CN109074093A - A kind of flight course planning method of unmanned plane, control equipment and storage medium - Google Patents
A kind of flight course planning method of unmanned plane, control equipment and storage medium Download PDFInfo
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- CN109074093A CN109074093A CN201780023042.9A CN201780023042A CN109074093A CN 109074093 A CN109074093 A CN 109074093A CN 201780023042 A CN201780023042 A CN 201780023042A CN 109074093 A CN109074093 A CN 109074093A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000004590 computer program Methods 0.000 claims description 7
- 239000000725 suspension Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 15
- 230000006399 behavior Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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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
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Abstract
A kind of flight course planning method of unmanned plane, control equipment and storage medium, applied to the terminal for carrying out line of flight planning, the terminal is for showing flight course planning interface, the course sector for including Heading control point on the flight course planning interface and being planned by least three region destinations, it include the line of flight in the course sector, wherein, this method comprises: obtaining the edit operation to the Heading control point in user interface；According to the edit operation of the Heading control point, the course-and-bearing of the line of flight is edited, in this way, realizes and rapidly the course-and-bearing of the line of flight is edited, improve the working efficiency of unmanned plane.
Description
Technical field
The present invention relates to control technology field more particularly to a kind of flight course planning method of unmanned plane, control equipment and deposit
Storage media.
Background technique
With the development of unmanned air vehicle technique, unmanned plane has been widely used for executing various types of job tasks at present
(such as taking photo by plane, agricultural plant protection, exploration etc.).Currently, unmanned plane is being applied to agricultural plant protection in application, can pass through unmanned plane
Control equipment determines that unmanned plane executes the line of flight of agricultural plant protection task, and the planning of the line of flight determines that unmanned plane is held
The efficiency of the row agricultural plant protection task.Currently, having some skills for carrying out edit operation to the line of flight of the unmanned plane
Art, but these technologies need complicated operation to realize the editor to the line of flight, reduce the work effect of unmanned plane
Rate increases the time that user carries out flight course planning.
Summary of the invention
The embodiment of the invention provides a kind of flight course planning method of unmanned plane, control equipment and storage mediums, to improve
The working efficiency of unmanned plane.
In a first aspect, the embodiment of the invention provides a kind of flight course planning method of unmanned plane, applied to carrying out flight boat
The terminal that line gauge is drawn, the terminal for showing flight course planning interface, on the flight course planning interface include Heading control point and
The course sector planned by least three region destinations includes the line of flight, the method in the course sector
Include:
Obtain the edit operation to the Heading control point in user interface；
According to the edit operation of the Heading control point, the course-and-bearing of the line of flight is edited.
Second aspect, the embodiment of the invention provides a kind of control equipment of unmanned plane, are applied to flight course planning and control, packet
It includes:
Display device includes Heading control point and by extremely for showing flight course planning interface, on the flight course planning interface
Lack the course sector that three region destinations are planned, includes the line of flight in the course sector；
Control device, for receiving the edit operation of user；
Processor, the processor are connected with the display device and the control device respectively, and the processor is used
In judging the edit operation and generate corresponding control instruction, and for executing following steps:
Obtain the edit operation to the Heading control point in user interface；
According to the edit operation of the Heading control point, the course-and-bearing of the line of flight is edited.
The third aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage mediums
Matter is stored with computer program, the unmanned plane as described in above-mentioned first aspect is realized when which is executed by processor
Flight course planning method.
In the embodiment of the present invention, control equipment is right by obtaining the edit operation to the Heading control point in user interface
The course-and-bearing in unmanned plane during flying course line is edited, in this way, so that the edit operation to course-and-bearing is simpler
Singly, it conveniently, realizes and rapidly the line of flight is edited, improve the working efficiency of unmanned plane.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of schematic diagram at flight course planning interface provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram at another flight course planning interface provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram at another flight course planning interface provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram at another flight course planning interface provided in an embodiment of the present invention；
Fig. 5 is a kind of interface schematic diagram of course sector provided in an embodiment of the present invention；
Fig. 6 is a kind of flow diagram of the flight course planning method of unmanned plane provided in an embodiment of the present invention；
Fig. 7 is the flow diagram of the flight course planning method of another unmanned plane provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram for controlling equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiments are merely a part of the embodiments of the present invention for this programme, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
It elaborates with reference to the accompanying drawing to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
The flight course planning method of unmanned plane provided in an embodiment of the present invention can be applied to a kind of control equipment of unmanned plane, institute
Stating control equipment can be the terminal for carrying out line of flight planning, and terminal described in practical application can be desktop computer, notes
This computer, smart phone, wearable device (such as wrist-watch, bracelet), any one or more in remote controler.Wherein, the end
End includes Heading control point on the flight course planning interface and is advised by least three region destinations for showing flight course planning interface
Obtained course sector is drawn, includes the line of flight in the course sector.As shown in Figure 1, Fig. 1 is that the embodiment of the present invention mentions
A kind of schematic diagram at the flight course planning interface supplied, include on the flight course planning interface as shown in Figure 1 Heading control point 11, by
Region destination 12, region destination 13, region destination 14 and region destination 15 plan obtained course sector 16, the course sector
It include the line of flight 17 in 16, the line of flight 17 is made of job step course line 171 and linkage section course line 172, the region
It suspends on way point 13 and shows the latitude and longitude information 131 of the region destination 13, suspend on the region destination 14 and show institute
State the distance between region destination 14 and the region destination 13 141.
