WO2018086138A1 - 航道规划方法、控制端、飞行器及航道规划系统 - Google Patents

航道规划方法、控制端、飞行器及航道规划系统 Download PDF

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Publication number
WO2018086138A1
WO2018086138A1 PCT/CN2016/105798 CN2016105798W WO2018086138A1 WO 2018086138 A1 WO2018086138 A1 WO 2018086138A1 CN 2016105798 W CN2016105798 W CN 2016105798W WO 2018086138 A1 WO2018086138 A1 WO 2018086138A1
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WIPO (PCT)
Prior art keywords
dimensional
coordinate
channel
coordinates
aircraft
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Ceased
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PCT/CN2016/105798
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English (en)
French (fr)
Inventor
苏冠华
胡骁
邹成
吴迪
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201680013092.4A priority Critical patent/CN107636592B/zh
Priority to PCT/CN2016/105798 priority patent/WO2018086138A1/zh
Priority to CN202110217625.3A priority patent/CN112882645B/zh
Publication of WO2018086138A1 publication Critical patent/WO2018086138A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04883—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G06T17/05—Geographic models

Definitions

  • the present invention relates to the field of terminal technologies, and in particular, to a channel planning method, a control terminal, an aircraft, and a channel planning system.
  • UAVs unmanned aerial vehicles
  • other aircraft are continuously enriched, and their application fields are also expanding, including professional aerial photography, agricultural irrigation, electric power cruise, remote sensing mapping, and public security monitoring.
  • Aircraft are usually controlled by a console (such as a cell phone, wearable device, etc.).
  • the control terminal needs to plan the navigation channel of the aircraft to control the aircraft to complete the corresponding tasks according to the planned flight path.
  • a navigation channel is usually planned in the plane map provided by the control end, as shown in FIG. 1 , during the flight of the aircraft, the navigation channel displayed by the control terminal The starting point and destination as well as the style of the channel are flat graphics. It can be seen that this method cannot visually and intuitively display the planned navigation channel.
  • the embodiment of the invention discloses a waterway planning method, a control end, an aircraft and a channel planning system, which can visually and intuitively plan and display the navigation channel.
  • a method for planning a waterway which is applied to a control end, and the method includes:
  • the three-dimensional channel is a channel determined according to the three-dimensional coordinates after converting the touch position coordinates into three-dimensional coordinates in a world coordinate system.
  • control terminal includes:
  • a detecting module configured to detect a touch operation of the user in the first display screen
  • a first acquiring module configured to acquire touch position coordinates, where the touch position coordinates are sitting on the display screen Two-dimensional coordinates corresponding to the touch position of the touch operation in the label system;
  • a second acquiring module configured to acquire a three-dimensional navigation channel mapped to the second display screen, where the three-dimensional navigation channel is a navigation channel determined according to the three-dimensional coordinates after converting the touch position coordinates into three-dimensional coordinates in a world coordinate system.
  • a control terminal comprising: one or more processors, a memory, a bus system, a transceiver, and one or more programs, the processor, the memory, and the transceiver Connected by the bus system; wherein the one or more programs are stored in the memory, the processor is configured to invoke the one or more programs in the memory to perform the method of the first aspect .
  • a waterway planning method for use in an aircraft, the method comprising:
  • the receiving control terminal sends a first coordinate, where the first coordinate is a coordinate obtained by the control terminal according to a touch operation of the user on the first display screen, where the first coordinate is a touch position coordinate, a spatial two-dimensional coordinate or a three-dimensional coordinate,
  • the touch position coordinate is a two-dimensional coordinate corresponding to the touch position of the touch operation in a coordinate system of the display screen
  • the space two-dimensional coordinate is a two-dimensional coordinate in a world coordinate system obtained according to the touch position coordinate
  • the three-dimensional coordinates are coordinates in a world coordinate system obtained according to the touch position coordinates;
  • an aircraft comprising:
  • a receiving module configured to receive, by the control terminal, a first coordinate, where the first coordinate is a coordinate obtained by the control end according to a touch operation of the user on the first display screen, where the first coordinate is a touch position coordinate, and the space is two-dimensional a coordinate or three-dimensional coordinate, wherein the touch position coordinate is a two-dimensional coordinate corresponding to the touch position of the touch operation in a coordinate system of the display screen, and the spatial two-dimensional coordinate is a world coordinate system obtained according to the touch position coordinate Two-dimensional coordinates, the three-dimensional coordinates being coordinates in a world coordinate system obtained according to the touch position coordinates;
  • Generating a module configured to generate a three-dimensional waterway according to the first coordinate
  • a sending module configured to send parameters of the three-dimensional channel to the control end.
  • an aircraft comprising: one or more processors, a memory, a bus system, a transceiver, and one or more programs, the processor, the memory, and the transceiver passing The bus systems are connected; wherein the one or more programs are stored in the In the memory, the processor is configured to invoke the one or more programs in the memory to perform the method of the fourth aspect.
