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WO2019119187A1 - Procédé de planification d'itinéraire pour véhicule aérien sans pilote, dispositif de commande, et support de stockage - Google Patents

Procédé de planification d'itinéraire pour véhicule aérien sans pilote, dispositif de commande, et support de stockage Download PDF

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Publication number
WO2019119187A1
WO2019119187A1 PCT/CN2017/116868 CN2017116868W WO2019119187A1 WO 2019119187 A1 WO2019119187 A1 WO 2019119187A1 CN 2017116868 W CN2017116868 W CN 2017116868W WO 2019119187 A1 WO2019119187 A1 WO 2019119187A1
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WIPO (PCT)
Prior art keywords
route
flight path
drag
waypoint
regional
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/CN2017/116868
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English (en)
Chinese (zh)
Inventor
刘清伟
钟和立
徐节文
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780023042.9A priority Critical patent/CN109074093B/zh
Priority to PCT/CN2017/116868 priority patent/WO2019119187A1/fr
Publication of WO2019119187A1 publication Critical patent/WO2019119187A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present invention relates to the field of control technologies, and in particular, to a route planning method, a control device, and a storage medium for a drone.
  • drones have been widely used to perform various types of work tasks (such as aerial photography, agricultural plant protection, surveying, etc.).
  • the UAV's control equipment can be used to determine the flight path of the UAV to perform the agricultural plant protection task, and the planning of the flight path determines the UAV to perform the agricultural plant protection task. s efficiency.
  • there are some techniques for editing the flight path of the UAV but these technologies require complicated operations to implement editing of the flight path, reduce the working efficiency of the UAV, and increase the user's operation. The time of route planning.
  • Embodiments of the present invention provide a route planning method, a control device, and a storage medium for a drone to improve the working efficiency of the drone.
  • an embodiment of the present invention provides a route planning method for a drone, which is applied to a terminal for performing flight route planning, where the terminal is used to display a route planning interface, where the route planning interface includes a heading control point and a route area obtained by planning at least three regional waypoints, wherein the route area includes the flight route, and the method includes:
  • an embodiment of the present invention provides a control device for a drone, which is applied to route planning control, and includes:
  • a display device configured to display a route planning interface, where the route planning interface includes a course control point and a route area obtained by planning at least three regional waypoints, where the flight route includes the flight route;
  • control device configured to receive an editing operation of the user
  • processor being respectively connected to the display device and the control device, wherein the processor is configured to determine the editing operation and generate a corresponding control instruction, and is configured to perform the following steps:
  • an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, implements the drone as described in the first aspect above. Route planning method.
  • the control device edits the route direction of the flight path of the UAV by acquiring an edit operation of the heading control point on the user interface.
  • the editing operation of the route direction is simpler and more convenient. It realizes the rapid editing of flight routes and improves the working efficiency of drones.
  • FIG. 1 is a schematic diagram of a route planning interface according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of another route planning interface according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of still another route planning interface according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of still another route planning interface according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an interface of a route area according to an embodiment of the present invention.
  • FIG. 6 is a schematic flow chart of a route planning method for a drone according to an embodiment of the present invention.
  • FIG. 7 is a schematic flow chart of another route planning method for a drone according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • the route planning method of the UAV provided by the embodiment of the present invention can be applied to a control device of a drone, and the control device can be a terminal for flight route planning.
  • the terminal can be a desktop computer or a notebook. Any one or more of a computer, a smart phone, a wearable device (such as a watch, a wristband), and a remote control.
  • the terminal is configured to display a route planning interface, where the route planning interface includes a heading control point and a route area obtained by planning at least three regional waypoints, where the flight path includes the flight path.
  • FIG. 1 is a schematic diagram of a route planning interface according to an embodiment of the present invention. The route planning interface shown in FIG.
  • the route area 16 of the regional waypoint 14 and the regional waypoint 15 is planned, and the route area 16 includes a flight route 17, which is composed of a work segment route 171 and a connection segment route 172, the regional route
  • the latitude and longitude information 131 of the waypoint 13 of the area is suspended and displayed on the point 13, and the distance 141 between the area waypoint 14 and the area waypoint 13 is displayed floating on the area waypoint 14.
  • the route planning method of the drone provided by the embodiment of the present invention can be applied to an operation task of a drone, such as an agricultural plant protection task (such as spraying a pesticide), an aerial shooting task, a survey operation task, and an agricultural plant protection task will be hereinafter.
