WO2018053768A1 - Procédé de génération de ligne aérienne, dispositif et terminal associés - Google Patents

Procédé de génération de ligne aérienne, dispositif et terminal associés Download PDF

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Publication number
WO2018053768A1
WO2018053768A1 PCT/CN2016/099765 CN2016099765W WO2018053768A1 WO 2018053768 A1 WO2018053768 A1 WO 2018053768A1 CN 2016099765 W CN2016099765 W CN 2016099765W WO 2018053768 A1 WO2018053768 A1 WO 2018053768A1
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WIPO (PCT)
Prior art keywords
observation point
observation
observation points
points
waypoint
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PCT/CN2016/099765
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English (en)
Chinese (zh)
Inventor
郭灼
谢卓
李皓宇
李文林
王磊
杨泽波
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2016/099765 priority Critical patent/WO2018053768A1/fr
Priority to CN201680012907.7A priority patent/CN107438753A/zh
Publication of WO2018053768A1 publication Critical patent/WO2018053768A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Definitions

  • the present application relates to the field of communications technologies, and in particular, to a route generation method, apparatus, and terminal.
  • aerial photography of the aircraft is a set of single chip technology, aerial sensor technology, GPS.
  • Navigation aerial technology, communication aerial photography technology, flight control technology, mission control technology, programming technology and other technologies rely on high-tech products of hardware.
  • the present application provides a route generation method, device and terminal, which can observe multiple target observation points on one flight route to improve the observation efficiency.
  • the first aspect provides a route generation method, the method comprising:
  • a creation instruction for at least two observation points is detected, a set of observation points is created, and a position of each observation point in the observation point set in the preset map is determined;
  • At least two observation points in the set of observation points are used as target observation points;
  • a flight route is generated, wherein the flight can observe each target observation point on the flight path.
  • the generating a flight route according to a position of each of the target observation points in the preset map including:
  • a flight path is generated that includes each waypoint corresponding to each of the target observation points.
  • the method further includes:
  • the method further includes:
  • the method further includes:
  • the attribute information of the observation point is updated according to the acquired altitude.
  • the method further includes:
  • the method further includes:
  • the using the at least two observation points in the set of observation points as the target observation point includes:
  • the at least two observation points are taken as target observation points according to the selection instruction.
  • the method further includes:
  • the method further includes:
  • the second aspect of the present application provides a computer storage medium, where the computer storage medium stores a program, and the program includes all or part of the steps of the route generation method provided by the first aspect of the embodiment of the present application.
  • the third aspect of the present application provides a route generating device, where the device includes:
  • An observation point creation module configured to: when a creation instruction for at least two observation points is detected, create a set of observation points, and determine a position of each observation point in the set of observation points in a preset map;
  • An observation point determining module configured to use at least two observation points in the set of observation points as target observation points;
  • a route generating module configured to generate a flight route according to a position of each of the target observation points in the preset map, wherein the flight can enter each of the target observation points on the flight route Line observation.
  • the route generation module is specifically configured to:
  • a flight path is generated that includes each waypoint corresponding to each of the target observation points.
  • the apparatus further includes:
  • a photographing angle obtaining module configured to acquire, after the observation point creation module obtains the set of observation points, a first photographing angle when the aircraft is located at the first geographic location and toward any of the observation points in the set of observation points, and obtain a second shooting angle when the aircraft is in the second geographic location and facing the observation point;
  • An attribute information generating module configured to generate attribute information of the observation point according to the first geographic location, a first imaging angle, a second geographic location, and a second imaging angle, where the attribute information includes a geography of the observation point Location, the geographic location including latitude and longitude and altitude.
  • the apparatus further includes:
  • An attribute information generating module configured to: after the observation point creation module determines a position of each observation point in the set of observation points in a preset map, according to any observation point in the observation point set, in the preset map a location in the location, generating attribute information of the observation point, the attribute information including a geographic location of the observation point, the geographic location including latitude and longitude and altitude.
