CN110362102A - A kind of methods, devices and systems of unmanned plane airline generation - Google Patents
A kind of methods, devices and systems of unmanned plane airline generation Download PDFInfo
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- CN110362102A CN110362102A CN201910678447.7A CN201910678447A CN110362102A CN 110362102 A CN110362102 A CN 110362102A CN 201910678447 A CN201910678447 A CN 201910678447A CN 110362102 A CN110362102 A CN 110362102A
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- 230000009885 systemic effect Effects 0.000 claims abstract description 60
- 238000013439 planning Methods 0.000 claims abstract description 36
- 238000013507 mapping Methods 0.000 claims description 29
- 238000004422 calculation algorithm Methods 0.000 claims description 22
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
The invention discloses a kind of method and apparatus of unmanned plane airline generation, computer readable storage medium and unmanned plane airline generation systems, pass through View layers of creation, described View layers calculates course line for assisting, and described View layers above map layer and invisible for user；Point is planned according to the user under the systemic presupposition point and the View layers of coordinate on the map layer, calculates the destination generated under the View layers of coordinate；Destination under the View layers of coordinate is converted into the destination under the map reference, to generate course line on the map layer.The present invention reduces calculation amount for comparing the destination calculated on map, and solves the problems, such as to draw when being handled under map reference and View layers of coordinate respectively nonsynchronous, so that the planning of destination is more smooth, improves user experience.
Description
Technical field
The present invention relates to, but not limited to unmanned plane airline generation technical field more particularly to a kind of unmanned plane airline generations
Methods, devices and systems.
Background technique
UAV abbreviation unmanned plane (Unmanned Aerial Vehicle, UAV) is to utilize wireless remotecontrol
The not manned aircraft of equipment and the process control terminal provided for oneself manipulation.It is related to sensor technology, the communication technology, information processing skill
Art, intelligent control technology and Powered Propulsion technology etc. are the products of information age high technology content.
The flight course planning of unmanned plane refer to by flight course planning make unmanned plane along given line or in specified region into
The different aerial missions such as the cruise of trade road, region mapping, shooting and monitoring and agricultural plant protection.Existing unmanned plane flight course planning packet
It includes and is planned using the end PC software plan and mobile terminal APP.Most of unmanned plane flight course plannings are by the end PC software control, convenience
Not as good as mobile terminal APP.
The end existing mobile terminal APP flight course planning can select or draw on the terminal device one piece of mapping according to user
Region, then user draws or increases and decreases boundary point, available specific target mapping to the mapping region on the screen
Region, then by underlying algorithm according to relevant parameter good via user setting, such as course line spacing, course line angle, side are to again
Folded rate etc., generates the track of relevant unmanned plane flight course planning.But the actual bit due to this method with destination on map
It is set to computing object, the selected bigger destination of mapping region area is more, and huge destination quantity causes when user drags or changes
Calculation amount is very big when becoming the mapping region on screen, there are problems that serious Caton.
There is a method in which being superimposed using view, it is folded at one that all destinations that underlying algorithm library is generated draw display
The view layer added --- on " view layers "." view layers " are a virtual masks, can be covered on customer mobile terminal display screen
On (for example, mobile phone screen), and establish corresponding coordinate system.Point on map with longitude and latitude is corresponded on " view layers "
Point is calculated further according to the point on " view layers ", and This approach reduces calculation amounts, so that efficiency is significantly promoted.But
This mode is generally used for rotary wind type unmanned plane, only meets the needs for only drawing and showing mapping region on " view layers ".?
In some cases, such as when unmanned plane both needed for fixed-wing unmanned plane according to the flight course planning feature of fixed-wing unmanned plane
The flight that fixed-wing unmanned plane is arranged on map is spiraled the destinations such as point, approach point, and needs to draw on " view layer " and display
When surveying and drawing region, the point needs on map layer are connected with the point on " view layers ", while showing co-operation.When user exists
It dragged, changed or is scaled in the operation interface of mobile terminal, rerouting or when generating the operation in new course line, due to
Calculation amount is excessive and two layers of processing is asynchronous, often will appear the feelings drawing asynchronous or drafting and disconnecting shown on screen
Condition, strong influence user experience.
Summary of the invention
The embodiment of the invention provides a kind of method and systems that efficient unmanned plane during flying generates, and can effectively solve the problem that use
Course line is drawn at family on the APP of mobile terminal, the boat that the course line of figure layer and the course line of " view layers " carry out while occurring when operating over the ground
Line draws the problem of asynchronous, disconnection and Caton, so that drawing more convenient smoothness when course line, greatly promotes user experience.