The flight course planning method of the unmanned plane provided in an embodiment of the present invention can be applied to the job task of unmanned plane, example
Such as agricultural plant protection task (such as spraying insecticide), job task of taking photo by plane, exploration job task, will hereinafter be come with agricultural plant protection task
It is schematically illustrated.The flight course planning method of unmanned plane provided in an embodiment of the present invention is illustrated below.
In the embodiment of the present invention, the available work planning interface, that is, user interface of the control equipment of the unmanned plane, and
The line of flight of the unmanned plane is planned on the work planning interface, wherein the course-and-bearing of the line of flight can be with
It is any direction, for example, the course line of horizontal direction or the course line of vertical direction.Boat of the embodiment of the present invention to the line of flight
Line direction is without limitation.In one embodiment, the control equipment can be by obtaining on the work planning interface
The edit operation of Heading control point, and according to the edit operation of the Heading control point, to the course-and-bearing of the line of flight
It is edited.Wherein, the edit operation can be drag operation, and the Heading control point, which can suspend, is shown in the user
Any position on interface.In one embodiment, the line of flight includes: job step course line and linkage section course line, described
The course-and-bearing of the line of flight refers to the direction in the job step course line.It is illustrated by taking Fig. 1 as an example, it is assumed that the control equipment
The edit operation to the Heading control point 11 in user interface is got, then the control equipment can be according to the Heading control
The edit operation of point 11, edits the direction in the job step course line 171 of the line of flight 17.
In one embodiment, the control equipment is in the edit operation according to the Heading control point, to the flight
It, can be according to predetermined angle to the side in job step course line in the line of flight during the course-and-bearing in course line is edited
To being adjusted.Wherein, the predetermined angle can be the pre-set any angle of user.
In one embodiment, it is described control equipment if it is judged that the Heading control point got edit operation
For drag operation, then the corresponding drawing direction of the available drag operation of the control equipment, and according to the dragging side
To being rotated to the direction in the job step course line of the line of flight according to predetermined angle, wherein the direction of the rotation with
The drawing direction is corresponding.In one embodiment, the direction of the job step course line rotation of the line of flight can be with
For counterclockwise or clockwise, the drawing direction of the Heading control point may include: upward drawing direction, drag down
Dynamic direction, to the left drawing direction, to the right any one or more in drawing direction.
It can be specifically illustrated by taking Fig. 1 and Fig. 2 as an example, Fig. 2 is another flight course planning circle provided in an embodiment of the present invention
The schematic diagram in face.Assuming that the pre-set predetermined angle of user is 90 degree, the job step course line direction of rotation of the line of flight
With the corresponding relationship of the drawing direction of the Heading control point are as follows: dragged clockwise with upward drawing direction and/or to the left
Direction is corresponding；Counterclockwise with drag down direction and/or to the right, drawing direction is corresponding.Assuming that current flight course planning
Interface is interface as shown in Figure 1, wherein the direction in the job step course line 171 of the line of flight 17 is vertical direction, if
The control equipment gets user and is to the corresponding drawing direction of drag operation of the Heading control point 11 as shown in Figure 1
Upward drawing direction, then the control equipment can direction to the job step course line 171 of the line of flight 17 along counterclockwise
Direction is rotated by 90 °, and the course-and-bearing for obtaining the job step course line 271 of the line of flight 27 as shown in Figure 2 is horizontal direction.
It wherein, further include Heading control point 21 corresponding with Fig. 1, region destination 22, region on flight course planning interface as shown in Figure 2
Destination 23, region destination 24, region destination 25, course sector 26, the line of flight 27, job step course line 271 and linkage section course line
272, suspend on the region way point 23 latitude and longitude information 231 of display, suspend on the region destination 24 the described of display
The distance between region destination 24 and the region destination 23 241.