  • the apparatus further includes:
  • An altitude acquiring module configured to acquire, after the attribute information generating module generates attribute information of the observation point, an altitude of a configuration configured by the user on the observation point;
  • the attribute information update module is configured to update the attribute information of the observation point according to the acquired altitude.
  • the apparatus further includes:
  • An instruction receiving module configured to generate, by the attribute information generating module, attribute information of the observation point After receiving the drag instruction submitted by the user on the preset map to at least one of the observation point sets;
  • an attribute information update module configured to update attribute information of the at least one observation point according to the drag instruction.
  • the device further includes:
  • the instruction receiving module is configured to: after the observation point creation module determines the position of each observation point in the set of observation points in the preset map, receive a deletion instruction submitted by the user to at least one observation point in the observation point set ;
  • a deleting module configured to delete the at least one observation point in the preset map according to the deleting instruction.
  • the observation point determining module is specifically configured to:
  • the at least two observation points are taken as target observation points according to the selection instruction.
  • the apparatus further includes:
  • a display module configured to display a waypoint list when the user adds a waypoint adding operation to the target observation point, where the waypoint list includes at least one waypoint identifier;
  • a waypoint identification determining module configured to determine a selected waypoint identifier when receiving a selection instruction submitted by the user to the at least one waypoint identifier
  • the relationship establishing module is configured to establish a correspondence between the target observation point and the waypoint corresponding to the selected waypoint identifier.
  • the apparatus further includes:
  • a display module configured to display, according to a display instruction submitted by the user to a waypoint corresponding to the target observation point, each waypoint corresponding to the target observation point;
  • a deleting module configured to delete a correspondence between the target observation point and the at least one waypoint when detecting a deletion operation performed by the user on at least one of the waypoints corresponding to the target observation point.
  • a fourth aspect of the present application provides a terminal, including a processor, a memory, an input device, and an output device, where the memory stores a set of program codes, and the processor invokes program code stored in the memory for execution The following operations:
  • a creation instruction for at least two observation points is detected, a set of observation points is created, and a position of each observation point in the set of observation points in the preset map is determined;
  • At least two observation points in the set of observation points are used as target observation points;
  • a flight path is generated according to the position of each of the target observation points in the preset map, wherein the flight can observe each of the target observation points on the flight path.
  • the processor generates a flight path according to the position of each of the target observation points in the preset map, specifically for:
  • the processor generates a flight path including each of the waypoints corresponding to each of the target observation points.
  • the processor is further configured to:
  • the input device acquires a first shooting angle when the aircraft is located at the first geographic location and faces any of the observation points, and acquires a second shooting angle when the aircraft is located at the second geographic location and faces the observation point ;
  • the processor generates attribute information of the observation point according to the first geographic location, a first imaging angle, a second geographic location, and a second imaging angle, where the attribute information includes a geographic location of the observation point,
  • the geographic location includes latitude and longitude and altitude.
  • the processor after determining, by the processor, the location of each of the observation points in the preset map, the processor is further configured to:
  • attribute information of the observation point according to a position of any of the observation points in the preset map, where the attribute information includes a geographic location of the observation point, the geographic location Locations include latitude and longitude and altitude.
  • the method is further configured to:
  • the input device acquires an altitude configured by the user for the observation point
  • the processor updates the attribute information of the observation point according to the acquired altitude.
  • the method is further configured to:
  • the input device receives a drag instruction submitted by a user on at least one of the observation point sets on the preset map;
  • the processor updates the attribute information of the at least one observation point according to the drag instruction.
  • the processor after determining, by the processor, the location of each of the observation points in the preset map, the processor is further configured to:
  • the input device receives a deletion instruction submitted by a user to at least one observation point in the set of observation points;
  • the processor deletes the at least one observation point in the preset map according to the deletion instruction.
  • the processor uses at least two observation points in the set of observation points as a target observation point, specifically for:
  • the input device receives a selection instruction submitted by a user to at least two observation points in the set of observation points;
  • the processor uses the at least two observation points as target observation points according to the selection instruction.
