CN109035871A

CN109035871A - Unmanned aerial vehicle flight route planning method, device and system and intelligent terminal

Info

Publication number: CN109035871A
Application number: CN201810784777.XA
Authority: CN
Inventors: 赵自超; 闫小乐; 万耿栋; 陈星宏; 骆艺特
Original assignee: Shenzhen Changfeng Information Technology Co ltd
Current assignee: Shenzhen Lingyue Aviation Technology Co ltd
Priority date: 2018-07-17
Filing date: 2018-07-17
Publication date: 2018-12-18
Anticipated expiration: 2038-07-17
Also published as: CN109035871B

Abstract

The embodiment of the invention discloses a method, a device and a system for planning flight routes of an unmanned aerial vehicle and an intelligent terminal, wherein the method comprises the following steps: acquiring waypoint information of waypoints; displaying each waypoint at a corresponding position of a map of the land parcel to be operated according to the waypoint information, and recording the waypoints; receiving a route generation instruction of a user, and sequentially connecting each waypoint to generate a flight route of the unmanned aerial vehicle according to the route generation instruction; and calculating the ground-imitation flight track of the unmanned aerial vehicle between two adjacent waypoints in the unmanned aerial vehicle route according to the ridge according to the waypoint information. Therefore, the embodiment of the invention can improve the operation safety, accuracy and operation effect of the unmanned aerial vehicle in the environment with large relief.

Description

Unmanned plane during flying route planning method, device, system and intelligent terminal

Technical field

The invention belongs to air vehicle technique field more particularly to a kind of unmanned plane during flying route planning methods, device, system And intelligent terminal.

Background technique

With the continuous development of unmanned air vehicle technique, the application field of unmanned plane is also increasingly wider.

The multiplicity of unmanned plane application field, the operation for causing unmanned plane to be faced are with a varied topography changeable.For example, being led in plant protection Domain, plant protection drone is usually with regard to needing to carry out operation in the plot of the topographies height big rise and fall such as mountainous region, hillside fields.Unmanned plane is at this When the plot operation of a little topography height big rise and falls, flight path of making rational planning for is particularly important.

Currently, unmanned plane during flying route is usually to be automatically generated according to the boundary point in operation plot, that is, surveyed by course line Mode is drawn, the boundary point in operation plot is recorded；Line of flight information is planned automatically then related job parameter is set after, the flight Route information refers to the relative altitude relative to ground level.Unmanned plane during flying route is automatically generated according to boundary point, on ground It is also practicable on the smooth operation plot of gesture, still, if in the operation plot of topography height big rise and fall, also according to boundary point Automatically it plans flight path, can make unmanned plane on the operation plot of topography height big rise and fall, according further to the phase on ground To altitude, the safety problem such as colliding can be generated in the case where topography is more convex, and is automatically generated course line with Relief and ridge gesture trend do not match that, the more recessed place of topography and by manipulating object ridge spacing it is sparse irregular when meeting Lead to the problem of operation effectiveness difference.

Summary of the invention

In view of this, the embodiment of the invention provides a kind of unmanned plane during flying route planning method, device, system and ends End, with solve relief environment or by manipulating object ridge spacing it is sparse irregular under the conditions of, according to existing unmanned plane during flying The problem of obtained flight path of route planning method and relief and ridge gesture trend are not consistent and thus bring without The problem of man-machine safety hidden danger height and operation effectiveness difference.

To solve the above problems, the embodiment of the present invention provides the following technical solutions:

In a first aspect, the embodiment of the present invention provides a kind of unmanned plane during flying route planning method, comprising:

Obtain the way point information of destination；Wherein, the destination is to be beaten based on the relief to operation plot according to default Point rule, according to the destination selected by the ridge gesture trend of manipulating object to operation plot；

According to the way point information, each destination is shown in the corresponding position to operation plot map；

The airline generation instruction of user is received, and is instructed according to the airline generation, each destination is sequentially connected and generates Unmanned plane during flying route；

According to the way point information, the unmanned plane in the unmanned plane route between the two neighboring destination is calculated by ridge Imitative ground flight path.

Optionally, described according to the way point information, it calculates in the unmanned plane route between the two neighboring destination Unmanned plane by the imitative ground flight path in ridge, comprising:

According to the geographical location information of the two neighboring destination, the opposite side between the two neighboring destination is calculated Position；

According to the altitude info ination of the two neighboring destination, the two neighboring boat in the unmanned plane route is calculated Relative altitude between point；

According to the relative bearing and relative altitude, calculate in the unmanned plane route between the two neighboring destination The unmanned plane is by ridge imitative ground flight path；The unmanned plane is the track being consistent with ridge gesture topography by ridge imitative ground flight path；

Wherein, the way point information includes the geographical location information and the altitude info ination.

Optionally, the airline generation instruction for receiving user, and instructed according to the airline generation, sequentially connect each institute It states destination and generates unmanned plane during flying route, comprising:

Receive the click commands for the destination that the user clicks in destination coordinates regional；

According to the click commands and click sequence, sequentially the target destination that the user clicks is shown in sequence area Domain；

The target destination in the rank region is sequentially connected, the unmanned plane during flying route is generated.

Receive the destination link order of the user；

According to the destination link order, sequentially linking objective destination, generates the unmanned plane during flying route.

Optionally, described according to the way point information, calculate in the unmanned plane route the two neighboring destination it Between unmanned plane by the imitative ground flight path in ridge after, further includes:

The unmanned plane during flying route and the unmanned plane are sent by ridge imitative ground flight path to cloud, so that the cloud Unmanned plane is stored by ridge imitative ground flight path information.

Optionally, each destination is shown to the corresponding of operation plot map according to the way point information described After position, further includes:

The way point information is shown in default interface location；

Receive the destination recording instruction of the user；

According to the destination recording instruction, the destination is recorded.