In another example being illustrated by taking Fig. 1 and Fig. 3 as an example, wherein Fig. 3 is another course line provided in an embodiment of the present invention
Plan the schematic diagram at interface.Assuming that current flight course planning interface is interface as shown in Figure 1, wherein the line of flight 17
Job step course line 171 direction be vertical direction, if the control equipment gets user to the boat as shown in Figure 1
The corresponding drawing direction of drag operation to control point 11 is drawing direction to the right, then the control equipment can be to the flight
The direction in the job step course line 171 in course line 17 is rotated in a clockwise direction 90 degree, obtains the work of the line of flight 37 as shown in Figure 3
The course-and-bearing in industry section course line 371 is horizontal direction.Wherein, it is further comprised on flight course planning interface as shown in Figure 3 and Fig. 1
Corresponding Heading control point 31, region destination 32, region destination 33, region destination 34, region destination 35, course sector 36,
The line of flight 37, job step course line 371, linkage section course line 372, the display that suspends on the region way point 33 the region destination
Suspend in 33 latitude and longitude information 331, the region destination 34 display the region destination 34 and the region destination 33 it
Between distance 341.
In one embodiment, the control equipment is in the edit operation according to the Heading control point, to the flight
During the course-and-bearing in course line is edited, if the edit operation is drag operation, the control equipment can be with
The corresponding drawing direction of the drag operation is obtained, and according to the drawing direction, to the job step course line of the line of flight
Direction rotated.Wherein, the drag operation can be continuous drag operation, be also possible to intermittent drag operation,
The embodiment of the present invention is without limitation, it is only necessary to according to the drawing direction and rotate angle to the course-and-bearing of the line of flight
It is rotated.The drawing direction of the Heading control point can be any direction, the job step course line rotation of the line of flight
Direction with the drawing direction of the Heading control point be corresponding.In one embodiment, the control equipment can root
The direction of the job step course line rotation of the line of flight is determined according to the drawing direction, and according to the drawing direction and can be used
Angle between the standard coordinate axis at family interface determines the angle of the line of flight rotation.In one embodiment, described
The angle of line of flight rotation can be according to abscissa in the drawing direction and the standard coordinate axis to the Heading control point
Angle between axis determines that can also determine according to the angle in standard coordinate axis between axis of ordinates, the present invention is real
Apply example without limitation.The direction of the job step course line rotation of the line of flight is as set forth above, it is possible to be counterclockwise or suitable
Clockwise, the drawing direction of the Heading control point may include: as described above it is upward drag direction, drag down direction,
Drawing direction, to the right any one or more in drawing direction to the left.
It can be specifically illustrated by taking Fig. 1 and Fig. 4 as an example, Fig. 4 is another flight course planning circle provided in an embodiment of the present invention
The schematic diagram in face.Assuming that the drawing direction in direction and the Heading control point that the job step course line of the line of flight rotates
Corresponding relationship are as follows: drawing direction is corresponding with upward drawing direction and/or to the left clockwise；Counterclockwise with drag down
It moves direction and/or drawing direction is corresponding to the right.Assuming that the rotation angle of the line of flight is according to the Heading control point
Drawing direction and the standard coordinate axis in angle between axis of abscissas determine.Assuming that current flight course planning interface is
Interface as shown in Figure 1, wherein the direction in the job step course line 171 of the line of flight 17 is vertical direction, if the control
It is to drag upwards to the corresponding drawing direction of drag operation of the Heading control point 11 as shown in Figure 1 that control equipment, which gets user,
Dynamic direction, and the angle in the drawing direction of Heading control point 11 and the standard coordinate axis between axis of abscissas is 30
Degree can then determine the direction of rotation in the job step course line 171 of the line of flight 17 for counter clockwise direction and the rotation
Angle is 30 degree.The job step course line 171 of the line of flight 17 as shown in Figure 1 can be rotated in the counterclockwise direction 30 degree it
Afterwards, the course-and-bearing in the job step course line 471 of the line of flight 47 as shown in Figure 4 is obtained.Wherein, flight course planning shown in Fig. 4
Heading control point 41 corresponding with Fig. 1, region destination 42, region destination 43, region destination 44, region are further comprised on interface
Destination 45, the line of flight 47, job step course line 471, linkage section course line 472, hangs on the region way point 43 course sector 46
Suspend the region destination 44 of display in the latitude and longitude information 431 of the region destination 43 of floating display, the region destination 44
The distance between described region destination 43 441.It should be noted that the linkage section course line 472 and the course sector 46
Boundary line between keep preset distance interval.
In one embodiment, the control equipment can be according to the longitude and latitude of each region destination on the course sector
Information determines that position corresponding to the destination of target area and region destination institute adjacent on the direction in the job step course line are right
The distance between position answered, and the distance is shown on the target area destination.By taking Fig. 1 as an example, the control equipment
It can determine that region destination 14 i.e. target area is navigated according to the latitude and longitude information 131 of region destination 13 on the course sector 16
Between position corresponding to the corresponding position of point and adjacent region destination 13 on the direction in the job step course line 171
Distance is 142.2M, and the distance 142.2M is shown on the target area destination 14.
