the relatively coarse position information for locating the target object.

[0108] Because relying solely on the relative position of the target object's pixels within the image corresponding to the real-time detection range makes it difficult to accurately determine whether the target object is located within a local area, positioning errors are likely to occur, leading to deviations in the execution of target operations. For example, when the target object is a large building, due to spatial occlusion, the large building may appear to be located outside the local area in the image, but it is actually physically located within the local area. The visual deviation is due to spatial occlusion. Therefore, relying solely on the first position information may result in insufficient positioning accuracy.

[0109] Step S802: In response to the fact that the position corresponding to the first position information is located within a local area, determine the second position information of the target object, wherein the error between the position corresponding to the second position information and the physical position of the target object is not greater than the error between the position corresponding to the first position information and the physical position of the target object;

[0110] Since the first location information is used to identify a relatively coarse location for locating the target object, a secondary location can be performed to improve the accuracy of the target object's location. After determining the first location information, it can be first determined whether the location corresponding to the first location information is within a local area. If it is determined that the location corresponding to the first location information is within a local area, a secondary location can be performed to determine the second location information of the target object. This second location information is a relatively precise location for locating the target object. Specifically, the error between the location corresponding to the second location information and the physical location of the target object is no greater than the error between the location corresponding to the first location information and the physical location of the target object; that is, the location deviation of the second location information is less than or equal to the location deviation of the first location information. In some embodiments, the error between the location corresponding to the second location information and the physical location of the target object is essentially zero; that is, the error between the location corresponding to the second location information and the physical location of the target object is less than or equal to a preset threshold.

[0111] Correspondingly, when the location corresponding to the first location information is found to be outside the local area, there is no need to perform a secondary positioning operation on the target object, effectively reducing computing power. This effectively enables the execution of target operations only on target objects within the real-time detected local area when the mobile platform operates according to its movement trajectory. High positioning accuracy ensures both the efficiency and accuracy of the target operation. Multiple positioning methods improve the accuracy and confidence of the location information, while using the first location information for initial screening avoids the problem of insufficient computing power and computational lag caused by performing multiple positioning operations on all target objects.

[0112] Furthermore, regarding the second location information of the target object, this embodiment does not limit the specific method for determining the second location information of the target object. In some embodiments, the second location information can be determined by ranging, for example, by controlling the measuring beam of the movable platform to be directed toward the target object to determine the second location information of the target object.

[0113] The measurement beam can include the beam of a ranging sensor on the mobile platform. When the mobile platform is implemented as an aircraft, the aircraft is equipped with a ranging sensor, such as a laser sensor. The ranging sensor can emit a measurement beam. When a secondary positioning operation is required for a target object, the measurement beam of the aircraft can be controlled to be directly directed toward the target object to determine the target object's second position information. For example, controlling the measurement beam of the mobile platform to be directed toward the target object to determine the target object's second position information can include: acquiring the field of view (FOV) of the mobile platform's image sensor; acquiring the real-time position information of the mobile platform, such as obtaining GPS coordinate information using a positioning sensor; acquiring the distance information between the mobile platform and the intersection point, such as obtaining it through the ranging sensor, wherein the intersection point is determined by the measurement beam and the target object; and determining the second position information based on the field of view of the image sensor, the real-time position information of the mobile platform, and the distance information between the mobile platform and the intersection point. For example, the intersection point can be the projected position in the horizontal plane obtained by the measurement beam directed toward the target object, i.e., the intersection point is the projected position corresponding to the target object.

[0114] In some embodiments, if the first position information is determined to be located within a local area, the measuring beam of the ranging device is adjusted to face the position corresponding to the first position information in order to further measure the second position information. Furthermore, the image sensor and the ranging sensor have a preset physical calibration relationship. For example, the image sensor and the ranging sensor can move synchronously (e.g., the image sensor and the ranging sensor are mounted on the same gimbal). This ensures the preset physical calibration relationship, facilitating calculations, and allows for targeted imaging of the target object while simultaneously measuring the target object's second position information.

[0115] Step S803: In response to the second location information being located within a local area, control the movable platform to perform the target operation on the target object.

[0116] After obtaining the second location information, it is possible to identify whether the location corresponding to the second location information is located within a local area. If the location corresponding to the second location information is located within a local area, it can be determined that the target object is located within the local area, and then the mobile platform can be controlled to perform target operations on the target object.

[0117] Correspondingly, the method in this embodiment may further include: in response to the second location information being located outside the local area, controlling the movable platform not to perform the target operation on the target object.

[0118] After obtaining the second location information, it is determined whether the location corresponding to the second location information is located within the local area. If the location corresponding to the second location information is located outside the local area, it can be determined that the target object is not located within the local area of ​​interest of the mobile platform. At this time, the mobile platform is controlled not to perform the target operation on the target object.