Second aspect, the embodiment of the present invention provide a kind of unmanned plane during flying route planning device, are integrated in intelligent terminal, institute Stating unmanned plane during flying route planning device includes:

Module is obtained, for obtaining the way point information of destination；Wherein, the destination is to be risen based on the topography to operation plot Volt gets rule ready according to default, according to the destination selected by the ridge gesture trend of manipulating object to operation plot；

Display module, for according to the way point information, each destination to be shown to the corresponding of operation plot map Position；

Route Generation module, the airline generation for receiving user instructs, and is instructed according to the airline generation, sequentially connects It connects each destination and generates unmanned plane during flying route；

By ridge imitative ground flight path computing module, for calculating phase in the unmanned plane route according to the way point information Unmanned plane between adjacent two destinations is by ridge imitative ground flight path.

The third aspect, the embodiment of the present invention provide a kind of unmanned plane during flying route planning system, which includes that mapping is whole End, mapping base station and intelligent terminal；The mapping terminal and the mapping base station, the intelligent terminal communicate to connect；

The mapping terminal is used to measure the way point information of destination, and the way point information is sent to the intelligence eventually End；

The intelligent terminal is for obtaining the way point information；Wherein, the destination is based on the topography to operation plot It rises and falls, gets rule ready according to default, according to the destination selected by the ridge gesture trend of manipulating object to operation plot；Root According to the way point information, each destination is shown in the corresponding position to operation plot map；Receive the airline generation of user Instruction, and instructed according to the airline generation, it sequentially connects each destination and generates unmanned plane during flying route；According to the destination Information calculates the unmanned plane in the unmanned plane route between the two neighboring destination by ridge imitative ground flight path.

Fourth aspect, the embodiment of the present invention provide a kind of intelligent terminal, including memory, processor and are stored in described In memory and the computer program that can run on the processor, the processor are realized when executing the computer program Such as the step of any one of above-mentioned first aspect the method.

5th aspect, the embodiment of the present invention provide a kind of computer readable storage medium, the computer-readable storage medium Matter is stored with computer program, and the side as described in above-mentioned any one of first aspect is realized when the computer program is executed by processor The step of method.

Existing beneficial effect is the embodiment of the present invention compared with prior art:

The embodiment of the present invention by based on to operation plot relief, default get rule ready and to operation plot It is moved towards to choose destination by the ridge gesture of manipulating object, ensure that quasi- compared with the course of the unmanned plane during flying route of overall situation in relief True property；And by way point information, unmanned plane is calculated by ridge imitative ground flight path, that is, may remain in and made when unmanned plane during flying The ridge gesture of industry object walks certain altitude upwards, guarantees to be flown by manipulating object relatively in relief compared with the unmanned plane of overall situation Pin-point accuracy, and then avoid unmanned plane from the safety issues such as colliding, and when sparse by manipulating object ridge spacing, nobody Machine may remain in and be flown right above manipulating object；And then it is dilute compared with overall situation and ridge spacing in relief to improve unmanned plane Operational security, accuracy and operation effectiveness when dredging irregular.

Detailed description of the invention

It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these Attached drawing obtains other attached drawings.

Fig. 1 is a kind of system architecture schematic block diagram of unmanned plane during flying route planning system provided in an embodiment of the present invention；

Fig. 2 is a kind of flow diagram of unmanned plane during flying route planning method provided in an embodiment of the present invention；

Fig. 3 is line of flight comparison schematic diagram provided in an embodiment of the present invention；

Fig. 4 is another schematic process flow diagram of unmanned plane during flying route planning method provided in an embodiment of the present invention；

Fig. 5 is a kind of specific implementation flow schematic diagram of step 404 provided in an embodiment of the present invention；

Fig. 6 is a kind of schematic diagram at mapping interface provided in an embodiment of the present invention；

Fig. 7 is another specific implementation flow schematic diagram of step 404 provided in an embodiment of the present invention；

Fig. 8 is provided in an embodiment of the present invention by ridge imitative ground flight path generation method schematic diagram；

Fig. 9 is interaction flow schematic diagram provided in an embodiment of the present invention；

Figure 10 is flight path operation effectiveness schematic diagram provided in an embodiment of the present invention；

Figure 11 provides a kind of structural schematic block diagram of unmanned plane during flying route planning device for the embodiment of the present invention；

Figure 12 is the schematic diagram of intelligent terminal provided in an embodiment of the present invention.

Specific embodiment

In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity The detailed description of road and method, in case unnecessary details interferes description of the invention.

In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.

Embodiment one

It referring to Figure 1, is that a kind of system architecture of unmanned plane during flying route planning system provided in an embodiment of the present invention is shown Meaning block diagram, the system may include mapping terminal 11, mapping base station 12 and intelligent terminal 13；Survey and draw terminal 11 and mapping base station 12, intelligent terminal 13 communicates to connect；

Mapping terminal is used to measure the way point information of destination, and way point information is sent to intelligent terminal；

Intelligent terminal is for obtaining way point information；Wherein, destination is based on the relief to operation plot, according to default Rule is got ready, according to the destination selected by the ridge gesture trend of manipulating object to operation plot；According to way point information, by each boat Point is shown in the corresponding position to operation plot map；The airline generation instruction of user is received, and is instructed according to airline generation, according to Sequence connects each destination and generates unmanned plane during flying route；According to way point information, calculate in unmanned plane route between two neighboring destination Unmanned plane by the imitative ground flight path in ridge.

It is to be appreciated that above-mentioned intelligent terminal can be but be not limited to mobile phone, plate, intelligent wearable device and other terminals One of, which can be regarded as the earth station of unmanned plane.Between intelligent terminal, mapping terminal and mapping base station Communication mode, data protocol etc. can be arbitrary, as long as can guarantee triangular data exchange.

Above-mentioned mapping terminal can be specially the hand-held mapping terminal of RTK, and correspondingly, mapping base station is specially RTK mapping base It stands.Many advantages, such as hand-held mapping terminal of RTK has that precision is high, lightweight and portable in volume, easy to operate, simple interface, it is hand-held by RTK It surveys and draws terminal and carries out strip mapping, positioning accuracy can be made to reach grade, it is also possible to when making outdoor mapping, just In carrying and operation.Certainly, which can also be specially other types of mapping terminal, as long as it can reach RTK hand Hold the positioning accuracy of mapping terminal.