In one embodiment, the edit operation of the control available region destination of equipment, and according to described
The course sector is edited in edit operation, is adjusted with the length for heading to the line of flight.Wherein, described
Edit operation can be the operation such as drag operation, clicking operation, and the embodiment of the present invention is without limitation.Specifically can be with Fig. 1 and Fig. 5
Example is illustrated, wherein Fig. 5 is a kind of interface schematic diagram of course sector provided in an embodiment of the present invention.Assuming that the control
Equipment gets the drag operation to the region destination 12, and the drag operation is that horizontally a left side is dragged to as described in Figure 5
Region destination 52 corresponding at position, so that the control equipment can edit course sector 16 shown in FIG. 1,
Course sector 16 as shown in Figure 1 is adjusted to course sector 56 as shown in Figure 5, thus to the line of flight as described in Figure 1
17 length for heading is adjusted to obtain the length for heading of the line of flight 57 as shown in Figure 5.Wherein, course line rule shown in fig. 5
It further include Heading control point 51 corresponding with Fig. 1, region destination 52, region destination 53, region destination 54, region on description face
Destination 55, the line of flight 57, job step course line 571, linkage section course line 572, the display that suspends on the region way point 53 should
Suspend the boat of region described in the region destination 54 of display in the latitude and longitude information 531 of region destination 53, the region destination 54
The distance between point 53 541.
The flight course planning method of unmanned plane provided in an embodiment of the present invention needs the control equipment to realize, below with reference to attached
The flight course planning method of the corresponding unmanned plane for controlling devices of figure is described in detail.
Fig. 6 specifically is referred to, Fig. 6 is that a kind of process of the flight course planning method of unmanned plane provided in an embodiment of the present invention is shown
It is intended to, the method can be executed by control equipment, wherein the specific explanations of the control equipment are as previously described.Specifically, originally
Described method includes following steps for inventive embodiments.
S601: the edit operation to the Heading control point in user interface is obtained.
In the embodiment of the present invention, the available editor to the Heading control point in user interface of the control equipment
Operation.Wherein, the Heading control point can suspend any position being shown in the user interface, and the edit operation can
To be drag operation.It is illustrated by taking Fig. 1 as an example, the available Heading control point 11 in user interface of the control equipment
Edit operation, and according to the edit operation of the Heading control point 11, to the job step course line 171 of the line of flight 17
It is edited in direction.
S602: according to the edit operation of the Heading control point, according to predetermined angle to the job step of the line of flight
The direction in course line is adjusted editor.
In the embodiment of the present invention, the control equipment can be according to the edit operation of the Heading control point, according to default
Angle is adjusted editor to the direction in the job step course line of the line of flight.Wherein, the predetermined angle can be user
Pre-set any angle.
In one embodiment, it is described control equipment if it is judged that the Heading control point got edit operation
For drag operation, then the corresponding drawing direction of the available drag operation of the control equipment, and according to the dragging side
To being rotated to the direction in the job step course line of the line of flight according to predetermined angle, wherein the work of the line of flight
The direction of industry section course line rotation is corresponding with the drawing direction of the Heading control point.In one embodiment, described to fly
The direction of the job step course line rotation in row course line can be counter clockwise direction or clockwise direction, the dragging of the Heading control point
Direction may include: upward to drag direction, drag down direction, to the left drawing direction, to the right any one in drawing direction
Or it is a variety of.
It can be specifically illustrated by taking Fig. 1 and Fig. 2 as an example, it is assumed that pre-set predetermined angle is 90 degree, the flight boat
The corresponding relationship of the drawing direction of the job step course line direction of rotation of line and the Heading control point are as follows: clockwise and upwards
Drawing direction and/or drawing direction is corresponding to the left；Counterclockwise with drag down direction and/or to the right, drawing direction is opposite
It answers.For example, it is assumed that current flight course planning interface is interface as shown in Figure 1, wherein the job step of the line of flight 17 is navigated
The direction of line 171 is vertical direction, if the user that the control equipment is got is to the Heading control point as shown in Figure 1
The corresponding drawing direction of 11 drag operation is upward drawing direction, then the control equipment can be to the line of flight 17
The direction in job step course line 171 is rotated in the counterclockwise direction 90 degree, obtains the job step course line of the line of flight 27 as shown in Figure 2
271 course-and-bearing is horizontal direction.
In one embodiment, the longitude and latitude of the region destination is shown on each region destination of the user interface
Information, as shown in figure 1 shown in 131.In one embodiment, control equipment can be according to each region destination on the course sector
Latitude and longitude information, determine position corresponding to the destination of target area and region adjacent on the direction in the job step course line
The distance between position corresponding to destination, and the distance is shown on the target area destination.It is described by taking Fig. 1 as an example
Control equipment can determine region destination 14 i.e. mesh according to the latitude and longitude information 131 of region destination 13 on the course sector 16
Mark position corresponding to position corresponding to the destination of region and region destination 13 adjacent on the direction in the job step course line 171
It the distance between sets as 142.2M, and shows the distance 142.2M on the target area destination 14.