[0119] In this embodiment, the first location information of the target object is determined by initial positioning of the target object. When the location corresponding to the first location information is within a local area, the target object can be positioned a second time to determine the second location information of the target object. Furthermore, it is analyzed whether the location corresponding to the second location information is within a local area. When the location corresponding to the second location information is within a local area, the aircraft can be controlled to perform target operations on the target object. In this way, the target object is accurately detected and located, and the aircraft can be controlled to selectively perform target operations corresponding to the target object based on the calculation results of whether the target object is within a local area, thereby improving the practicality of the method.

[0120] Figure 9 is a flowchart illustrating the process of determining the first position information of a target object based on the relative position of the pixels corresponding to the target object in the image corresponding to the real-time detection range, according to an embodiment of the present invention. Based on the above embodiments, referring to Figure 9, this embodiment does not limit the specific method for determining the first position information of the target object. In some embodiments, it can be determined by analyzing and processing the position information of reference points in the real-time detection range. In this case, determining the first position information of the target object based on the relative position of the pixels corresponding to the target object in the image corresponding to the real-time detection range may include:

[0121] Step S901: Obtain the location information of the reference point in the real-time detection range;

[0122] Step S902: Obtain the position vector between the pixels of the reference point and the pixels of the target object in the image corresponding to the real-time detection range;

[0123] Step S903: Determine the first position information based on the position vector and the position information of the reference point.

[0124] In some embodiments, in order to obtain the first position information of the target object, the position information of the reference point in the real-time detection range, the position vector between the pixel of the reference point and the pixel of the target object in the image corresponding to the real-time detection range, and the first position information is determined based on the above position vector and the position information of the reference point.

[0125] The aforementioned reference point can correspond to a preset position within the real-time detection range. In this case, the pixel of the reference point can be located at a preset position in the image corresponding to the real-time detection range, such as the image center. The reference point includes the intersection point of the beam from the aircraft's ranging sensor on the imaging plane of the image sensor. Furthermore, the image sensor and the ranging sensor have a preset physical calibration relationship; for example, the image sensor and the ranging sensor can move synchronously (e.g., the image sensor and the ranging sensor are mounted on the same gimbal).

[0126] In some embodiments, the position of the reference point within the real-time detection range can be determined by the real-time position information of the movable platform, the field of view of the image sensor, and the distance information between the movable platform and the reference point. In this case, obtaining the position information of the reference point within the real-time detection range may include: obtaining the field of view of the image sensor of the movable platform; obtaining the real-time position information of the movable platform; obtaining the distance information between the movable platform and the reference point; and determining the position information of the reference point based on the field of view of the image sensor, the real-time position information of the movable platform, and the distance information between the movable platform and the reference point. In this embodiment, the method for determining the position information of the reference point is similar to the method for determining the second position information described above, and will not be repeated here. In some cases, the reference point is the point where the ranging sensor intersects with the imaging plane in its default state. When it is necessary to use the ranging sensor to calculate the second position information, it is necessary to control the beam adjustment of the ranging sensor to face the target object indicated by the first position information according to the calculated first position information, so as to facilitate the calculation of the second position information of the target object.

[0127] Based on the foregoing embodiments, the relevant information of the target operation may include one or more of the following: target operation range, target operation type, preset alarm conditions, preset response measures, and preset alarm prompts. For example, the execution logic of the target operation is as follows: When the mobile platform is executing a motion trajectory, it determines a local area within the real-time detection range based on the target operation range. Using multiple positioning methods, it identifies the target object within the local area and performs the target operation on the target object within the local area. When the executed target operation meets the preset alarm conditions, it controls the mobile platform to execute preset response measures and / or output a preset alarm prompt. By flexibly setting the relevant information of the target operation, the execution strategy of the target operation can be flexibly set to meet the needs of different application scenarios.

[0128] In some embodiments, to facilitate the detection and identification of target objects, the method in this embodiment may further include: labeling the detected target objects during the execution of the motion trajectory; specifically, under a preset labeling rule, the same target object corresponds to a unique label, or, under a preset labeling rule, the same type of target object corresponds to a unique label, wherein the label may include a number or code; or, the label is used for the index field of the corresponding target object.

[0129] For example, during the flight trajectory execution of an aircraft, at least one target object located within a local area can be identified and tagged. Specifically, the identified target objects can be numbered, for example, one target object can be numbered as 1, another as 2, etc. Furthermore, there are preset response measures corresponding to the detected target objects. In some embodiments, when the preset response measure is point-by-point photography, the aircraft can encode each target object located within the local area and perform point-by-point photography during the flight trajectory execution. For example, in the application scenario of recording illegally parked license plates, when an illegally parked vehicle is detected, the license plate of the illegally parked vehicle can be photographed and recorded.