User can be got ready on to operation plot by surveying and drawing terminal；Terminal is surveyed and drawn by the destination of each destination Information is sent to intelligent terminal, and intelligent terminal is according to the received way point information of institute, and corresponding position is aobvious on to operation plot map Show destination；User is by operation intelligent terminal, so that intelligent terminal generates corresponding flight path；After generating flight path, Intelligent terminal then calculates the unmanned plane between two neighboring destination by ridge imitative ground flight path.

Unmanned plane is being calculated by ridge after imitative ground flight path, flight path and unmanned plane can flown imitatively by ridge The parameter informations such as track are uploaded to unmanned plane and fly control, and hereafter, unmanned plane then can be according to flight path, the flight path planned Carry out flight operation.

And in order to guarantee planned flight path, imitate the persistence of the information such as ground flight path by ridge, above-mentioned unmanned plane Flight path planning system can also include communicating the cloud 14 being connected with intelligent terminal, which can be equal to server, It can store data, carries out flight regulation.At this point, obtaining flight path, by ginsengs such as ridge imitative ground flight paths in intelligent terminal After number information, these parameter informations can be uploaded to cloud and stored, facilitate subsequent calling or carry out flight regulation.

In the present embodiment, by based on to operation plot relief, default get rule ready and to operation plot It is moved towards to choose destination by the ridge gesture of manipulating object, ensure that quasi- compared with the course of the unmanned plane during flying route of overall situation in relief True property；And by way point information, calculate unmanned plane by ridge imitative ground flight path, that is, may remain in when unmanned plane during flying by The ridge gesture of manipulating object walks certain altitude upwards, guarantees to be flown by manipulating object relatively in relief compared with the unmanned plane of overall situation Row pin-point accuracy, and then avoid unmanned plane from the safety issues such as colliding, and when sparse by manipulating object ridge spacing, nothing Man-machine may remain in is flown right above manipulating object；And then unmanned plane is improved in relief compared with overall situation and ridge spacing Operational security, accuracy and operation effectiveness when sparse irregular.

Embodiment two

After the system architecture for having introduced unmanned plane during flying route planning system, the embodiment of the present invention will be provided below The physical planning process of unmanned plane during flying route planning method describe in detail.

Fig. 2 is referred to, is a kind of flow diagram of unmanned plane during flying route planning method provided in an embodiment of the present invention, This method may comprise steps of:

Step 201, the way point information for obtaining destination；Wherein, destination is based on the relief to operation plot, according to pre- If getting rule ready, according to the destination selected by the ridge gesture trend of manipulating object to operation plot.

It is to be appreciated that above-mentioned can be the plot that relief changes greatly to operation plot, for example, mountainous region, hillside fields etc., It is also possible to relief and changes lesser plot, for example, Plain.In contrast, although technology provided in an embodiment of the present invention Scheme acts on that the relieves such as mountainous region, hillside fields change greatly and effect is brighter when ridge spacing sparse irregular plot Aobvious, still, technical solution provided in an embodiment of the present invention can equally act on the relieves such as Plain and change lesser plot, real The purpose of the existing embodiment of the present invention.

Plant protection operation plot should be can be to operation plot, at this point, mutually should be long-term cropping by manipulating object.That is, plant protection Unmanned plane carries out plant protection operation according to the flight path planned, for example, pesticide spraying operation；It is also possible to other types of work Industry plot, for example, search operation plot, that is, search and rescue unmanned plane according to the flight path planned and carry out search operation.This feelings Under condition, the ridge in universal significance can not be by the ridge of manipulating object, be no longer confined to refer to the native row of long-term cropping, may be used also Specifically to indicate the topography to operation plot, work route etc., for example, when operation plot is search operation plot, and search Rescue operation plot is jungle plot, and ridge at this time can show as jungle trend of road, mountain valley rises and falls etc..In brief, this hair The technical solution of bright embodiment can be applied particularly to unmanned plane plant protection operation field, also can be applied to other fields, herein It is not construed as limiting.It is above-mentioned that default to get rule ready can be specifically the difference based on topography, the foundation of the quantity, position got ready.It can To embody are as follows: when being got ready in the case that topography is more recessed, then not recording pit, that is, do not beaten at concave point Point can fly in this way, unmanned plane would not enter concave point landform above concave point landform, hair when avoiding flying into spill plot Raw aircraft bombing event；It is in the case that topography is more convex, then as much as possible on salient point to get ready more, that is, between two destinations away from From shortening as much as possible, in this way, can guarantee that the maximum extent unmanned plane flies imitatively, salient point landform on unmanned aerial vehicle is avoided to send out Raw aircraft bombing event；And when topography is relatively flat, then it can suitably get ready less, that is, as far as possible the distance between two destinations Ground extends, but on condition that ensure compliance with job requirements, for example, need to consider plant protection operation effect when for plant protection operation, it can not Unlimitedly distance between extension destination.

When destination selects, in addition to getting rule ready and other than relief is chosen according to default, it is also necessary to according to operation Plot by manipulating object ridge gesture route selection.That is, according to planting ridge gesture trend or operation ridge gesture trend (such as Search and rescue ridge gesture trend) etc. choose destination, can guarantee the accuracy in course in this way, can also guarantee operation effectiveness to greatest extent. For example, moving towards to carry out pesticide spraying operation etc. according to planting ridge gesture, it is ensured that spraying operation for plant protection operation Effect is best.In addition, carrying out getting the unmanned plane that can also guarantee to the maximum extent under the irregular operation plot of ridge shape ready by ridge The accuracy of flight course.

Specifically, it can receive the way point information that mapping terminal is sent, that is, mapping worker is by mapping terminal, according to work The relief in industry plot, it is default get being got ready by the ridge gesture trend of manipulating object of rule and operation plot ready after, survey Intelligent terminal can be sent to for way point information by drawing terminal.It is also possible to receive the way point information of user's input, these destinations are pre- First record.