  • the output device displays a list of waypoints, the list of waypoints including at least one waypoint identifier
  • the processor establishes a correspondence between the target observation point and a destination point corresponding to the selected waypoint identifier.
  • the input device when the input device receives a display instruction submitted by a user to a corresponding waypoint of the target observation point, the output is The device displays each waypoint corresponding to the target observation point;
  • the processor deletes the correspondence between the target observation point and the at least one waypoint.
  • a creation instruction for at least two observation points when a creation instruction for at least two observation points is detected, a set of observation points is created, and positions of each observation point in the observation point set in the preset map are determined, and the observation point set is At least two observation points are used as target observation points, and a flight path is generated according to the position of each target observation point in the preset map, wherein the flight can observe each target observation point on the flight path, thereby improving the observation efficiency.
  • FIG. 1 is a schematic flowchart of a route generation method provided in an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a route generation method according to another embodiment of the present application.
  • FIG. 3 is a schematic flowchart of a route generation method according to another embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a route generating apparatus provided in an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a terminal provided in an embodiment of the present application.
  • the route generation method mentioned in the embodiment of the present application can be run on a personal computer, a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palmtop computer, a mobile Internet device (MID, Mobile Internet Devices), or a wearable smart device.
  • a smart phone such as an Android mobile phone, an iOS mobile phone, etc.
  • a tablet computer such as a Samsung Galaxy Tabs
  • a palmtop computer such as a tablet computer
  • MID Mobile Internet Devices
  • FIG. 1 is a schematic flowchart of a route generation method according to an embodiment of the present application.
  • the route generation method in the embodiment of the present application may include:
  • the terminal may create a set of observation points when detecting the creation instruction for the at least two observation points, and determine the position of each observation point in the observation point set in the preset map.
  • the terminal may create a set of observation points when detecting a creation instruction of the user to the at least two observation points, where the observation point set may include at least two observation points, and the terminal may determine each observation in the observation point set. Click on the location in the preset map.
  • the terminal when detecting that the user clicks on the application icon corresponding to the ground station software in the terminal, the terminal may run the ground station software and display an application interface of the ground station software, when detecting that the user clicks on the route planning module in the application interface, The terminal may display a route planning interface, and the route planning interface may include a toolbar, wherein the toolbar may be a control bar displaying a bitmap button row, and the bitmap button is used to execute a command, and the toolbar may include a “hot spot” button, “ The hotspot button can be used to edit the hotspot.
  • the terminal can display the hotspot editing interface.
  • the hotspot editing interface can include a preset map, when the user clicks are detected.
  • the terminal may generate a first observation point that matches the first area; when detecting that the user clicks on the second area in the preset map, the terminal may generate a second matching with the second area.
  • the hotspot editing interface may include a geographic location input box.
  • the terminal When detecting that the user inputs the first latitude and longitude in the geographic location input box, the terminal may generate a first observation point corresponding to the first latitude and longitude; when detecting that the user is in the geographic When the position input box inputs the second latitude and longitude, the terminal may generate a second observation point corresponding to the second latitude and longitude, thereby obtaining a set of observation points, wherein the set of observation points includes a first observation point and a second observation point, and the terminal may determine according to the first latitude and longitude.
  • the hotspot editing interface may further include an object column, where the object column may include an observation point identifier of each observation point, and after the terminal generates an observation point, the observation point identifier of the observation point may be stored in the object column.
  • the terminal may generate a creation instruction for the at least two observation points according to the preset rule, create a set of observation points according to the creation instruction, and determine a position of each observation point in the set of observation points in the preset map.
  • the preset rule may be a preset policy for generating an instruction.
  • the terminal when detecting that the user clicks on the application icon corresponding to the ground station software in the terminal, the terminal may run the ground station software and display an application interface of the ground station software, when detecting that the user clicks on the route planning module in the application interface, The terminal may display a route planning interface, and the route planning interface may include a toolbar, wherein the toolbar may be a control bar displaying a bitmap button row, and the bitmap button is used to execute a command, and the toolbar may include a “hot spot” button, “ The hotspot button can be used to edit the hotspot.