[0130] For example, when the aircraft first identifies all target objects located in a local area, all target objects can be tagged. For example, each target object can be numbered 1, 2, 3, 4, etc. After the target objects are tagged, the aircraft can start taking pictures of target object number 1 and archiving the data. Then, it can start taking pictures of target object number 2. To avoid repeatedly taking pictures and archiving the same target object, after taking pictures of target object number 2, the aircraft can compare the features of target object number 2 with those of target object number 1, such as texture feature comparison or geographical location comparison. If the features of target object number 2 and target object number 1 match, it can be determined that target object number 2 and target object number 1 are the same target object, and the taking pictures and archiving of target object number 2 can be skipped. If the features of target object number 2 and target object number 1 do not match, it can be determined that target object number 2 and target object number 1 are different target objects, and the aircraft can continue taking pictures and archiving target object number 2. This process is repeated until all target objects with different numbers have been taken pictures and archived. The above methods are beneficial for the management of target objects and avoid repetitive operations. For example, when performing statistical operations on target objects, they can effectively plan for duplicate or missed statistics.

[0131] Furthermore, after controlling the aircraft to perform target operations on target objects within a local area, the method in this embodiment may also include: for target objects located within the local area, associating and storing the relevant information of the tags and the target operations performed on the corresponding target objects, and selectively displaying the associated stored tags and the relevant information of the target operations performed on the corresponding target objects, so that users can quickly view the target objects and the target operations performed.

[0132] In this embodiment, during the execution of the motion trajectory, it is determined whether the detected target object is located in the local area. When the target object is located in the local area, the movable platform is controlled to perform target operations on the target object in the local area, thereby ensuring the stability and reliability of the target operation.

[0133] In related technologies, when executing a target operation during the execution of a motion trajectory, if the executed target operation meets preset alarm conditions, the available response measures are very limited. For example, taking a screenshot or photograph cannot control the movable platform to take timely and effective response measures. Based on this, the embodiments of this application also provide the following method:

[0134] Figure 11 is a flowchart illustrating a motion trajectory planning method for a mobile platform according to an embodiment of the present invention. Referring to Figure 11, this embodiment provides a motion trajectory planning method for a mobile platform. This method can perform trajectory-related file planning operations and send the generated trajectory-related files to the mobile platform. The executing entity of this motion trajectory planning method can be the mobile platform (e.g., the control system of the mobile platform), a control terminal (e.g., the control system of the control terminal), or any combination thereof. For aircraft, the executing entity of this motion trajectory planning method can, for example, be a remote controller, a cloud server, the aircraft, or any combination thereof.

[0135] The motion trajectory planning method implemented by the motion trajectory planning device based on the above-mentioned mobile platform may include:

[0136] Step S1101: Generate trajectory-related files based on trajectory planning operations. These files include information related to the motion trajectory of the mobile platform.

[0137] Step S1102: Send the relevant information of the motion trajectory to the mobile platform so that the mobile platform can execute the motion trajectory. The trajectory-related file also includes the relevant information of the target operation associated with the motion trajectory. The relevant information of the target operation includes preset alarm conditions and preset response measures. The preset response measures are used to indicate the response measures that the mobile platform will perform when the target operation meets the preset alarm conditions during the execution of the motion trajectory. The preset response measures include pausing the execution of the motion trajectory in order to perform a tracking task on the target object of the target operation, and continuing the execution of the motion trajectory after the tracking task has been executed for a preset duration or after the tracking task has been completed.

[0138] The motion trajectory planning method provided in this embodiment, by associating with the real-time behavior of a mobile platform, enriches the types of alarm behaviors that the mobile platform can implement. This solves the technical problem that current mobile platforms cannot make timely and effective response measures. Specifically, trajectory planning operations can generate trajectory-related files, and then the relevant information of the motion trajectory can be sent to the mobile platform so that the mobile platform can execute the motion trajectory. Furthermore, target operations can be performed during the execution of the motion trajectory; that is, alarm behaviors can be executed first, and then the motion trajectory can be re-executed. For example, if the executed target operation meets preset alarm conditions, the mobile platform is controlled to execute a tracking task of the target object. After the tracking task has been executed for a preset time or is completed, the motion trajectory execution continues. In this way, while effectively handling alarm situations, the integrity of the motion trajectory execution can be guaranteed, thereby improving the practicality of the method to a certain extent.

[0139] Corresponding to the motion trajectory planning method in Figure 11, Figure 12 is a flowchart illustrating a control method for a mobile platform provided in an embodiment of the present invention; referring to Figure 12, this embodiment provides a control method for a mobile platform.

[0140] The execution subject of this control method can be a mobile platform (such as the control system of a mobile platform), a control terminal (such as the control system of a control terminal), or any combination thereof. For aircraft, the execution subject of this motion trajectory planning method can, for example, be a remote controller, a cloud server, the aircraft itself, or any combination thereof. When the execution subject is a mobile platform, the timeliness of the response when the target operation meets preset alarm conditions can be further improved. For ease of description and understanding, specifically, the control method implemented by the control device based on the aforementioned mobile platform can include:

[0141] Step S1201: Obtain trajectory-related files, which include information related to the motion trajectory of the mobile platform.