  • an agricultural plant protection task such as spraying a pesticide
  • an aerial shooting task such as a survey operation task
  • an agricultural plant protection task such as spraying a pesticide
  • an agricultural plant protection task such as spraying a pesticide
  • aerial shooting task such as a survey operation task
  • an agricultural plant protection task such as spraying a pesticide
  • the control device of the UAV can obtain a job planning interface, that is, a user interface, and plan a flight path of the UAV on the operation planning interface, where the flight direction of the flight path It can be in any direction, for example, a horizontal route or a vertical route.
  • the embodiment of the present invention does not limit the route direction of the flight route.
  • the control device may edit the course direction of the flight path by acquiring an editing operation on the heading control point on the job planning interface and according to an editing operation of the heading control point.
  • the editing operation may be a drag operation, and the heading control point may be floatingly displayed at any position on the user interface.
  • the flight path includes a work segment route and a link segment route
  • the route direction of the flight route refers to a direction of the work segment route.
  • control device may edit the route direction of the flight path according to a preset angle in the process of editing the flight direction of the flight path according to the editing operation of the heading control point. Adjust the direction.
  • the preset angle may be any angle preset by the user.
  • the control device may acquire a drag direction corresponding to the drag operation, and according to the The direction of the dragging direction is rotated, and the direction of the running section of the flight path is rotated according to a preset angle, wherein the direction of the rotation corresponds to the dragging direction.
  • the direction of the course rotation of the flight path may be a counterclockwise direction or a clockwise direction
  • the direction of the direction of the heading control point may include: dragging the direction upward, dragging the direction downward, Drag the direction to the left and the direction to the right.
  • FIG. 2 is a schematic diagram of another route planning interface according to an embodiment of the present invention.
  • the preset angle preset by the user is 90 degrees
  • the correspondence between the direction of the course rotation of the flight path and the direction of dragging of the heading control point is: clockwise direction and upward direction and/or left direction
  • the drag direction corresponds; the counterclockwise direction corresponds to the downward drag direction and/or the right drag direction.
  • the current route planning interface is an interface as shown in FIG. 1 , wherein the direction of the working segment route 171 of the flight path 17 is a vertical direction, if the control device acquires the user as described in FIG. 1 .
  • the drag direction corresponding to the drag operation of the heading control point 11 is the upward drag direction, and the control device may rotate the direction of the work segment route 171 of the flight path 17 counterclockwise by 90 degrees, as shown in FIG. 2 .
  • the course direction of the work segment route 271 of the flight path 27 shown is the horizontal direction.
  • the route planning interface shown in FIG. 2 further includes a heading control point 21, a regional waypoint 22, a regional waypoint 23, a regional waypoint 24, a regional waypoint 25, a route area 26, and a flight corresponding to FIG.
  • the route 27, the work segment route 271 and the connection segment route 272, the latitude and longitude information 231 floatingly displayed on the regional route point 23, the regional waypoint 24 floatingly displayed on the regional waypoint 24, and the regional waypoint 23 The distance between the two is 241.
  • FIG. 1 and FIG. 3 are used as an example.
  • FIG. 3 is a schematic diagram of still another route planning interface according to an embodiment of the present invention. It is assumed that the current route planning interface is an interface as shown in FIG. 1 , wherein the direction of the working segment route 171 of the flight path 17 is a vertical direction, if the control device acquires the user as described in FIG. 1 .
  • the dragging direction corresponding to the drag operation of the heading control point 11 is the direction of dragging to the right, and the control device can rotate the direction of the section flight path 171 of the flight path 17 clockwise by 90 degrees to obtain the figure.
  • the course direction of the section flight path 371 of the flight path 37 shown in FIG. 3 is the horizontal direction.
  • the 3 further includes a heading control point 31, a regional waypoint 32, a regional waypoint 33, a regional waypoint 34, a regional waypoint 35, and a route area 36 corresponding to FIG.
  • the flight route 37, the work segment route 371, the connection segment route 372, the latitude and longitude information 331 of the regional waypoint 33 floatingly displayed on the regional route point 33, and the regional waypoint 34 suspended on the regional waypoint 34 The distance 341 from the regional waypoint 33.
  • the control device edits the route direction of the flight path according to an editing operation of the heading control point, and if the editing operation is a drag operation, the control device
  • the drag direction corresponding to the drag operation may be acquired, and the direction of the work segment route of the flight path is rotated according to the drag direction.
  • the drag operation may be a continuous drag operation or an intermittent drag operation.
  • the embodiment of the present invention is not limited, and only the route of the flight route according to the drag direction and the rotation angle is required.
