CN109074093B - Air route planning method, control equipment and storage medium for unmanned aerial vehicle - Google Patents
Air route planning method, control equipment and storage medium for unmanned aerial vehicle Download PDFInfo
- Publication number
- CN109074093B CN109074093B CN201780023042.9A CN201780023042A CN109074093B CN 109074093 B CN109074093 B CN 109074093B CN 201780023042 A CN201780023042 A CN 201780023042A CN 109074093 B CN109074093 B CN 109074093B
- Authority
- CN
- China
- Prior art keywords
- flight
- route
- dragging
- editing
- course
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000000725 suspension Substances 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 7
- 230000015654 memory Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 9
- 238000007667 floating Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
A flight path planning method, control equipment and storage medium of an unmanned aerial vehicle are applied to a terminal for planning flight paths, the terminal is used for displaying a flight path planning interface, the flight path planning interface comprises a course control point and a flight path area planned by at least three area flight points, and the flight path area comprises the flight paths, wherein the method comprises the following steps: acquiring the editing operation of the course control point on the user interface; and editing the course direction of the flight path according to the editing operation of the course control point, so that the flight path direction of the flight path is quickly edited, and the working efficiency of the unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the technical field of control, in particular to a flight path planning method, control equipment and a storage medium for an unmanned aerial vehicle.
Background
With the development of drone technology, drones are now widely used to perform various types of work tasks (e.g., aerial photography, agricultural plant protection, surveying, etc.). At present, when the unmanned aerial vehicle is applied to agricultural plant protection application, a flight route of the unmanned aerial vehicle for executing an agricultural plant protection task can be determined through control equipment of the unmanned aerial vehicle, and the efficiency of the unmanned aerial vehicle for executing the agricultural plant protection task is determined by planning the flight route. At present, some technologies for editing the flight path of the unmanned aerial vehicle exist, but the technologies require complex operations to edit the flight path, so that the working efficiency of the unmanned aerial vehicle is reduced, and the time for a user to plan the flight path is increased.
Disclosure of Invention
The embodiment of the invention provides a route planning method, control equipment and a storage medium of an unmanned aerial vehicle, so as to improve the working efficiency of the unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides a flight path planning method for an unmanned aerial vehicle, which is applied to a terminal for planning flight paths, where the terminal is configured to display a flight path planning interface, the flight path planning interface includes a heading control point and a flight path area obtained by planning at least three regional flight points, and the flight path area includes the flight paths, and the method includes:
acquiring the editing operation of the course control point on the user interface;
and editing the course direction of the flight course according to the editing operation of the course control point.
In a second aspect, an embodiment of the present invention provides a control device for an unmanned aerial vehicle, which is applied to route planning control, and includes:
the display device is used for displaying an air route planning interface, the air route planning interface comprises a course control point and an air route area obtained by planning at least three regional air points, and the air route area comprises the flight air route;
the control device is used for receiving the editing operation of a user;
the processor is respectively connected with the display device and the control device, and is used for judging the editing operation and generating a corresponding control instruction and executing the following steps:
acquiring the editing operation of the course control point on the user interface;
and editing the course direction of the flight course according to the editing operation of the course control point.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the method for planning routes of a drone according to the first aspect.
In the embodiment of the invention, the control equipment edits the course direction of the flight course of the unmanned aerial vehicle by acquiring the editing operation of the course control point on the user interface, so that the editing operation of the course direction is simpler and more convenient, the flight course is quickly edited, and the working efficiency of the unmanned aerial vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic illustration of an airline planning interface provided by an embodiment of the present invention;
FIG. 2 is a schematic illustration of another route planning interface provided by an embodiment of the present invention;
FIG. 3 is a schematic illustration of yet another airline planning interface provided by an embodiment of the present invention;
FIG. 4 is a schematic illustration of yet another airline planning interface provided by an embodiment of the present invention;
FIG. 5 is an interface schematic diagram of an airline region provided by an embodiment of the present invention;
fig. 6 is a schematic flowchart of a route planning method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of another method for planning routes of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described in the present invention are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The unmanned aerial vehicle route planning method provided by the embodiment of the invention can be applied to control equipment of an unmanned aerial vehicle, the control equipment can be a terminal for planning a flight route, and the terminal can be any one or more of a desktop computer, a notebook computer, a smart phone, wearable equipment (such as a watch and a bracelet) and a remote controller in practical application. The terminal is used for displaying an air route planning interface, the air route planning interface comprises a course control point and an air route area obtained by planning at least three regional air points, and the air route area comprises the flight air route. As shown in fig. 1, fig. 1 is a schematic diagram of a route planning interface according to an embodiment of the present invention, where the route planning interface shown in fig. 1 includes a heading control point 11, and a route area 16 planned by a regional route point 12, a regional route point 13, a regional route point 14, and a regional route point 15, the route area 16 includes a flight route 17, the flight route 17 includes a working section route 171 and a connecting section route 172, the latitude and longitude information 131 of the regional route point 13 is displayed in a suspended manner on the regional route point 13, and the distance 141 between the regional route point 14 and the regional route point 13 is displayed in a suspended manner on the regional route point 14.
The air route planning method for the unmanned aerial vehicle provided by the embodiment of the invention can be applied to the operation tasks of the unmanned aerial vehicle, such as agricultural plant protection tasks (spraying pesticides), aerial photography operation tasks and survey operation tasks, and the agricultural plant protection tasks are schematically described below. The following illustrates an air route planning method for an unmanned aerial vehicle provided by the embodiment of the invention.
