CN111373339A

CN111373339A - Flight task generation method, control terminal, unmanned aerial vehicle and storage medium

Info

Publication number: CN111373339A
Application number: CN201980005510.9A
Authority: CN
Inventors: 黄振昊; 石仁利; 徐富
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2020-07-03
Also published as: WO2020232575A1

Abstract

The application discloses a flight task generation method, a control terminal, an unmanned aerial vehicle and a storage medium, wherein the method comprises the following steps: acquiring a flight task file (S101); analyzing the flight task file to obtain waypoint information and at least one of task action information and parameter information (S102); a flight mission is generated based on the waypoint information and at least one of the mission action information and the parameter information (S103). The application improves the safety and reliability of the flight mission.

Description

Flight task generation method, control terminal, unmanned aerial vehicle and storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a flight task generation method, a control terminal, an unmanned aerial vehicle and a storage medium.

Background

With the high-speed development of the manufacturing industry of unmanned aerial vehicles in China, the unmanned aerial vehicles grow rapidly in the fields of aerial survey, power line patrol, natural gas (petroleum) pipeline patrol, forest fire prevention, emergency rescue and relief, smart cities and the like, the safety of the flight of the unmanned aerial vehicles is very important, the unmanned aerial vehicles need to make a flight task containing flight routes before operation, and then the unmanned aerial vehicles automatically execute the flight task.

At present, almost all air route planning applications are that air route planning is carried out in a regular area, a flight task is formulated on a planned air route, then an unmanned aerial vehicle automatically executes the flight task, and for areas and areas with complex environments or when the unmanned aerial vehicle is required to execute the flight task in an irregular operation area, accurate air route planning is difficult to carry out, even if the air route is planned, certain potential safety hazards exist, and the damage to the unmanned aerial vehicle is easily caused. In addition, the flight task usually only contains waypoint information, does not contain information such as actions and parameters of each waypoint, and cannot directly generate the task on the corresponding waypoint, so that the application range is limited, and the user experience is not good.

Disclosure of Invention

Based on this, the application provides a flight task generation method, a control terminal, an unmanned aerial vehicle and a storage medium, and aims to obtain a flight task file containing information such as waypoints, actions or parameters, so that the unmanned aerial vehicle generates a corresponding flight task according to the flight task file, thereby improving the generation efficiency of the flight task and improving the user experience.

In a first aspect, the present application provides a flight mission generating method, including:

the method comprises the steps of obtaining a target flight task file, wherein the target flight task file comprises target waypoint information, and at least one of target task action information and target parameter information, wherein the target task action information is used for describing task actions of the unmanned aerial vehicle at each waypoint, and the target parameter information is used for describing parameters of the unmanned aerial vehicle at each waypoint;

analyzing the target flight task file to obtain at least one of the target waypoint information, the target task action information and the target parameter information;

and generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information.

In a second aspect, the present application further provides a control terminal comprising a memory and a processor; the memory is used for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

In a third aspect, the present application further provides an unmanned aerial vehicle comprising a memory and a processor; the memory is used for storing a computer program;

In a fourth aspect, the present application further provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement:

The embodiment of the application provides a flight task generation method, a control terminal, an unmanned aerial vehicle and a storage medium, by acquiring a target flight task file containing target waypoint information and at least one of target task action information and target parameter information and analyzing the target flight task file, target waypoint information and at least one of target task action information and target parameter information may be obtained, then generating a corresponding target flight task through the acquired target waypoint information and at least one of the target task action information and the target parameter information, through obtaining the flight task file containing waypoint information, task action information and parameter information, the unmanned aerial vehicle can rapidly generate a corresponding flight task according to the flight task file, so that the generation efficiency of the flight task is improved, and the user experience is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart illustrating steps of a flight mission generation method according to an embodiment of the present application;

FIG. 2 is a flow diagram illustrating sub-steps of the mission generation method of FIG. 1;

FIG. 3a is a schematic view of a target flight path in the method for generating a flight mission according to the present application;

FIG. 3b is another schematic diagram of a target flight path in the method for generating a flight mission according to the present application;

FIG. 4 is a flowchart illustrating steps of another flight mission generation method provided in an embodiment of the present application;

FIG. 5 is a flow diagram illustrating sub-steps of the mission generation method of FIG. 4;

FIG. 6 is a flowchart illustrating steps of a method for generating a flight mission according to an embodiment of the present application;

FIG. 7a is a flow diagram illustrating sub-steps of the mission generation method of FIG. 6;

FIG. 7b is a flow diagram illustrating sub-steps of the mission generation method of FIG. 6;

FIG. 8 is a flowchart illustrating steps of yet another method for generating a mission according to an embodiment of the present application;

FIG. 9 is a flowchart illustrating steps of yet another method for generating a mission according to an embodiment of the present application;

fig. 10 is a schematic block diagram of a structure of a control terminal according to an embodiment of the present application;

fig. 11 is a block diagram schematically illustrating a structure of an unmanned aerial vehicle according to an embodiment of the present application.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic flowchart illustrating steps of a flight mission generating method according to an embodiment of the present application. The flight task generation method can be applied to a control terminal or an unmanned aerial vehicle and is used for generating flight tasks. Wherein control terminal includes remote controller, ground control platform, cell-phone, panel computer, notebook computer and PC computer etc. and unmanned vehicles includes rotor type unmanned aerial vehicle, for example four rotor type unmanned aerial vehicle, six rotor type unmanned aerial vehicle, eight rotor type unmanned aerial vehicle, also can be fixed wing unmanned aerial vehicle, can also be the combination of rotor type and fixed wing unmanned aerial vehicle, do not do the injecture here.

Specifically, as shown in fig. 1, the mission generating method includes steps S101 to S103.

S101, a target flight task file is obtained, wherein the target flight task file comprises target waypoint information and at least one of target task action information and target parameter information.

The flight task file comprises waypoint information and at least one of task action information and parameter information, wherein the waypoint information is used for describing the geographic position of the unmanned aerial vehicle at each waypoint and comprises, but is not limited to, the longitude and latitude, the height and the route sequence of each waypoint. For example, the waypoint information may be acquired according to a Global Positioning System (GPS), a real-time kinematic difference method (RTK), or the like. In an embodiment, the waypoint information includes longitude and latitude and altitude information, wherein the altitude information may be set according to actual needs, for example, the altitude of the waypoint relative to the departure point, the altitude of the waypoint relative to the ground, and the absolute altitude of the waypoint relative to the horizontal plane may be set, which is not limited herein.

Further, the task action information is used for describing the task action of the unmanned aerial vehicle at each navigation point, including but not limited to a camera shooting action, a tripod head control action, an unmanned aerial vehicle attitude adjusting action and a sprinkler head control action; the parameter information is used to describe parameters of the drone at each waypoint, including but not limited to flight speed information, pan-tilt attitude information, camera parameter information, drone attitude information, and sprinkler head control information.