The one aspect of the embodiment of the present invention provides a kind of method of unmanned plane airline generation, and the method is by moving
Controlling terminal executes, comprising: View layers of creation, described View layers calculates course line for assisting, and described View layers is located at ground
It is above figure layer and invisible for user；According to the user under the systemic presupposition point and the View layers of coordinate on the map layer
It plans point, calculates the destination generated under the View layers of coordinate；Destination under the View layers of coordinate is converted into map reference
Under destination, to generate course line on the map layer；Wherein, the systemic presupposition point on the map layer includes rising to spiral
Point, decline spiral a little and make a return voyage at least one of a little；User under the View layers of coordinate plan point include it is described nobody
Machine surveys and draws at least one of vertex, the boundary point for surveying and drawing region and the flight approach point in region.
Optionally, the systemic presupposition point on the map layer is converted into the systemic presupposition point under the View layers of coordinate,
Then: the user under the systemic presupposition point and the View layers of coordinate according on the map layer plans point, calculates and generates institute
State the destination under View layers of coordinate, comprising: according to the systemic presupposition point and the View layers of seat under the View layers of coordinate
User under mark plans point, calculates the destination generated under the View layers of coordinate.
Optionally, operation of the user when planning route in the mobile controlling terminal is obtained；And by the rule
Operation when scribing line road is converted into the user under the View floor coordinate and plans point；Wherein, the operation includes in the following terms
At least one: change position a little, increase or decrease a little.
Optionally, user's rule under the systemic presupposition point and the View layers of coordinate according under the View layers of coordinate
Point is drawn, the destination generated under the View layers of coordinate is calculated, comprising: by systemic presupposition point under the View layers of coordinate and described
User under View layers of coordinate plans that the incoming underlying algorithm library of point generates View layers described according to preset destination generating algorithm
Destination under coordinate.
Optionally, the destination by under the View layers of coordinate is converted into the destination under the map reference, Jin Er
Course line is generated on the map layer, comprising: the destination under the View layers of coordinate is converted by the map by api interface and is sat
Destination under mark, and then course line is generated on the map layer.
The other side of the embodiment of the present invention, provides a kind of mobile controlling terminal, including main body and is set to the master
The display device of body, the mobile controlling terminal further include: processor is set in the main body；Memory is set to the main body
It is interior and connect with the processor communication；The memory is stored with the instruction that can be executed by the processor, described instruction quilt
The processor executes, so that the processor is able to carry out the process described above.
The other side of the embodiment of the present invention provides a kind of computer readable storage medium, described computer-readable
One or more program is stored on storage medium, one or more of programs can be held by one or more processor
Row, the method to realize unmanned plane airline generation as described above.
The another aspect of the embodiment of the present invention provides a kind of unmanned plane airline generation device, comprising: View layers of creation
Module, View layers described for creating, described View layers calculates course line for assisting, and described View layers is located on map layer
It is square and invisible for user；View layers of destination generation module, for according to systemic presupposition point on the map layer and described
User under View layers of coordinate plans point, calculates the destination generated under the View layers of coordinate；And map reference conversion module,
For the destination under the View layers of coordinate to be converted into the destination under map reference, and then boat is generated on the map layer
Line；Wherein, the systemic presupposition point on the map layer includes that the rising of map longitude and latitude is preset in the controlling terminal system
User's planning that point, decline are spiraled a little and maked a return voyage at least one of a little and under the View layers of coordinate of spiraling, which is put, includes,
At least one of the vertex in unmanned plane mapping region, the boundary point for surveying and drawing region and flight approach point.
Optionally, the View layers of destination generation module is used for: the systemic presupposition point on the map layer is converted into institute
The systemic presupposition point under View layers of coordinate is stated, then: the View layers of destination generation module is used for: according under the View layers of coordinate
Systemic presupposition point and the View layers of coordinate under user plan point, calculate the destination generated under the View layers of coordinate.
Optionally, View layers of destination generation module are used for: obtaining user plotted line in the mobile controlling terminal
Operation when road；And operation when by the planning route is converted into the user under the View layers of coordinate and plans point；Wherein,
The operation includes at least one of the following terms: changing position a little, increases or decreases a little.
Optionally, the View layers of destination generation module is used for: by under the View layers of coordinate systemic presupposition point and institute
It states the user under View layers of coordinate and plans that the incoming underlying algorithm library of point generates the View according to preset destination generating algorithm
Destination under layer coordinate.
Optionally, the map reference conversion module is used for: being turned the destination under the View layers of coordinate by api interface
It changes the destination under the map reference into, and then generates course line on the map layer.
Another aspect of the embodiment of the present invention provides a kind of unmanned plane airline generation system, the system comprises: nothing
It is man-machine, including fuselage, the horn being connected with the fuselage and the power device set on the horn or the fuselage；And such as
Above-described mobile controlling terminal, the mobile controlling terminal are connect with the UAV Communication, the mobile controlling terminal
For generating course line, to control the unmanned plane according to the airline operation.