[0142] The trajectory-related files can be generated using the motion trajectory planning method shown in Figure 11.

[0143] Step S1202: Based on the relevant information of the motion trajectory, control the movable platform to execute the motion trajectory.

[0144] Step S1203: During the execution of the motion trajectory, when the target operation being executed meets the preset alarm conditions, the movable platform is controlled to execute preset response measures.

[0145] The preset response measures include pausing the execution of the motion trajectory in order to perform a tracking task on the target object of the target operation, and resuming the execution of the motion trajectory after the tracking task has been executed for a preset duration or after the tracking task has been completed.

[0146] It should be noted that the preset response measures in the embodiments of this application may also include other types of preset response measures. The mobile platform may selectively execute multiple types of preset response measures, such as simultaneously tracking the target object while verbally warning and / or zooming to take pictures of the target object.

[0147] The control device of the movable platform provided in the embodiment shown in Figure 12 of this embodiment can also perform other method steps in the embodiments shown in Figures 4-10 above. For details, please refer to the above description, which will not be repeated here.

[0148] Figure 13 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Referring to Figure 13, this embodiment provides an electronic device, which may include: a memory 12 and a processor 11; the memory 12 is used to store a computer program; the processor 11 is used to execute the computer program and, when executing the computer program, implement the method steps in the embodiments corresponding to Figures 1-10 above.

[0149] In this embodiment, the processor 11 in the electronic device executes a computer program, and when executing the computer program, it can implement the method steps of the trajectory planning method for the mobile platform in the embodiments corresponding to Figures 1-3. In this case, the electronic device is implemented as a trajectory planning device for the mobile platform. Correspondingly, when the processor 11 in the electronic device executes a computer program, it can implement the steps of the control method for the mobile platform in the embodiments corresponding to Figures 4-10. In this case, the electronic device is implemented as a control device for the mobile platform.

[0150] Furthermore, the structure of the electronic device may also include a communication interface 13 for enabling the electronic device to communicate with other devices or communication networks.

[0151] The specific implementation principle and effect of the method steps that the electronic device provided in the embodiment shown in Figure 13 can implement are consistent with the specific implementation principle and effect of the method steps in the embodiments shown in Figures 1-10. For details, please refer to the above description, which will not be repeated here.

[0152] Figure 14 is a schematic diagram of the structure of a mobile platform provided in an embodiment of the present invention. Referring to Figure 14, this embodiment provides a mobile platform, which may include: a memory 22 and a processor 21; the memory 22 is used to store a computer program; the processor 21 is used to execute the computer program and, when executing the computer program, implement the control method steps in the embodiments corresponding to Figures 4-10 above.

[0153] Furthermore, the structure of the mobile platform may also include a communication interface 23 for enabling the mobile platform to communicate with other devices or communication networks.

[0154] The specific implementation principle and effect of the method steps that the mobile platform provided in the embodiment shown in Figure 14 can achieve are consistent with the specific implementation principle and effect of the method steps in the embodiments shown in Figures 4-10. For details, please refer to the above description, which will not be repeated here.

[0155] Figure 15 is a schematic diagram of the structure of a control terminal for a mobile platform provided in an embodiment of the present invention. Referring to Figure 15, this embodiment provides a control terminal for a mobile platform, including: a memory 32 and a processor 31; the memory 32 is used to store computer programs; the processor 31 is used to execute the computer programs and, when executing the computer programs, implement the planning methods shown in Figures 1-3 above.

[0156] Furthermore, the structure of the control terminal of the mobile platform may also include a communication interface 33, which is used to enable the control terminal of the mobile platform to communicate with other devices or communication networks.

[0157] The specific implementation principle and effect of the method steps that the control terminal of the mobile platform provided in the embodiment shown in Figure 15 can implement are consistent with the specific implementation principle and effect of the method steps in the embodiments shown in Figures 1-3. For details, please refer to the above description, which will not be repeated here.

[0158] Figure 16 is a schematic diagram of the structure of a system provided in an embodiment of the present invention. Referring to Figure 16, this embodiment provides a system that may include the mobile platform 41 in the embodiment shown in Figure 14 and the control terminal 42 of the mobile platform in the embodiment shown in Figure 15. The mobile platform 41 may be communicatively connected to the control terminal 42.

[0159] The specific implementation principle and effect of the system provided in the embodiment shown in Figure 16 are consistent with the specific implementation principle and effect of the mobile platform 41 corresponding to Figure 14 and the specific implementation principle and effect of the control terminal 42 shown in Figure 15. For details, please refer to the above description, which will not be repeated here.

[0160] In addition, embodiments of the present invention provide a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is run by a processor, it controls the device where the storage medium is located to execute the method steps shown in the embodiments of FIG1-FIG12.

[0161] The technical solutions and features in the above embodiments can be used individually or in combination if they conflict with this invention. As long as they do not exceed the knowledge of those skilled in the art, they are all equivalent embodiments within the scope of protection of this application.