  • a waterway planning system comprising a control end and an aircraft, wherein:
  • the control end is configured to detect a touch operation of the user in the first display screen
  • the control terminal is further configured to acquire a touch position coordinate, where the touch position coordinate is a two-dimensional coordinate corresponding to the touch position of the touch operation in a coordinate system of the display screen;
  • the control end is further configured to send the first coordinate to the aircraft, the first coordinate is the touch position coordinate, the spatial two-dimensional coordinate or the three-dimensional coordinate, and the spatial two-dimensional coordinate is according to the touch position coordinate a two-dimensional coordinate in the obtained world coordinate system, the three-dimensional coordinate being a coordinate in a world coordinate system obtained according to the touch position coordinate;
  • the aircraft is configured to generate a three-dimensional waterway according to the first coordinate
  • the aircraft is further configured to send parameters of the three-dimensional channel to the control end.
  • the control end is further configured to map the three-dimensional channel to the second display screen according to the parameter of the three-dimensional channel.
  • the eighth aspect provides a channel planning display method, which is applied to a control end, and the method includes:
  • the three-dimensional channel is a channel obtained according to the three-dimensional coordinates after converting the first coordinate into a three-dimensional coordinate in a world coordinate system.
  • control terminal includes:
  • a generating module configured to generate a geometric shape centered on the pressing point if detecting that a pressing time of a pressing operation performed by a user on a pressing point in the first display screen exceeds a preset duration
  • a first acquiring module configured to acquire a first coordinate of the geometric figure, where the first coordinate is a two-dimensional coordinate of the geometric figure in a coordinate system of a display screen;
  • a second acquiring module configured to acquire a three-dimensional navigation channel mapped to the second display screen, where the three-dimensional navigation channel is a navigation channel obtained according to the three-dimensional coordinates after converting the first coordinate into a three-dimensional coordinate in a world coordinate system.
  • a control terminal comprising: one or more processors, a memory, a bus system, a transceiver, and one or more programs, the processor, the memory, and the transceiver Connected by the bus system; wherein the one or more programs are stored in the memory, the processor is configured to invoke the one or more programs in the memory to perform the method of the eighth aspect .
  • a method of planning a waterway for use in an aircraft, the method comprising:
  • the target coordinates are first coordinates, spatial two-dimensional coordinates or three-dimensional coordinates, and the first coordinates are two in the coordinate system of the display screen of the first display screen of the control end a dimensional coordinate
  • the spatial two-dimensional coordinate is a two-dimensional coordinate in a world coordinate system obtained according to the first coordinate
  • the three-dimensional coordinate is a coordinate in a world coordinate system obtained according to the first coordinate
  • the geometric The graphic is centered on a pressing point in the first display screen
  • an aircraft comprising:
  • a receiving module configured to receive target coordinates sent by the control end, where the target coordinates are first coordinates, spatial two-dimensional coordinates or three-dimensional coordinates, and the first coordinates are geometric figures in the first display screen of the control end on the display screen a two-dimensional coordinate in a coordinate system, the spatial two-dimensional coordinate being a two-dimensional coordinate in a world coordinate system obtained according to the first coordinate, wherein the three-dimensional coordinate is in a world coordinate system obtained according to the first coordinate a coordinate, the geometric figure being centered on a pressing point in the first display screen;
  • Generating a module configured to generate a three-dimensional waterway according to the target coordinate
  • a sending module configured to send parameters of the three-dimensional channel to the control end.
  • an aircraft comprising: one or more processors, a memory, a bus system, a transceiver, and one or more programs, the processor, the memory, and the transceiver Connected by the bus system; wherein the one or more programs are stored in the memory, the processor for invoking the one or more programs in the memory to perform the method of eleven.
  • a waterway planning system comprising a control end and an aircraft, wherein:
  • the control end is configured to generate a geometric shape centered on the pressing point if detecting that a pressing duration of a pressing operation performed by a user on a pressing point in the first display screen exceeds a preset duration;
  • the control end is further configured to acquire a first coordinate of the geometric figure, where the first coordinate is a two-dimensional coordinate of the geometric figure in a coordinate system of a display screen;
  • the control end is further configured to send target coordinates to the aircraft, the target coordinates are the first coordinate, the spatial two-dimensional coordinate or the three-dimensional coordinate, and the spatial two-dimensional coordinate is obtained according to the first coordinate Two-dimensional coordinates in a world coordinate system, the three-dimensional coordinates being coordinates in a world coordinate system obtained according to the first coordinates;
  • the aircraft is configured to generate a three-dimensional waterway according to the target coordinates
  • the aircraft is further configured to send parameters of the three-dimensional channel to the control end;
  • the control end is further configured to map the three-dimensional channel to the second display screen according to the parameter of the three-dimensional channel.
  • the controller can display a three-dimensional navigation channel on the display screen, and the three-dimensional navigation channel is a three-dimensional navigation channel. Therefore, the three-dimensional navigation channel is displayed on the display screen, so that the navigation channel viewed by the user is like a road in the real world. . Therefore, by implementing the method described in the embodiments of the present invention, the planned navigation channel can be visually and intuitively displayed.