When a flight mission needs to be generated, a target flight mission file is acquired, that is, when a file import instruction is received, according to the file import instruction, a corresponding flight mission file in an external storage device or a server is imported into a local for storage, and the flight mission file is determined as the target flight mission file. It should be noted that the format of the flight mission file may be set based on actual conditions, which is not specifically limited in this application, and optionally, the flight mission file is a map extension file, that is, a KML (extensible Markup Language) format file. The external storage device includes, but is not limited to, a flash disk and a memory card.

In an embodiment, the obtaining manner of the target flight mission file may specifically be as follows: the method comprises the steps of obtaining a map standard file, analyzing the map standard file to obtain waypoint information, receiving at least one of task action information and parameter information of each waypoint in the waypoint information input by a user, generating a corresponding flight task file according to the waypoint information and at least one of the task action information and the parameter information, and determining the generated flight task file as a target flight task file. The map standard file is a standard KML format file and includes only waypoint information. The navigation point information is obtained by analyzing the map standard file, so that the accuracy of the navigation point information can be ensured, and meanwhile, the user can independently plan complex terrains or areas and irregular operation tasks, the flexibility of route planning is improved while the accuracy of the navigation point information is ensured, the user experience is effectively improved, and the application range of the aircraft can be enlarged.

In an embodiment, the generation mode of the flight mission file is specifically as follows: the method comprises the steps of obtaining a flight task file template, filling at least one of waypoint information and task action information and parameter information into the flight task file template to generate a flight task file, namely filling the waypoint information and the task action information into the flight task file template to generate the flight task file, or filling the waypoint information and the parameter information into the flight task file template to generate the flight task file, or filling the waypoint information, the task action information and the parameter information into the flight task file template to generate the flight task file. It should be noted that the flight mission profile template may be set based on actual conditions, and the present application is not limited to this. The flight mission file can be rapidly generated through the flight mission file template.

In an embodiment, after the flight task file template is filled with the waypoint information and at least one of the task action information and the parameter information to generate the flight task file, blank data items also exist in the flight task file, therefore, after the flight task file template is filled to obtain the flight task file, the blank data items in the flight task file are deleted to generate the flight task file without the blank data items, and the analysis speed of the flight task file can be improved due to the reduction of the data items.

In an embodiment, the obtaining manner of the target flight mission file may specifically be as follows: and after generating a corresponding flight task file according to the waypoint information and at least one of the task action information and the parameter information, storing the flight task file. In one embodiment, the flight mission file may be stored in the control terminal, or may be stored in an external storage device or uploaded to another cloud storage device such as a server, so as to share the flight mission in a plurality of different control terminal networks, and call and execute the flight mission. For example, the control terminal stores at least one flight task file, and when a file selection instruction is received, the corresponding target flight task file is acquired from the stored at least one flight task file according to the file selection instruction. Therefore, the target flight task file can be acquired at a plurality of different control terminals for a plurality of times, the target flight task file is convenient to acquire, the utilization rate of the target flight task file can be improved, and the user experience is improved.

S102, analyzing the target flight task file to obtain the target waypoint information and at least one of the target task action information and the target parameter information.

After the target flight task file is obtained, the control terminal analyzes the target flight task file to obtain at least one of target waypoint information, target task action information and target parameter information, and obtains the target waypoint information and the target task action information, or the target waypoint information and the target parameter information, or the target waypoint information, the target task action information and the target parameter information.

S103, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information.

After the target waypoint information and at least one of the target task action information and the target parameter information are obtained through analysis, a corresponding target flight task is generated according to the target waypoint information and at least one of the target task action information and the target parameter information, namely the corresponding target flight task is generated according to the target waypoint information and the target task action information, or the corresponding target flight task is generated according to the target waypoint information and the target parameter information, or the corresponding target flight task is generated according to the target waypoint information, the target task action information and the target parameter information.

In an embodiment, as shown in fig. 2, step S103 specifically includes: and substeps 1031 to S1032.

And S1031, generating a target flight route according to the target waypoint information, wherein a plurality of waypoints are marked on the target flight route.

The target waypoint information comprises a waypoint position and a navigation sequence of each waypoint, the flight task generally comprises a flight route, and the target flight route comprising a plurality of waypoints can be generated through the waypoint position and the navigation sequence in the target waypoint information.

Specifically, the waypoint position and the navigation sequence of each waypoint are obtained from the target waypoint information, and each waypoint is sequentially connected according to the navigation sequence of each waypoint to generate a target flight route, wherein the target flight task file further comprises a type identifier of the target flight route, for example, the target flight route comprises a surrounding route and/or a banded route, and in one embodiment, after the control terminal receives the type identifier of the target flight route, a target flight route corresponding to the type identifier is generated.

FIG. 3a is a schematic diagram of a target flight path in the method for generating a flight mission according to the present application, where as shown in FIG. 3a, the type of the target flight path is identified as a surrounding path, and the target flight path includes four waypoints, namely waypoint A, waypoint B, waypoint C and waypoint D, and the sequence of flights is waypoint A → waypoint B → waypoint C → waypoint D. In this way, the control terminal generates a surrounding route waypoint a → waypoint B → waypoint C → waypoint D → waypoint a surrounded by waypoint a, waypoint B, waypoint C and waypoint D.

Fig. 3b is another schematic diagram of a target flight path in the method for generating a flight mission according to the present application, where as shown in fig. 3b, the type of the target flight path is identified as a strip-shaped path, and the target flight path includes four waypoints, namely waypoint E, waypoint F, waypoint G and waypoint H, where the starting point is waypoint E and the ending point is waypoint G. And connecting the waypoint E, the waypoint F, the waypoint G and the waypoint H in sequence to form a closed operation area, and automatically planning a route in the operation area according to a preset starting waypoint E, a preset ending waypoint G, a preset route interval and the like, such as a bow-shaped route shown in the figure 3 b.

It will be appreciated that the target flight path may be planned according to actual needs, such as terrain needs or the need to perform a task, and the present embodiment is merely illustrative and not limiting.

S1032, setting target task actions and/or target parameters of each navigation point of the unmanned aerial vehicle on the target flight route according to the target task action information and/or the target parameter information to generate a corresponding target flight task.

The target task action information is used for describing the task action of each waypoint of the unmanned aerial vehicle on the target flight line, and the target parameter information is used for describing the parameters of each waypoint of the unmanned aerial vehicle on the target flight line.

Specifically, after a target flight route is generated, a target task action and/or a target parameter of each waypoint of the unmanned aerial vehicle on the target flight route is set according to the target task action information and/or the target parameter information to generate a corresponding target flight task, namely, the target task action of each waypoint of the unmanned aerial vehicle on the target flight route is set through the target task action information, or the parameter of each waypoint of the unmanned aerial vehicle on the target flight route is set through the target parameter, or the target task action of each waypoint of the unmanned aerial vehicle on the target flight route is set through the target task action information, and the parameter of the target task action at the position of each waypoint of the unmanned aerial vehicle on the target flight route is set through the target parameter.