  • the direction is rotated.
  • the direction of dragging of the heading control point may be any direction, and the direction of the course rotation of the flight path corresponds to the direction of dragging of the heading control point.
  • control device may determine a direction of the rotation of the work segment of the flight path according to the drag direction, and may be based on an angle between the drag direction and a standard coordinate axis of the user interface. To determine the angle of rotation of the flight path. In an embodiment, the angle of the flight path rotation may be determined according to an angle between a drag direction of the heading control point and an abscissa axis of the standard coordinate axis, or may be based on a standard coordinate axis. The angle between the ordinate axes is determined, which is not limited in the embodiment of the present invention.
  • the direction of the flight path of the flight path of the flight path may be a counterclockwise direction or a clockwise direction as described above, and the drag direction of the heading control point may include: an upward drag direction and a downward drag direction. Drag the direction to the left and the direction to the right.
  • FIG. 4 is a schematic diagram of still another route planning interface according to an embodiment of the present invention. It is assumed that the correspondence between the direction of the rotation of the section of the flight path and the direction of drag of the heading control point is: clockwise direction corresponding to the upward drag direction and/or the left drag direction; counterclockwise direction and Drag the direction down and/or drag the direction to the right. It is assumed that the rotation angle of the flight path is determined according to an angle between a drag direction of the heading control point and an abscissa axis of the standard coordinate axis. It is assumed that the current route planning interface is an interface as shown in FIG.
  • the drag direction corresponding to the drag operation of the heading control point 11 is the upward drag direction, and the angle between the drag direction of the heading control point 11 and the abscissa axis of the standard coordinate axis is 30 degrees. It may be determined that the direction of rotation of the section flight path 171 of the flight path 17 is a counterclockwise direction and the angle of rotation is 30 degrees.
  • the work segment route 171 of the flight path 17 shown in FIG. 1 can be obtained by rotating the course direction 471 of the flight path 47 as shown in FIG. 4 after rotating 30 degrees in the counterclockwise direction.
  • the 4 further includes a heading control point 41, a regional waypoint 42, a regional waypoint 43, a regional waypoint 44, a regional waypoint 45, a route area 46, and a flight corresponding to FIG.
  • the route 47, the work segment route 471, the connection segment route 472, the latitude and longitude information 431 of the regional waypoint 43 floatingly displayed on the regional route point 43, and the regional waypoint 44 floating on the regional waypoint 44 The distance 441 between the regional waypoints 43. It should be noted that a predetermined distance interval is maintained between the boundary line 472 and the boundary line of the route area 46.
  • the control device may determine, according to the latitude and longitude information of the waypoints of the respective regions on the route region, a location corresponding to the target region waypoint and a regional waypoint adjacent to the direction of the work segment route. The distance between the corresponding locations and the distance displayed on the target area waypoint.
  • the control device may determine, according to the latitude and longitude information 131 of the regional waypoint 13 on the route area 16, the location of the regional waypoint 14 corresponding to the target area waypoint and the route 171 of the working section.
  • the distance between the positions corresponding to the waypoints 13 adjacent in the direction is 142.2 M, and the distance 142.2M is displayed on the target area waypoint 14.
  • the control device may acquire an editing operation of the regional waypoint and edit the route region according to the editing operation to adjust a route length of the flight route.
  • the editing operation may be a drag operation, a click operation, and the like, which are not limited in the embodiment of the present invention.
  • FIG. 1 and FIG. 5 are used as an example.
  • FIG. 5 is a schematic diagram of an interface of a route area according to an embodiment of the present invention. It is assumed that the control device acquires a drag operation on the regional waypoint 12, and the drag operation is dragged horizontally to the left to the position corresponding to the regional waypoint 52 as described in FIG. 5, thereby The control device can edit the route area 16 shown in FIG. 1 and adjust the route area 16 as shown in FIG.
  • the route planning interface shown in FIG. 5 further includes a heading control point 51, an area waypoint 52, a regional waypoint 53, a regional waypoint 54, a regional waypoint 55, a flight route 57, and a working section corresponding to FIG.
  • the route 571, the connecting segment route 572, the latitude and longitude information 531 of the regional waypoint 53 floatingly displayed on the regional route point 53, the regional waypoint 54 floating on the regional waypoint 54 and the regional waypoint 53 The distance between the 541.
  • the route planning method of the UAV provided by the embodiment of the present invention needs to be implemented by the control device.
  • the following describes the route planning method of the UAV for controlling the device in detail with reference to the accompanying drawings.