  • FIG. 1 is a schematic diagram of a conventional navigation channel display according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a possible system architecture provided by an embodiment of the present invention.
  • FIG. 3 is a schematic flow chart of a method for displaying a channel planning according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a coordinate system of a display screen according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of display of a three-dimensional waterway according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram showing display of remaining mileage according to an embodiment of the present invention.
  • FIG. 7 to FIG. 9 are schematic diagrams showing display of a starting point according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a touch process starting from a starting point according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a touch process on a display screen according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of a camera device facing a point of interest according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram showing a display of a horizon according to an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of an interaction process between a control end and an aircraft in a navigation channel planning system according to an embodiment of the present invention
  • 15 to 17 are schematic structural diagrams of a control terminal according to an embodiment of the present invention.
  • FIG. 18 and FIG. 19 are schematic structural diagrams of an aircraft according to an embodiment of the present invention.
  • FIG. 20 is a schematic flowchart diagram of another method for displaying a channel planning according to an embodiment of the present invention.
  • FIG. 21 is a schematic diagram showing display of a radius adjustment icon according to an embodiment of the present invention.
  • 22 is a schematic diagram of an interaction process between a control end and an aircraft in another navigation channel planning system according to an embodiment of the present invention
  • FIG. 23 and FIG. 24 are schematic structural diagrams of a control terminal according to an embodiment of the present invention.
  • FIG. 25 and FIG. 26 are schematic diagrams showing the structure of an aircraft according to an embodiment of the present invention.
  • the embodiment of the invention provides a channel planning method, a control end, an aircraft and a channel planning system.
  • FIG. 2 shows a possible system architecture provided by an embodiment of the present invention.
  • the drone system of the present embodiment includes an aircraft (the unmanned aerial vehicle 1 is taken as an example in Fig. 2) and a control terminal.
  • the control terminal is used to control the aircraft.
  • the console can be a mobile phone, tablet, remote control or other wearable device. It is worth mentioning that the control terminal has a display screen.
  • FIG. 2 takes the control terminal as the mobile phone 2 as an example.
  • the drone 1 includes a flight body, a pan/tilt head, and an imaging device.
  • the flying body may include a plurality of rotors and a rotor motor that drives the rotation of the rotor, thereby providing the power required for the drone 1 to fly.
  • the imaging device is mounted on the flying body through the pan/tilt.
  • the camera device is used for image or video shooting during the flight of the drone, and may include, but is not limited to, a multi-spectral imager, a hyperspectral imager, a visible light camera, and an infrared camera.
  • the gimbal can be a multi-axis transmission and stabilization system, which can include multiple Rotating shaft and pan/tilt motor.
  • the pan/tilt motor can compensate the shooting angle of the camera by adjusting the rotation angle of the rotating shaft, and can prevent or reduce the shake of the camera by setting an appropriate buffer mechanism.
  • the imaging device can be mounted on the flying body directly or by other means, which is not limited in the embodiment of the present invention.
  • FIG. 3 is a schematic flowchart diagram of a method for displaying a channel planning according to an embodiment of the present invention.
  • the channel planning display method may include parts 301 to 303. among them:
  • the control end detects a touch operation of the user in the first display screen.
  • the first display screen may be any display screen of the control end, or the first display screen may be a first person view (FPV) display screen of the control end, which is not limited in the embodiment of the present invention. .
  • FV first person view
  • the control end acquires touch location coordinates.
  • the touch position coordinate is a two-dimensional coordinate of the touch position of the touch operation detected by the part 301 in the coordinate system of the display screen of the control end.
  • 4 is a schematic diagram of a coordinate system of a display screen of a control end according to an embodiment of the present invention.
  • the X-axis direction of the coordinate system of the display screen may be a direction parallel to the lower side of the display screen
  • the display is The Y-axis direction of the coordinate system of the screen may be a direction parallel to the left side of the display screen.
  • the embodiment of the present invention does not limit the X-axis direction and the Y-axis direction of the coordinate system of the display screen, and FIG. 4 only shows the coordinates of the display screen.
  • the control end acquires a three-dimensional waterway mapped in the second display screen.
  • the three-dimensional navigation channel mapped in the second display screen is acquired.
  • the second display screen may be the same as or different from the first display screen, which is not limited by the embodiment of the present invention.
  • the second display screen may be an FPV display screen or any other display screen.
  • the three-dimensional channel is a channel determined according to the three-dimensional coordinates after converting the touch position coordinates into three-dimensional coordinates in the world coordinate system.
  • a three-dimensional coordinate in the world coordinate system determines a position in real space.
  • the X-axis coordinates in the world coordinate system can For longitude, the Y-axis coordinate can be latitude and the Z-axis coordinate is the height from the ground. That is to say, converting the touch position coordinates into three-dimensional coordinates in the world coordinate system is to map the touch position in the display screen to a position in the real space.
