Flight control method and apparatus, and control device

1 . A control method comprising:

generating, through a processor, route data of a route, the route data including data of a plurality of sub-routes obtained by splitting the route;

instructing a plurality of movable objects to execute the route data;

detecting an execution status of each of the plurality of movable objects, the execution status of each of the plurality of movable objects including at least one of an interrupted state, a normal state, or a route recovery state, the movable object in the interrupted state undergoing an interruption of the execution of the route; and

in response to detecting that the plurality of movable objects are in the route recovery state, controlling the plurality of movable objects in the route recovery state to execute the plurality of sub-routes, respectively, according to a plurality of starting positions, each starting position including at least one of a waypoint of a plurality of waypoints before an interruption, a position determined according to a flight position recorded at a time of the interruption, or a user-designated waypoint.

2 . The method of claim 1 , wherein the position determined according to the flight position recorded at the time of the interruption includes at least one of:

an interruption point;

a last waypoint of the route before the interruption point;

a next waypoint of the route after the interruption point;

one of the plurality of waypoints that is closest to the flight position;

a last waypoint before the one of the plurality of waypoints that is closest to the flight position;

a next waypoint after the one of the plurality of waypoints that is closest to the flight position; or

a waypoint that is within a preset distance range of the flight position.

3 . The method of claim 1 , wherein the route recovery state indicates that the movable object switches from the interrupted state to resuming execution of the route data.

4 . The method of claim 1 , further comprising:

displaying, on the display, a plurality of candidate starting positions;

in response to a selection instruction, selecting, through the processor, a target starting position from the plurality of candidate starting positions; and

controlling, through the processor, one of the plurality of movable objects in the interrupted state to fly to the target starting position and resume the execution of the route from the target starting position.

5 . The method of claim 1 , further comprising:

in response to detecting that one of the plurality of movable objects is in the interrupted state, recording, through a memory, an interruption point during execution of the route by the one of the plurality of movable objects.

6 . The method of claim 1 ,

wherein the operation instruction is a first operation instruction;

the method further comprising:

analyzing the route data according to a preset splitting condition, including determining whether a total number of waypoints included in the route data is greater than or equal to a threshold number indicated in the preset splitting condition;

splitting the route into the plurality of sub-routes in response to the route data satisfying the preset splitting condition;

displaying the plurality of sub-routes and at least one of the plurality of movable objects on the user interface;

determining a to-be-executed sub-route from the plurality of sub-routes and one of the plurality of movable objects from the at least one of the plurality of movable objects according to a second operation instruction; and

transmitting the to-be-executed sub-route to the one of the plurality of movable objects for instructing the one of the plurality of movable objects to fly on the to-be-executed sub-route.

7 . The method of claim 6 , wherein splitting the route into the plurality of sub-routes includes:

splitting the route such that a number of waypoints of each of the sub-routes is less than or equal to a threshold number;

splitting the route such that a total length of each of the sub-routes is shorter than or equal to a threshold length; or

splitting the route according to a remaining battery capacity of the plurality of movable objects.

8 . The method of claim 6 , wherein analyzing the route data according to the preset splitting condition includes:

determining that the route data satisfies the preset splitting condition in response to the total number of the waypoints included in the route data being greater than or equal to the threshold number.

9 . The method of claim 6 , wherein analyzing the route data according to the preset splitting condition includes:

determining whether a route length of the route is greater than or equal to a threshold length indicated in the preset splitting condition; and

determining that the route data satisfies the preset splitting condition in response to the route length being greater than or equal to the threshold length.

10 . The method of claim 6 , wherein:

splitting the route represented by the route data into the plurality of sub-routes includes:

acquiring a remaining battery capacity of each of the plurality of movable objects; and

splitting the route represented by the route data into the plurality of sub-routes according to route lengths that are able to be executed with the remaining battery capacities of the plurality of movable objects.

11 . The method of claim 6 , wherein determining the to-be-executed sub-route from the plurality of sub-routes and the one of the plurality of movable objects from the at least one of the plurality of movable objects includes:

determining one of the plurality of sub-routes that is selected by a route selecting event as the to-be-executed sub-route; and

determining an movable object selected by the second operation instruction as the one of the plurality of movable objects to fly on the route.