  • the toolbar may be a control bar displaying a bitmap button row, and the bitmap button is used to execute a command
  • the toolbar may include a “hot spot” button, “ The hotspot button can be used to edit the hotspot.
  • the terminal can display the hotspot editing interface, and the hotspot editing interface can include the preset map, when the user is detected in the preset map.
  • the terminal may generate a creation instruction, and obtain a set of observation points according to the creation instruction, wherein the observation point set may include a preset number of observation points, and the preset quantity may be greater than or equal to 2, and the terminal may determine the observation point set.
  • Each observation point in the box is located in the box area of the preset map. And each observation point can be distributed or randomly distributed according to a preset array.
  • the first shooting angle of the aircraft in the first geographic location and toward any of the observation points in the observation point set may be acquired, and the aircraft is located in the second geographic location and oriented.
  • the second shooting angle of the observation point, and the terminal may generate attribute information of the observation point according to the first geographic location, the first imaging angle, the second geographic location, and the second imaging angle, where the attribute information may include the geographic location of the observation point Location, geographic location can include latitude and longitude and altitude.
  • the terminal may display a first person view (FPV) interface, and when detecting that the user performs a frame drawing operation on the FPV interface, the terminal may generate a tracking area and target the target.
  • the object is identified to obtain the position of the observation point in the preset map.
  • the terminal may control the aircraft to fly to the first geographic location, and obtain a first shooting angle when the aircraft is located at the first geographic location and toward the observation point; the terminal may also control the flight of the aircraft to the second geographic location, and obtain the second geographic location of the aircraft.
  • the shooting angle may include a horizontal angle of the aircraft and a pitch angle of the camera in the aircraft
  • the terminal may determine the first meeting the first shooting angle centered on the first geographic location a region, and centering on the second geographic location, determining a second region that satisfies the second shooting angle
  • the terminal may acquire the latitude and longitude and the altitude of the coincident region of the first region and the second region, and the overlapping regions are
  • the latitude and longitude is used as the latitude and longitude of the observation point
  • the altitude of the above-mentioned coincidence area is taken as the altitude of the observation point.
  • the terminal may generate an attribute of the observation point according to the position of any observation point in the set of observation points in the preset map.
  • Information wherein the attribute information may include a geographical location of the observation point, and the geographic location may include latitude and longitude, altitude, and the like.
  • the terminal may preset a map, and the preset map may include a Google map or a high-definition map, and the preset map may display the distribution of each geographical area and different places in each geographical area according to a preset ratio, and the terminal may be in the preset The latitude and longitude and altitude of each location are configured in the preset map.
  • the position of the observation point in the preset map can be determined, and the latitude and longitude and altitude of the position are taken as the latitude and longitude and altitude of the observation point. And further generating attribute information including the latitude and longitude and the altitude.
  • the altitude of the configuration of the observation point by the user may be acquired, and the attribute information of the observation point is updated according to the acquired altitude.
  • the terminal may display the attribute information.
  • the terminal may acquire the altitude of the user configured on the observation point, according to the obtained altitude.
  • the attribute information of the observation point is updated, that is, the altitude configured by the user is taken as the altitude of the observation point.
  • the preset map is a two-dimensional map, and the altitude of each position in the preset map defaults to the altitude of the ground.
  • the terminal When the observation point matching the position is specifically the top floor of the building on the ground at the position in the real scene, The user can configure the altitude of the observation point as the altitude of the top floor of the building, and the terminal updates the attribute information of the observation point according to the acquired altitude.
  • the preset map is a three-dimensional map, and the observation point that the user desires to generate is specifically the tenth floor of the designated building in the real scene.
  • the terminal When the user clicks on the specified area in the preset map, the terminal generates due to the operation error of the user.
  • the altitude of the observation point is the altitude of the eighth floor of the designated building, and the user can configure the altitude of the observation point as the altitude of the tenth floor of the building, and the terminal according to the obtained altitude
  • the attribute information of the observation point is updated.