In one embodiment, the edit operation of the control available region destination of equipment, and according to described
The course sector is edited in edit operation, is adjusted with the length for heading to the line of flight.Wherein, described
Edit operation can be the operation such as drag operation, clicking operation, and the embodiment of the present invention is without limitation.Specifically can be with Fig. 1 and Fig. 5
Example is illustrated, it is assumed that the control equipment gets the drag operation to the region destination 12, and the drag operation is edge
Level be dragged at position corresponding to region destination 52 as described in Figure 5 to the left, thus to course sector 16 shown in FIG. 1 into
Course sector 16 as shown in the figure is adjusted to course sector 56 as shown in Figure 5, thus the flight described in Fig. 1 by edlin
The length for heading in course line 17 is adjusted, and obtains the length for heading of the line of flight 57 as shown in Figure 5.Wherein, course line described in Fig. 5
Plan that on interface further include Heading control point 51 corresponding with Fig. 1, region destination 52, region destination 53, region destination 54, area
Domain destination 55, the line of flight 57, job step course line 571, linkage section course line 572, suspend on the region way point 53 display
Suspend region described in the region destination 54 of display in the latitude and longitude information 531 of the region destination 53, the region destination 54
The distance between destination 53 541.
In the embodiment of the present invention, control equipment is by obtaining the dragging behaviour to the Heading control point in user interface
Make, obtain the corresponding drawing direction of the drag operation, and according to the drawing direction, navigates to the job step of the line of flight
The direction of line is rotated according to predetermined angle, in this way, is realized and is rapidly edited to the line of flight, is improved
The working efficiency of unmanned plane.
Fig. 7 is referred to, Fig. 7 is the process signal of the flight course planning method of another unmanned plane provided in an embodiment of the present invention
Figure, the method for the embodiment of the present invention and the difference of embodiment described in above-mentioned Fig. 6 are that the embodiment of the present invention is according to dragging
The corresponding drawing direction of operation determines direction of rotation, and the angle of rotation is determined according to the angle dragged, thus according to
The angle of the direction of rotation and the rotation edits the course-and-bearing of the line of flight.Specifically, the present invention is real
Applying example, described method includes following steps.
S701: the edit operation to the Heading control point in user interface is obtained.
In the embodiment of the present invention, the available editor to the Heading control point in user interface of the control equipment
Operation.Wherein, the Heading control point can suspend any position being shown in the user interface, and the edit operation can
To be drag operation.It is specific to illustrate as described above, details are not described herein again.
S702: if the edit operation is the drag operation, the corresponding drawing direction of the drag operation is obtained.
In the embodiment of the present invention, the control equipment can be in the edit operation according to the Heading control point, to described
During the course-and-bearing of the line of flight is edited, if the edit operation is drag operation, the control equipment
The corresponding drawing direction of the available drag operation.Wherein, the drag operation can be continuous drag operation, can also
To be intermittent drag operation, the embodiment of the present invention is without limitation, it is only necessary to according to the drawing direction and rotation angle to institute
The course-and-bearing for stating the line of flight is rotated.The drawing direction can be any direction, the job step of the line of flight
The direction of course line rotation is corresponding with the drawing direction of the Heading control point.In one embodiment, the control equipment can
It, can basis to determine the direction of the job step course line rotation of the line of flight according to the drawing direction of the Heading control point
Angle between the drawing direction of the Heading control point and the standard coordinate axis of user interface determines the work of the line of flight
The angle of industry section course line rotation.In one embodiment, the angle of the job step course line rotation of the line of flight can basis
Angle in the drawing direction and the standard coordinate axis of the Heading control point between axis of abscissas determines, can also basis
It is determined with the angle in standard coordinate axis between axis of ordinates, the embodiment of the present invention is without limitation.The work of the line of flight
Details are not described herein again as described above for the explanation of the drawing direction in the direction and Heading control point of industry section course line rotation.
S703: according to the drawing direction, the direction in the job step course line of the line of flight is rotated.
In the embodiment of the present invention, control equipment can navigate to the job step of the line of flight according to the drawing direction
The direction of line is rotated.It can be specifically illustrated by taking Fig. 1 and Fig. 4 as an example, Fig. 4 is another boat provided in an embodiment of the present invention
The schematic diagram in line gauge description face.Assuming that the direction that rotates of the job step course line of the line of flight and the Heading control point drag
The corresponding relationship in dynamic direction are as follows: drawing direction is corresponding with upward drawing direction and/or to the left clockwise；Counterclockwise
Drawing direction is corresponding with drag down direction and/or to the right.Assuming that the angle that the job step course line of the line of flight rotates
It is to be determined according to the angle in the drawing direction of the Heading control point and the standard coordinate axis between axis of abscissas, it is false
If current flight course planning interface is interface as shown in Figure 1, wherein the side in the job step course line 171 of the line of flight 17
To for vertical direction, if dragging of the user that gets of the control equipment to the Heading control point 11 as shown in Figure 1
Corresponding drawing direction is operated as upward drawing direction, and the drawing direction of Heading control point 11 and the standard coordinate axis
Angle between middle axis of abscissas is 30 degree, then can determine the direction of rotation in the job step course line 171 of the line of flight 17
Angle for counter clockwise direction and the rotation is 30 degree.The job step course line 171 of the line of flight 17 as described in Figure 1 is along inverse
After clockwise rotates 30 degree, the course-and-bearing in the job step course line 471 of the line of flight 47 as shown in Figure 4 is obtained.