According to the flight task generation method provided by the embodiment, the flight task file containing the waypoint information, the task action information and the parameter information is obtained, and the corresponding flight task can be quickly generated based on the flight task file, so that the generation efficiency of the flight task is improved, and the user experience is improved.

Referring to fig. 4, fig. 4 is a schematic flowchart illustrating steps of another flight mission generating method according to an embodiment of the present application.

Specifically, as shown in fig. 4, the mission generating method includes steps S201 to S204.

S201, obtaining a target flight task file, wherein the target flight task file comprises target waypoint information and at least one of target task action information and target parameter information.

When a flight task needs to be generated, a target flight task file is obtained, namely when a file import instruction is received, a corresponding flight task file in an external storage device or a server is imported locally for storage according to the file import instruction, and the flight task file is determined to be the target flight task file. It should be noted that the format of the flight mission file may be set based on actual conditions, which is not specifically limited in this application, and optionally, the flight mission file is a map extension file, that is, a KML (extensible Markup Language) format file. The external storage device includes, but is not limited to, a flash disk and a memory card.

S202, analyzing the target flight task file to obtain the target waypoint information and at least one of the target task action information and the target parameter information.

After the target flight task file is obtained, the control terminal analyzes the target flight task file to obtain at least one of target waypoint information, target task action information and target parameter information, and then the target waypoint information and the target task action information, or the target waypoint information and the target parameter information, or the target waypoint information, the target task action information and the target parameter information are obtained.

S203, verifying the target waypoint information.

After the target waypoint information and at least one of the target task action information and the target parameter information are obtained, the target waypoint information is verified, for example, the longitude and latitude, the height and other information of the target waypoint information are verified. In one embodiment, the longitude and latitude and the height of each waypoint are obtained from the target waypoint information, and whether the longitude and latitude of each waypoint are within a preset longitude and latitude range and/or whether the height of each waypoint is within a preset height range is judged. For example, if the longitude and latitude of each waypoint is within the preset longitude and latitude range and the height of each waypoint is within the preset height range, it is determined that the target waypoint information passes the verification, and if the longitude and latitude of at least one waypoint is not within the preset longitude and latitude range or the height of at least one waypoint is not within the preset height range, it is determined that the target waypoint information does not pass the verification. It should be noted that the preset longitude and latitude range and the preset height range may be set based on actual situations, and this is not specifically limited in this application.

In an embodiment, as shown in fig. 5, step S203 specifically includes: substeps S2031 to S2032.

S2031, calculating the horizontal distance and the height difference between every two waypoints in each waypoint according to the target waypoint information.

Specifically, the longitude and latitude and the height of each waypoint are obtained from the target waypoint information, the horizontal distance between every two waypoints in each waypoint is calculated according to the longitude and latitude of each waypoint, namely a preset distance calculation formula is obtained, the longitude and latitude of the two waypoints are randomly substituted into the distance calculation formula until the longitude and latitude of each waypoint is substituted into the distance calculation formula once, and the horizontal distance between every two waypoints of the waypoints can be obtained; and then calculating the height difference between every two waypoints in each waypoint according to the height of each waypoint, namely acquiring the height of any two waypoints, and subtracting the height of the other waypoint from the height of one of the two waypoints to obtain the height difference of the two waypoints.

S2032, verifying the target waypoint information according to the horizontal distance and the height difference between every two waypoints.

Specifically, two waypoints with the horizontal distance smaller than or equal to a preset distance are obtained from each waypoint, whether the height difference between the two waypoints is larger than or equal to a preset threshold value or not is determined, if the height difference between the two waypoints is larger than or equal to the preset threshold value, it is determined that the target waypoint information does not pass the verification, and if the height difference between the two waypoints is smaller than the preset threshold value, it is determined that the target waypoint information passes the verification. It should be noted that the preset distance and the preset threshold may be set based on actual situations, and this is not specifically limited in this application.

In specific implementation, whether the longitude and latitude of each waypoint is within a preset longitude and latitude range or not and whether the height of each waypoint is within a preset height range or not can be judged, if the longitude and latitude of each waypoint is within the preset longitude and latitude range and the height of each waypoint is within the preset height range, the horizontal distance and the height difference between every two waypoints of each waypoint are further calculated according to the target waypoint information, and the target waypoint information is verified according to the horizontal distance and the height difference between every two waypoints. The verification accuracy of the target waypoint information can be further improved.

And S204, when the target waypoint information passes the verification, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information.

When the target waypoint information passes the verification, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information, namely generating the corresponding target flight task according to the target waypoint information and the target task action information, or generating the corresponding target flight task according to the target waypoint information and the target parameter information, or generating the corresponding target flight task according to the target waypoint information, the target task action information and the target parameter information.

In an embodiment, when the target waypoint information fails to be verified, obtaining the waypoint information which fails to be verified, and marking the waypoint information which fails to be verified, the waypoint information which fails to be verified can be conveniently inquired subsequently, and optionally, after the waypoint information which fails to be verified is marked, the waypoint information which fails to be verified can be displayed in a preset interface, so that a user can conveniently modify the waypoint information which fails to be verified.

According to the flight task generation method provided by the embodiment, before the flight task is generated, the target waypoint information is checked, and after the target waypoint information passes the check, the corresponding target flight task is generated according to the target waypoint information, at least one of the target task action information and the target parameter information.

Referring to fig. 6, fig. 6 is a schematic flowchart illustrating steps of another flight mission generating method according to an embodiment of the present application.

Specifically, as shown in fig. 6, the mission generating method includes steps S301 to S305.

S301, a target flight task file is obtained, wherein the target flight task file comprises target waypoint information, and the target flight task file further comprises at least one of target task action information and target parameter information.

S302, analyzing the target flight task file to obtain the target waypoint information and at least one of the target task action information and the target parameter information.

S303, verifying the target waypoint information.

After obtaining at least one of target waypoint information, target task action information and target parameter information, checking the target waypoint information, namely acquiring the longitude and latitude and the height of each waypoint from the target waypoint information, judging whether the longitude and latitude of each waypoint is in a preset longitude and latitude range, judging whether the height of each waypoint is in a preset height range, if the longitude and latitude of each waypoint is in the preset longitude and latitude range and the height of each waypoint is in the preset height range, determining that the target waypoint information passes the check, and if the longitude and latitude of at least one waypoint is not in the preset longitude and latitude range or the height of at least one waypoint is not in the preset height range, determining that the target waypoint information does not pass the check.

S304, when the target waypoint information passes the verification, verifying the target task action information and/or the target parameter information.