[0162] In the several embodiments provided by this invention, it should be understood that the disclosed remote control devices and methods can be implemented in other ways. For example, the remote control device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; the indirect couplings or communication connections between remote control devices or units may be electrical, mechanical, or other forms.

[0163] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0164] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0165] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer processor to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0166] The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for planning the motion trajectory of a mobile platform, characterized in that, include: Map-based trajectory planning generates trajectory-related files, which include: information related to the motion trajectory of the mobile platform and information related to the target operation associated with the motion trajectory; and The trajectory-related files are sent to the mobile platform so that the mobile platform can perform the target operation within a local area during the execution of the motion trajectory. The local area is used to represent a portion of the mobile platform's real-time detection range where the target operation needs to be performed. The relevant information of the target operation includes the target operation range determined from the map. The local area is determined within the real-time detection range based on the target operation range.

2. The method according to claim 1, characterized in that, Before generating trajectory-related files in the map-based trajectory planning operation, the method further includes: A map is displayed in the motion trajectory planning interface, and the map includes the area to be moved by the movable platform.

3. The method according to claim 1, characterized in that, The motion trajectory consists of multiple trajectory elements, and the map-based trajectory planning operation generates trajectory-related files, including: Based on the configuration operations of multiple trajectory elements in the map, the relevant information of the motion trajectory is determined; Based on the configuration operation for the target operation at at least one of the trajectory elements, relevant information of the target operation associated with the trajectory element is determined.

4. The method according to claim 3, characterized in that, The trajectory elements associated with the target operation and the trajectory elements not associated with the target operation are differentiated in the map.

5. The method according to claim 3, characterized in that, The configuration operation of the trajectory element includes determining the location of the trajectory element in the map.

6. The method according to claim 3, characterized in that, The configuration operations for the trajectory elements include one or more of the following: Determine the state parameters of the movable platform at the trajectory element; Determine the state parameters of the load on the mobile platform at the trajectory element; Determine the state parameters of the airborne sensors of the mobile platform at the location of the trajectory element.

7. The method according to claim 3, characterized in that, The configuration of the trajectory elements can be performed by the user or automatically by the system.

8. The method according to claim 3, characterized in that, The trajectory elements include waypoints or segments, and multiple trajectory elements are connected to form the motion trajectory.

9. The method according to claim 3, characterized in that, The configuration of the target operation is performed by the user or automatically by the system.

10. The method according to claim 3, characterized in that, The configuration operation for the target operation includes the configuration operation for the type of the target operation.

11. The method according to claim 3, characterized in that, At least two different types of target operations can be associated at the same trajectory element.

12. The method according to claim 3, characterized in that, Different trajectory elements of the same motion trajectory can be associated with different types of target operations.

13. The method according to claim 12, characterized in that, The different types of target operations represent any of the following situations: the target objects targeted by the target operations are of different types, the detection parameters of the target objects targeted by the target operations are of different types, or the target events targeted by the target operations are of different types.

14. The method according to claim 13, characterized in that, The target object can be either a static object or a moving object.

15. The method according to claim 13, characterized in that, The type of the target object includes at least one of the following: people, animals, vehicles, ships, and smoke.

16. The method according to claim 13, characterized in that, The detection parameters of the target object include quantitative parameters or temperature parameters.

17. The method according to claim 13, characterized in that, The types of target events include at least one of the following: physical damage events, traffic incidents, illegal events, pollution incidents, and disaster events.

18. The method according to claim 3, characterized in that, The configuration operation of the target operation includes the configuration operation of preset alarm conditions, which are used to indicate that the executed target operation meets the alarm conditions.

19. The method according to claim 18, characterized in that, The preset alarm conditions include one or more of the following: The target object was identified within the target operating range; The detection parameters of the target object targeted by the target operation meet the preset parameter conditions; The changing trend of the detection parameters of the target object targeted by the target operation conforms to the preset changing conditions. The distribution of the target objects targeted by the target operation conforms to preset distribution conditions; The target object targeted by the target operation conforms to preset behavior conditions; The target event was identified within the target operating range; The evolution trend of the target event targeted by the target operation conforms to the preset evolution conditions.

20. The method according to claim 19, characterized in that, The preset alarm condition is not greater than the upper limit condition and / or the preset alarm condition is not less than the lower limit condition.

21. The method according to claim 19, characterized in that, The configuration operation of the preset alarm conditions includes: configuring different display modes of the target object under different preset alarm conditions.

22. The method according to claim 21, characterized in that, The different display modes of the target object include either a high-gain display mode or a low-gain display mode.

23. The method according to claim 3, characterized in that, The configuration operation of the target operation includes the configuration operation of the preset alarm prompt, which is used to indicate the prompt information that needs to be output when the executed target operation meets the preset alarm conditions.

24. The method according to claim 23, characterized in that, The preset alarm prompt is used to display one or more of the following information: The location information of the target object targeted by the target operation; A map jump link used to locate the target object targeted by the target operation; The target operation targets a local image of the target object; Preset response measures applied to the target object targeted by the target operation.