In the embodiment of the present invention, the control device of the unmanned aerial vehicle may obtain an operation planning interface, that is, a user interface, and plan a flight path of the unmanned aerial vehicle on the operation planning interface, where a path direction of the flight path may be any direction, for example, a horizontal path or a vertical path. The embodiment of the invention does not limit the flight path direction of the flight path. In one embodiment, the control device may edit the course direction of the flight path by obtaining an editing operation on a heading control point on the operation planning interface and according to the editing operation on the heading control point. The editing operation can be a dragging operation, and the course control point can be displayed at any position on the user interface in a floating manner. In one embodiment, the flight path comprises: the flight route direction of the flight route refers to the direction of the flight route of the operation section. Taking fig. 1 as an example for explanation, assuming that the control device obtains an editing operation on a heading control point 11 on a user interface, the control device may edit the direction of the working section route 171 of the flight route 17 according to the editing operation on the heading control point 11.
In one embodiment, the control device may adjust the direction of an operation section route in the flight route according to a preset angle in the process of editing the route direction of the flight route according to the editing operation of the heading control point. The preset angle may be any angle preset by a user.
In an embodiment, if the control device determines that the obtained editing operation of the heading control point is a dragging operation, the control device may obtain a dragging direction corresponding to the dragging operation, and rotate the direction of the operation section route of the flight route according to a preset angle according to the dragging direction, where the rotating direction corresponds to the dragging direction. In one embodiment, the direction of the working section course rotation of the flight course may be a counterclockwise direction or a clockwise direction, and the dragging direction of the heading control point may include: any one or more of an upward drag direction, a downward drag direction, a leftward drag direction, and a rightward drag direction.
Specifically, fig. 1 and fig. 2 are taken as examples for explanation, and fig. 2 is a schematic diagram of another route planning interface provided by the embodiment of the present invention. Assuming that the preset angle preset by the user is 90 degrees, the corresponding relation between the rotation direction of the operation section flight path of the flight path and the dragging direction of the course control point is as follows: the clockwise direction corresponds to the upward dragging direction and/or the leftward dragging direction; the counter-clockwise direction corresponds to the downward drag direction and/or the rightward drag direction. Assuming that the current route planning interface is an interface as shown in fig. 1, wherein the direction of the working section route 171 of the flight route 17 is a vertical direction, if the control device obtains that the dragging direction corresponding to the dragging operation of the user on the heading control point 11 as shown in fig. 1 is an upward dragging direction, the control device may rotate 90 degrees in the counterclockwise direction with respect to the direction of the working section route 171 of the flight route 17, and the route direction of the working section route 271 of the flight route 27 as shown in fig. 2 is a horizontal direction. The route planning interface shown in fig. 2 further includes a heading control point 21, an area waypoint 22, an area waypoint 23, an area waypoint 24, an area waypoint 25, a route area 26, a flight route 27, an operation route 271, a connection route 272 corresponding to fig. 1, latitude and longitude information 231 displayed in a suspension manner on the area waypoint 23, and a distance 241 between the area waypoint 24 and the area waypoint 23 displayed in a suspension manner on the area waypoint 24.
For another example, fig. 1 and fig. 3 are taken as an example for explanation, wherein fig. 3 is a schematic diagram of another route planning interface provided by the embodiment of the present invention. Assuming that the current route planning interface is an interface as shown in fig. 1, wherein the direction of the working section route 171 of the flight route 17 is a vertical direction, if the control device obtains that the dragging direction corresponding to the dragging operation of the user on the heading control point 11 as shown in fig. 1 is a right dragging direction, the control device may rotate 90 degrees clockwise with respect to the direction of the working section route 171 of the flight route 17, and the route direction of the working section route 371 of the flight route 37 as shown in fig. 3 is a horizontal direction. The route planning interface shown in fig. 3 further includes a heading control point 31, an area waypoint 32, an area waypoint 33, an area waypoint 34, an area waypoint 35, a route area 36, a flight route 37, an operation section route 371, a connection section route 372, latitude and longitude information 331 of the area waypoint 33, which is displayed in a suspended manner on the area waypoint 33, and a distance 341 between the area waypoint 34 and the area waypoint 33, which is displayed in a suspended manner on the area waypoint 34, corresponding to fig. 1.
In one embodiment, in the process that the control device edits the course direction of the flight course according to the editing operation of the heading control point, if the editing operation is a dragging operation, the control device may obtain the dragging direction corresponding to the dragging operation, and rotate the direction of the operation section course of the flight course according to the dragging direction. The dragging operation can be continuous dragging operation or intermittent dragging operation, and the embodiment of the invention is not limited, and only needs to rotate the flight path direction of the flight path according to the dragging direction and the rotation angle. The dragging direction of the course control point can be any direction, and the rotating direction of the operation section route of the flight route corresponds to the dragging direction of the course control point. In one embodiment, the control device may determine a direction in which an operation section flight path of the flight path rotates according to the dragging direction, and may determine an angle in which the flight path rotates according to an included angle between the dragging direction and a standard coordinate axis of a user interface. In an embodiment, the rotation angle of the flight path may be determined according to an included angle between the dragging direction of the heading control point and an abscissa axis in the standard coordinate axis, or may be determined according to an included angle between the dragging direction of the heading control point and an ordinate axis in the standard coordinate axis, which is not limited in the embodiment of the present invention. The direction of the rotation of the working section route of the flight route can be the counterclockwise direction or the clockwise direction as mentioned above, and the dragging direction of the heading control point can include the following steps as mentioned above: any one or more of an upward dragging direction, a downward dragging direction, a leftward dragging direction and a rightward dragging direction.