When the target waypoint information passes the verification, the target task action information and/or the target parameter information are verified, namely the target task action information is verified, or the target parameter information is verified, or the target task action information and the target parameter information are verified. In another embodiment, the target waypoint information may not be verified, or when the verification of the target waypoint information fails, the user may choose to ignore the verification result and directly verify the target task action information and/or the target parameter information, which is not limited herein.

In an embodiment, as shown in fig. 7a, step S304 specifically includes: sub-steps S3041 to S3042.

S3041, when the target flight task file at least includes the target task action information, obtaining a preset action tag group, and obtaining an action tag corresponding to a target task action from the target task action information.

Specifically, when the target flight task file at least includes target task action information, the control terminal acquires a preset action tag group, and acquires an action tag corresponding to the target task action from the target task action information, where the preset action tag group is determined by a model of the unmanned aerial vehicle, it should be noted that the unmanned aerial vehicles of different models can support different actions, for example, a surveying and mapping unmanned aerial vehicle only supports a camera shooting action and does not support a sprinkler head control action, and a plant protection unmanned aerial vehicle supports a sprinkler head control action and does not support a camera shooting action and supports a surveying and mapping and plant protection unmanned aerial vehicle, and supports a camera shooting action and a sprinkler head control action, and therefore, the corresponding preset action tag groups are also different when the models of the unmanned aerial vehicles are different.

S3042, checking the action information of the target task according to the preset action tag group and the action tag corresponding to the action of the target task.

Specifically, whether an action tag corresponding to the target task action is located in a preset action tag group is determined, if the action tag corresponding to the target task action is located in the preset action tag group, it is determined that the target task action information passes verification, and if the action tag corresponding to the target task action is not located in the preset action tag group, it is determined that the target task action information does not pass verification.

In an embodiment, the target task action includes at least one, and the method for checking the target task action information may further be: and determining whether the action tag corresponding to each target task action is located in a preset action tag group, if so, determining that the target task action information passes the verification, and if not, determining that the target task action information does not pass the verification.

In an embodiment, as shown in fig. 7b, step S304 specifically includes: sub-steps S3043 to S3044.

S3043, when the target flight task file at least includes the target parameter information, obtaining a preset value range corresponding to a target parameter in the target parameter information, and obtaining a target value corresponding to the target parameter from the target parameter information.

Specifically, when the target flight task file at least includes the target parameter information, a preset value range corresponding to the target parameter in the target parameter information is obtained, and the target value corresponding to the target parameter is obtained from the target parameter information.

S3044, checking the target parameter information according to the target value corresponding to the target parameter and the corresponding preset value range.

Specifically, whether a target value corresponding to the target parameter is located in a preset value range is determined, if the target value corresponding to the target parameter is located in the preset value range, it is determined that the target parameter information passes verification, and if the target value corresponding to the target parameter is not located in the preset value range, it is determined that the target parameter information does not pass verification. For example, the minimum value of the shooting interval of the target flight mission may be set to 2.5s in advance, and when the shooting interval in the target parameter information is set to 1s, it is determined that the target shooting interval value is not within the value range of the preset shooting interval, and it is determined that the target parameter information (the shooting interval is 1s) is not verified.

In an embodiment, the target parameter information includes at least one, and each target parameter corresponds to a preset value range, the method for verifying the target parameter information may further be: and determining whether the target value corresponding to each target parameter is in the corresponding preset value range, if so, determining that the target parameter information passes the verification, and if not, determining that the target parameter information does not pass the verification.

It should be noted that, when the target waypoint information passes the verification, the target task action information is verified through steps S3041 and S3042, the data participating in the flight task is the target waypoint information and the target parameter information, and when the target waypoint information passes the verification, the target parameter information is verified through steps S3043 and S3044, the data participating in the flight task is the target waypoint information, the target task action information and the target parameter information, and when the target waypoint information passes the verification, the target task action information needs to be verified through steps S3041 and S3042, and the target parameter information is verified through steps S3043 and S3044, in other embodiments, the target task action information may be verified through steps S3041 and S3042, and then the target parameter information is verified through steps S3043 and S3044, or, the target parameter information is verified through steps S3043 and S3044, and the target task action information is verified through steps S3041 and S3042, which is not limited herein.

S305, when the target task action information and/or the target parameter information passes verification, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information.

When the target task action information and/or the target parameter information passes the verification, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information, namely generating the corresponding target flight task according to the target waypoint information and the target task action information, or generating the corresponding target flight task according to the target waypoint information and the target parameter information, or generating the corresponding target flight task according to the target waypoint information, the target task action information and the target parameter information.

In the flight mission generating method provided in the above embodiment, since the data participating in the flight mission generation is at least one of the target waypoint information and the target mission action information and the target parameter information, after the target waypoint information passes the verification, the target mission action information and/or the target parameter information is further verified, and then when the target mission action information and/or the target parameter information passes the verification, the target flight mission is generated through at least one of the target waypoint information and the target mission action information and the target parameter information, so that the safety and reliability of the flight mission can be ensured, and meanwhile, by obtaining the flight mission file including the waypoint information, the mission action information and the parameter information, the unmanned aerial vehicle can quickly generate the corresponding flight mission according to the flight mission file, thereby improving the generation efficiency of the flight mission, and the user experience is improved.

Referring to fig. 8, fig. 8 is a schematic flowchart illustrating steps of another flight mission generating method according to an embodiment of the present application.

Specifically, as shown in fig. 8, the mission generating method includes steps S401 to S406.

S401, a target flight task file is obtained, wherein the target flight task file comprises target waypoint information and at least one of target task action information and target parameter information.

S402, analyzing the target flight task file to obtain the target waypoint information and at least one of the target task action information and the target parameter information.

S403, obtaining the model of the unmanned aerial vehicle, and obtaining a first task type label corresponding to the model of the unmanned aerial vehicle.

Wherein, unmanned aerial vehicle's model is related to with the type of the flight task that unmanned aerial vehicle can execute, for example, plant protection unmanned aerial vehicle can carry out and spray the task, but can't carry out the survey and drawing task, and survey and drawing unmanned aerial vehicle can carry out the survey and drawing task, but can't carry out and spray the task.

Before generating a flight task, it is necessary to determine whether the unmanned aerial vehicle can execute the flight task to be generated, specifically, obtain a model of the unmanned aerial vehicle, and obtain a first task type tag corresponding to the model of the unmanned aerial vehicle, where the model of the unmanned aerial vehicle is a model of the unmanned aerial vehicle associated with the control terminal, and the first task type tag is a type tag corresponding to the flight task that the associated unmanned aerial vehicle can execute.

S404, a second task type label is obtained from the target flight task file, and whether the first task type label is the same as the second task type label is determined.

The target flight task file further comprises task description information, the task description information is used for marking the target flight task file, and the task description information comprises but is not limited to a task type label, a task name, time information and position information of the flight task.