Step 202, according to way point information, each destination is shown in the corresponding position to operation plot map.

It to operation plot map can be specifically three-dimensional map it is appreciated that above-mentioned, be also possible to two-dimensional map.

It is to be appreciated that above-mentioned way point information can include but is not limited to geographical location information and altitude info ination, it is geographical Location information can specifically include latitude and longitude information etc. again.

Specifically, after intelligent terminal receives way point information, which is accordingly shown on to operation plot map.This Outside, corresponding destination can also be recorded according to the destination recording instruction of user.It is also possible to intelligent terminal and actively records destination, no Need the destination recording instruction of user, that is, intelligent terminal all records received destination.

Step 203, the airline generation instruction for receiving user, and instructed according to airline generation, it sequentially connects each destination and generates Unmanned plane during flying route.

It is to be appreciated that above-mentioned airline generation instruction can be the link order of user's input, that is, user can be according to destination Flight sequencing, connection is then connected according to user after the completion of connection to each destination on the map of operation plot manually Destination and connection sequencing, generate corresponding unmanned plane during flying route；It is also possible to the ordering instruction of user, that is, User can successively be sorted each destination according to flight sequence, and after the completion of sequence, intelligent terminal is sequentially connected each boat Point generates flight path.

Step 204, according to way point information, calculate the unmanned plane in unmanned plane during flying route between two neighboring destination and press ridge Imitative ground flight path.

It is to be appreciated that above-mentioned unmanned plane can include but is not limited to the course between two destinations by ridge imitative ground flight path The information such as information, latitude and longitude information and imitative ground flying height.The unmanned plane can be straight path by ridge imitative ground flight path, It can be arc trajectory or dog-leg path, or the track of other forms is not limited thereto.That is, in office It anticipates between two neighboring destination, the flight path of unmanned plane can be arbitrary.

Wherein, the flight path generation of unmanned plane can be raw especially by the relative bearing, relative altitude that calculate between destination At corresponding flight path.

By the imitative ground flight path in ridge also refer to the flight path with to the relief in operation plot, by manipulating object Ridge gesture trend be consistent.It may also be said that may remain in nobody when unmanned plane carries out flight by ridge imitative ground flight path according to this Machine with it is accurate by the relative altitude of manipulating object, and for ridge spacing it is sparse irregular when, unmanned plane is also able to maintain by operation It flies the surface of object.

In order to preferably introduce the imitative ground flight path of the embodiment of the present invention, below in conjunction with the flight path shown in Fig. 3 Comparison schematic diagram is introduced.

As shown in figure 3, including that the concave point landform flight path schematic diagram in left side and the salient point landform flight path on right side are shown It is intended to.It wherein, is topmost that general destination flight expected trajectory shows on the left of Fig. 3 there are two destination on the slope of concave point landform It is intended to, when unmanned plane carries out flight according to the flight path, expected course line will not be changed according to hypsography；It is intermediate on the left of Fig. 3 Be flight expected trajectory schematic diagram generally imitative, can be high according to the real-time change of flight of relief in flight course Degree, but the case where unmanned plane be will appear excessively close to concave point side in this case, security risk is higher；It is bottom on the left of Fig. 3 Be to be obtained according to technical solution of the embodiment of the present invention by the imitative ground flight path schematic diagram in ridge, can guarantee with by operation pair The relative altitude of elephant is accurate, and does not fly into concave point.

On the right side of Fig. 3 it is uppermost be salient point landform general destination flight expected trajectory schematic diagram, in flight course Expected course line will not be changed, will lead to salient point on unmanned aerial vehicle；On the right side of Fig. 3 it is intermediate be salient point landform it is general fly imitatively it is pre- Phase track schematic diagram, in flight course can according to the real-time change of flight height of relief, still, in this case without , there are the danger to collide in man-machine the case where still will appear excessively close to salient point side, when upward slope, security risk or relatively high；Figure Nethermost 3 right sides are the embodiment of the present invention by ridge imitative ground flight path schematic diagram, can be flown imitatively, and will not go out The case where existing unmanned plane is excessively close to salient point side so as to cause salient point is knocked, safety is higher.

That is, using the fixed height of barometer, flying height will not change with landform in general destination flight expected trajectory Become.When downhill terrain, become larger with ground or by the relative altitude of manipulating object, operation effectiveness is deteriorated.There is nobody of imitative ground function Machine can keep with ground relative altitude, but encounter when the landform that steep slope is widely varied suddenly in the horizontal direction of course line away from From narrow, it is easy to happen collision accident risk.It flies by ridge and different landform is performed corresponding processing imitatively according to demand, meet Planning does not enter dangerous hole when cheating to danger, and lifting height in advance can be planned by encountering the slope lifted suddenly, avoid collision accident wind Danger.

In the present embodiment, by based on to operation plot relief, default get rule ready and to operation plot It is moved towards to choose destination by the ridge gesture of manipulating object, ensure that quasi- compared with the course of the unmanned plane during flying route of overall situation in relief True property；And by way point information, unmanned plane is calculated by ridge imitative ground flight path, that is, may remain in and made when unmanned plane during flying The ridge gesture of industry object walks certain altitude upwards, guarantees to be flown by manipulating object relatively in relief compared with the unmanned plane of overall situation Pin-point accuracy, and then avoid unmanned plane from the safety issues such as colliding, and when sparse by manipulating object ridge spacing, nobody Machine may remain in and be flown right above manipulating object；And then it is dilute compared with overall situation and ridge spacing in relief to improve unmanned plane Operational security, accuracy and operation effectiveness when dredging irregular.

Embodiment three

Fig. 4 is referred to, is another process schematic block of unmanned plane during flying route planning method provided in an embodiment of the present invention Figure, this method may comprise steps of:

Step 401, the way point information for obtaining destination.

It is to be appreciated that this step is identical as above-mentioned steps 201, corresponding introduce may refer to corresponding contents above, herein not It repeats again.