Specifically, fig. 1 and fig. 4 are taken as examples for explanation, and fig. 4 is a schematic diagram of another route planning interface provided by the embodiment of the present invention. Assuming that the corresponding relation between the rotating direction of the operation section flight path of the flight path and the dragging direction of the heading control point is as follows: the clockwise direction corresponds to the upward dragging direction and/or the leftward dragging direction; the counter-clockwise direction corresponds to the downward drag direction and/or the rightward drag direction. And assuming that the rotation angle of the flight path is determined according to an included angle between the dragging direction of the course control point and an abscissa axis in the standard coordinate axes. Assuming that the current route planning interface is an interface shown in fig. 1, wherein the direction of the working section route 171 of the flight route 17 is a vertical direction, if the control device obtains that the dragging direction corresponding to the dragging operation of the user on the heading control point 11 shown in fig. 1 is an upward dragging direction, and the included angle between the dragging direction of the heading control point 11 and the abscissa axis in the standard coordinate axis is 30 degrees, it may be determined that the rotating direction of the working section route 171 of the flight route 17 is a counterclockwise direction and the rotating angle is 30 degrees. The course path 171 of the working section of the flight path 17 as shown in fig. 1 may, after a 30-degree rotation in the counterclockwise direction, result in a path direction of the working section of the flight path 471 of the flight path 47 as shown in fig. 4. The course planning interface shown in fig. 4 further includes a heading control point 41, an area waypoint 42, an area waypoint 43, an area waypoint 44, an area waypoint 45, a course area 46, a flight course 47, an operation course 471, a connection course 472, latitude and longitude information 431 of the area waypoint 43, which is displayed on the area waypoint 43 in a suspended manner, and a distance 441 between the area waypoint 44 and the area waypoint 43, which is displayed on the area waypoint 44 in a suspended manner, corresponding to fig. 1. It should be noted that a preset distance interval is maintained between the connecting section route 472 and the boundary line of the route region 46.
In one embodiment, the control device may determine, according to latitude and longitude information of each regional waypoint in the route region, a distance between a position corresponding to a target regional waypoint and a position corresponding to an adjacent regional waypoint in the direction of the route of the operation segment, and display the distance on the target regional waypoint. Taking fig. 1 as an example, the control device may determine, according to latitude and longitude information 131 of the area waypoint 13 on the route area 16, that a distance between a position corresponding to the area waypoint 14, that is, the target area waypoint, and a position corresponding to the area waypoint 13 adjacent in the direction of the working section route 171 is 142.2M, and display the distance 142.2M on the target area waypoint 14.
In one embodiment, the control device may obtain an editing operation of the regional waypoint and edit the airline region according to the editing operation to adjust the airline length of the flight airline. The editing operation may be a drag operation, a click operation, or the like, and the embodiment of the present invention is not limited. Specifically, the description may be given by taking fig. 1 and fig. 5 as an example, where fig. 5 is an interface schematic diagram of an airline region provided in an embodiment of the present invention. Assume that the control device obtains a drag operation on the area waypoint 12, the drag operation being horizontally left dragging to a position corresponding to the area waypoint 52 shown in fig. 5, so that the control device can edit the airline area 16 shown in fig. 1, adjust the airline area 16 shown in fig. 1 to the airline area 56 shown in fig. 5, and adjust the airline length of the flight airline 17 shown in fig. 1 to the airline length of the flight airline 57 shown in fig. 5. The route planning interface shown in fig. 5 further includes a heading control point 51, an area waypoint 52, an area waypoint 53, an area waypoint 54, an area waypoint 55, a flight route 57, an operation section route 571, a connection section route 572, latitude and longitude information 531 of the area waypoint 53 displayed in suspension on the area waypoint 53, and a distance 541 between the area waypoints 53 and the area waypoint 54 displayed in suspension on the area waypoint 54, which correspond to fig. 1.
The method for planning the route of the unmanned aerial vehicle provided by the embodiment of the invention needs the control equipment to realize, and the method for planning the route of the unmanned aerial vehicle applied to the control equipment is explained in detail in the following by combining the attached drawings.
Referring to fig. 6 specifically, fig. 6 is a schematic flowchart of a method for planning routes of an unmanned aerial vehicle according to an embodiment of the present invention, where the method may be executed by a control device, and a specific explanation of the control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.
S601: and acquiring the editing operation of the course control point on the user interface.
In the embodiment of the invention, the control equipment can obtain the editing operation of the course control point on the user interface. The course control point can be displayed at any position on the user interface in a floating manner, and the editing operation can be a dragging operation. Taking fig. 1 as an example for illustration, the control device may obtain an editing operation on a heading control point 11 on a user interface, and edit the direction of the working section route 171 of the flight route 17 according to the editing operation of the heading control point 11.
S602: and adjusting and editing the direction of the operation section route of the flight route according to a preset angle according to the editing operation of the course control point.
In the embodiment of the invention, the control equipment can adjust and edit the direction of the operation section flight path of the flight path according to the preset angle according to the editing operation of the course control point. The preset angle may be any angle preset by a user.
In an embodiment, if the control device determines that the obtained editing operation of the heading control point is a dragging operation, the control device may obtain a dragging direction corresponding to the dragging operation, and rotate the direction of the operation section route of the flight route according to a preset angle according to the dragging direction, where the direction of the operation section route of the flight route rotation corresponds to the dragging direction of the heading control point. In one embodiment, the direction of the working section course rotation of the flight course may be a counterclockwise direction or a clockwise direction, and the dragging direction of the heading control point may include: any one or more of an upward dragging direction, a downward dragging direction, a leftward dragging direction and a rightward dragging direction.