  • FIG. 6 is a schematic flowchart diagram of a route planning method for a drone according to an embodiment of the present invention. The method may be performed by a control device, where a specific explanation of the control device is as described above. . Specifically, the method of the embodiment of the present invention includes the following steps.
  • S601 Acquire an editing operation on the heading control point on the user interface.
  • the control device may acquire an editing operation on the heading control point on the user interface.
  • the heading control point may be floatingly displayed at any position on the user interface, and the editing operation may be a drag operation.
  • the control device may acquire an editing operation on the heading control point 11 on the user interface, and according to the editing operation of the heading control point 11, the working segment route 171 of the flight path 17 The direction of editing.
  • S602 Adjust and edit the direction of the flight path of the flight route according to a preset angle according to an editing operation of the heading control point.
  • control device may adjust and edit the direction of the flight path of the flight route according to a preset angle according to the editing operation of the heading control point.
  • the preset angle may be any angle preset by the user.
  • the control device may acquire a drag direction corresponding to the drag operation, and according to the a direction of the dragging direction, the direction of the running section of the flight path is rotated according to a preset angle, wherein a direction of the running section of the flight path is corresponding to a dragging direction of the heading control point .
  • the direction of the flight of the flight path of the flight path may be a counterclockwise direction or a clockwise direction
  • the drag direction of the heading control point may include: an upward drag direction, a downward drag direction, Drag the direction to the left and the direction to the right.
  • FIG. 1 and FIG. 2 can be used as an example.
  • the preset preset angle is 90 degrees
  • the corresponding relationship between the running direction of the flight path of the flight path and the dragging direction of the heading control point is: clockwise
  • the direction corresponds to the upward drag direction and/or the left drag direction
  • the counterclockwise direction corresponds to the downward drag direction and/or the right drag direction.
  • the current route planning interface is an interface as shown in FIG. 1 , wherein the direction of the work segment route 171 of the flight route 17 is a vertical direction, if the user acquired by the control device is as shown in FIG.
  • the dragging direction corresponding to the drag operation of the heading control point 11 is an upward dragging direction, and the control device may rotate the direction of the working segment route 171 of the flight path 17 counterclockwise by 90 degrees to obtain
  • the course direction of the work section route 271 of the flight path 27 shown in FIG. 2 is the horizontal direction.
  • latitude and longitude information of the regional waypoints is displayed on each regional waypoint of the user interface, as shown at 131 in FIG.
  • the control device may determine, according to the latitude and longitude information of the waypoints of the respective regions on the route region, that the location corresponding to the target region waypoint corresponds to the regional waypoint adjacent to the direction of the work segment route. The distance between the locations and the distance displayed on the target area waypoint.
  • the control device may determine, according to the latitude and longitude information 131 of the regional waypoint 13 on the route area 16, the location of the regional waypoint 14 corresponding to the target area waypoint and the route 171 of the working section.
  • the distance between the positions corresponding to the waypoints 13 adjacent in the direction is 142.2 M, and the distance 142.2M is displayed on the target area waypoint 14.
  • the control device may acquire an editing operation of the regional waypoint and edit the route region according to the editing operation to adjust a route length of the flight route.
  • the editing operation may be a drag operation, a click operation, and the like, which are not limited in the embodiment of the present invention.
  • FIG. 1 and FIG. 5 can be used as an example. It is assumed that the control device acquires a drag operation on the regional waypoint 12, and the drag operation is dragged horizontally to the left to as described in FIG. 5 .
  • the route area 16 shown in FIG. 1 is edited, and the route area 16 as shown in the figure is adjusted to the route area 56 as shown in FIG.
  • the length of the flight path of the flight route 17 is adjusted to obtain the route length of the flight route 57 as shown in FIG.
  • the route planning interface shown in FIG. 5 further includes a heading control point 51, a regional waypoint 52, a regional waypoint 53, a regional waypoint 54, a regional waypoint 55, a flight route 57, and a working section route corresponding to FIG. 571, the connecting section route 572, the latitude and longitude information 531 of the regional waypoint 53 floatingly displayed on the regional route point 53, the regional waypoint 54 floating on the regional waypoint 54 and the regional waypoint 53
  • the distance between the two is 541.
  • the control device acquires a dragging direction corresponding to the dragging operation by acquiring a dragging operation on the heading control point on the user interface, and according to the dragging direction, the flight path is The direction of the route of the working section is rotated according to a preset angle. In this way, the flight path is edited quickly, and the working efficiency of the drone is improved.