The method, apparatus of unmanned plane airline generation provided in an embodiment of the present invention, computer readable storage medium and one
The mobile controlling terminal of kind, by creating the View layer for assisting calculating in flight course planning, by the systemic presupposition on map layer
The point that point and the point planned on View layer are uniformly converted under View layers of coordinate is calculated, and the boat under View layers of coordinate is generated
Point, this step reduce calculation amount for comparing the destination calculated on map, then turn the destination under the View layers of coordinate
It changes the destination under map reference into, solves different with drafting when being handled under View layers of coordinate under map layer coordinate respectively
The problem of step, improves user experience so that flight course planning and generation are more smooth.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes of the invention one
Point, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, does not constitute improper limitations of the present invention.Attached
In figure:
Fig. 1 is a kind of schematic diagram of unmanned plane airline generation system of the embodiment of the present invention；
Fig. 2 is a kind of three-dimensional structure diagram of unmanned plane of the embodiment of the present invention；
Fig. 3 is the View layer coordinate system schematic diagram of the embodiment of the present invention；
Fig. 4 is a kind of flow diagram of the method for unmanned plane airline generation of the embodiment of the present invention；
Fig. 5 is the flow diagram of the method for another unmanned plane airline generation of the embodiment of the present invention；
Fig. 6 is a kind of schematic diagram of unmanned plane airline generation device of the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the present invention
Feature can mutual any combination.In addition, though having carried out the division of functional module in schematic device, in flow charts
Logical order is shown, but in some cases, it can be in the module division being different from schematic device or flow chart
Sequence execute shown or described step.
Referring to Fig. 1, Fig. 1 is a kind of schematic diagram of unmanned plane airline generation system of the embodiment of the present invention, the system packet
It includes: mobile controlling terminal 101 and unmanned plane 102.Mobile controlling terminal 101 and unmanned plane 102 carry out wireless communication, described
The route information that mobile controlling terminal 101 will be created on map layer is sent to the unmanned plane 102.Unmanned plane 102 is according to institute
State airline operation.
The unmanned plane 102 referring to fig. 2, including fuselage 200, the fixed-wing wing 300 and fixed-wing that are connected on fuselage
(dynamical system 500 can also be installed in fuselage 200 or tail for empennage 400, the dynamical system 500 being installed on fixed-wing wing 300
It is installed on fuselage 200 and fixed-wing wing 300 on the wing 300 or simultaneously or is installed in fixed-wing wing 300 and fixed simultaneously
It is installed on 400 three of fuselage 200, fixed-wing wing 300 and fixed-wing empennage on wing empennage 400 or simultaneously) and it is set to machine
(Fig. 2 are not shown) such as the winged control module of body 200, communication module, GPS communication modules.
In other embodiments, unmanned plane 102 can be the unmanned vehicle of other any suitable types, such as rotation of verting
Wing unmanned plane, VTOL fixed-wing etc..It include: engine (for example, motor), power source (for example, electricity in power device 500
Pond), power transmission (for example, electricity adjust) etc..Be applied to different type unmanned vehicle occasion, the quantity of power device 500,
Structure and installation site can change according to actual needs, and this is not limited by the present invention.In other possible embodiments, nothing
Man-machine 102 can also include holder (not shown), which is installed on the bottom of fuselage 200, and holder is for carrying high-definition digital
Camera or other photographic devices to eliminate the disturbance that high-definition digital camera or other photographic devices are subject to, guarantee camera or other take the photograph
As device shoot video it is steady and audible.
In one embodiment of this invention, unmanned plane 102 includes the flight controller on fuselage 200.Flight control
Device perceives the environment around unmanned plane by various sensors, and controls the flight of unmanned plane.The flight controller can wrap
Include processing module (processing unit), specific integrated circuit (Application Specific Integrated
Circuit, ASIC) or field programmable gate array (Field Programmable Gate Array, FPGA).Work as user
It is carried out wireless communication by mobile controlling terminal 101 with unmanned plane 102, user inputs the boat of the flight attitude of unmanned plane, flight
When the control instructions such as line, the flight controller of unmanned plane controls the modules such as motor, gyroscope, magnetometer, GPS module
System, to complete the flight directive received.
Mobile controlling terminal 101 includes main body, set on the display device of the main body and set on main intracorporal processor
And memory, memory are connect with processor communication.Mobile controlling terminal 101 with user for interacting.In implementation of the invention
In example, for the processor of mobile controlling terminal 101 for creating View layers, View layers of the foundation refers to Fig. 3.
