CN110362102B - Method, device and system for generating unmanned aerial vehicle route - Google Patents
Method, device and system for generating unmanned aerial vehicle route Download PDFInfo
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Abstract
The invention discloses a method and a device for generating a route of an unmanned aerial vehicle, a computer readable storage medium and a route generation system of the unmanned aerial vehicle.A View layer is created and used for assisting in calculating the route, and is positioned above a map layer and invisible for a user; calculating and generating a navigation point under the View layer coordinate according to a system preset point on the map layer and a user planning point under the View layer coordinate; and converting the waypoints under the View layer coordinates into waypoints under the map coordinates so as to generate a route on the map layer. Compared with the method for calculating the waypoints on the map, the method for calculating the waypoints on the map reduces the calculation amount, solves the problem of unsynchronized drawing when processing is carried out under the map coordinate and the View layer coordinate respectively, enables the waypoint planning to be smoother, and improves the user experience.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle route generation, in particular to a method, a device and a system for generating an unmanned aerial vehicle route.
Background
An Unmanned Aerial Vehicle (UAV) is an Unmanned Aerial Vehicle operated by a radio remote control device and a self-contained program control terminal. The intelligent control system relates to a sensor technology, a communication technology, an information processing technology, an intelligent control technology, a power propulsion technology and the like, and is a product with high technical content in the information era.
The air route planning of the unmanned aerial vehicle means that the unmanned aerial vehicle carries out different flight tasks such as road cruising, regional surveying and mapping, shooting monitoring, agricultural plant protection and the like along a specified route or in a specified region through the air route planning. Existing unmanned aerial vehicle route planning includes planning using PC-side software and mobile-side APP. Most unmanned aerial vehicle route planning is controlled by PC end software, and its convenience is not as good as removal end APP.
The existing mobile terminal APP terminal route planning can select or draw a mapping area on terminal equipment according to a user, then the user drags or increases or decreases boundary points on a screen of the mapping area to obtain a specific target mapping area, and then a bottom layer algorithm generates a related unmanned aerial vehicle route planning track according to related parameters set by the user, such as route distance, route angle, side direction overlapping rate and the like. However, since this method uses the actual position of the waypoint on the map as the calculation target, the larger the area of the selected mapping area, the more waypoints, and the huge number of waypoints result in a very large calculation amount when the user drags or changes the mapping area on the screen, and there is a serious stuck problem.
In another method, the view overlay is used to map and display all waypoints generated by the underlying algorithm library on an overlaid view layer, namely the "view layer". The "view layer" is a virtual layer, which can be overlaid on the display screen (e.g. mobile phone screen) of the mobile terminal of the user and establish a corresponding coordinate system. The points with the longitude and the latitude on the map are corresponding to the points on the view layer, and then the calculation is carried out according to the points on the view layer, so the method reduces the calculation amount and greatly improves the efficiency. However, this approach is typically used for rotary wing drones, and only satisfies the need to draw and display the survey area only on the "view layer". In some cases, for example, when the drone is a fixed-wing drone, according to the route planning features of the fixed-wing drone, it is necessary to set the flight points such as the flight circle point and the approach point of the fixed-wing drone on the map, and to draw and display the mapping area on the "view layer", the points on the map layer need to be connected with the points on the "view layer" and simultaneously display the same. When a user drags, changes or zooms on an operation interface of the mobile terminal to change a course or generate a new course, the situation that the drawing displayed on a screen is asynchronous or the drawing is disconnected often occurs due to overlarge calculated amount and asynchronous two-layer processing, and the user experience is greatly influenced.
Disclosure of Invention
The embodiment of the invention provides an efficient unmanned aerial vehicle flight generation method and system, which can effectively solve the problems of asynchronous, disconnected and stuck air route drawing when a user draws an air route on a mobile terminal APP and simultaneously operates the air route of a map layer and the air route of a view layer, so that the air route drawing is more convenient and smooth, and the user experience is greatly improved.
In an aspect of an embodiment of the present invention, a method for generating an unmanned aerial vehicle route is provided, where the method is executed by a mobile control terminal, and includes: creating a View layer, wherein the View layer is used for assisting in calculating a route, is positioned above the map layer and cannot be seen by a user; calculating and generating a navigation point under the View layer coordinate according to a system preset point on the map layer and a user planning point under the View layer coordinate; converting the waypoints under the View layer coordinates into waypoints under the map coordinates so as to generate a route on the map layer; the system preset point on the map layer comprises at least one of an ascending spiral point, a descending spiral point and a back-navigation point; the user planning points in the View layer coordinates include at least one of vertices of the drone mapping area, boundary points of the mapping area, and flight path points.