Specifically, a second task type tag is obtained from the target flight task file, that is, the target flight task file is analyzed to obtain task description information, the second task type tag is obtained from the task description information, whether the first task type tag is the same as the second task type tag is determined, if the first task type tag is the same as the second task type tag, it indicates that the unmanned aerial vehicle can execute a flight task to be generated, and if the first task type tag is different from the second task type tag, it indicates that the unmanned aerial vehicle cannot execute the flight task to be generated.

S405, if the first task type label is the same as the second task type label, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information.

If the first task type label is the same as the second task type label, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information, namely generating the corresponding target flight task according to the target waypoint information and the target task action information, or generating the corresponding target flight task according to the target waypoint information and the target parameter information, or generating the corresponding target flight task according to the target waypoint information, the target task action information and the target parameter information.

S406, if the first task type label is different from the second task type label, displaying preset reminding information.

If the first task type tag is different from the second task type tag, displaying preset reminding information, wherein the first preset reminding information can be set based on actual conditions, such as text reminding, picture reminding, sound reminding and the like.

Before the target flight task is generated, the flight task is generated by judging whether the unmanned aerial vehicle can execute the target flight task or not, and the target flight task is generated only under the condition that the unmanned aerial vehicle can execute the target flight task, otherwise, a prompt is sent when the unmanned aerial vehicle cannot execute the flight task or the executed flight task fails to pass the verification, so that the safety and reliability of the flight task are further ensured.

Referring to fig. 9, fig. 9 is a schematic flowchart illustrating steps of another flight mission generating method according to an embodiment of the present application.

Specifically, as shown in fig. 9, the mission generating method includes steps S501 to S507.

S501, a target flight task file is obtained, wherein the target flight task file comprises target waypoint information and at least one of target task action information and target parameter information.

S502, analyzing the target flight task file to obtain the target waypoint information and at least one of the target task action information and the target parameter information.

S503, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information.

S504, battery capacity and unit power consumption of the unmanned aerial vehicle are obtained.

Specifically, after generating the target flight mission, obtain unmanned aerial vehicle's battery capacity and unit power consumption, wherein, this unit power consumption is unmanned aerial vehicle and is predetermineeing the airspeed under, the battery power consumption of every hour, it needs to explain that this predetermines airspeed and can set up based on actual conditions, and this application does not do not specifically limit to this.

And S505, acquiring the total flight time of the unmanned aerial vehicle for executing the target flight task.

Specifically, the total flying distance of the target flying task is obtained, the preset flying speed is obtained, then the total flying time of the unmanned aerial vehicle for executing the target flying task is calculated according to the total flying distance and the preset flying speed, namely the total flying time of the unmanned aerial vehicle for executing the target flying task can be obtained by dividing the total flying distance by the preset flying speed.

And S506, calculating the total power consumption according to the total flight time and the unit power consumption.

Specifically, after the total flight time is obtained, the total power consumption is calculated according to the total flight time and the unit power consumption, that is, the total power consumption can be obtained by multiplying the total flight time by the unit power consumption.

S507, determining whether the total power consumption is larger than the battery capacity of the unmanned aerial vehicle or not, and executing an alarm operation when the total power consumption is larger than the battery capacity of the unmanned aerial vehicle.

Specifically, after obtaining the total power consumption amount, it is determined whether the total power consumption amount is greater than a battery capacity of the drone, and if the total power consumption amount is less than or equal to the battery capacity of the drone, it indicates that the battery capacity of the drone may satisfy the execution condition of the target flight mission, and if the total power consumption amount is greater than the battery capacity of the drone, it indicates that the battery capacity of the drone may not satisfy the execution condition of the target flight mission. And when the total power consumption is larger than the battery capacity of the unmanned aerial vehicle, executing alarm operation, and when the total power consumption is smaller than the battery capacity of the unmanned aerial vehicle, not processing. Wherein the alarm operation includes, but is not limited to, displaying preset alarm information and playing a preset alarm sound.

Further, in an embodiment, after the total power consumption is greater than the battery capacity of the drone and the warning operation is performed, the user may also manually choose to ignore the warning operation, so that the drone continues to perform the flight mission, which is not limited herein.

According to the flight task generation method provided by the embodiment, after the flight task is generated, whether the battery capacity of the unmanned aerial vehicle meets the execution condition of the flight task is further judged, and when the battery capacity of the unmanned aerial vehicle does not meet the execution condition of the flight task, the warning operation is executed, so that a user can know the flight task in time and the user can adjust the flight task in time.

Referring to fig. 10, fig. 10 is a schematic block diagram of a control terminal according to an embodiment of the present application. In one embodiment, the control terminal includes, but is not limited to, a remote controller, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, and the like. Further, the control terminal 600 comprises a processor 601 and a memory 602, the processor 601 and the memory 602 are connected by a bus 603, and the bus 603 is an I2C (Inter-integrated Circuit) bus, for example.

Specifically, the Processor 601 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 602 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

Wherein the processor 601 is configured to run a computer program stored in the memory 602, and when executing the computer program, implement the following steps:

Optionally, before the obtaining the target flight mission file, the processor is further configured to:

acquiring a map standard file, and analyzing the map standard file to obtain waypoint information;

receiving at least one of task action information and parameter information of each waypoint in the waypoint information input by a user;

and generating a corresponding flight task file according to the waypoint information and at least one of the task action information and the parameter information.

Optionally, before implementing the acquiring the target flight mission file, the processor is further configured to implement:

Optionally, after the processor generates the corresponding flight task file according to the waypoint information and at least one of the task action information and the parameter information, the processor is further configured to:

and storing the flight mission file.

Optionally, when the obtaining of the target flight mission file is implemented, the processor is configured to implement:

and when a file selection instruction is received, acquiring a corresponding target flight task file from the stored flight task file according to the file selection instruction.

Optionally, when the processor generates the corresponding flight task file according to the waypoint information and at least one of the task action information and the parameter information, the processor is configured to implement:

acquiring a flight task file template;

and filling at least one of the waypoint information, the task action information and the parameter information into the flight task file template to generate the flight task file.

Optionally, after the filling the waypoint information and at least one of the task action information and the parameter information into the flight task file template to generate the flight task file, the processor is further configured to:

and deleting blank data items in the flight task file to generate the flight task file.

Optionally, when the processor generates the corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information, the processor is configured to implement:

generating a target flight route according to the target waypoint information, wherein a plurality of waypoints are marked on the target flight route;

and setting target task actions and/or target parameters of each waypoint of the unmanned aerial vehicle on the target flight route according to the target task action information and/or the target parameter information so as to generate a corresponding target flight task.

Optionally, when the processor generates the target flight route according to the target waypoint information, the processor is configured to implement:

acquiring the navigation sequence and the navigation point position of each navigation point from the target navigation point information;

and connecting each navigation point in sequence according to the navigation sequence of each navigation point to generate a target flight route.