  • the touch position of the user in the first display screen is the A point position of the building displayed in the first display screen
  • the position of the three-dimensional coordinate in the real space is A point position or point A or A. Below the point.
  • the three-dimensional navigation channel is a navigation channel generated according to three-dimensional coordinates in the world coordinate system, and the three-dimensional navigation channel is a three-dimensional navigation channel. Therefore, as shown in FIG. 5, the three-dimensional navigation channel is mapped on the display screen, so that The channel that the user sees is like a road in the real world. Therefore, by implementing the method described in FIG. 3, the planned navigation channel can be visually and intuitively displayed.
  • part 303 may include the following sections 3031 to 3033, where:
  • the control end converts the touch position coordinates into spatial two-dimensional coordinates.
  • the two-dimensional coordinates of the space are two-dimensional coordinates in the world coordinate system.
  • the control end sends the spatial two-dimensional coordinates to the aircraft.
  • the control end receives the parameters of the three-dimensional channel returned by the aircraft, and maps the three-dimensional channel to the second display according to the parameters of the three-dimensional channel.
  • the three-dimensional channel is a channel that the aircraft converts the two-dimensional coordinates of the space into three-dimensional coordinates in the world coordinate system and determines the three-dimensional coordinates.
  • the spatial two-dimensional coordinates may be latitude and longitude coordinates.
  • converting the touch position coordinates into three-dimensional coordinates in the world coordinate system is performed by the control end and the aircraft together, that is, the controller converts the touch position coordinates into spatial two-dimensional coordinates, and then the aircraft The spatial two-dimensional coordinates are converted into three-dimensional coordinates.
  • the specific embodiment of the aircraft converting the spatial two-dimensional coordinates into three-dimensional coordinates may be that the X-axis value of the spatial two-dimensional coordinates is taken as the X-axis value of the three-dimensional coordinates, and the Y-axis value of the spatial two-dimensional coordinates is taken as the Y-axis value of the three-dimensional coordinates. Then assign the Z-axis coordinates of the three-dimensional coordinates.
  • the aircraft can assign a value to the Z-axis based on the current altitude of the aircraft.
  • the Z-axis value can be set to a value that is smaller than the current height of the aircraft by a preset height, for example, the Z-axis value can be set to a value that is 2 meters smaller than the current height of the aircraft.
  • the display effect is better when the generated three-dimensional channel is mapped to the display screen.
  • the current height of the aircraft can also be directly set to the Z-axis value, but the three generated in this way When the navigation channel is mapped to the display screen, the display effect is not the best.
  • the parameters of the three-dimensional channel are transmitted to the control end.
  • the parameters of the three-dimensional channel may be coordinate information of the three-dimensional channel and the like.
  • the control terminal can map the three-dimensional channel to the second display screen according to the parameters of the three-dimensional channel.
  • Section 303 can include the following sections 3034 and 3035, where:
  • the control end converts the touch position coordinates into three-dimensional coordinates in the world coordinate system, and transmits the three-dimensional coordinates to the aircraft.
  • the control end receives the parameters of the three-dimensional channel determined by the aircraft according to the three-dimensional coordinates, and maps the three-dimensional channel to the second display according to the parameters of the three-dimensional channel.
  • the controller can directly convert the touch location coordinates to three-dimensional coordinates in the world coordinate system.
  • the controller may convert the touch position coordinates into latitude and longitude coordinates, and then determine the latitude and longitude coordinates as the X-axis and Y-axis coordinates in the three-dimensional coordinates.
  • the obtained longitude coordinates may be determined as X-axis coordinates in three-dimensional coordinates
  • the obtained dimensional coordinates may be determined as Y-axis coordinates in three-dimensional coordinates.
  • the controller may determine the preset value as the Z-axis coordinate in the three-dimensional coordinates, or set the Z-axis value to a value smaller than the current height of the aircraft, or set the Z-axis value to the current height of the aircraft, the present invention
  • the embodiment is not limited.
  • the three-dimensional navigation channel can be determined according to the three-dimensional coordinates. And sending the determined parameters of the three-dimensional channel to the control end.
  • the control terminal can map the three-dimensional channel to the second display screen according to the parameters of the received three-dimensional channel.
  • Section 303 can include the following sections 3036 and 3037, wherein:
  • the control end sends the touch position coordinates to the aircraft.
  • the control end receives the parameters of the three-dimensional channel determined by the aircraft according to the touch position coordinates, and maps the three-dimensional channel to the second display screen according to the parameters of the three-dimensional channel.
  • the controller may also directly transmit the touch position coordinates to the aircraft, and the aircraft converts the touch position coordinates into three-dimensional coordinates in the world coordinate system, and determines the three-dimensional water channel according to the three-dimensional coordinates. After the aircraft determines the three-dimensional channel, the parameters of the three-dimensional channel are transmitted to the control end.
  • the aircraft converts the touch position coordinates into three-dimensional coordinates in the world coordinate system, as described above In the section 3034, the principle that the control terminal converts the touch position coordinates into the three-dimensional coordinates in the world coordinate system is the same. For details, refer to the corresponding description of the above part 3034, and details are not described herein.