Fig. 3 shows the schematic diagram of View layers of coordinate system in one embodiment of the invention.View layers are that a user is invisible
Virtual mask, be superimposed upon in the display device of mobile controlling terminal, such as on the display screen of smart phone.As shown in figure 3,
In one embodiment of the invention, View layers of maximum area is the display screen of mobile controlling terminal (for example, the display of smart phone
Screen) area, establishment of coordinate system be using the screen upper left corner as origin, horizontal axis forward direction prolong to the right screen edge extend, the longitudinal axis is just
To upwards along the extension of the edge of screen.The View layers of coordinate system is for map coordinates system, in View layers of coordinate
Point under system is the point positioned at View layers, and the point under map coordinates system is on map layer with coordinates such as longitudes and latitudes
Point.Mode shown in Fig. 3 is merely illustrative, View layers of maximum area can also endless all standing display screen (for example, accounting for touch device face
Long-pending half), View layers of coordinate system can also be established otherwise according to actual needs.In one embodiment of this invention,
Described View layers calculates course line for assisting, and described View layers is located above map layer.
In one embodiment of this invention, the processor of mobile controlling terminal 101 is also used to according on the map layer
User under systemic presupposition point and the View layers of coordinate plans point, calculates the destination generated under the View layers of coordinate.According to
The flight course planning feature of fixed-wing unmanned plane when calculating complete course line had both needed that fixed-wing unmanned plane is arranged on map
Rise the point that spirals, decline is spiraled a little and makes a return voyage and a little etc. has the point of the systemic presupposition of map latitude coordinates, and user is needed to exist
User on " view layers " when planning mapping region plans point.In an embodiment of the present invention, user plans that point includes that user advises
Vertex, the flight approach point etc. in the mapping region drawn.
Therefore processor is also used to according to the user under the systemic presupposition point and the View layers of coordinate on the map layer
It plans point, calculates the destination under the View layers of coordinate.Processor needs for the systemic presupposition point on map layer to be converted into
Systemic presupposition point under View layers of coordinate, and by under View layers systemic presupposition point and user plan the incoming underlying algorithm library of point,
According to preset destination generating algorithm, the destination under View layers of coordinate is generated.Destination is calculated and is all placed on View layers by the present invention
It is carried out under coordinate, reduces calculation amount, solve the problems, such as the slow Caton of processing.
In one embodiment of this invention, be also used to will be under the View layers of coordinate for the processor of mobile controlling terminal 101
Destination be converted into the destination under the map reference, to generate course line on the map layer.Since View layers be a use
Therefore course line is converted into latitude coordinate from View layers of coordinate, is drawn and shown on map layer by the sightless mask in family
Show to user.In one embodiment of this invention, the destination under View layers of coordinate is converted into map by api interface by processor
Destination under coordinate, and then course line is generated on map layer.The present invention, which shows airline generation, is uniformly placed on map layer, solves
The prior art generates course line Caton, discontinuous, the nonsynchronous problem of drafting.
Fig. 4 is a kind of idiographic flow schematic diagram for unmanned plane airline generation method that one embodiment of the invention provides.The party
Method is executed by moving controlling terminal, this method comprises:
Step S401: View layers of creation, described View layers calculates for assisting, and described View layers is located on map layer
It is square and invisible for user.
Wherein, View layers of foundation is as shown in Figure 3.Due under map coordinates system, when rerouting, is related to number on map
Huge point is measured, calculation amount is huge, then establishes a View layers of coordinate system, and limited area, will be under map coordinates system
Point be replaced by the point under View layers of coordinate system, reduce quantity a little, thus reduce calculation amount.
View layers are the sightless virtual masks of a user, are superimposed upon in the display device of mobile controlling terminal, such as
On the display screen of smart phone.As shown in figure 3, in an embodiment of the present invention, View layers of maximum area is that mobile control is whole
The area of the display screen (for example, display screen of smart phone) at end, establishment of coordinate system are using the screen upper left corner as origin, and horizontal axis is just
Extend to the edge for prolonging screen to the right, the positive to be up for the longitudinal axis along the extension of the edge of screen.The View layers of coordinate system be relative to
For map coordinates system, the point under View layers of coordinate system is the point positioned at View layers, and the point under map coordinates system is
Point with coordinates such as longitudes and latitudes on map layer.Mode shown in Fig. 3 is merely illustrative, and View layers of maximum area can also be incomplete
It covers display screen (for example, the half for accounting for touch device area), View layers of coordinate system can also be according to actual needs with its other party
Formula is established.In one embodiment of this invention, course line is calculated for assisting for described View layers, and described View layers is located at map
Layer top.
Step S402: operation of the user when planning route in the mobile controlling terminal is obtained.