Specifically, it can be explained by taking fig. 1 and fig. 2 as an example, assuming that the preset angle is 90 degrees, and the corresponding relationship between the rotation direction of the working section route of the flight route and the dragging direction of the heading control point is as follows: the clockwise direction corresponds to the upward dragging direction and/or the leftward dragging direction; the counter-clockwise direction corresponds to the downward drag direction and/or the rightward drag direction. For example, assuming that the current route planning interface is an interface as shown in fig. 1, where the direction of the working section route 171 of the flight route 17 is a vertical direction, if the dragging direction corresponding to the dragging operation of the user on the heading control point 11 as shown in fig. 1 acquired by the control device is an upward dragging direction, the control device may rotate 90 degrees in a counterclockwise direction with respect to the direction of the working section route 171 of the flight route 17, so as to obtain that the route direction of the working section route 271 of the flight route 27 as shown in fig. 2 is a horizontal direction.
In one embodiment, the latitude and longitude information for the area waypoints is displayed on the respective area waypoints of the user interface, as shown at 131 in FIG. 1. In one embodiment, the control device may determine, according to latitude and longitude information of each area waypoint on the route area, a distance between a position corresponding to a target area waypoint and a position corresponding to an area waypoint adjacent in the direction of the route of the operation section, and display the distance on the target area waypoint. Taking fig. 1 as an example, the control device may determine, according to latitude and longitude information 131 of the area waypoint 13 on the route area 16, that a distance between a position corresponding to the area waypoint 14, that is, the target area waypoint, and a position corresponding to the area waypoint 13 adjacent in the direction of the working section route 171 is 142.2M, and display the distance 142.2M on the target area waypoint 14.
In one embodiment, the control device may obtain an editing operation of the regional waypoint and edit the airline region according to the editing operation to adjust the airline length of the flight airline. The editing operation may be a drag operation, a click operation, or the like, and the embodiment of the present invention is not limited. Specifically, as illustrated in fig. 1 and fig. 5 as an example, it is assumed that the control device obtains a dragging operation on the area waypoint 12, where the dragging operation is horizontally left-dragging to a position corresponding to the area waypoint 52 illustrated in fig. 5, so as to edit the airline area 16 illustrated in fig. 1, and adjust the airline area 16 illustrated in the figure to the airline area 56 illustrated in fig. 5, so as to adjust the airline length of the airline 17 illustrated in fig. 1, and obtain the airline length of the airline 57 illustrated in fig. 5. The route planning interface shown in fig. 5 further includes a heading control point 51, an area waypoint 52, an area waypoint 53, an area waypoint 54, an area waypoint 55, a flight route 57, an operation section route 571, a connection section route 572, latitude and longitude information 531 of the area waypoint 53 which is displayed on the area waypoint 53 in a suspension manner, and a distance 541 between the area waypoints 53 and the area waypoint 54 which is displayed on the area waypoint 54 in a suspension manner, which correspond to fig. 1.
In the embodiment of the invention, the control equipment acquires the dragging direction corresponding to the dragging operation by acquiring the dragging operation of the course control point on the user interface, and rotates the direction of the operation section route of the flight route according to the dragging direction and the preset angle.
Referring to fig. 7, fig. 7 is a schematic flow chart of another method for planning a flight path of an unmanned aerial vehicle according to an embodiment of the present invention, and the method according to the embodiment of the present invention is different from the embodiment of fig. 6 in that a rotation direction is determined according to a drag direction corresponding to a drag operation, and a rotation angle is determined according to the dragged angle, so that the flight path direction of the flight path is edited according to the rotation direction and the rotation angle. Specifically, the method of the embodiment of the present invention includes the following steps.
S701: and acquiring the editing operation of the course control point on the user interface.
In the embodiment of the invention, the control equipment can obtain the editing operation of the course control point on the user interface. The course control point can be displayed at any position on the user interface in a floating manner, and the editing operation can be a dragging operation. The specific examples are as described above, and are not described herein again.
S702: and if the editing operation is the dragging operation, acquiring a dragging direction corresponding to the dragging operation.
In the embodiment of the invention, the control equipment can acquire the dragging direction corresponding to the dragging operation if the editing operation is the dragging operation in the process of editing the course direction of the flight course according to the editing operation of the course control point. The dragging operation can be continuous dragging operation or intermittent dragging operation, and the embodiment of the invention is not limited, and only needs to rotate the flight path direction of the flight path according to the dragging direction and the rotation angle. The dragging direction can be any direction, and the rotating direction of the operation section route of the flight route corresponds to the dragging direction of the course control point. In one embodiment, the control device may determine a direction in which the working section flight path of the flight path rotates according to a dragging direction of the heading control point, and may determine an angle in which the working section flight path of the flight path rotates according to an included angle between the dragging direction of the heading control point and a standard coordinate axis of a user interface. In an embodiment, the rotation angle of the working section flight path of the flight path may be determined according to an included angle between the dragging direction of the heading control point and an abscissa axis in the standard coordinate axis, or may be determined according to an included angle between the dragging direction of the heading control point and an ordinate axis in the standard coordinate axis, which is not limited in the embodiment of the present invention. The explanation of the direction of the flight path of the operation section and the dragging direction of the heading control point is not repeated herein as described above.
S703: and rotating the direction of the operation section route of the flight route according to the dragging direction.