25. The method according to claim 3, characterized in that, The configuration operation of the target operation includes the configuration operation of preset response measures, which are used to indicate the response measures that need to be executed when the target operation meets the preset alarm conditions.

26. The method according to claim 25, characterized in that, The preset response measures include one or more of the following: point-to-point photo taking, video recording, waiting for takeover, verbal warning to drive away, automatic tracking, and zoom shooting.

27. The method according to claim 25, characterized in that, The configuration of the preset response measures includes the preset duration for which the mobile platform executes the preset response measures.

28. The method according to claim 25, characterized in that, The configuration of the preset response measures includes the termination conditions for the mobile platform to execute the preset response measures.

29. The method according to claim 3, characterized in that, The configuration operation for the target operation includes the configuration operation for the scope of the target operation.

30. The method according to claim 29, characterized in that, The configuration of the target operating range includes the user's region selection operation on the map.

31. The method according to claim 30, characterized in that, The region selection operation includes any of the following: A positive selection operation for determining the target operating range in the map, or a negative selection operation for determining a non-target operating range in the map.

32. The method according to claim 31, characterized in that, The method further includes: If the area selected by the area selection operation is outside the preset distance of the motion trajectory, the area selection operation will not be responded to, wherein the preset distance is related to the real-time detection range of the airborne sensors of the mobile platform.

33. The method according to claim 29, characterized in that, The configuration of the target operating range is automatically determined based on semantic information.

34. The method according to claim 29, characterized in that, The configuration of the target operating range is determined based on natural semantic description information.

35. The method according to claim 29, characterized in that, The target operating range and the range outside the target operating range are displayed differently on the map.

36. The method according to claim 29, characterized in that, The number of target operating ranges is multiple.

37. The method according to claim 36, characterized in that, Multiple target operation ranges can be displayed on the map in a switchable or simultaneous manner.

38. The method according to claim 36, characterized in that, The target operation types corresponding to multiple target operation ranges may be the same or different.

39. A control method for a mobile platform, characterized in that, include: Obtain trajectory-related files, wherein the trajectory-related files include information related to the motion trajectory of the mobile platform and information related to target operations associated with the motion trajectory; and Based on the trajectory-related files, the mobile platform is controlled to perform the target operation within a local area during the execution of the motion trajectory. The local area is used to represent a portion of the mobile platform's real-time detection range where the target operation needs to be performed. The relevant information of the target operation includes the target operation range determined from the map. The local area is determined within the real-time detection range based on the target operation range.

40. The method according to claim 39, characterized in that, The mobile platform performs the target operation within a local area during the execution of the motion trajectory, including: When the mobile platform is not communicating with external devices, the onboard server of the mobile platform controls the mobile platform to perform the target operation in the local area during the execution of the motion trajectory.

41. The method according to claim 40, characterized in that, The external device includes the control terminal of the mobile platform.

42. The method according to claim 40, characterized in that, The external device includes the cloud server of the mobile platform.

43. The method according to claim 40, characterized in that, The non-communication state includes a communication disconnection state or an offline state.

44. The method according to claim 39, characterized in that, The local area and the target operating range have a geographical location mapping relationship.

45. The method according to claim 39, characterized in that, The control of the movable platform to perform the target operation within a local area during the execution of the motion trajectory includes: At the first moment of executing the motion trajectory, the first local area within the real-time detection range of the mobile platform that needs to perform the target operation is obtained; Control the mobile platform to perform the target operation within the first local area; At the second moment of executing the motion trajectory, a second local region within the real-time detection range of the movable platform that requires the execution of the target operation is acquired; the second moment is later than the first moment. Control the mobile platform to perform the target operation within the second local area; The first local region and the first local region respectively have geographical location mapping relationships with different parts of the target operation range.

46. ​​The method according to claim 39, characterized in that, Controlling the movable platform to perform the target operation within a local area during the execution of the motion trajectory includes: In response to a preset execution event, the movable platform is controlled to perform the target operation within the local area during the execution of the motion trajectory.

47. The method according to claim 46, characterized in that, The preset execution event includes the movable platform moving to the trajectory element of the motion trajectory, and the trajectory element is associated with the relevant information of the target operation.

48. The method according to claim 47, characterized in that, The trajectory elements include a first trajectory element and a second trajectory element. Controlling the movable platform to perform the target operation within the local area during the execution of the motion trajectory includes: In response to the movable platform moving to the first trajectory element, control the movable platform to perform the target operation associated with the first trajectory element until the movable platform moves to the second trajectory element; and In response to the movable platform moving to the second trajectory element, the movable platform is controlled to perform the target operation associated with the second trajectory element, wherein the target operation associated with the second trajectory element is of a different type than the target operation associated with the first trajectory element.