In one embodiment, the longitude and latitude of the region destination is shown on each region destination of the user interface
Information, as shown in figure 1 shown in 131.In one embodiment, control equipment can be according to each region destination on the course sector
Latitude and longitude information, determine position corresponding to the destination of target area and region adjacent on the direction in the job step course line
The distance between position corresponding to destination, and the distance is shown on the target area destination.It is described by taking Fig. 1 as an example
Control equipment can determine region destination 14 i.e. mesh according to the latitude and longitude information 131 of region destination 13 on the course sector 16
Mark position corresponding to position corresponding to the destination of region and region destination 13 adjacent on the direction in the job step course line 171
It the distance between sets as 142.2M, and shows the distance 142.2M on the target area destination 14.
In one embodiment, the edit operation of the control available region destination of equipment, and according to described
The course sector is edited in edit operation, is adjusted with the length for heading to the line of flight.Wherein, described
Edit operation can be the operation such as drag operation, clicking operation, and the embodiment of the present invention is without limitation.It is specific to illustrate as above
Described, details are not described herein.
In the embodiment of the present invention, control equipment is by obtaining the dragging behaviour to the Heading control point in user interface
Make, obtain the corresponding drawing direction of the drag operation, and according to the drawing direction, navigates to the job step of the line of flight
The direction of line is rotated, and in this way, is realized and is rapidly edited to the line of flight, and the work of unmanned plane is improved
Make efficiency.
Fig. 8 is referred to, Fig. 8 is a kind of structural schematic diagram for controlling equipment provided in an embodiment of the present invention.Specifically, described
Controlling equipment includes: display device 801, control device 802, processor 803, data-interface 804 and memory 805.
The display device 801, for showing that the processor 803 plans obtained flight course planning interface；
The control device 802, for receiving the edit operation got from data-interface 804.
The memory 805 may include volatile memory (volatile memory)；Memory 805 also can wrap
Include nonvolatile memory (non-volatile memory)；Memory 805 can also include the group of the memory of mentioned kind
It closes.The processor 803 can be central processing unit (central processing unit, CPU).The processor 803 is also
It may further include hardware chip.Above-mentioned hardware chip can be specific integrated circuit (application-specific
Integrated circuit, ASIC), programmable logic device (programmable logic device, PLD) or its group
It closes.Above-mentioned PLD can be Complex Programmable Logic Devices (complex programmable logic device, CPLD), existing
Field programmable logic gate array (field-programmable gate array, FPGA) or any combination thereof.
Further, the memory 805 is for storing program instruction.The processor 803 is filled with the display respectively
801 to be set to be connected with the control device 802, the processor 803 can call the program instruction stored in memory 805,
For executing following steps:
Obtain the edit operation to the Heading control point in user interface；
According to the edit operation of the Heading control point, the course-and-bearing of the line of flight is edited.
Further, the line of flight includes: job step course line and linkage section course line, the course line side of the line of flight
To the direction for referring to the job step course line.
Further, the processor 803 calls the program instruction stored in memory 805 following not walk for executing
It is rapid:
According to the edit operation of the Heading control point, according to predetermined angle to the job step course line of the line of flight
Direction is adjusted editor.
Further, the processor 803 calls the program instruction stored in memory 805 for executing following steps:
If the edit operation is the drag operation, the corresponding drawing direction of the drag operation is obtained；
According to the drawing direction, the direction in the job step course line of the line of flight is revolved according to predetermined angle
Turn；
Wherein, the direction of the rotation is corresponding with the drawing direction.
Further, the processor 803 calls the program instruction stored in memory 805 for executing following steps:
If the edit operation is the drag operation, the corresponding drawing direction of the drag operation is obtained；
According to the drawing direction, the direction in the job step course line of the line of flight is rotated；
Wherein, the direction of the rotation is corresponding with the drawing direction.
Further, any position that the Heading control point suspension is shown in the user interface.
Further, the processor 803 calls the program instruction stored in memory 805 for executing following steps:
The latitude and longitude information of the region destination is shown on each region destination of the user interface.
Further, the processor 803 calls the program instruction stored in memory 805 for executing following steps:
According to the latitude and longitude information of each region destination on the course sector, position corresponding to the destination of target area is determined
It sets at a distance between position corresponding to the region destination adjacent on the direction in the job step course line；
The distance is shown on the target area destination.