Optionally, converting the system preset point on the map layer into a system preset point under the View layer coordinate, then: the calculating and generating a navigation point under the View layer coordinate according to the system preset point on the map layer and the user planning point under the View layer coordinate comprises the following steps: and calculating and generating a navigation point under the View layer coordinate according to the system preset point under the View layer coordinate and the user planning point under the View layer coordinate.
Optionally, acquiring an operation of the user when planning a route on the mobile control terminal; converting the operation during the route planning into a user planning point under the View layer coordinate; wherein the operation comprises at least one of: changing the position of the point, increasing or decreasing the point.
Optionally, the calculating and generating a waypoint under the View layer coordinate according to a system preset point under the View layer coordinate and a user planned point under the View layer coordinate includes: and transmitting the system preset points under the View layer coordinates and the user planning points under the View layer coordinates into a bottom algorithm library, and generating the navigation points under the View layer coordinates according to a preset navigation point generating algorithm.
Optionally, the converting the waypoints in the View layer coordinates into waypoints in the map coordinates to generate a route on the map layer includes: and converting the waypoints under the View layer coordinates into waypoints under the map coordinates through an API (application programming interface), and further generating a route on the map layer.
In another aspect of the embodiments of the present invention, there is provided a mobile control terminal, including a main body and a display device disposed on the main body, the mobile control terminal further including: a processor disposed within the body; the memory is arranged in the main body and is in communication connection with the processor; the memory stores instructions executable by the processor to enable the processor to perform the method described above.
In another aspect of embodiments of the present invention, there is provided a computer readable storage medium having one or more programs stored thereon, the one or more programs being executable by one or more processors to implement a method of drone route generation as described above.
In another aspect of the embodiments of the present invention, an unmanned aerial vehicle route generation apparatus is provided, including: the View layer creating module is used for creating the View layer, the View layer is used for assisting in calculating a route, and the View layer is positioned above the map layer and cannot be seen by a user; the View layer waypoint generating module is used for calculating and generating waypoints under the View layer coordinates according to system preset points on the map layer and user planning points under the View layer coordinates; the map coordinate conversion module is used for converting the waypoints under the View layer coordinates into waypoints under the map coordinates, and further generating routes on the map layer; the system presetting points on the map layer comprise at least one of an ascending spiral point, a descending spiral point and a returning point of a map longitude and latitude preset in the control terminal system, and the user planning points under the View layer coordinates comprise at least one of vertexes of the unmanned aerial vehicle surveying and mapping area, boundary points of the surveying and mapping area and flight path points.
Optionally, the View layer waypoint generating module is configured to: converting the system preset point on the map layer into a system preset point under the View layer coordinate, and then: the View layer waypoint generating module is used for: and calculating and generating a navigation point under the View layer coordinate according to a system preset point under the View layer coordinate and a user planning point under the View layer coordinate.
Optionally, the View layer waypoint generating module is configured to: acquiring the operation of the user when planning a line on the mobile control terminal; converting the operation during the route planning into a user planning point under the View layer coordinate; wherein the operation comprises at least one of: changing the position of the point, increasing or decreasing the point.
Optionally, the View layer waypoint generating module is configured to: and transmitting the system preset points under the View layer coordinates and the user planning points under the View layer coordinates into a bottom algorithm library, and generating the navigation points under the View layer coordinates according to a preset navigation point generating algorithm.
Optionally, the map coordinate conversion module is configured to: and converting the waypoints under the View layer coordinates into waypoints under the map coordinates through an API (application programming interface), and further generating a route on the map layer.
In another aspect of the embodiments of the present invention, there is provided an unmanned aerial vehicle route generation system, including: the unmanned aerial vehicle comprises a body, a horn connected with the body and a power device arranged on the horn or the body; and the mobile control terminal is in communication connection with the unmanned aerial vehicle, and is used for generating a route so as to control the unmanned aerial vehicle to fly according to the route.
According to the unmanned aerial vehicle route generation method, the unmanned aerial vehicle route generation device, the computer readable storage medium and the mobile control terminal, the View layer used for auxiliary calculation is established during route planning, the system preset point on the map layer and the point planned on the View layer are uniformly converted into the point under the View layer coordinate for calculation, and the waypoint under the View layer coordinate is generated.