In the embodiment of the invention, the control equipment can rotate the direction of the operation section route of the flight route according to the dragging direction. Specifically, fig. 1 and fig. 4 are taken as examples for explanation, and fig. 4 is a schematic diagram of another route planning interface provided by the embodiment of the present invention. Assuming that the corresponding relation between the rotating direction of the operation section flight path of the flight path and the dragging direction of the heading control point is as follows: the clockwise direction corresponds to the upward dragging direction and/or the leftward dragging direction; the counter-clockwise direction corresponds to the downward drag direction and/or the rightward drag direction. Assuming that the rotation angle of the operation section route of the flight route is determined according to an included angle between the dragging direction of the heading control point and the abscissa axis in the standard coordinate axis, assuming that the current route planning interface is an interface shown in fig. 1, wherein the direction of the operation section route 171 of the flight route 17 is a vertical direction, if the dragging direction corresponding to the dragging operation of the user on the heading control point 11 shown in fig. 1, which is acquired by the control device, is an upward dragging direction, and the included angle between the dragging direction of the heading control point 11 and the abscissa axis in the standard coordinate axis is 30 degrees, it can be determined that the rotation direction of the operation section route 171 of the flight route 17 is a counterclockwise direction and the rotation angle is 30 degrees. After the working section path 171 of the flight path 17 shown in fig. 1 has been rotated 30 degrees in the counterclockwise direction, the path direction of the working section path 471 of the flight path 47 shown in fig. 4 is obtained.
In one embodiment, the latitude and longitude information for the area waypoints is displayed on the respective area waypoints of the user interface, as shown at 131 in FIG. 1. In one embodiment, the control device may determine, according to latitude and longitude information of each area waypoint on the route area, a distance between a position corresponding to a target area waypoint and a position corresponding to an area waypoint adjacent in the direction of the route of the operation section, and display the distance on the target area waypoint. Taking fig. 1 as an example, the control device may determine, according to latitude and longitude information 131 of the area waypoint 13 on the route area 16, that a distance between a position corresponding to the area waypoint 14, that is, the target area waypoint, and a position corresponding to the area waypoint 13 adjacent in the direction of the working section route 171 is 142.2M, and display the distance 142.2M on the target area waypoint 14.
In one embodiment, the control device may obtain an editing operation of the regional waypoint and edit the airline region according to the editing operation to adjust the airline length of the flight airline. The editing operation may be a drag operation, a click operation, or the like, and the embodiment of the present invention is not limited. The specific examples are as described above and will not be described herein.
In the embodiment of the invention, the control equipment acquires the dragging direction corresponding to the dragging operation by acquiring the dragging operation of the course control point on the user interface, and rotates the direction of the operation section route of the flight route according to the dragging direction, so that the flight route is quickly edited, and the working efficiency of the unmanned aerial vehicle is improved.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention. Specifically, the control apparatus includes: a display device 801, a control device 802, a processor 803, a data interface 804, and a memory 805.
The display device 801 is configured to display an air route planning interface planned by the processor 803;
the control device 802 is configured to receive the editing operation acquired from the data interface 804.
The memory 805 may include a volatile memory (volatile memory); the memory 805 may also include a non-volatile memory (non-volatile memory); the memory 805 may also comprise a combination of memories of the kind described above. The processor 803 may be a Central Processing Unit (CPU). The processor 803 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
Further, the memory 805 is used for storing program instructions. The processor 803 is connected to the display device 801 and the control device 802, respectively, and the processor 803 may call up program instructions stored in the memory 805 to perform the following steps:
acquiring the editing operation of the course control point on the user interface;
and editing the course direction of the flight course according to the editing operation of the course control point.
Further, the flight path comprises: the flight route direction of the flight route refers to the direction of the flight route of the operation section.
Further, the processor 803 invokes program instructions stored in the memory 805 to perform the following steps:
and adjusting and editing the direction of the operation section route of the flight route according to a preset angle according to the editing operation of the course control point.
Further, the processor 803 invokes program instructions stored in the memory 805 to perform the following steps:
if the editing operation is the dragging operation, acquiring a dragging direction corresponding to the dragging operation;
rotating the direction of the operation section flight line of the flight line according to a preset angle according to the dragging direction;
wherein the direction of rotation corresponds to the drag direction.
Further, the processor 803 invokes program instructions stored in the memory 805 to perform the following steps:
if the editing operation is the dragging operation, acquiring a dragging direction corresponding to the dragging operation;
rotating the direction of the operation section route of the flight route according to the dragging direction;
wherein the direction of rotation corresponds to the drag direction.
Further, the course control point is displayed at any position on the user interface in a floating mode.
Further, the processor 803 invokes program instructions stored in the memory 805 to perform the following steps:
and displaying the longitude and latitude information of the regional waypoints on each regional waypoint of the user interface.
Further, the processor 803 invokes program instructions stored in the memory 805 to perform the following steps:
determining the distance between the position corresponding to the target area waypoint and the position corresponding to the adjacent area waypoint in the direction of the operation section route according to the latitude and longitude information of each area waypoint on the route area;
displaying the distance on the target area waypoint.
Further, the processor 803 invokes program instructions stored in the memory 805 to perform the following steps:
obtaining the editing operation of the regional waypoints;
and editing the airline area according to the editing operation so as to adjust the length of the airline of the flight airline.
In the embodiment of the invention, the control equipment edits the direction of the operation section flight path of the flight path by acquiring the editing operation of the course control point on the user interface and editing the direction of the flight path according to the editing operation, so that the flight path is quickly edited, and the working efficiency of the unmanned aerial vehicle is improved.