Further, the processor 803 calls the program instruction stored in memory 805 for executing following steps:
Obtain the edit operation of the region destination；
According to the edit operation, the course sector is edited, with the length for heading to the line of flight into
Row adjustment.
In the embodiment of the present invention, control equipment is by obtaining the editor behaviour to the Heading control point in user interface
Make, and according to the edit operation, the direction in the job step course line of the line of flight is edited, in this way,
The editor rapidly carried out to the line of flight is realized, the working efficiency of unmanned plane is improved.
A kind of computer readable storage medium, the computer-readable storage medium are additionally provided in an embodiment of the present invention
Matter is stored with computer program, and embodiment corresponding to Fig. 6 or Fig. 7 of the present invention is realized when the computer program is executed by processor
Described in unmanned plane flight course planning method, can also realize the control equipment of embodiment corresponding to Fig. 8, details are not described herein.
The computer readable storage medium can be the internal storage unit of terminal described in aforementioned any embodiment, example
Such as the hard disk or memory of terminal.The computer readable storage medium is also possible to the External memory equipment of the terminal, such as
The plug-in type hard disk being equipped in the terminal, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, flash card (Flash Card) etc..Further, the computer readable storage medium can also be wrapped both
The internal storage unit for including the terminal also includes External memory equipment.The computer readable storage medium is described for storing
Other programs and data needed for computer program and the terminal.The computer readable storage medium can be also used for temporarily
When store the data that has exported or will export.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Above disclosed is only section Example of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (19)
1. a kind of flight course planning method of unmanned plane, which is characterized in that applied to the terminal for carrying out line of flight planning, the end
End includes Heading control point on the flight course planning interface and is advised by least three region destinations for showing flight course planning interface
Obtained course sector is drawn, includes the line of flight in the course sector, which comprises
Obtain the edit operation to the Heading control point in user interface；
According to the edit operation of the Heading control point, the course-and-bearing of the line of flight is edited.
2. the method according to claim 1, wherein the line of flight includes: job step course line and linkage section
Course line, the course-and-bearing of the line of flight refer to the direction in the job step course line.
3. method according to claim 1 or 2, which is characterized in that the edit operation according to the Heading control point,
The course-and-bearing of the line of flight is edited, comprising:
According to the edit operation of the Heading control point, according to predetermined angle to the direction in the job step course line of the line of flight
It is adjusted editor.
4. according to the method described in claim 3, it is characterized in that, the edit operation includes drag operation；It is described according to pre-
If angle is adjusted editor to the direction in the job step course line of the line of flight, comprising:
If the edit operation is the drag operation, the corresponding drawing direction of the drag operation is obtained；
According to the drawing direction, the direction in the job step course line of the line of flight is rotated according to predetermined angle；
Wherein, the direction of the rotation is corresponding with the drawing direction.
5. method according to claim 1 or 2, which is characterized in that the edit operation includes drag operation；The basis
The edit operation of the Heading control point, edits the course-and-bearing of the line of flight, further includes:
If the edit operation is the drag operation, the corresponding drawing direction of the drag operation is obtained；
According to the drawing direction, the direction in the job step course line of the line of flight is rotated；
Wherein, the direction of the rotation is corresponding with the drawing direction.
6. the method according to claim 1, wherein the suspension of Heading control point is shown in the user interface
On any position.
7. the method according to claim 1, wherein the method also includes:
The latitude and longitude information of the region destination is shown on each region destination of the user interface.
8. method according to claim 1 or claim 7, which is characterized in that the method also includes:
According to the latitude and longitude information of each region destination on the course sector, determine position corresponding to the destination of target area with
Distance on the direction in the job step course line between position corresponding to adjacent region destination；
The distance is shown on the target area destination.
9. the method according to claim 1, wherein the method also includes:
Obtain the edit operation of the region destination；
According to the edit operation, the course sector is edited, is adjusted with the length for heading to the line of flight
It is whole.
10. a kind of control equipment of unmanned plane, which is characterized in that be applied to flight course planning and control, comprising:
Display device includes Heading control point and by least three for showing flight course planning interface, on the flight course planning interface
The course sector that a region destination is planned includes the line of flight in the course sector；
Control device, for receiving the edit operation of user；
Processor, the processor are connected with the display device and the control device respectively, and the processor is for sentencing
Break and the edit operation and generate corresponding control instruction, and for executing following steps:
Obtain the edit operation to the Heading control point in user interface；
According to the edit operation of the Heading control point, the course-and-bearing of the line of flight is edited.
11. equipment according to claim 10, which is characterized in that the line of flight includes: job step course line and connection
Section course line, the course-and-bearing of the line of flight refer to the direction in the job step course line.
12. equipment described in 0 or 11 according to claim 1, which is characterized in that the processor is for executing following steps:
According to the edit operation of the Heading control point, according to predetermined angle to the direction in the job step course line of the line of flight
It is adjusted editor.