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The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of an unmanned aerial vehicle route generation system according to an embodiment of the present invention;
fig. 2 is a three-dimensional structure diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic View of a View layer coordinate system according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a method for generating a route of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart diagram illustrating another method for route generation for unmanned aerial vehicles in accordance with an embodiment of the present invention;
fig. 6 is a schematic diagram of an unmanned aerial vehicle route generation device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments of the present invention may be arbitrarily combined with each other without conflict. Additionally, while functional block divisions are performed in the device diagrams, with logical sequences shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the block divisions in the device diagrams, or the flowcharts.
Referring to fig. 1, fig. 1 is a schematic diagram of an unmanned aerial vehicle route generation system according to an embodiment of the present invention, where the system includes: mobile control terminal 101, and drone 102. The mobile control terminal 101 and the unmanned aerial vehicle 102 perform wireless communication, and the mobile control terminal 101 sends the route information generated on the map layer to the unmanned aerial vehicle 102. The drone 102 flies according to the flight path.
The unmanned aerial vehicle 102, referring to fig. 2, includes a fuselage 200, a fixed wing 300 and a fixed wing empennage 400 connected to the fuselage, a power system 500 installed on the fixed wing 300 (the power system 500 may also be installed on the fuselage 200 or the empennage 300, or both the fuselage 200 and the fixed wing 300, or both the fixed wing 300 and the fixed wing empennage 400), and a flight control module, a communication module, a GPS communication module, etc. (not shown in fig. 2) installed on the fuselage 200.
In other embodiments, drone 102 may be any other suitable type of unmanned aerial vehicle, such as a tilt rotor drone, a vertical take-off and landing fixed wing, and the like. The power plant 500 includes: an engine (e.g., an electric motor), a power source (e.g., a battery), power transmission (e.g., electrical modulation), and the like. The number, structure and installation position of the power devices 500 may be changed according to actual needs in the application of different types of unmanned aerial vehicles, and the invention is not limited thereto. In other possible embodiments, the drone 102 may further include a cradle head (not shown) installed at the bottom of the fuselage 200, where the cradle head is configured to carry a high-definition digital camera or other imaging device to eliminate disturbance on the high-definition digital camera or other imaging device, so as to ensure that a video captured by the camera or other imaging device is clear and stable.
In an embodiment of the invention, the drone 102 includes a flight controller disposed on the fuselage 200. The flight controller senses the environment around the unmanned aerial vehicle through various sensors and controls the flight of the unmanned aerial vehicle. The flight controller may include a processing unit (processing unit), an Application Specific Integrated Circuit (ASIC), or a Field Programmable Gate Array (FPGA). When a user performs wireless communication with the unmanned aerial vehicle 102 through the mobile control terminal 101 and inputs control instructions such as the flight attitude of the unmanned aerial vehicle and the flight route of the flight, the flight controller of the unmanned aerial vehicle controls modules such as a motor, a gyroscope, a magnetometer and a GPS module to complete the received flight instructions.
The mobile control terminal 101 includes a main body, a display device provided in the main body, and a processor and a memory provided in the main body, the memory being in communication with the processor. The mobile control terminal 101 is used for interacting with a user. In an embodiment of the present invention, the processor of the mobile control terminal 101 is configured to create a View layer, and the View layer is created with reference to fig. 3.
FIG. 3 is a diagram illustrating a View layer coordinate system according to an embodiment of the invention. The View layer is a virtual cover layer invisible to a user and is superposed on a display device of the mobile control terminal, such as a display screen of a smart phone. As shown in fig. 3, in an embodiment of the present invention, the maximum area of the View layer is an area of a display screen of the mobile control terminal (for example, a display screen of a smart phone), a coordinate system is established such that the upper left corner of the screen is an origin, a horizontal axis extends along an edge of the screen to the right, and a vertical axis extends along the edge of the screen to the upper. The View layer coordinate system is relative to a map coordinate system, points under the View layer coordinate system are points positioned on a View layer, and points under the map coordinate system are points with coordinates such as longitude and latitude on the map layer. The mode shown in fig. 3 is only an example, the maximum area of the View layer may not completely cover the display screen (for example, occupies half of the area of the touch device), and the View layer coordinate system may be established in other modes according to actual requirements. In an embodiment of the invention, the View layer is used for assisting in calculating a course, and the View layer is located above the map layer.