  • part 303 may include the following sections 3038 to 30310, wherein:
  • the control end converts the touch position coordinates into three-dimensional coordinates in the world coordinate system.
  • the control end determines the three-dimensional navigation channel according to the three-dimensional coordinates.
  • the control end maps the three-dimensional channel to the second display screen.
  • the controller can also generate a three-dimensional navigation channel directly from the touch position coordinates.
  • the specific implementation of the 3038 part is the same as the specific implementation of the 3034 part. For details, refer to the corresponding description of the above part 3034, and details are not described herein.
  • the second display screen mapped with the three-dimensional waterway further includes the remaining mileage of the three-dimensional waterway.
  • the remaining mileage is calculated according to the end coordinates of the three-dimensional channel and the current position coordinates of the aircraft.
  • Figure 5 shows an example where the remaining mileage is 624 meters.
  • the remaining mileage of the three-dimensional channel can be calculated by the control terminal, or the remaining mileage of the three-dimensional channel can also be returned to the control end after the calculation of the aircraft, which is not limited in the embodiment of the present invention.
  • the remaining mileage is displayed in the first position in the second display; if the end of the three-dimensional channel does not exist in the second display, The remaining mileage is displayed in the second position in the second display screen, the first location being different from the second location.
  • the remaining mileage is displayed at the end of the three-dimensional channel in the second display screen.
  • the remaining mileage is displayed in the second position in the second display screen, and the first position is different from the second position.
  • Figure 6 shows an example where the remaining mileage is 325 meters.
  • the specific implementation of the 301 part may be: the control end detects a touch operation performed by the user from a starting point displayed in the first display screen.
  • the starting point is displayed according to the angle information of the gimbal. For example, as shown in FIG. 7, when the pan/tilt is normally facing forward (ie, the direction in which the camera is photographed is facing forward), the starting point can be displayed at the bottom of the first display screen; as shown in FIG. When the pan/tilt head rotates toward the ground direction (that is, the direction in which the camera is photographed moves toward the ground direction), the display position of the starting point moves upward from the bottom; as shown in FIG.
  • the display position of the start point is the center position of the first display screen. After the start point is displayed in the first display screen, as shown in FIG. 10, the user can perform a touch operation from the starting point displayed in the first display screen.
  • the specific implementation of the 301 part may be: the control end detects a touch operation performed by the user on a certain position of the first display screen for a duration longer than a preset duration.
  • the start position coordinate of the starting point displayed in the first display screen may also be acquired.
  • the starting position coordinate is a two-dimensional coordinate corresponding to the starting point in the coordinate system of the display screen, and the starting point is displayed according to the angle information of the gimbal.
  • the three-dimensional channel in the 303 portion is a channel determined according to the three-dimensional coordinates after converting the touch position coordinates and the start position coordinates into three-dimensional coordinates in the world coordinate system.
  • the user performs a touch operation on which the A and B points in the first display screen are pressed for longer than the preset duration, and the control terminal detects that the user presses the A point more than the pre-prevention time.
  • the two-dimensional coordinates of the A point in the coordinate system of the display screen are acquired; similarly, after the control terminal detects that the user presses the B point for more than the preset duration, the B point is obtained.
  • the control terminal also acquires the coordinates of the starting position of the starting point as shown in FIG.
  • the three-dimensional channel in Section 303 is the two-dimensional coordinates of the point A in the coordinate system of the display screen, the two-dimensional coordinates of the point B in the coordinate system of the display screen, and the coordinates of the starting position are converted into three-dimensional coordinates in the world coordinate system.
  • the channel in the mapped location is the two-dimensional coordinates of the point A in the coordinate system of the display screen, the two-dimensional coordinates of the point B in the coordinate system of the display screen, and the coordinates of the starting position are converted into three-dimensional coordinates in the world coordinate system.
  • the control terminal may also acquire coordinates of the point of interest and send indication information including coordinates of the point of interest to the aircraft.
  • the indication information is used to indicate that the aircraft controls the angle of the camera of the aircraft toward the point of interest according to the coordinates of the point of interest during the navigation on the three-dimensional channel.
  • the arrow is an imaging device of the aircraft, and the direction of the arrow indicates the orientation of the camera of the aircraft. If point A is a point of interest, the aircraft controls the angle of the camera of the aircraft toward the interest when flying in the three-dimensional channel. point.
  • the user can set The point of interest and the angle at which the aircraft controls the camera of the aircraft toward the point of interest.
  • a horizon is displayed on the first display screen.
  • the horizon may be obtained according to the pan/tilt angle of the aircraft or obtained by other methods, which is not limited by the embodiment of the present invention.
  • the main idea of the channel planning display method provided in FIG. 3 is that by detecting the touch position of the user in the first display screen, the touch position is mapped to a position in the real space, and finally a channel passing through the target position of the real space is generated.
  • the target location is a location where the touch location is mapped to real space.