13. equipment according to claim 12, which is characterized in that the processor is for executing following steps:
If the edit operation is the drag operation, the corresponding drawing direction of the drag operation is obtained；
According to the drawing direction, the direction in the job step course line of the line of flight is rotated according to predetermined angle；
Wherein, the direction of the rotation is corresponding with the drawing direction.
14. equipment described in 0 or 11 according to claim 1, which is characterized in that the processor is for executing following steps:
If the edit operation is the drag operation, the corresponding drawing direction of the drag operation is obtained；
According to the drawing direction, the direction in the job step course line of the line of flight is rotated；
Wherein, the direction of the rotation is corresponding with the drawing direction.
15. equipment according to claim 10, which is characterized in that the Heading control point suspension is shown in user circle
Any position on face.
16. equipment according to claim 10, which is characterized in that the processor is for executing following steps:
The latitude and longitude information of the region destination is shown on each region destination of the user interface.
17. equipment described in 0 or 16 according to claim 1, which is characterized in that the processor is for executing following steps:
According to the latitude and longitude information of each region destination on the course sector, determine position corresponding to the destination of target area with
Distance on the direction in the job step course line between position corresponding to adjacent region destination；
The distance is shown on the target area destination.
18. equipment according to claim 10, which is characterized in that the processor is for executing following steps:
Obtain the edit operation of the region destination；
According to the edit operation, the course sector is edited, is adjusted with the length for heading to the line of flight
It is whole.
19. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In any one of such as claim 1 to 9 of realization the method when the computer program is executed by processor.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/116868 WO2019119187A1 (en) | 2017-12-18 | 2017-12-18 | Route planning method for unmanned aerial vehicle, control device, and storage medium |
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| Publication Number | Publication Date |
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| CN109074093A true CN109074093A (en) | 2018-12-21 |
| CN109074093B CN109074093B (en) | 2021-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780023042.9A Expired - Fee Related CN109074093B (en) | 2017-12-18 | 2017-12-18 | Air route planning method, control equipment and storage medium for unmanned aerial vehicle |
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| CN (1) | CN109074093B (en) |
| WO (1) | WO2019119187A1 (en) |
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| CN111699455A (en) * | 2019-05-27 | 2020-09-22 | 深圳市大疆创新科技有限公司 | Flight route generation method, terminal and unmanned aerial vehicle |
| CN111727415A (en) * | 2019-06-12 | 2020-09-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, terminal, unmanned aerial vehicle and storage medium |
| CN112154302A (en) * | 2019-10-31 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Route planning method, control terminal and computer readable storage medium |
| CN112740135A (en) * | 2019-12-23 | 2021-04-30 | 深圳市大疆创新科技有限公司 | Air route planning method, unmanned aerial vehicle, control terminal and computer readable storage medium |
| WO2021081960A1 (en) * | 2019-10-31 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Route planning method, device and system, and storage medium |
| CN113671990A (en) * | 2021-08-10 | 2021-11-19 | 广州极飞科技股份有限公司 | Method, device and equipment for setting operation path and storage medium |
| CN113826054A (en) * | 2020-09-28 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Air route planning method and equipment |
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| WO2021159249A1 (en) * | 2020-02-10 | 2021-08-19 | 深圳市大疆创新科技有限公司 | Route planning method and device, and storage medium |
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| CN109782805A (en) * | 2019-01-04 | 2019-05-21 | 哈瓦国际航空技术（深圳）有限公司 | Method, apparatus, equipment and the storage medium in laser radar unmanned plane planning course line |
| CN111699455A (en) * | 2019-05-27 | 2020-09-22 | 深圳市大疆创新科技有限公司 | Flight route generation method, terminal and unmanned aerial vehicle |
| CN111727415A (en) * | 2019-06-12 | 2020-09-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, terminal, unmanned aerial vehicle and storage medium |
| WO2020248155A1 (en) * | 2019-06-12 | 2020-12-17 | 深圳市大疆创新科技有限公司 | Control method for unmanned aerial vehicle, and terminal, unmanned aerial vehicle and storage medium |
| CN112154302A (en) * | 2019-10-31 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Route planning method, control terminal and computer readable storage medium |
| WO2021081960A1 (en) * | 2019-10-31 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Route planning method, device and system, and storage medium |
| CN112740135A (en) * | 2019-12-23 | 2021-04-30 | 深圳市大疆创新科技有限公司 | Air route planning method, unmanned aerial vehicle, control terminal and computer readable storage medium |
| CN113826054A (en) * | 2020-09-28 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Air route planning method and equipment |
| CN113671990A (en) * | 2021-08-10 | 2021-11-19 | 广州极飞科技股份有限公司 | Method, device and equipment for setting operation path and storage medium |
| CN113671990B (en) * | 2021-08-10 | 2024-04-26 | 广州极飞科技股份有限公司 | Job path setting method, device, equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN109074093B (en) | 2021-11-16 |
| WO2019119187A1 (en) | 2019-06-27 |
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