In an embodiment of the present invention, the processor of the mobile control terminal 101 is further configured to calculate and generate a waypoint in the View layer coordinate according to a system preset point on the map layer and a user planned point in the View layer coordinate. According to the flight path planning characteristics of the fixed-wing unmanned aerial vehicle, when a complete flight path is calculated, not only are system preset points with map longitude and latitude coordinates, such as an ascending spiral point, a descending spiral point and a returning point of the fixed-wing unmanned aerial vehicle, required to be arranged on a map, but also user planning points when a user plans a surveying and mapping area on a view layer are required. In embodiments of the present invention, the user-planned points include vertices of the user-planned mapping region, flight path points, and the like.
Therefore, the processor is also used for calculating the navigation point under the View layer coordinate according to the system preset point on the map layer and the user planning point under the View layer coordinate. The processor needs to convert the system preset points on the map layer into system preset points under the View layer coordinates, transmit the system preset points and the user planning points under the View layer into a bottom algorithm library, and generate the waypoints under the View layer coordinates according to a preset waypoint generation algorithm. The invention carries out the dead-reckoning of the waypoint under the View layer coordinate, reduces the calculated amount and solves the problem of processing slow jamming.
In an embodiment of the present invention, the processor of the mobile control terminal 101 is further configured to convert the waypoint in the View layer coordinates into a waypoint in the map coordinates, so as to generate a course on the map layer. Because the View layer is a hidden layer invisible to the user, the navigation line is converted into longitude and latitude coordinates from the View layer coordinates, and is drawn on the map layer and displayed to the user. In an embodiment of the invention, the processor converts the waypoints in the View layer coordinates into waypoints in the map coordinates through the API interface, and then generates the route on the map layer. The invention uniformly places the route generation display on the map layer, and solves the problems of instable, incoherent and asynchronous drawing of the route generation in the prior art.
Fig. 4 is a schematic specific flowchart of a method for generating an unmanned aerial vehicle route according to an embodiment of the present invention. The method is executed by a mobile control terminal, and comprises the following steps:
step S401: and creating a View layer, wherein the View layer is used for auxiliary calculation and is positioned above the map layer and is invisible to a user.
The establishment of the View layer is shown in FIG. 3. Because under the map coordinate system, a huge number of points on the map are involved when the course is changed, the calculation amount is huge, a View layer coordinate system is established, the area is limited, the points under the map coordinate system are replaced by the points under the View layer coordinate system, the number of the points is reduced, and the calculation amount is reduced.
The View layer is a virtual cover layer invisible to a user and is superposed on a display device of the mobile control terminal, such as a display screen of a smart phone. As shown in fig. 3, in an embodiment of the present invention, the maximum area of the View layer is an area of a display screen of the mobile control terminal (for example, a display screen of a smart phone), a coordinate system is established such that the upper left corner of the screen is an origin, a horizontal axis extends along an edge of the screen to the right, and a vertical axis extends along the edge of the screen to the upper. The View layer coordinate system is relative to a map coordinate system, points under the View layer coordinate system are points positioned on a View layer, and points under the map coordinate system are points with coordinates such as longitude and latitude on the map layer. The mode shown in fig. 3 is only an example, the maximum area of the View layer may not completely cover the display screen (for example, occupies half of the area of the touch device), and the View layer coordinate system may be established in other modes according to actual requirements. In an embodiment of the invention, the View layer is used for assisting in calculating a course, and the View layer is located above the map layer.
Step S402: and acquiring the operation of the user when planning the line on the mobile control terminal.
In an embodiment of the invention, a user draws a route desired to be planned on a touch screen of a control terminal by using gestures, and the method intercepts the gestures of the user when the user plans the route on the touch screen to obtain planned route information. These user gestures include changing the position of points, selecting points, adding or deleting vertices so that the points form a triangular, quadrilateral, or polygonal mapping area. The user can change the mapping area by dragging the position of the point or adding or subtracting vertices. Or any point in the flight path to change the original flight path.
Step S403: and converting the operation during the route planning into a user planning point under the View layer coordinate.
Wherein, the gestures comprising the route information are converted into points under the View layer coordinates, namely, the points planned by the user are expressed by the View coordinates. Wherein the user planning points under the View layer coordinates comprise at least one of vertices of the unmanned aerial vehicle mapping region, boundary points of the mapping region, and flight path points.
In addition, according to the route planning characteristics of the fixed-wing unmanned aerial vehicle, when a complete route is calculated, system-preset points with map longitude and latitude coordinates, such as an ascending spiral point, a descending spiral point, a return point and the like of the fixed-wing unmanned aerial vehicle, need to be set on a map. Thus, the method further comprises:
and S404, converting the system preset points on the map layer into system preset points under the View layer coordinates.