  • the position of the touch position corresponding to the touch operation is infinity in the real space, so in order to avoid the control terminal planning an infinity channel, pass the first
  • the horizon is displayed on the display screen, and the user can be prompted to perform a touch operation on the screen below the horizon.
  • the portion below the horizon and the portion above the horizon in the first display screen are displayed in different manners.
  • the portion below the horizon is displayed in a square, and the portion above the horizon is displayed in a twill.
  • the portion below the horizon and the portion above the horizon may be displayed differently in other manners, which are not limited in the embodiment of the present invention. By implementing this embodiment, it is possible for the user to better distinguish between the portion below the horizon and the portion above the horizon.
  • the specific implementation of the 302 portion may be: the control terminal acquires the touch location coordinates corresponding to the touch operation of the portion of the first display screen to the portion below the horizon. . That is to say, the generated three-dimensional channel is obtained based on the coordinates of the touch position of the portion below the horizon, which is beneficial to avoid planning an infinity channel.
  • control terminal may further detect that the user touches a portion above the horizon in the first display screen or detects that the user touches a portion above the horizon in the first display screen.
  • a prompt message for prompting the user to touch a portion below the horizon is output.
  • the control end outputs the prompt information, the 301 part can be continued. It can be seen that by implementing the implementation manner, the user can be promptly reminded to perform a correct touch operation.
  • the three-dimensional navigation channel includes a channel projection layer and a flight channel layer
  • the channel projection layer is a channel obtained according to the first coordinate after converting the touch position coordinates into the first coordinates.
  • the flight channel layer is a channel obtained according to the second coordinate after converting the touch position coordinates to the second coordinates.
  • the first coordinate is a three-dimensional coordinate in which the Z-axis coordinate in the world coordinate system is zero
  • the second coordinate is a three-dimensional coordinate in which the Z-axis coordinate in the world coordinate system is greater than zero and less than or equal to the current height of the aircraft.
  • the three-dimensional channel can be more three-dimensional by displaying two layers of channels.
  • the three-dimensional channel is a channel that satisfies the constraints of the aircraft dynamics. If the three-dimensional coordinates of the touch position coordinate conversion are directly used as the coordinates of the three-dimensional channel, it is possible that the three-dimensional channel cannot satisfy the aircraft dynamics constraint. For example, some curvature of the three-dimensional channel may be large, the aircraft cannot perform the flight of the curvature, and the like. Thus, in this embodiment, after the touch position coordinates are converted to three-dimensional coordinates in the world coordinate system, some appropriate adjustments can be made to the three-dimensional coordinates to obtain a channel that satisfies the constraints of the aircraft dynamics. This can improve the flight success rate of the aircraft flying according to the three-dimensional channel.
  • FIG. 14 is a schematic diagram of an interaction process between a control end and an aircraft in a channel planning system according to an embodiment of the present invention. As shown in FIG. 14, the interaction flow between the control terminal and the aircraft may include portions 1401 to 1406. among them:
  • the control end detects a touch operation of the user in the first display screen.
  • the specific implementation principle of the 1401 part is the same as the implementation principle of the foregoing 301 part.
  • the specific implementation principle of the 1401 part is the same as the implementation principle of the foregoing 301 part.
  • the specific implementation principle of the 1401 part is the same as the implementation principle of the foregoing 301 part.
  • the control end acquires touch position coordinates.
  • the touch position coordinate is a two-dimensional coordinate corresponding to the touch position of the touch operation in the coordinate system of the display screen.
  • the specific implementation principle of the part 1402 is the same as that of the above part 302. For details, refer to the corresponding description in section 302 above, and details are not described herein.
  • the control end sends the first coordinate to the aircraft.
  • the first coordinate is a touch position coordinate, a spatial two-dimensional coordinate or a three-dimensional coordinate
  • the spatial two-dimensional coordinate is a two-dimensional coordinate in a world coordinate system obtained according to the touch position coordinate
  • the three-dimensional coordinate is obtained according to the touch position coordinate.
  • the controller when the first coordinate is a spatial two-dimensional coordinate, the controller needs to convert the touch position coordinate into a spatial two-dimensional coordinate, and then send the spatial two-dimensional coordinate to the aircraft.
  • the controller converts the touch position coordinates into the spatial two-dimensional coordinates into the spatial two-dimensional coordinates, refer to the description corresponding to the above 3031, and details are not described herein.
  • the control terminal when the first coordinate is a three-dimensional coordinate, the control terminal needs to convert the touch position coordinate into a three-dimensional coordinate in the world coordinate system, and then send the three-dimensional coordinate to the aircraft.
  • the controller converts the touch position coordinates into three-dimensional coordinates can be referred to the description corresponding to the above 3034, and details are not described herein.
  • the aircraft generates a three-dimensional waterway according to the first coordinate.
  • the three-dimensional waterway is generated according to the first coordinate.