  • the terminal may receive a drag instruction submitted by the user on the preset map to the at least one observation point in the set of observation points, and according to the drag instruction, the at least one observation point is The attribute information is updated.
  • the terminal can display the view in the preset map.
  • the user can click any observation point in the preset map, and the terminal can display the attribute information of the observation point in the preset area.
  • the user can also click on the object column of the hotspot editing interface, and the terminal can display multiple observation point identifiers.
  • the user can perform batch operations on multiple selected observation points by selecting multiple observation points, for example, deleting the observation points in batches. Or drag the observation points in batches.
  • the user can also select multiple observation points in the preset map by the pull frame operation to perform batch operation on the selected multiple observation points.
  • the terminal may update the attribute information of the at least one observation point according to the drag instruction.
  • the terminal may receive a deletion instruction submitted by the user to at least one observation point in the observation point set, and preset according to the deletion instruction. At least one observation point in the map is deleted. For example, the terminal displays each observation point in the set of observation points in the preset map. When detecting the deletion instruction submitted by the user to an observation point, the terminal may delete the observation point. Optionally, the terminal may also delete the observation. Point attribute information. For another example, the terminal displays each observation point in the set of observation points in the preset map, and the user can select multiple observation points by the pull frame operation, and the terminal can delete the deletion instruction submitted by the user to the selected multiple observation points. Multiple observation points selected.
  • the terminal can display multiple observation point identifiers, and detect that the user selects the observation point by clicking at least one observation point identifier, and submits the deletion instruction for the selected observation point.
  • the terminal can delete the selected observation points.
  • S102 At least two observation points in the set of observation points are used as target observation points.
  • the terminal can use at least two observation points in the set of observation points as the target observation point.
  • the terminal may acquire the distance of the adjacent observation point in the preset map, and use the observation point whose distance is less than the preset distance threshold as the target observation point.
  • the terminal may randomly select at least two observation points as target observation points.
  • the terminal may receive a selection instruction submitted by the user to at least two observation points in the observation point set, and use at least two observation points as the target observation point according to the selection instruction.
  • the terminal displays each observation point in the preset map, and the user can submit a selection instruction by using a pull frame operation, wherein the observation point selected by the user through the pull frame operation includes at least two observation points, and the terminal can select at least two according to the selection instruction.
  • the observation point serves as the target observation point.
  • the terminal when detecting that the user clicks on the object bar of the hotspot editing interface, the terminal can display multiple observation point identifiers, and the user can select multiple observation points by When the selection instruction is submitted, the terminal can use at least two observation points as the target observation point according to the selection instruction.
  • the terminal may display a waypoint list when detecting a waypoint adding operation performed by the user on the target observation point, where the waypoint list may include at least one waypoint identifier, and at least one navigation is received by the user.
  • the point identification identifies the selected instruction
  • the selected waypoint identifier is determined, and the corresponding relationship between the target observation point and the selected waypoint identifier corresponding to the waypoint is established.
  • the same observation point may correspond to at least one waypoint, and the same waypoint may correspond to one observation point.
  • the waypoint addition operation cannot be performed simultaneously on the selected multiple observation points. .
  • the terminal when receiving the display instruction submitted by the user to the corresponding waypoint of the target observation point, the terminal may display each waypoint corresponding to the target observation point, and detect the destination point corresponding to the target observation point by the user.
  • the deletion operation is performed by at least one waypoint, the correspondence between the target observation point and the at least one waypoint is deleted.
  • the terminal may generate a flight path according to the position of each target observation point in the preset map, wherein the flight can observe each target observation point on the flight path, and each target observation point may be located on the same side of the flight path, two Side or on the flight path. It should be noted that the terminal can create a set of observation points and establish a flight path without establishing a communication connection with the aircraft.
  • the terminal may determine at least one waypoint corresponding to each target observation point in the preset map according to the position of each target observation point in the preset map, and generate each corresponding to each target observation point.
  • the flight path of the waypoint may determine the shooting angle of the aircraft when flying to the waypoint according to the position of the waypoint in the preset map and the position of the observation point corresponding to the waypoint in the preset map, that is, the aircraft flies to the The horizontal angle at the waypoint and the pitch angle of the camera in the aircraft.