Step 402, according to way point information, each destination is shown in the corresponding position to operation plot map.The step with Above-mentioned steps 202 are identical, and corresponding introduce may refer to corresponding contents above, and details are not described herein.

Step 403 shows way point information in default interface location；Receive the destination recording instruction of user；Remembered according to destination Record instruction, records destination.

It is to be appreciated that above-mentioned default interface location, which can be embodied in, shows the display interface to operation plot map Downside, that is, by destination letter display in the downside to operation plot map interface.Certainly, which is also possible to it Its interface location.

Specifically, intelligent terminal shows received destination on to operation plot map, and shows boat accordingly Point information, for example, showing the longitude and latitude numerical value of the destination.Then, user determines whether to record the destination according to demand, when need When recording current destination, user then clicks record destination option, and intelligent terminal records the destination then according to destination recording instruction Relevant information.Record destination is chosen whether by user, the flight path of recorded destination and generation can be made more Add ground accurate.

Step 404, the airline generation instruction for receiving user, and instructed according to airline generation, it sequentially connects each destination and generates Unmanned plane during flying route.

In concrete application, the generating process of unmanned plane during flying route can there are two types of, first, user can be manually in intelligence To be sequentially connected each destination on operation map shown by terminal, then, intelligent terminal is according to the connection sequencing of user Generate corresponding flight path；Second, each destination is ranked up by user according to flight sequencing, and after the completion of sequence, intelligence Energy terminal sequentially connects each destination, generates flight path.

In some embodiments, referring to a kind of specific implementation flow schematic diagram of the step 404 shown in Fig. 5, this step can With specifically:

Step 501, the click commands for receiving the destination that user clicks in destination coordinates regional.

Step 502, according to click commands and click sequence, sequentially by user click target destination show sort area Domain.

Step 503, sequentially the target destination in connection rank region, generate unmanned plane during flying route.

It is to be appreciated that above-mentioned destination coordinates regional and rank region can be in same interface with to operation plot map, Also different interfaces be may be at.Wherein, destination coordinates regional can specifically exist in the form of coordinate column, and rank region can also be with Specifically exist in the form of the column that sorts.Target destination refers to the selected destination of user.

A kind of schematic diagram at the mapping interface shown in Fig. 6 is referred to again.As shown in fig. 6, in the mapping interface of ridge mapping 01 It shows to the coordinate column on the left of operation plot map, interface, the sequence column on the downside of interface, the numbers such as 1,2,3 ... 93 in figure Refer to destination, Digital size is it is merely meant that the sequencing got ready.All destinations can be shown in coordinate column, and are sorted The selected destination of user can be shown in column.Additionally provide the options such as record destination and revocation destination.

By taking Fig. 6 as an example, destination 1 has generated flight path between destination 82.Destination 83, destination 84, destination 85, boat Point 86, destination 87, destination 88, there are no generate flight path between destination 89.User can successively click the seat on the left of interface Mark the destination serial number in column, that is, destination 83, destination 84, destination 85, destination 86, destination 87, destination 88, destination 89 are successively clicked, Intelligent terminal is then successively by destination 83, destination 84, destination 85, destination 86, destination 87, destination 88, the display of destination 89 on sequence column On, after the completion of user clicks, then successively addition connects destination 83, destination 84, destination 85, destination 86, destination 87, boat to intelligent terminal Point 88, destination 89, generate unmanned plane during flying route.In addition, user can also be in the freely dragging destination on column that sorts.

In further embodiments, referring to a kind of specific implementation flow schematic diagram of the step 403 shown in Fig. 7, this step It can be with specifically:

Step 701, the destination link order for receiving user.

Step 702, according to destination link order, sequentially linking objective destination, generates unmanned plane during flying route.

Specifically, by taking Fig. 6 as an example, corresponding destination is shown on the plot map in plot 001, user can connect manually to be appointed Two destinations of anticipating connect each destination according to this, obtain final unmanned plane during flying route for example, connecting destination 82 and destination 83.

It is to be appreciated that two kinds of unmanned plane during flyings Route Generation mode provided herein is two kinds of possible implementations, In concrete application, it is also possible to which there are the flight path generating modes of other forms, for example, destination based on the received is successive Sequentially, flight path is generated, is not limited thereto.

It is appreciated that no matter the flight sequence of operation of the ordering relation of destination to subsequent unmanned plane therefore will by user Flight path is regenerated after destination sequence, flight path is generated according further to the order of connection of user, when carrying out destination sequence It all should be taken into account that actual job requirement and actual job plot are moved towards by the ridge gesture of manipulating object.That is, user click destination or When person is connection destination, it should be ranked up based on actual job plot by ridge gesture trend, the job requirements of manipulating object, should not be Arbitrarily sort.Certainly, destination, which arbitrarily sorts also, may be implemented the purpose of the embodiment of the present invention, but may for operation effectiveness It has a certain impact.

Fig. 6 is a kind of concrete implementation effect picture, and when specific implementation, specific manifestation form can be not limited to figure 6 form, is not limited thereto.

Step 405, according to the geographical location information of two neighboring destination, calculate the opposite side between two neighboring destination Position；According to the altitude info ination of two neighboring destination, the relative altitude in unmanned plane route between two neighboring destination is calculated； According to relative bearing and relative altitude, the unmanned plane in unmanned plane route between two neighboring destination is calculated by ridge imitative ground flight rail Mark；Wherein, way point information includes geographical location information and altitude info ination.The geographical location information is specially longitude and latitude letter Breath.

In order to preferably introduce the generating process by ridge imitative ground flight path, imitate ground by ridge below in conjunction with shown in Fig. 8 Flight path generation method schematic diagram is introduced.