In one embodiment of the invention, user uses gesture on the touch screen of controlling terminal draws the line that hope is planned
Road, this method plans that gesture when route intercepts to the user on the touchscreen, with the line information planned.This
A little user gestures include the position for changing point, selected element, increase or delete vertex, so that these points form triangle, four
The mapping region of side shape or polygon.User can change mapping region by the position or increase and decrease vertex of dragging point.Or change
Become any point in course line, to change original flight line.
Step S403: operation when by the planning route is converted into the user under the View layers of coordinate and plans point.
Wherein, the gesture that these include line information is converted into the point under View layers of coordinate, i.e., with View coordinate representation
The point that user is planned.Wherein, user under the View layers of coordinate plan point include unmanned plane mapping region a vertex,
Survey and draw at least one of boundary point and the flight approach point in region.
In addition, when calculating complete course line, needing to be arranged on map according to the flight course planning feature of fixed-wing unmanned plane
Spiral point, decline of the rising of fixed-wing unmanned plane is spiraled a little and makes a return voyage the systemic presupposition a little etc. with map latitude coordinates
Point.Therefore, this method further include:
Step S404, the systemic presupposition being converted into the systemic presupposition point on the map layer under the View layers of coordinate
Point.
When being related to course line calculating, mobile controlling terminal also needs to be related to the systemic presupposition on the map layer of course line calculating
The systemic presupposition point that is converted under View layers of coordinate of point subsequent calculates course line on View layers to facilitate.
Step S405: it is planned according to the user under the systemic presupposition point and the View layers of coordinate under the View layers of coordinate
Point calculates the destination generated under the View layers of coordinate.
It in one embodiment of this invention, will be under the systemic presupposition point and the View layers of coordinate under the View layers of coordinate
User plan that the incoming underlying algorithm library of point generates the destination under the View layers of coordinate according to preset destination generating algorithm.
Step S406: the destination under the View layers of coordinate is converted into the destination under map reference, in the map
Course line is generated on layer.
In one embodiment of this invention, the destination under the View layers of coordinate can be converted by institute by api interface
The destination under map reference is stated, to generate course line on the map layer.
Wherein, the calculating in course line is, such as according to information such as the angles, flight spacing, inflection point of shooting, to generate each boat
Point (for example, unmanned plane is for point in the course line of mapping in mapping region), then these destinations are linked up to form course line.These
Operation is realized by underlying algorithm library.
In one embodiment of this invention, this method can also include:
Step S407: the destination under the map reference is plotted in display device and is shown.
In one embodiment of the invention, the course line ultimately generated is on map layer and to be shown on touch device and be in
Now give user.
In an embodiment of the present invention, the calculating of destination is placed on View layers of progress, and course line draws and is placed on map layer, solves
The prior art of having determined generates course line Caton, discontinuous, nonsynchronous problem.
Referring to Fig. 5, Fig. 5 is a kind of flow chart of the method for unmanned plane airline generation provided in an embodiment of the present invention, it should
Method is executed by moving controlling terminal, this method comprises:
Step 501: View layers of creation, described View layers calculates for assisting, and described View layers is located on map layer
It is square and invisible for user.
Wherein, creating View layers includes the coordinate system for establishing View layers and the region for determining View layers of covering, with processing
Point under View layers of coordinate.View layers of maximum area is the area of the touch device of the mobile controlling terminal of user, coordinate system
For using the screen upper left corner as origin, the edge that horizontal axis forward direction prolongs to the right screen extends, and the positive to be up prolongs along the edge of screen for the longitudinal axis
It stretches.Due under map coordinates system, when rerouting, is related to the point of substantial amounts on map, and calculation amount is huge, then establishes
Point under map coordinates system is replaced by the point under View layers of coordinate system by one View layers of coordinate system, and limited area, is reduced
The quantity of point, thus reduce calculation amount.
Step 502: the user under the systemic presupposition point and the View layers of coordinate in the figure layer of base area plans point, calculates life
At the destination under the View layers of coordinate.
Wherein, the systemic presupposition point on map layer refers to that is itself preset on map layer in system software has
The rising of longitude and latitude spiral point, decline spiral point, make a return voyage a little and level point etc..The user plans that point includes mapping region
Vertex, the boundary point for surveying and drawing region and the users such as flight approach point are advised on View layers described by the modes such as pulling, increasing and decreasing
The point drawn.Because in the flight course planning of fixed-wing unmanned plane, the characteristics of the course line of fixed-wing unmanned plane, both needed to sit in map
The flight that fixed-wing unmanned plane is arranged under mark system (that is, latitude and longitude information) is spiraled the systemic presuppositions point such as a little, and user is needed to exist
Planning mapping region on " view layers ", so in flight course planning, it may appear that systemic presupposition point and user plan two kinds of points of point.