When the course calculation is involved, the mobile control terminal also needs to convert the system preset points on the map layer involved in the course calculation into the system preset points under the View layer coordinates, so as to facilitate the subsequent course calculation on the View layer.
Step S405: and calculating and generating a navigation point under the View layer coordinate according to a system preset point under the View layer coordinate and a user planning point under the View layer coordinate.
In an embodiment of the invention, a system preset point under the View layer coordinate and a user planning point under the View layer coordinate are transmitted into a bottom algorithm library, and a navigation point under the View layer coordinate is generated according to a preset navigation point generation algorithm.
Step S406: and converting the waypoints in the View layer coordinates into waypoints in the map coordinates so as to generate a route on the map layer.
In an embodiment of the invention, the waypoints in the View layer coordinates can be converted into waypoints in the map coordinates through an API (application programming interface), so that a course is generated on the map layer.
The calculation of the route is to generate each waypoint (for example, a point in the route used for surveying by the unmanned aerial vehicle in the surveying area) according to the information of the shot angle, the flight distance, the inflection point and the like, and then connect the waypoints to form the route. These operations are implemented by the underlying algorithm library.
In an embodiment of the present invention, the method may further include:
step S407: and drawing the navigation points under the map coordinates on a display device for displaying.
In one embodiment of the invention, the resulting routes are presented to the user on the map layer and displayed on the touch device.
In the embodiment of the invention, the calculation of the waypoints is carried out on the View layer, and the airline drawing is placed on the map layer, so that the problems of instable, incoherent and asynchronous generation of airline cards in the prior art are solved.
Referring to fig. 5, fig. 5 is a flowchart of a method for generating a route of an unmanned aerial vehicle according to an embodiment of the present invention, where the method is executed by a mobile control terminal, and the method includes:
step 501: and creating a View layer, wherein the View layer is used for auxiliary calculation and is positioned above the map layer and is invisible to a user.
The creating of the View layer comprises the steps of establishing a coordinate system of the View layer and determining an area covered by the View layer so as to process points under the coordinates of the View layer. The maximum area of the View layer is the area of a touch device of the user mobile control terminal, the coordinate system takes the upper left corner of the screen as an origin, the horizontal axis extends towards the right along the edge of the screen, and the vertical axis extends upwards along the edge of the screen. Because under the map coordinate system, a huge number of points on the map are involved when the course is changed, the calculation amount is huge, a View layer coordinate system is established, the area is limited, the points under the map coordinate system are replaced by the points under the View layer coordinate system, the number of the points is reduced, and the calculation amount is reduced.
Step 502: and calculating and generating a navigation point under the View layer coordinate according to a system preset point on a map layer and a user planning point under the View layer coordinate.
The system preset points on the map layer refer to ascending spiral points, descending spiral points, returning points, descending points and the like which are preset on the map layer in system software and have longitude and latitude. The user planning points comprise points planned on the View layer by the user in the modes of dragging, increasing and decreasing, and the like, wherein the points comprise the top point of the surveying and mapping area, the boundary point of the surveying and mapping area, the flight path point, and the like. When planning the route of the fixed-wing unmanned aerial vehicle, the characteristics of the route of the fixed-wing unmanned aerial vehicle not only need to set system preset points such as a flight hover point of the fixed-wing unmanned aerial vehicle under a map coordinate system (namely longitude and latitude information), but also need a user to plan a surveying and mapping area on a view layer, so that two points, namely the system preset points and the user planned points, can appear when planning the route.
Wherein, planning the mapping area on the view layer comprises obtaining gestures of the user when planning the line on the touch control device, wherein the gestures comprise selecting points, adding or deleting vertexes, so that the points form a triangular, quadrangular or polygonal mapping area. The user can change the mapping area by dragging the position of the point or adding or subtracting vertices. These obtained user operations, including the line information of the survey area, are converted into user planned points in View layer coordinates. In addition, when planning a route, a user can plan the route on the touch device by using gestures, and can plan the route on the mobile control terminal by other modes, and the obtained route information is also converted into user planning points under the View layer coordinates.
Thus, when participating in a calculation, the points of the calculation will be involved: no matter the system preset point under a map coordinate system or the user planning point under a View layer coordinate system, the calculation is carried out under the View layer coordinate system. Therefore, the system preset points on the map layer involved in the calculation need to be converted into the system preset points under the View layer coordinates, and then the calculation needs to be performed on the View layer. Conversely, without involving points on the calculated map layer, there is no need to convert to points in View layer coordinates.