  • the aircraft when the first coordinate is a spatial two-dimensional coordinate, the aircraft generates a three-dimensional navigation channel according to the two-dimensional coordinate of the space, and the aircraft of the above part 3033 can convert the spatial two-dimensional coordinate into the three-dimensional coordinate in the world coordinate system, and according to The corresponding description of the channel determined by the three-dimensional coordinates will not be described here.
  • the aircraft when the first coordinate is a three-dimensional coordinate, the aircraft generates a three-dimensional waterway according to the three-dimensional coordinates, and the aircraft of the above-mentioned 3035 part can determine the corresponding description of the three-dimensional waterway according to the three-dimensional coordinates, and details are not described herein.
  • the aircraft when the first coordinate is the touch position coordinate, the aircraft generates a three-dimensional waterway according to the touch position coordinate.
  • the aircraft in the above part 3037 can determine the corresponding description of the three-dimensional water channel according to the touch position coordinate, and details are not described herein.
  • the aircraft sends the parameters of the three-dimensional channel to the control end.
  • the parameters of the three-dimensional channel are sent to the control end.
  • the control end maps the three-dimensional channel to the second display screen according to the parameter of the three-dimensional channel.
  • the control terminal after receiving the parameters of the three-dimensional channel transmitted by the aircraft, maps the three-dimensional channel to the second display screen according to the parameters of the three-dimensional channel.
  • the second display screen may be the same as or different from the first display screen, which is not limited by the embodiment of the present invention.
  • the second display screen may be an FPV display screen or any other display screen.
  • the three-dimensional navigation channel is a navigation channel generated according to three-dimensional coordinates in the world coordinate system, and the three-dimensional navigation channel is a three-dimensional navigation channel. Therefore, as shown in FIG. 5, the three-dimensional navigation channel is mapped on the display screen, so that The channel that the user sees is like a road in the real world. Therefore, by implementing the system described in Fig. 14, the planned navigation channel can be visually and intuitively displayed.
  • the second display screen mapped with the three-dimensional waterway further includes a remaining mileage of the three-dimensional navigation channel, and the remaining mileage is calculated according to the end coordinate of the three-dimensional navigation channel and the current position coordinate of the aircraft.
  • the remaining mileage is calculated according to the end coordinate of the three-dimensional navigation channel and the current position coordinate of the aircraft.
  • the control terminal displays the remaining mileage in the first position in the second display screen; if there is no third in the second display screen At the end of the navigation channel, the control terminal displays the remaining mileage in the second position in the second display screen, the first position being different from the second position.
  • the control terminal displays the remaining mileage in the second position in the second display screen, the first position being different from the second position.
  • the first location is the end of the three-dimensional channel.
  • the specific implementation of the 1401 part may include: the control end detects a touch operation performed by the user from a starting point displayed in the first display screen, where the starting point is displayed according to the angle information of the pan/tilt .
  • the control end detects a touch operation performed by the user from a starting point displayed in the first display screen, where the starting point is displayed according to the angle information of the pan/tilt .
  • the specific implementation of the 1401 part may include: the control end detects a touch operation performed by the user on a certain position of the first display screen for a duration longer than a preset duration.
  • the control end is further configured to acquire a start position coordinate of a starting point displayed in the first display screen after detecting a touch operation performed by the user on a certain position of the first display screen for longer than a preset duration, the start The position coordinate is a two-dimensional coordinate corresponding to the starting point in the coordinate system of the display screen, and the starting point is displayed according to the angle information of the gimbal.
  • the control end is further configured to send the second coordinate to the aircraft, the second coordinate is a starting position coordinate, a two-dimensional coordinate in a world coordinate system obtained according to the starting position coordinate, or a world coordinate system obtained according to the starting position coordinate
  • the three-dimensional coordinates can include the aircraft generating a three-dimensional waterway based on the first coordinate and the second coordinate.
  • the embodiment refer to the corresponding description in the embodiment shown in FIG. 3, and details are not described herein.
  • control terminal is further configured to acquire coordinates of the interest point, and send indication information including coordinates of the interest point to the aircraft.
  • the shooting angle of the camera of the aircraft is controlled toward the point of interest according to the coordinates of the point of interest.
  • a horizon is displayed in the first display screen.
  • the portion below the horizon and the portion above the horizon in the first display are displayed in different ways.
  • the embodiment refer to the corresponding description in the embodiment shown in FIG. 3, and details are not described herein.
  • the specific implementation of the 1402 part may include: the control end acquiring the touch position coordinates corresponding to the touch operation of the part of the first display screen to the portion below the horizon.
  • the control end acquiring the touch position coordinates corresponding to the touch operation of the part of the first display screen to the portion below the horizon.
  • control terminal is further configured to: when detecting that the user touches the portion above the horizon in the first display screen, output prompt information for prompting the user to touch the portion below the horizon .
  • prompt information for prompting the user to touch the portion below the horizon.
  • the three-dimensional channel includes a channel projection layer and a flight channel layer
  • the channel projection layer is a channel obtained according to the third coordinate after the coordinate of the touch position is converted into the third coordinate
  • the flight channel layer is the touch position.