In an embodiment of the present invention, a computer-readable storage medium is further provided, where a computer program is stored, and when the computer program is executed by a processor, the method for planning routes of an unmanned aerial vehicle described in the embodiment corresponding to fig. 6 or fig. 7 in the present invention is implemented, and the control device in the embodiment corresponding to fig. 8 may also be implemented, which is not described herein again.
The computer readable storage medium may be an internal storage unit of the terminal according to any of the foregoing embodiments, for example, a hard disk or a memory of the terminal. The computer readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the terminal. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.
Claims (19)
1. A flight path planning method of an unmanned aerial vehicle is applied to a terminal for planning flight paths, the terminal is used for displaying a flight path planning interface, the flight path planning interface comprises a course control point and a flight path area planned by at least three area flight points, the flight path area comprises the flight paths, and the method comprises the following steps:
acquiring editing operation on the course control point on a user interface, wherein the editing operation comprises dragging operation;
editing the course direction of the flight course according to the editing operation of the heading control point, wherein the flight course comprises an operation section course and a connection section course;
and editing the course direction of the flight course according to the editing operation of the course control point, wherein the editing operation comprises the following steps:
and determining the rotation direction of the operation section flight path of the flight path according to the dragging direction corresponding to the dragging operation, and determining the rotation angle of the flight path according to the included angle between the dragging direction and the standard coordinate axis of the user interface.
2. The method of claim 1, wherein the flight path comprises: the flight route direction of the flight route refers to the direction of the flight route of the operation section.
3. The method of claim 1 or 2, wherein editing the course direction of the flight path according to the editing operation of the waypoint comprises:
and adjusting and editing the direction of the operation section route of the flight route according to a preset angle according to the editing operation of the course control point.
4. The method of claim 3, wherein the editing operation comprises a drag operation; the adjusting and editing of the direction of the operation section flight path of the flight path according to the preset angle comprises the following steps:
if the editing operation is the dragging operation, acquiring a dragging direction corresponding to the dragging operation;
rotating the direction of the operation section flight line of the flight line according to a preset angle according to the dragging direction;
wherein the direction of rotation corresponds to the drag direction.
5. The method according to claim 1 or 2, wherein the editing operation comprises a drag operation; the editing the course direction of the flight course according to the editing operation of the course control point further comprises:
if the editing operation is the dragging operation, acquiring a dragging direction corresponding to the dragging operation;
rotating the direction of the operation section route of the flight route according to the dragging direction;
wherein the direction of rotation corresponds to the drag direction.
6. The method of claim 1, wherein the heading control point is displayed in suspension anywhere on the user interface.
7. The method of claim 1, further comprising:
and displaying the longitude and latitude information of the regional waypoints on each regional waypoint of the user interface.
8. The method of claim 1 or 7, further comprising:
determining the distance between the position corresponding to the target area waypoint and the position corresponding to the adjacent area waypoint in the direction of the operation section route according to the latitude and longitude information of each area waypoint on the route area;
displaying the distance on the target area waypoint.
9. The method of claim 1, further comprising:
obtaining the editing operation of the regional waypoints;
and editing the airline area according to the editing operation so as to adjust the length of the airline of the flight airline.
10. The utility model provides a controlgear of unmanned aerial vehicle which characterized in that, is applied to route planning control, includes:
the display device is used for displaying a route planning interface, the route planning interface comprises a course control point and a route area obtained by planning at least three regional route points, and the route area comprises a flight route;
the control device is used for receiving the editing operation of a user;
the processor is respectively connected with the display device and the control device, and is used for judging the editing operation and generating a corresponding control instruction and executing the following steps:
acquiring editing operation on the course control point on a user interface, wherein the editing operation comprises dragging operation;
editing the course direction of the flight course according to the editing operation of the heading control point, wherein the flight course comprises an operation section course and a connection section course;
and editing the course direction of the flight course according to the editing operation of the course control point, wherein the editing operation comprises the following steps:
and determining the rotation direction of the operation section flight path of the flight path according to the dragging direction corresponding to the dragging operation, and determining the rotation angle of the flight path according to the included angle between the dragging direction and the standard coordinate axis of the user interface.
11. The apparatus of claim 10, wherein the flight path comprises: the flight route direction of the flight route refers to the direction of the flight route of the operation section.
12. The apparatus of claim 10 or 11, wherein the processor is configured to perform the steps of:
and adjusting and editing the direction of the operation section route of the flight route according to a preset angle according to the editing operation of the course control point.
13. The apparatus of claim 12, wherein the processor is configured to perform the steps of:
if the editing operation is the dragging operation, acquiring a dragging direction corresponding to the dragging operation;
rotating the direction of the operation section flight line of the flight line according to a preset angle according to the dragging direction;
wherein the direction of rotation corresponds to the drag direction.
14. The apparatus of claim 10 or 11, wherein the processor is configured to perform the steps of:
if the editing operation is the dragging operation, acquiring a dragging direction corresponding to the dragging operation;
rotating the direction of the operation section route of the flight route according to the dragging direction;
wherein the direction of rotation corresponds to the drag direction.
15. The apparatus of claim 10, wherein the heading control point is displayed in suspension anywhere on the user interface.
16. The apparatus of claim 10, wherein the processor is configured to perform the steps of:
and displaying the longitude and latitude information of the regional waypoints on each regional waypoint of the user interface.