Wherein, the planning mapping region on " view layers ", including the user is obtained when planning route on touch device
Gesture, these gestures include selected element, increase or delete vertex so that these point formed a triangles, quadrangle or more
The mapping region of side shape.User can change mapping region by the position or increase and decrease vertex of dragging point.These are obtained
Include mapping region line information user's operation be converted into the user under View layer coordinate planning point.In addition, user exists
When planning route, in addition to using gesture other than the enterprising professional etiquette of the touch device is drawn, it can also be controlled by other means mobile
Terminal processed carries out layout of roads, and obtained line information is equally converted into the user under View layers of coordinate and plans point.
Therefore, when participating in calculating, will be related to the point calculated: the systemic presupposition point either under map coordinates system is still
User under View layers of coordinate system plans point, is unified under View layers of coordinate system and is calculated.Then, it needs first to participate in calculate
The map layer on systemic presupposition point be converted into the systemic presupposition point under the View layers of coordinate, then carried out on View layers
It calculates.On the contrary, not being related to the point on the map layer calculated, then do not need to be converted to the point under View layers of coordinate.
Mapping region is formed after user's planning, needs to calculate the line of flight of unmanned plane in mapping region, such as root
Destination is generated according to information such as the angle of shooting, flight spacing, inflection points, then is attached with the destination outside mapping region, to be formed
The course line of one closure.
In one embodiment of the invention, by systemic presupposition point under the View layers of converted coordinate and described
User under View layers of coordinate plans that the incoming underlying algorithm library of point generates View layers described according to preset destination generating algorithm
Destination under coordinate.Wherein, the preset destination generating algorithm defines how to generate the destinations such as flight spacing, inflection point letter
The algorithm of breath.If carrying out the calculating of destination with the point on map, calculation amount will be very huge, so this step is at View layers
Upper calculating enormously simplifies calculation amount.
Step 503: the destination under the View layers of coordinate being converted into the destination under the map reference, describedly
Course line is generated in figure layer.
In one embodiment of the invention, it is realized the destination conversion under the View layers of coordinate by api interface
At the destination under map reference.View layers of destination is thus converted into the destination on the actual map with longitude and latitude,
To generate course line and draw.Since airline generation drafting is all in map layer, and View layers are the sightless virtual masks of user,
Therefore solve the problems, such as that course line is discontinuous when course line regenerates, disconnect, draw it is nonsynchronous.
As shown in fig. 6, the embodiment of the invention also provides a kind of unmanned plane airline generation device, described device includes:
View layers of creation module 601, View layers of destination generation module 602 and map reference conversion module 603.
View layers of creation module 601, for creating View layers, described View layers calculates for assisting, and the View
Layer is located above map layer and invisible for user.
Wherein, described View layers is a sightless virtual mask.User draws or increases and decreases to point on the screen
Vertex or boundary point, available specific target mapping region or change of flight approach point, then by underlying algorithm according to
By the good relevant parameter of user setting, such as course line spacing, course line angle, sidelapping rate etc., relevant unmanned plane boat is generated
The complete trajectory that line gauge is drawn.But if using the physical location on map as computing object, the destination enormous amount of calculating, because
This creation one virtual " View layers " reduces area and simplifies calculation amount.View layers of creation include the coordinate system for establishing View layers
With determine the View layer region covered, to handle the point under View layers of coordinate system.View layers of maximum area is mobile for user
The area of the touch control display apparatus (for example, display screen of smart phone) of controlling terminal, it is former that coordinate system, which is with the screen upper left corner,
Point, the edge that horizontal axis forward direction prolongs to the right screen extend, and the positive to be up for the longitudinal axis along the extension of the edge of screen.In other realities of the invention
It applies in example, View layers can also otherwise establish, or the area with other sizes, and this is not restricted.
View layers of destination generation module 602, under the systemic presupposition point and the View layers of coordinate in the figure layer of base area
User plan point, calculate the destination generated under the View layers of coordinate.
Wherein, the systemic presupposition point on map layer refers to that is preset on map layer in software systems has
The rising of longitude and latitude spiral point, decline spiral point, make a return voyage a little and the points such as level point.The user plans that point includes mapping region
Vertex, survey and draw region boundary point and the users such as flight approach point advised on View layers described by equipment such as touch devices
The line information drawn.
In one embodiment of the invention, View layers of destination generation module 602 are used for the systemic presupposition on map layer
The systemic presupposition point that is converted under the View layer coordinate of point, further according under the View layers of coordinate the systemic presupposition point with
User under the View layers of coordinate plans point, calculates the destination generated under the View layers of coordinate.