49. The method according to claim 47, characterized in that, The trajectory elements include a first trajectory element and a second trajectory element. Controlling the movable platform to perform the target operation within the local area during the execution of the motion trajectory includes: In response to the movable platform moving to the first trajectory element, control the movable platform to perform the target operation associated with the first trajectory element until the movable platform moves to the second trajectory element; and In response to the mobile platform moving to the second trajectory element, the mobile platform is controlled to stop executing the target operation, wherein no information related to the target operation is associated with the second trajectory element.

50. The method according to claim 39, characterized in that, Before controlling the movable platform to perform the target operation within a local area during the execution of the motion trajectory, the method further includes: Determine whether the detected target object is located within the local area.

51. The method according to claim 50, characterized in that, Determining whether the detected target object is located within the local area includes: Based on the position of the pixel corresponding to the target object in the image corresponding to the real-time detection range, the first position information of the target object is determined; In response to the fact that the location corresponding to the first location information is located within the local area, second location information of the target object is determined, wherein the error between the location corresponding to the second location information and the physical location of the target object is not greater than the error between the location corresponding to the first location information and the physical location of the target object; and In response to the fact that the location corresponding to the second location information is located within the local area, the movable platform is controlled to perform the target operation on the target object.

52. The method according to claim 51, characterized in that, The error between the location corresponding to the second location information and the physical location of the target object is essentially zero.

53. The method according to claim 51, characterized in that, The method further includes: In response to the fact that the location corresponding to the second location information is outside the local area, the movable platform is controlled not to perform the target operation on the target object.

54. The method according to claim 51, characterized in that, The step of determining the first position information of the target object based on the relative position of the pixels corresponding to the target object in the image corresponding to the real-time detection range includes: Obtain the position information of the reference point within the real-time detection range; Obtain the position vector between the pixels of the reference point and the pixels of the target object in the image corresponding to the real-time detection range; and The first position information is determined based on the position vector and the position information of the reference point.

55. The method according to claim 54, characterized in that, The step of obtaining the location information of the reference point in the real-time detection range includes: Obtain the field of view of the image sensor of the mobile platform; Obtain the real-time location information of the mobile platform; Obtain the distance information between the movable platform and the reference point; and The position information of the reference point is determined based on the field of view of the image sensor, the real-time position information of the mobile platform, and the distance information between the mobile platform and the reference point.

56. The method according to claim 55, characterized in that, The distance information between the movable platform and the reference point is measured by the ranging sensor of the movable platform, and the reference point is the intersection point of the beam of the ranging sensor of the movable platform on the imaging surface of the image sensor.

57. The method according to claim 56, characterized in that, The image sensor and the ranging sensor have a preset physical calibration relationship.

58. The method according to claim 55, characterized in that, The pixels of the reference point are located at a preset position in the image corresponding to the real-time detection range.

59. The method according to claim 58, characterized in that, The pixel of the reference point is located at the center of the image corresponding to the real-time detection range.

60. The method according to claim 51, characterized in that, The determination of the second location information of the target object includes: The measuring beam of the movable platform is controlled to be directed toward the target object to determine the second position information of the target object.

61. The method according to claim 60, characterized in that, The measurement beam includes the beam of the ranging sensor of the movable platform.

62. The method according to claim 60, characterized in that, The step of controlling the measurement beam of the movable platform to be directed toward the target object to determine the second position information of the target object includes: Obtain the field of view of the image sensor of the mobile platform; Obtain the real-time location information of the mobile platform; Obtain distance information between the mobile platform and the intersection point, wherein the intersection point is determined by the measurement beam and the target object; and The second position information is determined based on the field of view of the image sensor, the real-time position information of the mobile platform, and the distance information between the mobile platform and the intersection point.

63. The method according to claim 39, characterized in that, The relevant information of the target operation includes preset alarm conditions, which are used to indicate that the target operation meets the conditions of the alarm state.

64. The method according to claim 63, characterized in that, The preset alarm conditions include one or more of the following: The target object was identified within the target operating range; The detection parameters of the target object targeted by the target operation meet the preset parameter conditions; The changing trend of the detection parameters of the target object targeted by the target operation conforms to the preset changing conditions. The distribution of the target objects targeted by the target operation conforms to preset distribution conditions; The target object targeted by the target operation conforms to preset behavior conditions; The target event was identified within the target operating range; The evolution trend of the target event targeted by the target operation conforms to the preset evolution conditions.

65. The method according to claim 63, characterized in that, The relevant information regarding the target operation also includes preset response measures, and the method further includes: When the target operation meets the preset alarm conditions, the mobile platform is controlled to execute the preset response measures corresponding to the preset alarm conditions.

66. The method according to claim 65, characterized in that, The execution priority of the preset response measure is higher than the execution priority of the motion trajectory.

67. The method according to claim 65, characterized in that, The control of the mobile platform to execute preset response measures corresponding to the preset alarm conditions includes: The mobile platform is controlled to pause the execution of the motion trajectory and execute the preset response measures.