After the user plans, a mapping area is formed, the flight route of the unmanned aerial vehicle in the mapping area needs to be calculated, for example, a waypoint is generated according to information such as a shooting angle, a flight distance, an inflection point and the like, and then the waypoint is connected with the waypoint outside the mapping area to form a closed route.
In an embodiment of the invention, the converted system preset points under the View layer coordinates and the user planning points under the View layer coordinates are transmitted into a bottom algorithm library, and the navigation points under the View layer coordinates are generated according to a preset navigation point generation algorithm. The preset waypoint generation algorithm is an algorithm for specifying how to generate waypoint information such as flight distance, inflection point and the like. If the calculation of the waypoints is carried out by using the points on the map, the calculation amount is huge, so the calculation on the View layer by the step greatly simplifies the calculation amount.
Step 503: and converting the waypoints under the View layer coordinates into waypoints under the map coordinates so as to generate a route on the map layer.
In one embodiment of the invention, the conversion of the waypoints in the View layer coordinates to waypoints in the map coordinates is achieved through an API interface. And converting the waypoints of the View layer into actual waypoints on the map with the longitude and latitude to generate a route and draw the route. Because the generated and drawn routes are all in the map layer, and the View layer is a virtual covering layer invisible to the user, the problems of inconsistent routes, disconnection and unsynchronized drawing when the routes are regenerated are solved.
As shown in fig. 6, an embodiment of the present invention further provides an unmanned aerial vehicle route generation apparatus, where the apparatus includes: the View layer creating module 601, the View layer waypoint generating module 602 and the map coordinate converting module 603.
The View layer creating module 601 is configured to create a View layer, where the View layer is used for auxiliary computation and is located above the map layer and invisible to a user.
The View layer is an invisible virtual cover layer. A user drags points on a screen or increases or decreases vertexes or boundary points to obtain a specific target mapping area or change flight path points, and then a bottom-layer algorithm generates a complete track of the relevant unmanned aerial vehicle route planning according to relevant parameters set by the user, such as route distance, route angle, side-to-side overlapping rate and the like. However, if the actual position on the map is taken as a calculation object, the number of calculated waypoints is huge, so that a virtual 'View layer' is created, and the area simplification calculation amount is reduced. Creating the View layer comprises establishing a coordinate system of the View layer and determining an area covered by the View layer so as to process points under the coordinate system of the View layer. The maximum area of the View layer is the area of a touch display device (for example, a display screen of a smart phone) of the user mobile control terminal, the coordinate system takes the upper left corner of the screen as an origin, the horizontal axis extends along the edge of the screen towards the right, and the vertical axis extends along the edge of the screen towards the upper side. In other embodiments of the present invention, the View layer may be built in other ways or have other areas, and is not limited herein.
And the View layer waypoint generating module 602 is configured to calculate and generate waypoints in the View layer coordinates according to system preset points on a map layer and user planning points in the View layer coordinates.
The system preset points on the map layer refer to points preset on the map layer in a software system, such as a rising circle point, a falling circle point, a returning circle point, a falling point and the like with longitude and latitude. The user planning points comprise line information planned on the View layer by the users through equipment such as a touch device and the like, wherein the line information comprises the top points of the surveying and mapping area, the boundary points of the surveying and mapping area, the flight path points and the like.
In an embodiment of the present invention, the View layer waypoint generating module 602 is configured to convert a system preset point on a map layer into a system preset point under a View layer coordinate, and then calculate and generate a waypoint under the View layer coordinate according to the system preset point under the View layer coordinate and a user plan point under the View layer coordinate.
When a certain point in the system preset points on the map layer participates in calculation, the point in the system preset points on the map layer is converted into a system preset point under the View layer coordinate, and then the system preset point and a user planning point under the View layer coordinate are calculated under the View layer coordinate system in a unified mode. In contrast, system pre-set points on the map layer that do not involve computation need not be converted to points under View layer coordinates.
In one embodiment of the invention, the View layer waypoint generating module 602 is used for acquiring the operation (such as a gesture) of the user when planning a route on the touch control device; converting the operation during line planning into a user planning point under the View layer coordinate; wherein the planned route comprises at least one of: changing the position of the point, increasing or decreasing the point.