Wherein, first that the system on map layer is pre- when the certain point in the systemic presupposition point on map layer participates in calculating
The point to set up an office is converted into the systemic presupposition point under the View layers of coordinate, then plans point one with the user under View layers of coordinate
It rises, is unified under View layers of coordinate system and is calculated.On the contrary, the systemic presupposition point not being related on the map layer calculated does not need to turn
The point being changed under View layers of coordinate.
In one embodiment of the invention, View layers of destination generation module 602 are filled for obtaining the user in touch-control
Set the operation (for example, gesture) when planning route；And operation when by the planning route is converted into the View layers of seat
User under mark plans point；Wherein, the planning route includes at least one of the following terms: changing position a little, increase
Or reduce point.
Wherein, in flight course planning, user's selected element on touch device increases or deletes vertex, so that these dots
At the mapping region of a triangle, quadrangle or polygon.Survey can be changed by the position or increase and decrease vertex of dragging point
Recalculating for destination will be carried out when drawing region, and changing.View layers of destination generation module 602 be used for by user it is all this
Line information representated by a little operations (these operations are not limited to gesture) is converted into the point under the View layers of coordinate.
In one embodiment of the invention, View layers of destination generation module 602 are for will be under the View layers of coordinate
User under systemic presupposition point and the View layers of coordinate plans the incoming underlying algorithm library of point, generates and calculates according to preset destination
Method generates the destination under the View layers of coordinate.
Wherein, preset destination generating algorithm, including according to first such as course line spacing, course line angle, sidelapping rate
The preceding parameter set generates the track of unmanned plane flight course planning.These relevant calculations are entirely in View layers of coordinate
Lower progress.This step reduces calculation amount compared to calculating is carried out under map reference.
Map reference conversion module 603, the boat for being converted into the destination under the View layers of coordinate under map reference
Point, and then course line is generated on the map layer.
In one embodiment of the invention, the coordinate transferring 603, being also used to will be described by api interface
Destination under View layers of coordinate is converted into the destination under the map reference, and then generates course line on the map layer.
Wherein, it is converted into having the map of latitude and longitude information to sit the destination being computed under View layers of coordinate generated
Destination under mark, and then course line is generated on the map layer.
Wherein, it when modifying on the basis of user is in newly-generated course line, is then returned to the View layers of destination and generates
Module 602 obtains operation of the user when planning route on touch device, for re-starting boat on View layers described
Point calculates.
It should be noted that View layers of creation module 601, View layers of destination generation module 602 and map reference conversion
Module 603 can be the processor of mobile controlling terminal.
The embodiments of the present invention also provide a kind of computer readable storage medium, those of ordinary skill in the art can be managed
Solution realize above-described embodiment method in all or part of the process be can be indicated by computer program relevant hardware come
Complete, described program can be stored in the computer-readable storage medium, when one or more program by one or
When multiple processors execute, it may include such as the process of the various embodiments described above.Wherein, the storage medium can be magnetic disk, light
Disk, read-only memory (ROM, Read Only Memory) or random access memory (RAM, Random Access
Memory) etc..The storage medium and one or more of processors are included in the mobile controlling terminal.
The invention proposes a kind of methods of unmanned plane airline generation.By the way that all calculating is all placed on View layers, subtract
Lacked it is only excessive come calculation amount when carrying out course line calculating with the point under map reference, and the case where lead to Caton；Further, it moves
All course lines shown in dynamic controlling terminal are all using map longitude and latitude as coordinate, so that the system under script map reference is pre-
It sets up an office and plans that point is united in display with the user under View layers of coordinate, solve when user is in the behaviour of mobile controlling terminal
When making the operation such as to be dragged, changed or scaled on interface, since two layers of destination calculation processing is asynchronous, there is course line and draw not
The problem of synchronous or drafting disconnects, the user experience is improved.
Those of ordinary skill in the art will appreciate that all or part of the steps in the above method can be instructed by program
Related hardware is completed, and described program can store in computer readable storage medium, such as read-only memory, disk or CD
Deng.Optionally, one or more integrated circuits also can be used to realize, accordingly in all or part of the steps of above-described embodiment
Ground, each module/unit in above-described embodiment can take the form of hardware realization, can also use the shape of software function module
Formula is realized.The present invention is not limited to the combinations of the hardware and software of any particular form.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (13)
1. a kind of method of unmanned plane airline generation, the method is executed by moving controlling terminal characterized by comprising
View layers of creation, described View layers calculates course line for assisting, and described View layers is located above map layer and to use
Family institute is invisible；
Point is planned according to the user under the systemic presupposition point and the View layers of coordinate on the map layer, is calculated described in generating
Destination under View layers of coordinate；
Destination under the View layers of coordinate is converted into the destination under map reference, to generate course line on the map layer；
Wherein, the systemic presupposition point on the map layer includes rising the point that spirals, declining and spiral a little and make a return voyage in a little at least
It is a kind of；
User under the View layers of coordinate plans that point includes the vertex in unmanned plane mapping region, the boundary point for surveying and drawing region
And at least one of flight approach point.