As shown in figure 8, providing three kinds of generating process schematic diagrames by ridge imitative ground flight path.First, two adjacent destinations Between it is generated when by the imitative ground flight path in ridge being parallel lines, by the height of two destinations of A, B plus the flying height of setting New destination A1, B1 are generated, connection destination A1, B1 are generated by ridge imitative ground flight path, should be by ridge imitative ground flight path and A, B point Connecting line it is parallel.Second, it is generated when by the imitative ground flight path in ridge being broken line between two adjacent destinations, connect A, B two A destination, chose the connecting line and with the plane of sea level perpendicular (altitude axis) be the plane of reference, in this plane of reference, with A, The connecting line of two destinations of B is bottom edge, crosses two destination of A, B respectively and makees the isosceles triangle that base angle is 30 °, the isoceles triangle upwards The waist of shape is between two destinations of A, B by ridge imitative ground flight path.Third, generated between two adjacent destinations press ridge When imitative ground flight path is camber line, connect two destinations of A, B, chose the connecting line and with sea level perpendicular (altitude axis) Plane is the plane of reference, in this plane of reference, crosses two destination of A, B and makees 60 ° of camber lines upwards, which is between two destinations of A, B By the imitative ground flight path in ridge.

It is to be appreciated that above-mentioned chose two destination lines of A, B and the plane perpendicular with sea level as the plane of reference only It is a kind of mode for the selection reference planes enumerated, according to demand with the difference of destination condition, A, B two boats can also be chosen It puts line and the plane parallel with sea level is as the plane of reference；Two destination lines of A, B and sea level were chosen into 30 °, 45 ° Or the plane of 60 ° of angles is as the plane of reference；It chooses two destination lines of A, B and A point initial velocity direction is formed by plane work The selection mode of reference planes is selected for plane of reference etc., it is not limited here.

It is to be appreciated that generating parallel lines between two above-mentioned adjacent destinations by ridge imitative ground flight path, two adjacent boats Broken line is generated between point by generation camber line between ridge imitative ground flight path and two adjacent destinations is only by ridge imitative ground flight path Three kinds enumerated are by ridge imitative ground flight path generation method.In concrete application, difference that can according to demand with destination condition is melted It closes and uses above-mentioned three kinds of flight path generation methods, for example, the flying height by the height of two destinations of A, B plus setting generates New destination A1, B1, using generating camber line by ridge imitative ground flight path between destination A1, B1 two o'clock；Can also be used it is other by Ridge imitative ground flight path generation method, is not limited thereto.

Step 406 sends unmanned plane during flying route and unmanned plane by ridge imitative ground flight path to cloud, so that cloud stores Unmanned plane imitative ground flight path information.

In the present embodiment, by based on to operation plot relief, default get rule ready and to operation plot It is moved towards to choose destination by the ridge gesture of manipulating object, ensure that quasi- compared with the course of the unmanned plane during flying route of overall situation in relief True property；And by way point information, unmanned plane is calculated by ridge imitative ground flight path, that is, may remain in and made when unmanned plane during flying The ridge gesture of industry object walks certain altitude upwards, guarantees to be flown by manipulating object relatively in relief compared with the unmanned plane of overall situation Pin-point accuracy, and then avoid unmanned plane from the safety issues such as colliding, and when sparse by manipulating object ridge spacing, nobody Machine may remain in and be flown right above manipulating object；And then it is dilute compared with overall situation and ridge spacing in relief to improve unmanned plane Operational security, accuracy and operation effectiveness when dredging irregular.Further, it is also possible to choose whether record boat by user Point, carries out destination sequence or connection destination generates flight path, can be further improved the accurate of flight path generated Property and safety.

Example IV

In order to preferably introduce technical solution provided in an embodiment of the present invention, will be illustrated below with plant protection operation scene It introduces.

Unmanned plane in the present embodiment is plant protection drone, and mapping terminal is the hand-held mapping terminal of RTK, and mapping base station is The base station RTK, intelligent terminal are mobile phone.Mobile phone terminal is integrated with mapping APP, and the mapping interfacial effect figure of the APP can be such as Fig. 6 institute The effect picture shown.Mapping APP is based on Android environment exploitation.

Firstly, setting up RTK surveys and draws base station, the hand-held mapping terminal of RTK is opened, guarantees that the hand-held mapping terminal of RTK enters fixation Solve high accuracy positioning state；Then, the mapping APP of mobile phone terminal is opened, connection RTK hand-held mapping terminal after successful connection, enters Interface is surveyed and drawn to ridge；Hereafter, mapping worker then holds the hand-held mapping terminal of RTK and is got ready in plant protection operation plot, mobile phone It is then accordingly interacted with the hand-held mapping terminal of RTK.

In order to intuitively introduce the interaction flow of unmanned plane during flying route planning method, below with reference to the interactive stream shown in Fig. 9 Journey schematic diagram is introduced.The interaction flow schematic diagram the following steps are included:

Step 901, mobile phone receive the way point information that the hand-held mapping terminal of RTK is sent.

Step 902, mobile phone are shown in the corresponding position of plant protection operation plot map according to the received way point information of institute.

Step 903, mobile phone receive the airline generation instruction of user；

Step 904 is instructed according to airline generation, connects each destination, generates unmanned plane during flying route.

According to way point information, ground is imitated in the ridge of pressing calculated between the two neighboring destination of unmanned plane during flying route for step 905, mobile phone Flight path.

Step 906, mobile phone by unmanned plane during flying route and are sent to cloud by the imitative ground flight path in ridge and store.

After calculating unmanned plane during flying route and imitating ground flight path by ridge, plant protection drone flies control then can basis Flight path and plant protection operation is carried out to corresponding plant protection operation plot by the imitative ground flight path in ridge.

It is to be appreciated that the same or similar place of the embodiment of the present invention and other embodiments, may refer to other embodiments, Details are not described herein.

In order to preferably introduce the plant protection operation effect of the invention by ridge imitative ground flight path, show below in conjunction with Figure 10 Explanation is introduced in flight path operation effectiveness schematic diagram out.