When planning an aerial route, a user selects points on the touch device, and adds or deletes vertexes, so that the points form a triangular, quadrangular or polygonal surveying area. The mapping area can be changed by dragging the position of the points or adding or subtracting vertices, and recalculation of the waypoints is performed when the change is made. The View layer waypoint generation module 602 is used to convert the route information represented by all these operations of the user (these operations are not limited to gestures) into points in the View layer coordinates.
In an embodiment of the present invention, the View layer waypoint generating module 602 is configured to transmit a system preset point in the View layer coordinate and a user plan point in the View layer coordinate into a bottom-layer algorithm library, and generate waypoints in the View layer coordinate according to a preset waypoint generating algorithm.
The preset waypoint generating algorithm comprises the step of generating a planned track of the unmanned aerial vehicle route according to the preset parameters such as route distance, route angle, side overlapping rate and the like. These correlation calculations are all performed in View layer coordinates. This step reduces the amount of computation compared to performing the computation in map coordinates.
And the map coordinate conversion module 603 is configured to convert the waypoints in the View layer coordinate into waypoints in the map coordinate, and further generate a route on the map layer.
In an embodiment of the present invention, the coordinate conversion module 603 is further configured to convert the waypoint in the View layer coordinate into a waypoint in the map coordinate through an API interface, so as to generate a route on the map layer.
And converting the navigation points under the calculated and generated View layer coordinates into navigation points under the map coordinates with latitude and longitude information, and further generating a route on the map layer.
When the user modifies the newly generated route, the user returns to the View layer waypoint generating module 602 to obtain the operation of the user when planning the route on the touch device, so as to perform waypoint calculation again on the View layer.
It should be noted that the View layer creation module 601, the View layer waypoint generation module 602, and the map coordinate conversion module 603 may be processors of the mobile control terminal.
Embodiments of the present invention also provide a computer-readable storage medium, and it will be understood by those skilled in the art that all or part of the processes in the method for implementing the embodiments described above may be implemented by instructing relevant hardware through a computer program, where the program may be stored in the computer-readable storage medium, and when one or more programs are executed by one or more processors, the processes may include the processes of the embodiments 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 storage medium and the one or more processors are included in the mobile control terminal.
The invention provides a method for generating an unmanned aerial vehicle route. All the calculations are placed in the View layer, so that the situation of blocking caused by overlarge calculated amount when the air route calculation is carried out by only using points under the map coordinates is reduced; furthermore, all routes displayed on the mobile control terminal take map longitude and latitude as coordinates, so that a system preset point under the original map coordinates and a user planned point under the View layer coordinates are unified on the display, the problem that when a user performs dragging, changing or zooming operations and the like on an operation interface of the mobile control terminal, because two layers of waypoints are asynchronous in calculation processing, the routes are asynchronous in drawing or disconnected in drawing is solved, and the user experience is improved.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by instructing the relevant hardware through a program, and the program may be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the foregoing embodiments may also be implemented by using one or more integrated circuits, and accordingly, each module/unit in the foregoing embodiments may be implemented in the form of hardware, and may also be implemented in the form of a software functional module. The present invention is not limited to any specific form of combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A method for unmanned aerial vehicle route generation, wherein the method is executed by a mobile control terminal, and is characterized by comprising the following steps:
creating a View layer, wherein the View layer is used for assisting in calculating a route, is positioned above the map layer and cannot be seen by a user;
Calculating and generating a navigation point under the View layer coordinate according to a system preset point on the map layer and a user planning point under the View layer coordinate;
converting the waypoints under the View layer coordinates into waypoints under the map coordinates so as to generate a route on the map layer;
the system preset point on the map layer comprises at least one of an ascending spiral point, a descending spiral point and a back-navigation point;
the user planning points in the View layer coordinates include at least one of vertices of the drone mapping area, boundary points of the mapping area, and flight path points.
2. The method of claim 1, further comprising:
converting the system preset point on the map layer into a system preset point under the View layer coordinate, and then:
the calculating and generating a navigation point under the View layer coordinate according to the system preset point on the map layer and the user planning point under the View layer coordinate comprises the following steps:
and calculating and generating a navigation point under the View layer coordinate according to a system preset point under the View layer coordinate and a user planning point under the View layer coordinate.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
Acquiring the operation of the user when planning a line on the mobile control terminal; and
converting the operation during line planning into a user planning point under the View layer coordinate;
wherein the operation comprises at least one of: changing the position of the point, increasing or decreasing the point.