2. the method according to claim 1, wherein this method further include:
Systemic presupposition point on the map layer is converted into the systemic presupposition point under the View layers of coordinate, then:
User under the systemic presupposition point and the View layers of coordinate according on the map layer plans point, calculates and generates institute
State the destination under View layers of coordinate, comprising:
Point is planned according to the user under the systemic presupposition point and the View layers of coordinate under the View layers of coordinate, is calculated and is generated institute
State the destination under View layers of coordinate.
3. method according to claim 1 or 2, which is characterized in that this method further include:
Obtain operation of the user when planning route in the mobile controlling terminal；And
Operation when by the planning route is converted into the user under the View layers of coordinate and plans point；
Wherein, the operation includes at least one of the following terms: changing position a little, increases or decreases a little.
4. according to the method described in claim 2, it is characterized in that, the systemic presupposition point according under the View layers of coordinate
Point is planned with the user under the View layers of coordinate, calculates the destination generated under the View layers of coordinate, comprising:
User under systemic presupposition point and the View layers of coordinate under the View layers of coordinate is planned into the incoming underlying algorithm of point
Library generates the destination under the View layers of coordinate according to preset destination generating algorithm.
5. the method according to claim 1, wherein the destination by under the View layers of coordinate is converted into institute
The destination under map reference is stated, to generate course line on the map layer, comprising:
The destination under the View layers of coordinate is converted into the destination under the map reference by api interface, and then described
Course line is generated on map layer.
6. a kind of mobile controlling terminal, including main body and set on the display device of the main body, which is characterized in that the mobile control
Terminal processed further include:
Processor is set in the main body；
Memory is set in the main body and connect with the processor communication；
The memory is stored with the instruction that can be executed by the processor, and described instruction is executed by the processor, so that institute
It states processor and is able to carry out method of any of claims 1-5.
7. a kind of computer readable storage medium, which is characterized in that be stored on the computer readable storage medium one or
The multiple programs of person, one or more of programs can be executed by one or more processor, with realize as claim 1 to
Unmanned plane airline generation method described in any one of claim 5.
8. a kind of unmanned plane airline generation device characterized by comprising
View layers of creation module, View layers described for creating, described View layers calculates course line, and the View for assisting
Layer is located above map layer and invisible for user；
View layers of destination generation module, for according to the use under the systemic presupposition point and the View layers of coordinate on the map layer
Point is planned at family, calculates the destination generated under the View layers of coordinate；
Map reference conversion module, for the destination under the View layers of coordinate to be converted into the destination under map reference, in turn
Course line is generated on the map layer；And
Wherein, the systemic presupposition point on the map layer includes presetting the upper of map longitude and latitude in the controlling terminal system
Rise the point that spirals, decline is spiraled a little and is maked a return voyage at least one of a little, and
User under the View layers of coordinate plans that point includes, the vertex in unmanned plane mapping region, the boundary for surveying and drawing region
At least one of point and flight approach point.
9. device according to claim 8, which is characterized in that the View layers of destination generation module is used for:
Systemic presupposition point on the map layer is converted into the systemic presupposition point under the View layers of coordinate, then:
The View layers of destination generation module is used for:
Point is planned according to the user under the systemic presupposition point and the View layers of coordinate under the View layers of coordinate, is calculated and is generated institute
State the destination under View layers of coordinate.
10. device according to claim 8 or claim 9, which is characterized in that View layers of destination generation module are used for:
Obtain operation of the user when planning route in the mobile controlling terminal；And
Operation when by the planning route is converted into the user under the View layers of coordinate and plans point；
Wherein, the operation includes at least one of the following terms: changing position a little, increases or decreases a little.
11. device according to claim 9, which is characterized in that the View layers of destination generation module is used for:
User under systemic presupposition point and the View layers of coordinate under the View layers of coordinate is planned into the incoming underlying algorithm of point
Library generates the destination under the View layers of coordinate according to preset destination generating algorithm.
12. according to the method described in claim 8, it is characterized in that, the map reference conversion module is used for:
The destination under the View layers of coordinate is converted into the destination under the map reference by api interface, and then described
Course line is generated on map layer.
13. a kind of unmanned plane airline generation system, which is characterized in that the system comprises:
Unmanned plane, including fuselage, the horn being connected with the fuselage and the power device set on the horn or the fuselage；
And
Mobile controlling terminal as claimed in claim 6, the mobile controlling terminal are connect with the UAV Communication, the shifting
Dynamic controlling terminal is for generating course line, to control the unmanned plane according to the airline operation.
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