Optionally, the target flight path comprises a wraparound path and/or a banded path.

Optionally, before the processor generates the corresponding target flight mission according to the target waypoint information and at least one of the target mission action information and the target parameter information, the processor is further configured to:

verifying the target waypoint information;

and when the target waypoint information passes the verification, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information.

Optionally, when the processor is configured to verify the target waypoint information, the processor is configured to:

calculating the horizontal distance and the height difference between every two waypoints in each waypoint according to the target waypoint information;

and verifying the target waypoint information according to the horizontal distance and the height difference between every two waypoints.

Optionally, when the processor is configured to calculate the horizontal distance and the height difference between every two waypoints in each waypoint according to the target waypoint information, the processor is configured to:

acquiring the longitude and latitude and the height of each waypoint from the target waypoint information;

calculating the horizontal distance between every two waypoints in each waypoint according to the longitude and latitude of each waypoint;

and calculating the height difference between every two waypoints in each waypoint according to the height of each waypoint.

Optionally, when the processor verifies the target waypoint information according to the horizontal distance and the height difference between every two waypoints, the processor is configured to implement:

acquiring two waypoints of which the horizontal distance is smaller than or equal to a preset distance from each waypoint;

determining whether the height difference between the two waypoints is greater than or equal to a preset threshold;

if the height difference between the two waypoints is greater than or equal to a preset threshold value, determining that the target waypoint information does not pass the verification;

and if the height difference between the two waypoints is smaller than a preset threshold value, determining that the target waypoint information passes the verification.

Optionally, after the verifying the target waypoint information is performed, the processor is further configured to perform:

when the target waypoint information passes the verification, verifying the target task action information and/or the target parameter information;

and when the target task action information and/or the target parameter information pass the verification, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information.

Optionally, when the processor performs the verification on the target task action information and/or the target parameter information, the processor is configured to perform:

when the target flight task file at least comprises the target task action information, acquiring a preset action label group, and acquiring an action label corresponding to a target task action from the target task action information;

checking the target task action information according to the preset action label group and the action label corresponding to the target task action; and/or

When the target flight task file at least comprises the target parameter information, acquiring a preset value range corresponding to a target parameter in the target parameter information, and acquiring a target value corresponding to the target parameter from the target parameter information;

and checking the target parameter information according to the target value corresponding to the target parameter and the corresponding preset value range.

Optionally, the preset action tag group is determined by a model of the unmanned aerial vehicle.

Optionally, when the action tag corresponding to the preset action tag group and the target task action is implemented and the target task action information is verified, the processor is configured to implement:

determining whether an action tag corresponding to the target task action is located in the preset action tag group;

if the action tag corresponding to the target task action is located in the preset action tag group, determining that the target task action information passes verification;

and if the action tag corresponding to the target task action is not located in the preset action tag group, determining that the target task action information does not pass the verification.

Optionally, the target task action includes at least one action, and when the processor verifies the target task action information according to the preset action tag group and the action tag corresponding to the target task action, the processor is configured to implement:

determining whether action tags corresponding to each target task action are all located in the preset action tag group;

if the action tag corresponding to each target task action is located in the preset action tag group, determining that the target task action information passes verification;

and if the action tag corresponding to at least one target task action is not located in the preset action tag group, determining that the target task action information is not verified.

Optionally, when the processor verifies the target parameter information according to the target value corresponding to the target parameter and the corresponding preset value range, the processor is configured to implement:

determining whether a target value corresponding to the target parameter is in a preset value range;

if the target value corresponding to the target parameter is within the preset value range, determining that the target parameter information passes verification;

and if the target value corresponding to the target parameter is not in the preset value range, determining that the target parameter information does not pass the verification.

Optionally, the target parameter information includes at least one, and the processor is configured to, when the target parameter information is verified according to the target value corresponding to the target parameter and the corresponding preset value range, implement:

determining whether the target value corresponding to each target parameter is within the corresponding preset value range;

if the target value corresponding to each target parameter is within the preset value range corresponding to the target parameter, determining that the target parameter information passes verification;

and if the target value corresponding to at least one target parameter is not in the corresponding preset value range, determining that the target parameter information is not verified.

when the target waypoint information does not pass the verification, acquiring waypoint information which does not pass the verification;

and marking the waypoint information which is not verified.

Optionally, the waypoint information which fails to pass the verification is displayed in a preset interface.

the method comprises the steps of obtaining the model of the unmanned aerial vehicle, and obtaining a first task type label corresponding to the model of the unmanned aerial vehicle;

acquiring a second task type label from the target flight task file, and determining whether the first task type label is the same as the second task type label;

if the first task type label is the same as the second task type label, generating a corresponding target flight task according to the target waypoint information and at least one of the target task action information and the target parameter information;

and if the first task type label is different from the second task type label, displaying preset reminding information.

Optionally, after the processor generates the corresponding target flight mission according to the target waypoint information and at least one of the target mission action information and the target parameter information, the processor is further configured to:

acquiring the battery capacity and unit power consumption of the unmanned aerial vehicle;

acquiring the total flight time of the unmanned aerial vehicle for executing the target flight task;

calculating the total power consumption according to the total flight time and the unit power consumption;

and determining whether the total power consumption is larger than the battery capacity of the unmanned aerial vehicle or not, and executing an alarm operation when the total power consumption is larger than the battery capacity of the unmanned aerial vehicle.

Optionally, the processor is configured to, when obtaining the total flight time of the drone executing the target flight mission, implement:

acquiring the total flying distance of the target flying task;

acquiring a preset flight speed;

and calculating the total flight time of the unmanned aerial vehicle for executing the target flight task according to the total flight distance and the preset flight speed.

Optionally, the target parameter information includes flight speed information, pan-tilt attitude information, camera parameter information, unmanned aerial vehicle attitude information, and sprinkler head control information.

Optionally, the target flight task file further includes task description information, and the task description information is used for marking the target flight task file.

Optionally, the task description information includes at least one of a task name, time information, and location information of the target mission.

Referring to fig. 11, fig. 11 is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present application. The UAV 700 includes a processor 701 and a memory 702, the processor 701 and the memory 702 being connected by a bus 703, the bus 703 being, for example, an I2C (Inter-integrated Circuit) bus. Wherein, unmanned aerial vehicle can be for rotor type unmanned aerial vehicle, for example four rotor type unmanned aerial vehicle, six rotor type unmanned aerial vehicle, eight rotor type unmanned aerial vehicle, also can be fixed wing unmanned aerial vehicle, can also be the combination of rotor type and fixed wing unmanned aerial vehicle, do not do the injecing here.