12 . The method of claim 6 , further comprising:

determining a next to-be-executed sub-route from the plurality of sub-routes in response to receiving a flight request initiated by the one of the plurality of movable objects; and

transmitting the next to-be-executed sub-route to the one of the plurality of movable objects.

13 . The method according to claim 12 , wherein:

determining the next to-be-executed sub-route includes:

acquiring sequence marks of the plurality of sub-routes; and

determining the next to-be-executed sub-route from the plurality of sub-routes according to an order indicated by the sequence marks; or

determining the next to-be-executed sub-route includes:

acquiring a position of one of the plurality of sub-routes that has been executed by the movable object in the route represented by the route data; and

determining the next to-be-executed sub-route from the plurality of sub-routes according to the position.

14 . The method of claim 1 , further comprising: displaying, on a display, a user interface configured to receive an operation instruction, the operation instruction including a plurality of waypoints, and the route being generated based on the plurality of waypoints.

15 . A control device comprising:

a memory storing a program code;

a processor configured to execute the program code to:

generate route data of a route, the route data including data of a plurality of sub-routes obtained by splitting the route;

instruct a plurality of movable objects to execute the route data;

detect an execution status of each of the plurality of movable objects, the execution status of each of the plurality of movable objects including at least one of an interrupted state, a normal state, or a route recovery state, the movable object in the interrupted state undergoing an interruption of the execution of the route; and

in response to detecting that the plurality of movable objects are in the route recovery state, control the plurality of movable objects in the route recovery state to execute the plurality of sub-routes, respectively, according to a plurality of starting positions, each starting position including at least one of a waypoint of a plurality of waypoints before an interruption, a position determined according to a flight position recorded at a time of the interruption, or a user-designated waypoint.

16 . The control device of claim 15 , wherein the position determined according to the flight position recorded at the time of the interruption includes at least one of:

an interruption point;

a last waypoint of the route before the interruption point;

a next waypoint of the route after the interruption point;

one of the plurality of waypoints that is closest to the flight position;

a last waypoint before the one of the plurality of waypoints that is closest to the flight position;

a next waypoint after the one of the plurality of waypoints that is closest to the flight position; or

a waypoint that is within a preset distance range of the flight position.

17 . The control device of claim 15 , wherein the memory is further configured to record an interruption point during execution of the route by one of the plurality of movable objects in response to the processor detecting that the one of the plurality of movable objects is in the interrupted state.

18 . The control device of claim 15 , further comprising:

a display configured to, after one of the plurality of movable objects enters the interrupted state, display a plurality of candidate starting positions;

wherein the processor is further configured to:

in response to a selection instruction, select a target starting position from the plurality of candidate starting positions; and

control the one of the plurality of movable objects in the interrupted state to fly to the target starting position and resume the execution of the route from the target starting position.

19 . The control device of claim 15 , wherein the route recovery state indicates that the movable object switches from the interrupted state to resuming execution of the route data.

20 . A control method comprising:

generating, through a processor, route data of a route;

instructing the movable object to execute the route data based on a first operation instruction;

detecting an execution status of the movable object, the execution status of the movable object including at least one of an interrupted state, a normal state, or a route recovery state, the movable object in the interrupted state undergoing an interruption of the execution of the route;

in response to detecting that the movable object is in the route recovery state, controlling the movable object in the route recovery state to resume the execution of the route according to a starting position, the starting position including at least one of a waypoint of a plurality of waypoints before an interruption, a position determined according to a flight position recorded at a time of the interruption, or a user-designated waypoint;

analyzing the route data according to a preset splitting condition, including determining whether a total number of waypoints included in the route data is greater than or equal to a threshold number indicated in the preset splitting condition;

splitting the route into a plurality of sub-routes in response to the route data satisfying the preset splitting condition;

displaying the plurality of sub-routes and at least one candidate movable object on the user interface;

determining a to-be-executed sub-route from the plurality of sub-routes and the movable object from the at least one candidate movable object according to a second operation instruction; and

transmitting the to-be-executed sub-route to the movable object for instructing the movable object to fly on the to-be-executed sub-route.