  • the set of observation points may be sent to the aircraft, so that the aircraft determines the position of each observation point in the set of observation points in the preset map, and at least the set of observation points Two observation points are used as target observation points, and a flight path is generated according to the position of each target observation point in the preset map, wherein the aircraft can fly on the flight path. Observations are made at each target observation point.
  • a creation instruction for at least two observation points when a creation instruction for at least two observation points is detected, a set of observation points is created, and a position of each observation point in the observation point set in the preset map is determined, and At least two observation points in the set of observation points are used as target observation points, and a flight path is generated according to the position of each target observation point in the preset map, wherein the flight can observe each target observation point on the flight path, Improve observation efficiency.
  • FIG. 2 is a schematic flowchart of a route generation method according to another embodiment of the present application.
  • the route generation method in the embodiment of the present application may include:
  • S203 Generate attribute information of the observation point according to the first geographic location, the first imaging angle, the second geographic location, and the second imaging angle.
  • At least two observation points in the set of observation points are used as target observation points.
  • a creation instruction for at least two observation points when a creation instruction for at least two observation points is detected, a set of observation points is created, and when the aircraft is located in the first geographical position and is directed to any observation point in the observation point set, a first shooting angle, and acquiring a second shooting angle when the aircraft is located at the second geographic position and facing the observation point, and generating attributes of the observation point according to the first geographic location, the first imaging angle, the second geographic location, and the second imaging angle
  • the information determines the position of the observation point in the preset map, and takes at least two observation points in the observation point set as the target observation point, and generates a flight path according to the position of each target observation point in the preset map, and flies through the aircraft.
  • the attribute information has high precision and can be improved on the generated flight path.
  • FIG. 3 is a schematic flowchart of a route generation method according to another embodiment of the present application.
  • the route generation method in the embodiment of the present application may include:
  • S302 Generate attribute information of the observation point according to the position of any observation point in the set of observation points in the preset map.
  • At least two observation points in the set of observation points are used as target observation points.
  • a creation instruction for at least two observation points when a creation instruction for at least two observation points is detected, a set of observation points is created, and a position of each observation point in the observation point set in the preset map is determined, according to Obtaining the position information of any observation point in the preset map in the preset map, generating attribute information of the observation point, and using at least two observation points in the observation point set as the target observation point, according to each target observation point in the preset map Position, generate a flight route, generate the attribute information of the observation point by observing the position of the point in the preset map, and the operation is convenient, and the efficiency of generating the attribute information can be improved, thereby improving the effectiveness of the flight path.
  • the embodiment of the present application further provides a computer storage medium, wherein the computer storage medium may store a program, and the program includes some or all of the steps in the method embodiment shown in FIG. 1 to FIG. 3 when executed.
  • FIG. 4 is a schematic structural diagram of a route generating apparatus according to an embodiment of the present application.
  • the route generating apparatus may be used to implement part or all of the method embodiments shown in FIG. 1 to FIG.
  • the route generating device may at least include an observation point creation module 401, an observation point determination module 402, and a route generation module 403, where:
  • the observation point creation module 401 is configured to: when the creation instruction for the at least two observation points is detected, create a set of observation points, and determine a position of each observation point in the set of observation points in the preset map.
  • the observation point determining module 402 is configured to use at least two observation points in the set of observation points as target observation points.
  • the route generating module 403 is configured to generate a flight route according to the position of each of the target observation points in the preset map, wherein the flight can observe each of the target observation points on the flight route.
  • the route generation module, 403 is specifically configured to:
  • a flight path is generated that includes each waypoint corresponding to each of the target observation points.
  • the device further includes:
  • a shooting angle acquisition module 404 configured to acquire, after the observation point creation module 401 obtains the observation point set, a first shooting angle when the aircraft is located in the first geographic location and toward any of the observation points in the observation point set, And obtaining a second shooting angle when the aircraft is in the second geographic location and facing the observation point.