Specifically, the Processor 701 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 702 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

The processor 701 is configured to run a computer program stored in the memory 702, and when executing the computer program, implement the following steps:

and storing the flight mission file.

acquiring a flight task file template;

verifying the target waypoint information;

and marking the waypoint information which is not verified.

acquiring the total flying distance of the target flying task;

acquiring a preset flight speed;

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the flight mission generating method provided in the foregoing embodiments.

The computer readable storage medium may be the internal storage unit of the control terminal or the unmanned aerial vehicle described in any of the foregoing embodiments, for example, a hard disk or a memory of the control terminal or the unmanned aerial vehicle. The computer readable storage medium may also be an external storage device of the control terminal or the unmanned aerial vehicle, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the control terminal or the unmanned aerial vehicle.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for generating a mission, comprising:

2. The mission generating method according to claim 1, wherein the step of obtaining the target mission file is preceded by:

3. The mission generating method according to claim 2, wherein after the step of generating the corresponding mission file according to the waypoint information and at least one of the mission action information and the parameter information, the method further comprises:

and storing the flight mission file.

4. The mission generating method according to claim 3, wherein the step of obtaining the target mission file comprises:

5. The flight mission generating method according to any one of claims 2 to 4, wherein the step of generating a corresponding flight mission file according to the waypoint information and at least one of the mission action information and the parameter information includes:

acquiring a flight task file template;

6. The mission generating method of claim 5, wherein after the step of populating the mission profile template with the waypoint information and at least one of the mission action information and the parameter information to generate a mission profile, further comprising:

7. The mission generating method according to any one of claims 1 to 4, wherein the step of generating a corresponding target mission according to the target waypoint information and at least one of the target mission action information and the target parameter information includes:

8. The mission generating method of claim 7, wherein the step of generating a target flight path based on the target waypoint information comprises:

9. The mission generating method of claim 8, wherein the target flight path comprises a wraparound path and/or a zonal path.

10. The mission generating method according to any one of claims 1 to 4, wherein before the step of generating the corresponding target mission according to the target waypoint information and at least one of the target mission action information and the target parameter information, the method further comprises:

verifying the target waypoint information;

11. The mission generating method of claim 10, wherein the step of verifying the target waypoint information comprises:

12. The mission generating method of claim 11, wherein the step of calculating the horizontal distance and the height difference between each two waypoints in each waypoint according to the target waypoint information comprises:

13. The mission generating method of claim 11, wherein the step of verifying the target waypoint information according to the horizontal distance and the height difference between every two waypoints comprises:

14. The mission generating method of claim 10, wherein the step of verifying the target waypoint information is followed by:

15. The mission generating method according to claim 14, wherein the step of verifying the target mission action information and/or the target parameter information includes:

16. The mission generating method according to claim 15, wherein the preset action tag group is determined by a model of the drone.

17. The flying task generating method according to claim 15, wherein the step of verifying the target task action information according to the preset action tag group and the action tag corresponding to the target task action comprises:

18. The mission generating method according to claim 17, wherein the target mission action includes at least one, and the step of verifying the target mission action information according to the preset action tag group and the action tag corresponding to the target mission action includes:

19. The mission generating method according to claim 15, wherein the step of verifying the target parameter information according to the target value corresponding to the target parameter and the corresponding preset value range includes:

20. The mission generating method according to claim 19, wherein the target parameter information includes at least one, and the step of verifying the target parameter information according to a target value and a corresponding preset value range corresponding to the target parameter includes:

21. The mission generating method of claim 10, wherein the step of verifying the target waypoint information is followed by:

and marking the waypoint information which is not verified.

22. The mission generating method of claim 21, wherein the waypoint information that fails verification is displayed in a preset interface.

23. The mission generating method according to any one of claims 1 to 4, wherein before the step of generating the corresponding target mission according to the target waypoint information and at least one of the target mission action information and the target parameter information, the method further comprises:

24. The mission generating method according to any one of claims 1 to 4, wherein after the step of generating the corresponding target mission according to the target waypoint information and at least one of the target mission action information and the target parameter information, the method further comprises:

25. The mission generating method of claim 24, wherein the step of obtaining a total flight duration of the drone for executing the target mission comprises:

acquiring the total flying distance of the target flying task;

acquiring a preset flight speed;

26. The flying task generating method of claim 1, wherein the target task action information comprises a camera shooting action, a pan-tilt control action, an unmanned aerial vehicle attitude adjustment action, and a sprinkler head control action.

27. The mission generation method of claim 1, wherein the target parameter information includes flight speed information, pan-tilt attitude information, camera parameter information, unmanned aerial vehicle attitude information, and sprinkler head control information.

28. The mission generation method of claim 1, wherein the target mission file further comprises mission description information, and the mission description information is used to mark the target mission file.

29. The mission generating method of claim 28, wherein the mission description information comprises at least one of a mission name, time information, and location information of the target mission.

30. A control terminal, characterized in that the control terminal comprises a memory and a processor;

the memory is used for storing a computer program;

31. The control terminal of claim 30, wherein the processor, prior to implementing the obtaining the target flight mission file, is further configured to implement:

32. The control terminal of claim 31, wherein the processor, after implementing the generating of the corresponding flight mission file according to the waypoint information and at least one of the mission action information and the parameter information, is further configured to implement:

and storing the flight mission file.

33. The control terminal of claim 32, wherein the processor, in implementing the obtaining a target flight mission file, is configured to implement:

34. The control terminal of any of claims 31-33, wherein the processor, in implementing the generating of the corresponding flight mission file from the waypoint information and at least one of the mission action information and the parameter information, is configured to implement:

acquiring a flight task file template;

35. The control terminal of claim 34, wherein the processor, after enabling the populating of the waypoint information and at least one of the task action information and the parameter information into the flight mission file template to generate the flight mission file, is further configured to enable:

36. The control terminal of any one of claims 30-33, wherein the processor, in performing the generating a corresponding target mission based on the target waypoint information and at least one of the target mission action information and the target parameter information, is configured to perform:

37. The control terminal of claim 36, wherein the processor, in performing the generating a target flight path from the target waypoint information, is configured to perform:

38. The control terminal of claim 37, wherein the target flight path comprises a round-going path and/or a belt-like path.

39. The control terminal of any of claims 30-33, wherein the processor, prior to enabling the generating of the corresponding target mission from the target waypoint information and at least one of the target mission action information and the target parameter information, is further configured to enable:

verifying the target waypoint information;

40. The control terminal of claim 39, wherein the processor, when performing the verification of the target waypoint information, is configured to perform:

41. The control terminal of claim 40, wherein the processor, in performing the calculating of the horizontal distance and the height difference between each two waypoints in the waypoints from the target waypoint information, is configured to perform:

42. The control terminal of claim 40, wherein the processor, when performing the verification of the target waypoint information according to the horizontal distance and the height difference between each two waypoints, is configured to perform:

43. The control terminal of claim 39, wherein the processor, after performing the verification of the target waypoint information, is further configured to perform:

44. The control terminal according to claim 43, wherein the processor, when performing the checking of the target task action information and/or the target parameter information, is configured to perform:

45. The control terminal according to claim 44, wherein the set of preset action tags is determined by the model of the drone.