  • FIG. 7 is a schematic flowchart diagram of another route planning method for an unmanned aerial vehicle according to an embodiment of the present invention.
  • the method according to the embodiment of the present invention is different from the embodiment described in FIG. 6 in that the present invention
  • the embodiment determines the rotation direction according to the drag direction corresponding to the drag operation, and determines the rotation angle according to the dragged angle, thereby performing the route direction of the flight path according to the rotation direction and the rotation angle. edit.
  • the method of the embodiment of the present invention includes the following steps.
  • S701 Acquire an editing operation on the heading control point on the user interface.
  • control device may acquire an editing operation on the heading control point on the user interface.
  • the heading control point may be floatingly displayed at any position on the user interface, and the editing operation may be a drag operation.
  • the specific examples are as described above, and are not described herein again.
  • the control device may edit the route direction of the flight path according to an editing operation of the heading control point, if the editing operation is a drag operation, the control The device can obtain the drag direction corresponding to the drag operation.
  • the drag operation may be a continuous drag operation or an intermittent drag operation.
  • the embodiment of the present invention is not limited, and only the route of the flight route according to the drag direction and the rotation angle is required.
  • the direction is rotated.
  • the drag direction may be any direction, and the direction of the track rotation of the flight path of the flight path corresponds to the drag direction of the head control point.
  • the control device may determine a direction of the rotation of the work segment of the flight path according to a drag direction of the head control point, and may be based on a drag direction of the head control point and a standard of a user interface.
  • the angle between the coordinate axes determines the angle at which the flight path of the flight path of the flight path is rotated.
  • the angle of the flight path rotation of the flight path may be determined according to an angle between a drag direction of the head control point and an abscissa axis of the standard coordinate axis, or may be determined according to The angle between the ordinate axes in the standard coordinate axes is determined, which is not limited in the embodiment of the present invention.
  • the explanation of the direction of the running of the flight path of the flight path and the direction of the drag of the heading control point will not be repeated here as described above.
  • S703 Rotate the direction of the work segment route of the flight path according to the drag direction.
  • the control device may rotate the direction of the flight path of the flight path according to the drag direction.
  • FIG. 1 and FIG. 4 are used as an example.
  • FIG. 4 is a schematic diagram of still another route planning interface according to an embodiment of the present invention. It is assumed that the correspondence between the direction of the rotation of the section of the flight path and the direction of drag of the heading control point is: clockwise direction corresponding to the upward drag direction and/or the left drag direction; counterclockwise direction and Drag the direction down and/or drag the direction to the right.
  • the angle of the flight path rotation of the flight path is determined according to the angle between the drag direction of the heading control point and the abscissa axis of the standard coordinate axis, assuming that the current route planning interface is The interface shown in FIG. 1 , wherein the direction of the work segment route 171 of the flight path 17 is a vertical direction, if the user acquired by the control device drags the heading control point 11 as shown in FIG. 1
  • the corresponding drag direction of the operation is the upward drag direction
  • the angle between the drag direction of the heading control point 11 and the abscissa axis of the standard coordinate axis is 30 degrees, and the flight path 17 can be determined.
  • the direction of rotation of the work segment route 171 is counterclockwise and the angle of rotation is 30 degrees. After the work segment route 171 of the flight path 17 as described in FIG. 1 is rotated by 30 degrees in the counterclockwise direction, the course direction of the work segment route 471 of the flight path 47 as shown in FIG. 4 is obtained.
  • latitude and longitude information of the regional waypoints is displayed on each regional waypoint of the user interface, as shown at 131 in FIG.
  • the control device may determine, according to the latitude and longitude information of the waypoints of the respective regions on the route region, that the location corresponding to the target region waypoint corresponds to the regional waypoint adjacent to the direction of the work segment route. The distance between the locations and the distance displayed on the target area waypoint.
  • the control device may determine, according to the latitude and longitude information 131 of the regional waypoint 13 on the route area 16, the location of the regional waypoint 14 corresponding to the target area waypoint and the route 171 of the working section.
  • the distance between the positions corresponding to the waypoints 13 adjacent in the direction is 142.2 M, and the distance 142.2M is displayed on the target area waypoint 14.
  • control device may acquire an editing operation of the regional waypoint and edit the route region according to the editing operation to adjust a route length of the flight route.
  • the editing operation may be a drag operation, a click operation, and the like, which are not limited in the embodiment of the present invention. The specific examples are as described above, and are not described herein again.