  • the attribute information generating module 405 is configured to generate attribute information of the observation point according to the first geographic location, the first imaging angle, the second geographic location, and the second imaging angle, where the attribute information includes the observation point Geographic location, including geographic location, latitude and longitude, and altitude.
  • the device further includes:
  • the attribute information generating module 405 is configured to: after the observation point creation module 401 determines the position of each observation point in the set of observation points in the preset map, according to any observation point in the observation point set Positioning the map, generating attribute information of the observation point, the attribute information including a geographical position of the observation point, the geographic location including latitude and longitude and altitude.
  • the device further includes:
  • the altitude obtaining module 406 is configured to acquire the altitude of the configuration of the observation point by the user after the attribute information generating module 405 generates the attribute information of the observation point.
  • the attribute information updating module 407 is configured to update the attribute information of the observation point according to the acquired altitude.
  • the device further includes:
  • the instruction receiving module 408 is configured to: after the attribute information generating module 405 generates the attribute information of the observation point, receive a drag instruction submitted by the user on the preset map to at least one of the observation point sets .
  • the attribute information update module 407 is configured to update the attribute information of the at least one observation point according to the drag instruction.
  • the device further includes:
  • the instruction receiving module 408 is configured to: after the observation point creation module 401 determines the position of each observation point in the set of observation points in the preset map, the receiving user submits the at least one observation point in the observation point set. Delete the instruction.
  • the deleting module 409 is configured to delete the at least one observation point in the preset map according to the deleting instruction.
  • observation point determining module 402 is specifically configured to:
  • the at least two observation points are taken as target observation points according to the selection instruction.
  • the device further includes:
  • the display module 410 is configured to display a waypoint list when the waypoint adding operation performed by the user on the target observation point is detected, where the waypoint list includes at least one waypoint identifier.
  • the waypoint identification determining module 411 is configured to determine the selected waypoint identifier when receiving the selection instruction submitted by the user to the at least one waypoint identifier.
  • the relationship establishing module 412 is configured to establish a correspondence between the target observation point and the waypoint corresponding to the selected waypoint identifier.
  • the device further includes:
  • the display module 410 is configured to display each waypoint corresponding to the target observation point when receiving a display instruction submitted by the user to the corresponding waypoint of the target observation point.
  • the deleting module 409 is configured to delete the correspondence between the target observation point and the at least one waypoint when detecting a deletion operation performed by the user on at least one of the waypoints corresponding to the target observation point.
  • the observation point creation module 401 creates a set of observation points, and determines each observation point in the observation point set in the preset map.
  • the observation point determination module 402 takes at least two observation points in the observation point set as the target observation point, and the route generation module 403 generates a flight route according to the position of each target observation point in the preset map, wherein the flight is The observation of each target observation point on the flight route Measurement can improve the efficiency of observation.
  • FIG. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application.
  • the terminal provided in the embodiment of the present application may be used to implement the method implemented in the foregoing embodiments of the present application shown in FIG. 1 to FIG.
  • FIG. 1 to FIG. 1 For the convenience of description, only the parts related to the embodiments of the present application are shown, and the specific technical details are not disclosed. Please refer to the embodiments of the present application shown in FIG. 1 to FIG.
  • the terminal includes at least one processor 501, such as a CPU, at least one input device 503, at least one output device 504, a memory 505, and at least one communication bus 502.
  • the communication bus 502 is used to implement connection communication between these components.
  • the input device 503 can be a control panel or a physical button or the like for detecting a creation instruction for at least two observation points.
  • the output device 504 can be a display screen or the like for displaying a preset map or a list of waypoints and the like.
  • the memory 505 may include a high speed RAM memory, and may also include a non-volatile memory such as at least one disk memory.
  • the memory 505 can optionally include at least one storage device located remotely from the aforementioned processor 501.
  • a set of program codes is stored in the memory 505, and the processor 501 calls the program code stored in the memory 505 for performing the following operations:
  • a creation instruction for at least two observation points is detected, a set of observation points is created, and the positions of the respective observation points in the set of observation points in the preset map are determined.