4. The method of claim 2, wherein the calculating and generating the waypoints in the View layer coordinates according to the system preset points in the View layer coordinates and the user plan points in the View layer coordinates comprises:
and transmitting the system preset points under the View layer coordinates and the user planning points under the View layer coordinates into a bottom algorithm library, and generating the navigation points under the View layer coordinates according to a preset navigation point generating algorithm.
5. The method of claim 1, wherein converting the waypoints in the View layer coordinates to waypoints in the map coordinates to generate routes on the map layer comprises:
and converting the waypoints under the View layer coordinates into waypoints under the map coordinates through an API (application programming interface), and further generating a route on the map layer.
6. The utility model provides a mobile control terminal, includes the main part and locates the display device of main part, its characterized in that, mobile control terminal still includes:
A processor disposed within the body;
the memory is arranged in the main body and is in communication connection with the processor;
the memory stores instructions executable by the processor to enable the processor to perform the method of any one of claims 1-5.
7. A computer readable storage medium, having one or more programs stored thereon, the one or more programs being executable by one or more processors to implement the method of drone route generation of any one of claims 1 to 5.
8. An unmanned aerial vehicle route generation device, comprising:
the View layer creating module is used for creating the View layer, the View layer is used for assisting in calculating a route, and the View layer is positioned above the map layer and cannot be seen by a user;
the View layer waypoint generating module is used for calculating and generating waypoints under the View layer coordinates according to system preset points on the map layer and user planning points under the View layer coordinates;
the map coordinate conversion module is used for converting the waypoints under the View layer coordinates into waypoints under the map coordinates so as to generate a route on the map layer; and
Wherein, the system presetting point on the map layer comprises: at least one of an ascending spiral point, a descending spiral point and a returning point of the latitude and longitude of the map preset in the control terminal system, an
The user planning points under the View layer coordinates comprise at least one of vertexes of the unmanned aerial vehicle surveying area, boundary points of the surveying area and flight path points.
9. The apparatus of claim 8, wherein the View layer waypoint generation module is to:
converting the system preset point on the map layer into a system preset point under the View layer coordinate, and then:
the View layer waypoint generating module is used for:
and calculating and generating a navigation point under the View layer coordinate according to a system preset point under the View layer coordinate and a user planning point under the View layer coordinate.
10. The apparatus of claim 8 or 9, wherein the View layer waypoint generation module is configured to:
acquiring the operation of the user when planning a line on a mobile control terminal; and
converting the operation during line planning into a user planning point under the View layer coordinate;
wherein the operation comprises at least one of: changing the position of the point, increasing or decreasing the point.
11. The apparatus of claim 9, wherein the View layer waypoint generation module is configured to:
and transmitting system preset points under the View layer coordinates and user planning points under the View layer coordinates into a bottom algorithm library, and generating navigation points under the View layer coordinates according to a preset navigation point generating algorithm.
12. The apparatus of claim 8, wherein the map coordinate conversion module is configured to:
and converting the waypoints under the View layer coordinates into waypoints under the map coordinates through an API (application programming interface), and further generating a route on the map layer.
13. An unmanned aerial vehicle route generation system, the system comprising:
the unmanned aerial vehicle comprises a body, a horn connected with the body and a power device arranged on the horn or the body; and
the mobile control terminal of claim 6, in communicative connection with the drone, the mobile control terminal configured to generate a flight path to control the drone to fly along the flight path.
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| CN110866961A (en) * | 2019-10-23 | 2020-03-06 | 海南太美航空股份有限公司 | Air route drawing system based on network map and electronic equipment |
| CN112612291A (en) * | 2020-11-12 | 2021-04-06 | 北京大学（天津滨海）新一代信息技术研究院 | Air route planning method and device for unmanned aerial vehicle for oil field surveying and mapping |
| CN113329071A (en) * | 2021-05-26 | 2021-08-31 | 北京远度互联科技有限公司 | Unmanned aerial vehicle scheduling method, service system and computer storage medium |
| CN113671990B (en) * | 2021-08-10 | 2024-04-26 | 广州极飞科技股份有限公司 | Job path setting method, device, equipment and storage medium |
| CN114049798B (en) * | 2021-11-10 | 2022-07-29 | 中国人民解放军国防科技大学 | Automatic generation method and device for unmanned aerial vehicle autonomous net-collision recovery route |
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| CN104035446B (en) * | 2014-05-30 | 2017-08-25 | 深圳市大疆创新科技有限公司 | The course generation method and system of unmanned plane |
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