46. The control terminal according to claim 44, wherein the processor, when implementing the action tag corresponding to the preset action tag group and the target task action according to the target task action, is configured to implement:

47. The control terminal according to claim 46, wherein the target task action includes at least one, and the processor is configured to, when the action tag corresponding to the preset action tag group and the target task action is implemented to check the target task action information, implement:

48. The control terminal of claim 44, wherein the processor, when implementing the checking of the target parameter information according to the target value corresponding to the target parameter and the corresponding preset value range, is configured to implement:

49. The control terminal according to claim 48, wherein the target parameter information includes at least one, and the processor is configured to, when performing the checking on the target parameter information according to the target value and the corresponding preset value range corresponding to the target parameter, perform:

50. The control terminal of claim 39, wherein the processor, after performing the verification of the target waypoint information, is further configured to perform:

and marking the waypoint information which is not verified.

51. The control terminal of claim 50, wherein the waypoint information that fails verification is displayed in a preset interface.

52. The control terminal of any of claims 30-33, wherein the processor, prior to enabling the generating of the corresponding target mission from the target waypoint information and at least one of the target mission action information and the target parameter information, is further configured to enable:

53. The control terminal of any of claims 30-33, wherein the processor, after implementing the generating of the corresponding target mission from the target waypoint information and at least one of the target mission action information and the target parameter information, is further configured to implement:

54. The control terminal of claim 53, wherein the processor, in implementing the obtaining of the total flight duration for the drone to perform the target flight mission, is configured to implement:

acquiring the total flying distance of the target flying task;

acquiring a preset flight speed;

55. The control terminal of claim 30, wherein the target parameter information comprises flight speed information, pan-tilt attitude information, camera parameter information, drone attitude information, and sprinkler control information.

56. The control terminal of claim 30, wherein the target flight mission file further comprises mission description information, and the mission description information is used to mark the target flight mission file.

57. The control terminal of claim 30, wherein the target flight mission file further comprises mission description information, and the mission description information is used to mark the target flight mission file.

58. The control terminal of claim 57, wherein the task description information includes at least one of a task name, time information, and location information for the target mission.

59. An unmanned aerial vehicle comprising a memory and a processor;

the memory is used for storing a computer program;

60. The UAV of claim 59 wherein the processor, prior to implementing the obtaining a target flight mission file, is further configured to implement:

61. The UAV of claim 60 wherein the processor, after enabling the generating of the corresponding flight mission file from the waypoint information and at least one of the mission action information and the parameter information, is further configured to enable:

and storing the flight mission file.

62. The UAV of claim 61 wherein the processor, in implementing the obtaining a target flight mission file, is configured to implement:

63. An unmanned aerial vehicle according to any of claims 60-62, wherein the processor, in enabling generation of the corresponding flight mission file from the waypoint information and at least one of the mission action information and the parameter information, is configured to enable:

acquiring a flight task file template;

64. The UAV of claim 63 wherein the processor, after enabling the populating of the waypoint information and at least one of the task action information and the parameter information into the flight mission file template to generate the flight mission file, is further configured to enable:

65. The UAV of any of claims 59-62, wherein the processor, in performing the generating a corresponding target mission based on the target waypoint information and at least one of the target mission action information and the target parameter information, is configured to perform:

66. The UAV of claim 65 wherein the processor, in performing the generating a target flight path from the target waypoint information, is configured to perform:

67. The UAV of claim 66 wherein the target flight path comprises a wraparound path and/or a zonal path.

68. The UAV of any of claims 59-62, wherein the processor, prior to performing the generating a corresponding target mission based on the target waypoint information and at least one of the target mission action information and the target parameter information, is further configured to perform:

verifying the target waypoint information;

69. The UAV of claim 68 wherein the processor, in performing the verification of the target waypoint information, is configured to perform:

70. The UAV of claim 69, wherein the processor, in performing the calculating of the horizontal distance and the altitude difference between each two of the waypoints from the target waypoint information, is configured to perform:

71. The UAV of claim 69, wherein the processor, in performing the verification of the target waypoint information in accordance with the horizontal distance and the altitude difference between each two waypoints, is configured to perform:

72. The UAV of claim 68 wherein the processor, after performing the verification of the target waypoint information, is further configured to perform:

73. The UAV of claim 68, wherein the processor, in performing the verification of the target task action information and/or the target parameter information, is configured to perform:

74. An unmanned aerial vehicle according to claim 73, wherein the set of preset action tags is determined by the model of the unmanned aerial vehicle.

75. The UAV of claim 73, wherein the processor, when implementing the action tag according to the preset action tag group and the action tag corresponding to the target task, is configured to implement:

76. The UAV of claim 75, wherein the target task actions include at least one, and the processor, when implementing the checking of the target task action information according to the action tags corresponding to the preset action tag group and the target task actions, is configured to implement:

77. The UAV of claim 73 wherein the processor, in performing the verification of the target parameter information based on the target value and corresponding predetermined range of values for the target parameter, is configured to perform:

78. The UAV of claim 77 wherein the target parameter information comprises at least one of the following parameters, and the processor, when performing the verification of the target parameter information according to the target value and the corresponding predetermined value range corresponding to the target parameter, is configured to:

79. The UAV of claim 68 wherein the processor, after performing the verification of the target waypoint information, is further configured to perform:

and marking the waypoint information which is not verified.

80. The UAV of claim 79 wherein the non-verified waypoint information is displayed in a preset interface.

81. The UAV of any of claims 59-62, wherein the processor, prior to performing the generating a corresponding target mission based on the target waypoint information and at least one of the target mission action information and the target parameter information, is further configured to perform:

82. The UAV of any of claims 59-62, wherein the processor, after implementing the generating a corresponding target mission based on the target waypoint information and at least one of the target mission action information and the target parameter information, is further configured to implement:

83. The UAV of claim 82, wherein the processor, in implementing the obtaining of the total flight duration for the UAV to perform the target flight mission, is configured to implement:

acquiring the total flying distance of the target flying task;

acquiring a preset flight speed;

84. The UAV of claim 59 wherein the target parameter information comprises flight speed information, pan-tilt attitude information, camera parameter information, UAV attitude information, and sprinkler control information.

85. The UAV of claim 59 wherein the target flight mission file further comprises mission description information, the mission description information used to tag the target flight mission file.

86. The UAV of claim 59 wherein the target flight mission file further comprises mission description information, the mission description information used to tag the target flight mission file.

87. The UAV of claim 86 wherein the task description information includes at least one of a task name, time information, and location information for the target flight task.

88. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out a flight mission generation method according to any one of claims 1 to 29.