As shown in Figure 10, in the plantation ridge of long-term cropping under being spaced sparse and irregular situation, according to common planning The flight path that operation generates is straight line, will lead to unmanned plane in this way in flight operation, it may appear that between the ridge of no crop Also operation is carried out, wastes drug, and since some crops are not on operation track, it may appear that some crop drain sprays are resprayed existing As.And ground flight path is imitated by ridge according to what technical solution of the embodiment of the present invention generated, it is winged to carrying out according to the plantation ridge of crop Row phenomena such as guaranteeing the operation effectiveness of plant protection operation, and be not in drain spray, respray, improves drug utilization efficiency.Namely It says, fitting of flying imitatively by ridge is moved towards by the ridge gesture of manipulating object, so that remaining at when unmanned machine operation by manipulating object Surface, ensure the accurate and actual effect of operation.It is applied on specific agricultural plant protection, the reality that can promote drug is answered With avoiding wasting drug between ridge, reach raising operation effectiveness, medicament-saving.As it can be seen that unmanned plane through the embodiment of the present invention flies The line of flight and enroute altitude that row planing method obtains, it is ensured that plant protection drone more adapts to the topographies such as mountainous region, hillside fields and rises Course and the flying height accuracy in biggish plant protection operation plot are lied prostrate, and then improves the safety and plant protection operation effect of unmanned plane Fruit.For example, being got ready by ridge, when carrying out plant protection spraying operation even can make on the irregular operation plot of ridge shape Operation also can guarantee the demand that course is accurate and spraying range is made to meet plant protection operation plot；Calculating is flown imitatively by ridge Track guarantees plant protection drone in spraying operation, avoids knocking concave point or salient point landform, improves safety.

It is to be appreciated that the present embodiment only carries out citing introduction with the application scenarios of plant protection operation, but do not limit the present invention The technical solution that embodiment provides can only apply plant protection field, can also be applied particularly to other field, such as search and rescue field. When being applied to field, process can be similar or identical with the application process in plant protection field, and details are not described herein.

It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit It is fixed.

Embodiment five

Referring to Figure 11, a kind of structural representation frame of unmanned plane during flying route planning device is provided for the embodiment of the present invention Figure, the device can integrate in intelligent terminal, and unmanned plane during flying route planning device may include:

Module 111 is obtained, for obtaining the way point information of destination；Wherein, destination is to be risen based on the topography to operation plot Volt gets rule ready according to default, according to the destination selected by the ridge gesture trend of manipulating object to operation plot；

Display module 112, for according to way point information, each destination to be shown in the corresponding position to operation plot map；

Route Generation module 113, the airline generation for receiving user instructs, and is instructed according to airline generation, sequentially connects It connects each destination and generates unmanned plane during flying route；

By ridge imitative ground flight path computing module 114, for calculating two neighboring in unmanned plane route according to way point information Unmanned plane between destination is by ridge imitative ground flight path.

In some embodiments of the invention, above-mentioned to include: by ridge imitative ground flight path computing module

Horizontal distance computing unit calculates two neighboring destination for the geographical location information according to two neighboring destination Between relative bearing；

Relative altitude computing unit calculates in unmanned plane route for the altitude info ination according to two neighboring destination Relative altitude between two neighboring destination；

By ridge imitative ground flight computing unit, for calculating adjacent in unmanned plane route according to relative bearing and relative altitude Unmanned plane between two destinations is by ridge imitative ground flight path；

Wherein, way point information includes geographical location information and altitude info ination.

In some embodiments of the invention, above-mentioned Route Generation module includes:

First receiving unit clicks the click commands of the destination in destination coordinates regional for receiving user；

First display unit, for sequentially showing the target destination that user clicks according to click commands and click sequence In rank region；

First generation unit generates unmanned plane during flying route for sequentially connecting the target destination in rank region.

Second receiving unit, for receiving the destination link order of user；

Second generation unit, for according to destination link order, sequentially linking objective destination, to generate unmanned plane during flying road Line.

In some embodiments of the invention, above-mentioned unmanned plane during flying route planning device can also include:

Sending module, for sending unmanned plane during flying route and unmanned plane by ridge imitative ground flight path to cloud, so that cloud End storage unmanned plane presses ridge flight path information.

In some embodiments of the invention, above-mentioned apparatus can also include:

Second display module, for showing way point information in default interface location；

Third receiving module, for receiving the destination recording instruction of user；

Logging modle, for recording destination according to destination recording instruction.

In the embodiment of the present invention, by based on the relief to operation plot, the default rule and to operation got ready Block is moved towards to choose destination by the ridge gesture of manipulating object, ensure that in course of the relief compared with the unmanned plane during flying route of overall situation Accuracy；And by way point information, the imitative ground flying height of unmanned plane is calculated, that is, unmanned plane is protected with respect to the relative altitude of landform Card avoids the safeties such as unmanned plane collides from asking in high degree of accuracy of the relief compared with the unmanned plane during flying of overall situation Topic, to improve unmanned plane in relief compared with the operational security and accuracy under overall situation.

Embodiment six

Figure 12 is the schematic diagram for the intelligent terminal that one embodiment of the invention provides.As shown in figure 12, the intelligence of the embodiment Terminal 12 includes: processor 120, memory 121 and is stored in the memory 121 and can be on the processor 120 The computer program 122 of operation, such as unmanned plane during flying route planning program.The processor 120 executes the computer journey The step in above-mentioned each unmanned plane during flying route planning method embodiment, such as step 201 shown in Fig. 2 are realized when sequence 122 To 204.Alternatively, the processor 120 realized when executing the computer program 122 each module in above-mentioned each Installation practice/ The function of unit, such as the function of module 111 to 114 shown in Figure 11.

Illustratively, the computer program 122 can be divided into one or more modules or unit, it is one or The multiple modules of person or unit are stored in the memory 121, and are executed by the processor 120, to complete the present invention.Institute Stating one or more module/units can be the series of computation machine program instruction section that can complete specific function, the instruction segment For describing implementation procedure of the computer program 122 in the intelligent terminal 12.For example, the computer program 122 It can be divided into and obtain module, display module, Route Generation module and imitate ground flight path computing module, each module by ridge Concrete function is as follows:

Module is obtained, for obtaining the way point information of destination；Wherein, destination be based on the relief to operation plot, Rule is got ready according to default, according to the destination selected by the ridge gesture trend of manipulating object to operation plot；

Display module, for according to way point information, each destination to be shown in the corresponding position to operation plot map；

Route Generation module, the airline generation for receiving user instructs, and is instructed according to airline generation, and sequentially connection is each Destination generates unmanned plane during flying route；

By ridge imitative ground flight path computing module, for calculating two neighboring boat in unmanned plane route according to way point information Unmanned plane between point is by ridge imitative ground flight path.