  • At least two observation points in the set of observation points are taken as target observation points.
  • a flight path is generated according to the position of each of the target observation points in the preset map, wherein the flight can observe each of the target observation points on the flight path.
  • the processor 501 generates a flight path according to the position of each of the target observation points in the preset map, specifically for:
  • the processor 501 determines, according to the location of each of the target observation points in the preset map, at least one waypoint corresponding to each of the target observation points in the preset map.
  • the processor 501 generates a flight path including each waypoint corresponding to each of the target observation points.
  • the processor 501 is further configured to:
  • the input device 503 acquires a first shooting angle when the aircraft is in the first geographic location and faces any of the observation points, and acquires the aircraft in the second geographic location and faces the The second shooting angle at the time of observation.
  • the processor 501 generates attribute information of the observation point according to the first geographic location, the first imaging angle, the second geographic location, and the second imaging angle, where the attribute information includes a geographic location of the observation point.
  • the geographic location includes latitude and longitude and altitude.
  • the processor 501 is further configured to:
  • the processor 501 generates attribute information of the observation point according to a position of any observation point in the preset point set in the preset map, where the attribute information includes a geographic location of the observation point, Location includes latitude and longitude and altitude.
  • the processor 501 is further configured to:
  • the input device 503 acquires an altitude at which the user configures the observation point.
  • the processor 501 updates the attribute information of the observation point according to the acquired altitude.
  • the processor 501 is further configured to:
  • the input device 503 receives a drag instruction submitted by a user on at least one of the observation point sets on the preset map.
  • the processor 501 updates the attribute information of the at least one observation point according to the drag instruction.
  • the processor 501 is further configured to:
  • the input device 503 receives a deletion instruction submitted by a user to at least one of the observation points.
  • the processor 501 deletes the at least one observation point in the preset map according to the deletion instruction.
  • the processor 501 uses at least two observation points in the set of observation points as target observation points, specifically for:
  • the input device 503 receives a selection instruction submitted by a user to at least two observation points in the set of observation points.
  • the processor 501 uses the at least two observation points as target observations according to the selection instruction point.
  • the output device 504 displays a waypoint list, where the waypoint list includes at least one waypoint identifier.
  • the input device 503 determines the selected waypoint identifier when receiving the selection instruction submitted by the user to the at least one waypoint identifier.
  • the processor 501 establishes a correspondence between the target observation point and the waypoint corresponding to the selected waypoint identifier.
  • the output device 504 displays each waypoint corresponding to the target observation point.
  • the processor 501 deletes the correspondence between the target observation point and the at least one waypoint. relationship.
  • the terminal introduced in the embodiment of the present application may be used to implement some or all of the processes in the method embodiments introduced in conjunction with FIG. 1 to FIG.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the application can be implemented in hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. While the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the present application. The embodiments are subject to variations, modifications, substitutions and variations.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé de génération de ligne aérienne, ainsi qu'un dispositif et un terminal associés. Le procédé comprend les étapes consistant : lorsqu'une instruction de création pour au moins deux points d'observation est détectée, à créer les points d'observation pour obtenir un ensemble de points d'observation et à déterminer des emplacements de points d'observation respectifs dans l'ensemble de points d'observation dans une carte préconfigurée (S101) ; à utiliser les deux points d'observation ou plus dans l'ensemble de points d'observation en tant que points d'observation cibles (S102) ; et à générer une ligne aérienne de vol en fonction des emplacements des points d'observation cibles respectifs dans la carte préconfigurée, les points d'observation cibles respectifs pouvant être observés sur la ligne aérienne de vol (S103). Le procédé peut observer une pluralité de points d'observation cibles sur une ligne aérienne de vol, ce qui permet d'améliorer l'efficacité d'observation.
PCT/CN2016/099765 2016-09-22 2016-09-22 Procédé de génération de ligne aérienne, dispositif et terminal associés WO2018053768A1 (fr)

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CN201680012907.7A CN107438753A (zh) 2016-09-22 2016-09-22 一种航线生成方法、装置及终端

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