68. The method according to claim 67, characterized in that, The method further includes: After the preset response measures are completed, the movable platform is controlled to continue executing the motion trajectory.

69. The method according to claim 67, characterized in that, The method further includes: After the preset response measures have been executed for a preset duration, the movable platform is controlled to continue executing the motion trajectory.

70. The method according to claim 65, characterized in that, Controlling the mobile platform to execute preset response measures corresponding to the preset alarm conditions includes: The mobile platform is controlled to execute the preset response measures while executing the motion trajectory.

71. The method according to claim 70, characterized in that, The preset response measures include one or more of the following: Point-by-point photography, video recording, waiting for takeover, verbal warning and dispersal, automatic following, and zoom shooting.

72. The method according to claim 39, characterized in that, The relevant information regarding the target operation also includes preset alarm prompts, and the method further includes: When the target operation meets the preset alarm conditions, the mobile platform is controlled to output a preset alarm prompt corresponding to the preset alarm conditions.

73. The method according to claim 72, characterized in that, The preset alarm prompts include one or more of the following: The target operation targets the location information of the target object; The target operation targets the motion trajectory information of the target object; A map jump link used to locate the target object targeted by the target operation; The target operation targets the image of the target object; Preset response measures applied to the target object targeted by the target operation.

74. The method according to claim 39, characterized in that, The control of the movable platform to perform the target operation within a local area during the execution of the motion trajectory includes: During the execution of the motion trajectory, it is determined whether the detected target object is located within the local area; and The movable platform is controlled to perform the target operation on the target object within the local area.

75. The method according to claim 74, characterized in that, The method further includes: During the execution of the motion trajectory, the detected target objects are tagged.

76. The method according to claim 75, characterized in that, Under the preset tagging rules, each target object corresponds to a unique tag.

77. The method according to claim 75, characterized in that, Under the preset tagging rules, each type of target object corresponds to a unique tag.

78. The method according to claim 77, characterized in that, The label includes a number or code.

79. The method according to claim 77, characterized in that, The label is used to correspond to the index field of the target object.

80. The method according to claim 77, characterized in that, After controlling the movable platform to perform the target operation on the target object within the local area, the method further includes: For the target object located within the local area, the label is associated with and stored in relation to the target operation performed on the corresponding target object.

81. A method for planning the motion trajectory of a mobile platform, characterized in that, include: A trajectory-related file is generated based on trajectory planning operations, wherein the trajectory-related file includes information related to the motion trajectory of the mobile platform; and The relevant information of the motion trajectory is sent to the mobile platform so that the mobile platform can execute the motion trajectory; The trajectory-related file also includes information about the target operation associated with the motion trajectory. The information about the target operation includes preset alarm conditions and preset response measures. The preset response measures are used to indicate the response measures that the mobile platform will perform when the target operation being executed meets the preset alarm conditions during the execution of the motion trajectory. The preset response measures include pausing the execution of the motion trajectory to perform a tracking task on the target object of the target operation, and continuing the execution of the motion trajectory after the tracking task has been executed for a preset duration or after the tracking task has been completed.

82. A control method for a mobile platform, characterized in that, include: Obtain trajectory-related files, which include information related to the motion trajectory of the mobile platform; Based on the relevant information of the motion trajectory, the movable platform is controlled to execute the motion trajectory; as well as During the execution of the motion trajectory, when the target operation being executed meets the preset alarm conditions, the mobile platform is controlled to execute preset response measures. The preset response measures include pausing the execution of the motion trajectory to perform a tracking task on the target object of the target operation, and resuming the execution of the motion trajectory after the tracking task has been executed for a preset duration or after the tracking task has been completed.

83. A control method for a mobile platform, characterized in that, include: During the movement of the mobile platform, the mobile platform is controlled to perform target operations on target objects within a local area. The local area refers to the portion of the mobile platform within its real-time detection range where the target operation needs to be performed. The target object within the local area is determined based on the following method: Based on the relative position of the pixel corresponding to the target object in the image corresponding to the real-time detection range, the first position information of the target object is determined; In response to the fact that the location corresponding to the first location information is located within the local area, second location information of the target object is determined, wherein the error between the location corresponding to the second location information and the physical location of the target object is not greater than the error between the location corresponding to the first location information and the physical location of the target object; and In response to the fact that the location corresponding to the second location information is located within the local area, the movable platform is controlled to perform the target operation on the target object.

84. An electronic device, characterized in that, include: Memory and processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the method of any one of claims 1-83.

85. A mobile platform, characterized in that, include: Memory and processor; the memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement the control method according to any one of claims 39-80.

86. A control terminal for a mobile platform, characterized in that, include: Memory and processor; the memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the planning method according to any one of claims 1-38.

87. A system, characterized in that, It includes the mobile platform as described in claim 85 and the control terminal of the mobile platform as described in claim 86.

88. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein the computer program, when executed by a processor, controls the device on which the storage medium is located to perform the method of any one of claims 1-83.

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