17. The apparatus of claim 10 or 16, wherein the processor is configured to perform the steps of:
determining the distance between the position corresponding to the target area waypoint and the position corresponding to the adjacent area waypoint in the direction of the operation section route according to the latitude and longitude information of each area waypoint on the route area;
displaying the distance on the target area waypoint.
18. The apparatus of claim 10, wherein the processor is configured to perform the steps of:
obtaining the editing operation of the regional waypoints;
and editing the airline area according to the editing operation so as to adjust the length of the airline of the flight airline.
19. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 9.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109074093A CN109074093A (en) | 2018-12-21 |
| CN109074093B true CN109074093B (en) | 2021-11-16 |
Family
ID=64812397
Family Applications (1)
| 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 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109074093B (en) |
| WO (1) | WO2019119187A1 (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111699455B (en) * | 2019-05-27 | 2024-06-14 | 深圳市大疆创新科技有限公司 | Flight route generation method, terminal and unmanned aerial vehicle |
| 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 |
| CN112166394A (en) * | 2019-10-31 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Air route planning method, equipment, system and storage medium |
| WO2021081953A1 (en) * | 2019-10-31 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Route planning method, control terminal and computer-readable storage medium |
| WO2021127941A1 (en) * | 2019-12-23 | 2021-07-01 | 深圳市大疆创新科技有限公司 | Route planning method, unmanned aerial vehicle, control terminal, and computer-readable storage medium |
| CN112823322A (en) * | 2020-02-10 | 2021-05-18 | 深圳市大疆创新科技有限公司 | Route planning method, equipment and storage medium |
| WO2022061906A1 (en) * | 2020-09-28 | 2022-03-31 | 深圳市大疆创新科技有限公司 | Route planning method and device |
| CN112306069A (en) * | 2020-10-22 | 2021-02-02 | 杭州瓦屋科技有限公司 | Plant protection unmanned aerial vehicle elevation air line control optimization method |
| CN113485411A (en) * | 2021-06-21 | 2021-10-08 | 安徽农业大学 | Three-dimensional route planning method for aerial accurate pesticide application |
| CN113758438B (en) * | 2021-07-08 | 2023-07-25 | 重庆市勘测院 | Oblique aerial photography and three-dimensional reconstruction method for special building |
| 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 |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6321158B1 (en) * | 1994-06-24 | 2001-11-20 | Delorme Publishing Company | Integrated routing/mapping information |
| CN102854886A (en) * | 2012-08-29 | 2013-01-02 | 深圳一电科技有限公司 | Flying line editing and control method and device |
| CN105000170A (en) * | 2015-07-15 | 2015-10-28 | 何春旺 | Touch screen controller and control method of driving device |
| CN105283816A (en) * | 2013-07-31 | 2016-01-27 | 深圳市大疆创新科技有限公司 | Remote control method and terminal |
| CN103699135B (en) * | 2014-01-03 | 2016-04-06 | 中南大学 | The flight path automatic planning in depopulated helicopter pesticide spraying farmland operation region |
| WO2016049905A1 (en) * | 2014-09-30 | 2016-04-07 | 深圳市大疆创新科技有限公司 | Method, device and system for processing flight mission |
| CN105867424A (en) * | 2016-06-07 | 2016-08-17 | 广州极飞电子科技有限公司 | Air route editing method and air route editing device |
| CN105912288A (en) * | 2016-04-12 | 2016-08-31 | 上海易天无人飞行器科技有限公司 | Method and system for comprehensive processing display capable of monitoring flight state of unmanned aerial vehicle |
| CN106054917A (en) * | 2016-05-27 | 2016-10-26 | 广州极飞电子科技有限公司 | Unmanned aerial vehicle flight control method and device, and remote controller |
| CN106574846A (en) * | 2014-09-03 | 2017-04-19 | 马耳他大学 | A human machine interface device for aircraft |
| CN106662881A (en) * | 2016-09-26 | 2017-05-10 | 深圳市大疆创新科技有限公司 | Control method, system and user terminal for unmanned aircraft |
| CN106716288A (en) * | 2016-11-24 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Agricultural unmanned aerial vehicle control method, ground control terminal and storage medium |
| CN106716272A (en) * | 2014-09-30 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Systems and methods for flight simulation |
| CN107102790A (en) * | 2009-06-10 | 2017-08-29 | 高通股份有限公司 | The functional method for user interface of continuously zooming is provided |
| CN107289944A (en) * | 2017-06-21 | 2017-10-24 | 上海拓攻机器人有限公司 | A kind of method and device of control unmanned plane plant protection operation |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2752051B1 (en) * | 1996-08-02 | 1998-10-30 | Sextant Avionique | DEVICE FOR ASSISTING THE GUIDANCE OF A VEHICLE ON A TRAJECTORY |
| US20130060516A1 (en) * | 2011-09-06 | 2013-03-07 | Yin-Chen CHANG | Trace-generating devices and methods thereof |
| CN102566580A (en) * | 2011-12-27 | 2012-07-11 | 中国直升机设计研究所 | Unmanned helicopter flight track planning method |
| US8903568B1 (en) * | 2013-07-31 | 2014-12-02 | SZ DJI Technology Co., Ltd | Remote control method and terminal |
| CN104501808B (en) * | 2014-11-19 | 2017-06-30 | 广东欧珀移动通信有限公司 | Route tracing method and device |
| CN104714558B (en) * | 2015-03-27 | 2017-06-06 | 北京航空航天大学 | A kind of aircrew helmet is with movement demonstration instrument |