The intelligent terminal 12 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set It is standby.The intelligent terminal may include, but be not limited only to, processor 120, memory 121.It will be understood by those skilled in the art that Figure 12 is only the example of intelligent terminal 12, does not constitute the restriction to intelligent terminal 12, may include more or more than illustrating Few component perhaps combines certain components or different components, such as the intelligent terminal can also be set including input and output Standby, network access equipment, bus etc..

Alleged processor 120 can be central processing unit (Central Processing Unit, CPU), can also be Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field- Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic, Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor Deng.

The memory 121 can be the internal storage unit of the intelligent terminal 12, such as the hard disk of intelligent terminal 12 Or memory.The memory 121 is also possible to the External memory equipment of the intelligent terminal 12, such as on the intelligent terminal 12 The plug-in type hard disk of outfit, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) Card, flash card (Flash Card) etc..Further, the memory 121 can also be both interior including the intelligent terminal 12 Portion's storage unit also includes External memory equipment.The memory 121 is for storing the computer program and the intelligence Other programs and data needed for terminal.The memory 121, which can be also used for temporarily storing, have been exported or will be defeated Data out.

It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment The part of load may refer to the associated description of other embodiments.

Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed The scope of the present invention.

In embodiment provided by the present invention, it should be understood that disclosed device, intelligent terminal and method, it can be with It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.

If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions Believe signal.

Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all It is included within protection scope of the present invention.

Claims

1. a kind of unmanned plane during flying route planning method characterized by comprising

Obtain the way point information of destination；Wherein, the destination is to get rule ready according to default based on the relief to operation plot Then, according to the destination selected by the ridge gesture trend of manipulating object to operation plot；

The airline generation instruction of user is received, and is instructed according to the airline generation, each destination is sequentially connected and generates nobody Machine flight path；

According to the way point information, the unmanned plane in the unmanned plane route between the two neighboring destination is calculated by the imitative ground in ridge Flight path.

2. the method as described in claim 1, which is characterized in that it is described according to the way point information, calculate the unmanned plane road Unmanned plane in line between the two neighboring destination is by ridge imitative ground flight path, comprising:

According to the geographical location information of the two neighboring destination, calculate between the two neighboring destination of the unmanned plane route Relative bearing；

According to the altitude info ination of the two neighboring destination, calculate in the unmanned plane route the two neighboring destination it Between relative altitude；

According to the relative bearing and the relative altitude, calculate in the unmanned plane route between the two neighboring destination The unmanned plane is by ridge imitative ground flight path；The unmanned plane is the track being consistent with ridge gesture topography by ridge imitative ground flight path；

3. method according to claim 2, which is characterized in that the airline generation instruction for receiving user, and according to described Airline generation instruction sequentially connects each destination and generates unmanned plane during flying route, comprising:

According to the click commands and click sequence, sequentially the target destination that the user clicks is shown in rank region；

4. method according to claim 2, which is characterized in that the airline generation instruction for receiving user, and according to described Airline generation instruction sequentially connects each destination and generates unmanned plane during flying route, comprising:

Receive the destination link order of the user；

5. the method as described in claim 1, which is characterized in that described according to the way point information, calculate the unmanned plane Unmanned plane in route between the two neighboring destination is pressed after ridge imitative ground flight path, further includes:

The unmanned plane during flying route and the unmanned plane are sent by ridge imitative ground flight path to cloud, so that the cloud stores Unmanned plane is by ridge imitative ground flight path information.

6. such as method described in any one of claim 1 to 5, which is characterized in that described according to the way point information, Jiang Gesuo Destination is stated to be shown in after the corresponding position to operation plot map, further includes:

The way point information is shown in default interface location；Receive the destination recording instruction of the user；

7. a kind of unmanned plane during flying route planning device, which is characterized in that be integrated in intelligent terminal, the unmanned plane during flying route Device for planning includes:

Module is obtained, for obtaining the way point information of destination；Wherein, the destination be based on the relief to operation plot, Rule is got ready according to default, according to the destination selected by the ridge gesture trend of manipulating object to operation plot；

Display module, for according to the way point information, each destination to be shown in the corresponding position to operation plot map；

Route Generation module, the airline generation for receiving user instructs, and is instructed according to the airline generation, and sequentially connection is each The destination generates unmanned plane during flying route；

By ridge imitative ground flight path computing module, for calculating adjacent two in the unmanned plane route according to the way point information Unmanned plane between a destination is by ridge imitative ground flight path.

8. a kind of unmanned plane during flying route planning system, which is characterized in that eventually including mapping terminal, mapping base station and intelligence End；The mapping terminal and the mapping base station, the intelligent terminal communicate to connect；

The mapping terminal is used to measure the way point information of destination, and the way point information is sent to the intelligent terminal；

The intelligent terminal is for obtaining the way point information；Wherein, the destination be based on the relief to operation plot, Rule is got ready according to default, according to the destination selected by the ridge gesture trend of manipulating object to operation plot；According to institute Way point information is stated, each destination is shown in the corresponding position to operation plot map；The airline generation instruction of user is received, And instructed according to the airline generation, it sequentially connects each destination and generates unmanned plane during flying route；According to the way point information, The unmanned plane in the unmanned plane route between the two neighboring destination is calculated by ridge imitative ground flight path.

9. a kind of intelligent terminal, including memory, processor and storage are in the memory and can be on the processor The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 6 when executing the computer program The step of any one the method.

10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists In when the computer program is executed by processor the step of any one of such as claim 1 to 6 of realization the method.