  • the control device acquires a dragging direction corresponding to the dragging operation by acquiring a dragging operation on the heading control point on the user interface, and according to the dragging direction, the flight path is In this way, the direction of the flight path is rotated, and the flight path is edited quickly, which improves the working efficiency of the drone.
  • FIG. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • the control device includes: a display device 801, a control device 802, a processor 803, a data interface 804, and a memory 805.
  • the display device 801 is configured to display a route planning interface that is planned by the processor 803.
  • the control device 802 is configured to receive an editing operation acquired from the data interface 804.
  • the memory 805 may include a volatile memory; the memory 805 may also include a non-volatile memory; the memory 805 may also include a combination of the above types of memory.
  • the processor 803 can be a central processing unit (CPU).
  • the processor 803 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory 805 is used to store program instructions.
  • the processor 803 is respectively connected to the display device 801 and the control device 802.
  • the processor 803 can call a program instruction stored in the memory 805 for performing the following steps:
  • the flight path includes: a work segment route and a connection segment route, and the flight route direction refers to a direction of the work segment route.
  • processor 803 calls a program instruction stored in the memory 805 for performing the following non-steps:
  • the direction of the flight path of the flight path is adjusted and edited according to a preset angle.
  • processor 803 calls a program instruction stored in the memory 805 for performing the following steps:
  • the editing operation is the drag operation, acquiring a drag direction corresponding to the drag operation;
  • the direction of the working segment route of the flight path is rotated according to a preset angle
  • processor 803 calls a program instruction stored in the memory 805 for performing the following steps:
  • the editing operation is the drag operation, acquiring a drag direction corresponding to the drag operation;
  • heading control point is floatingly displayed at any position on the user interface.
  • processor 803 calls a program instruction stored in the memory 805 for performing the following steps:
  • the latitude and longitude information of the regional waypoint is displayed on each regional waypoint of the user interface.
  • processor 803 calls a program instruction stored in the memory 805 for performing the following steps:
  • the distance is displayed on the target area waypoint.
  • processor 803 calls a program instruction stored in the memory 805 for performing the following steps:
  • the route area is edited to adjust the route length of the flight path.
  • control device edits the direction of the flight path of the flight path according to the editing operation of the heading control point on the user interface, and according to the editing operation, edits the direction of the flight path of the flight path.
  • the editing of the flight route is realized quickly, and the working efficiency of the drone is improved.
  • Also provided in an embodiment of the present invention is a computer readable storage medium storing a computer program, which when executed by a processor, implements the implementation of FIG. 6 or FIG. 7 of the present invention.
  • the control device of the embodiment corresponding to FIG. 8 can also be implemented, and details are not described herein again.
  • the computer readable storage medium may be an internal storage unit of the terminal described in any of the foregoing embodiments, such as a hard disk or a memory of the terminal.
  • the computer readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart memory card (SMC), and a Secure Digital (SD) card. , Flash Card, etc.
  • the computer readable storage medium may also include both an internal storage unit of the terminal and an external storage device.
  • the computer readable storage medium is for storing the computer program and other programs and data required by the terminal.
  • the computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

L'invention concerne un procédé de planification d'itinéraire pour un véhicule aérien sans pilote, un dispositif de commande, et un support de stockage. Le procédé de planification d'itinéraire pour un véhicule aérien sans pilote est mis en œuvre dans un terminal pour planifier un itinéraire de vol. Le terminal affiche une interface de planification d'itinéraire. L'interface de planification d'itinéraire contient un point de commande de direction de cap et une zone d'itinéraire obtenues par réalisation d'une planification sur la base d'au moins trois destinations régionales. La zone d'itinéraire comprend l'itinéraire de vol. Le procédé comprend les étapes consistant à : acquérir une opération d'édition effectuée par rapport à un point de commande de direction de cap sur une interface utilisateur ; et éditer une direction de cap de l'itinéraire de vol selon l'opération d'édition effectuée par rapport au point de commande de direction de cap. Le procédé réalise une édition rapide d'une direction de cap d'un itinéraire de vol, ce qui permet d'augmenter l'efficacité d'un véhicule aérien sans pilote.
PCT/CN2017/116868 2017-12-18 2017-12-18 Procédé de planification d'itinéraire pour véhicule aérien sans pilote, dispositif de commande, et support de stockage Ceased WO2019119187A1 (fr)

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PCT/CN2017/116868 WO2019119187A1 (fr) 2017-12-18 2017-12-18 Procédé de planification d'itinéraire pour véhicule aérien sans pilote, dispositif de commande, et support de stockage

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