| FR3046229A1 (en) * | 2015-12-29 | 2017-06-30 | Thales Sa | METHOD FOR GRAPHIC REPRESENTATION OF A THREE-DIMENSIONAL SYNTHETIC VIEW OF THE EXTERIOR LANDSCAPE IN AN AIRCRAFT VISUALIZATION SYSTEM |
| CN105960020B (en) * | 2016-06-29 | 2019-05-17 | 温州大学 | Autonomous flight beaconing nodes based on Doppler frequency shift assist wireless sense network localization method |
| CN107223199A (en) * | 2016-11-15 | 2017-09-29 | 深圳市大疆创新科技有限公司 | Air navigation aid and equipment based on three-dimensional map |
-
2017
- 2017-12-18 CN CN201780023042.9A patent/CN109074093B/en not_active Expired - Fee Related
- 2017-12-18 WO PCT/CN2017/116868 patent/WO2019119187A1/en active Application Filing
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6321158B1 (en) * | 1994-06-24 | 2001-11-20 | Delorme Publishing Company | Integrated routing/mapping information |
| CN107102790A (en) * | 2009-06-10 | 2017-08-29 | 高通股份有限公司 | The functional method for user interface of continuously zooming is provided |
| CN102854886A (en) * | 2012-08-29 | 2013-01-02 | 深圳一电科技有限公司 | Flying line editing and control method and device |
| CN105283816A (en) * | 2013-07-31 | 2016-01-27 | 深圳市大疆创新科技有限公司 | Remote control method and terminal |
| CN103699135B (en) * | 2014-01-03 | 2016-04-06 | 中南大学 | The flight path automatic planning in depopulated helicopter pesticide spraying farmland operation region |
| CN106574846A (en) * | 2014-09-03 | 2017-04-19 | 马耳他大学 | A human machine interface device for aircraft |
| WO2016049905A1 (en) * | 2014-09-30 | 2016-04-07 | 深圳市大疆创新科技有限公司 | Method, device and system for processing flight mission |
| CN106716272A (en) * | 2014-09-30 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Systems and methods for flight simulation |
| CN105000170A (en) * | 2015-07-15 | 2015-10-28 | 何春旺 | Touch screen controller and control method of driving device |
| CN105912288A (en) * | 2016-04-12 | 2016-08-31 | 上海易天无人飞行器科技有限公司 | Method and system for comprehensive processing display capable of monitoring flight state of unmanned aerial vehicle |
| CN106054917A (en) * | 2016-05-27 | 2016-10-26 | 广州极飞电子科技有限公司 | Unmanned aerial vehicle flight control method and device, and remote controller |
| CN105867424A (en) * | 2016-06-07 | 2016-08-17 | 广州极飞电子科技有限公司 | Air route editing method and air route editing device |
| CN106662881A (en) * | 2016-09-26 | 2017-05-10 | 深圳市大疆创新科技有限公司 | Control method, system and user terminal for unmanned aircraft |
| CN106716288A (en) * | 2016-11-24 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Agricultural unmanned aerial vehicle control method, ground control terminal and storage medium |
| CN107289944A (en) * | 2017-06-21 | 2017-10-24 | 上海拓攻机器人有限公司 | A kind of method and device of control unmanned plane plant protection operation |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019119187A1 (en) | 2019-06-27 |
| CN109074093A (en) | 2018-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109074093B (en) | Air route planning method, control equipment and storage medium for unmanned aerial vehicle | |
| US20200332776A1 (en) | Aerial inspection in a movable object environment | |
| US11971729B2 (en) | Unmanned aerial vehicle control method and terminal | |
| CN108521788B (en) | Method for generating simulated flight path, method and equipment for simulating flight and storage medium | |
| WO2017211029A1 (en) | Method and device for planning flight path for unmanned aerial vehicle | |
| US9709990B2 (en) | Autonomous navigation through obstacles | |
| WO2019100188A1 (en) | Method for planning operation route of unmanned aerial vehicle and ground end device | |
| KR102003187B1 (en) | Method and apparatus for modeling resultant image to which each of ground control points including location information of survey site is matched using images captured by unmanned air vehicle | |
| WO2019119186A1 (en) | Waypoint editing method and control device for unmanned aerial vehicle, and storage medium | |
| US11587446B2 (en) | Method and system for generating aerial imaging flight path | |
| CN109459029B (en) | Method and equipment for determining navigation route information of target object | |
| WO2020232575A1 (en) | Flight task generation method, control terminal, unmanned aerial vehicle, and storage medium | |
| WO2018076372A1 (en) | Waypoint editing method, apparatus, device and aircraft | |
| KR20200031683A (en) | Drone planning method, device and remote control | |
| WO2022247498A1 (en) | Unmanned aerial vehicle monitoring | |
| CN108235809A (en) | End cloud combination positioning method and device, electronic equipment and computer program product | |
| CN110703805A (en) | Method, device and equipment for planning three-dimensional object surveying and mapping route, unmanned aerial vehicle and medium | |
| US20200217665A1 (en) | Mobile platform, image capture path generation method, program, and recording medium | |
| US10275940B2 (en) | Image processing device, image processing method, and image processing program | |
| ES2667096T3 (en) | Monitoring | |
| CN114047760A (en) | Path planning method and device, electronic equipment and automatic driving vehicle | |
| CN112753002B (en) | Navigation point planning method, control terminal, positioning device, system and storage medium | |
| US20210223793A1 (en) | Control method and device for mobile platform, and mobile platform | |
| US20200089218A1 (en) | Method and device for controlling movement of external device | |
| CN105700548A (en) | Unmanned plane and unmanned plane control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211116 |