  • the third coordinate is the three-dimensional coordinate with the Z-axis coordinate in the world coordinate system being zero
  • the fourth coordinate is the Z-axis coordinate in the world coordinate system is greater than zero. And less than or equal to the three-dimensional coordinates of the current height of the aircraft.
  • the three-dimensional channel is a channel that satisfies the constraints of the aircraft dynamics.
  • the embodiment refer to the corresponding description in the embodiment shown in FIG. 3, and details are not described herein.
  • FIG. 15 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • the control end of the embodiment of the present invention may include a detection module 1501, a first acquisition module 1502, and a second acquisition module 1503. among them:
  • the detecting module 1501 is configured to detect a touch operation of the user in the first display screen.
  • the first obtaining module 1502 is configured to acquire touch location coordinates, where the touch position coordinates are two-dimensional coordinates corresponding to the touch positions of the touch operations in the coordinate system of the display screen.
  • the second obtaining module 1503 is configured to acquire a three-dimensional channel mapped in the second display screen, where the three-dimensional channel is a channel determined according to the three-dimensional coordinates after converting the touch position coordinates into three-dimensional coordinates in the world coordinate system.
  • the second obtaining module 1503 is specifically configured to: convert the touch position coordinates into spatial two-dimensional coordinates, and the spatial two-dimensional coordinates are two-dimensional coordinates in the world coordinate system; and send the spatial two-dimensional coordinates to The aircraft receives the parameters of the three-dimensional channel returned by the aircraft, and maps the three-dimensional channel to the second display according to the parameters of the three-dimensional channel.
  • the three-dimensional channel is a channel that the aircraft converts the two-dimensional coordinates of the space into three-dimensional coordinates in the world coordinate system and determines the three-dimensional coordinates.
  • the second obtaining module 1503 is specifically configured to: convert the touch position coordinates into three-dimensional coordinates in the world coordinate system, and send the three-dimensional coordinates to the aircraft; the receiving aircraft The three-dimensional channel is determined according to the three-dimensional coordinates, and the three-dimensional channel is mapped to the second display according to the parameters of the three-dimensional channel.
  • the second obtaining module 1503 is specifically configured to: send the touch position coordinates to the aircraft; receive parameters of the three-dimensional channel determined by the aircraft according to the touch position coordinates, and map the three-dimensional channel according to the parameters of the three-dimensional channel In the second display.
  • the second obtaining module 1503 is specifically configured to: convert the touch position coordinates into three-dimensional coordinates in the world coordinate system; determine the three-dimensional navigation channel according to the three-dimensional coordinates; and map the three-dimensional navigation channel into the second display screen.
  • the second display screen mapped with the three-dimensional waterway further includes the remaining mileage of the three-dimensional waterway.
  • the remaining mileage is calculated based on the coordinates of the end of the three-dimensional channel and the current position coordinates of the aircraft.
  • the remaining mileage is displayed in the first position in the second display screen. If the end of the three-dimensional channel does not exist in the second display screen, the remaining mileage is displayed in the second position in the second display screen, and the first position is different from the second position.
  • the first location is the end of the three-dimensional channel.
  • the detecting module 1501 is specifically configured to: detect a touch operation performed by the user from a starting point displayed in the first display screen, where the starting point is displayed according to the angle information of the pan/tilt.
  • a horizon is displayed in the first display screen.
  • the portion below the horizon and the portion above the horizon in the first display are displayed in different ways.
  • the first obtaining module 1502 is specifically configured to: acquire, by the user, touch position coordinates corresponding to a touch operation of a portion below the horizon in the first display screen.
  • the three-dimensional channel includes a channel projection layer and a flight channel layer
  • the channel projection layer is a channel obtained according to the first coordinate after converting the touch position coordinates into the first coordinate
  • the flight channel layer is the touch position.
  • the first coordinate is a three-dimensional coordinate in which the Z-axis coordinate in the world coordinate system is zero
  • the second coordinate is that the Z-axis coordinate in the world coordinate system is greater than zero. And less than or equal to the three-dimensional coordinates of the current height of the aircraft.
  • the three-dimensional channel is a channel that satisfies the constraints of the aircraft dynamics.
  • FIG. 16 is a schematic structural diagram of another control terminal according to an embodiment of the present invention.
  • the control end of the embodiment of the present invention includes a third obtaining module 1504, a fourth obtaining module 1505, a sending module 1506, and an output module 1507, in addition to all the modules of the control terminal shown in FIG. among them:
  • the detecting module 1501 is specifically configured to: detect a touch operation performed by the user on a certain position of the first display screen for a duration longer than a preset duration.
  • the third obtaining module 1504 is configured to acquire a starting position of a starting point displayed in the first display screen after the detecting module 1501 detects that the user presses a certain position of the first display screen for a duration longer than a preset duration Coordinates, the starting position coordinates are two-dimensional coordinates corresponding to the starting point in the coordinate system of the display screen, and the starting point is displayed according to the angle information of the gimbal.
  • the three-dimensional channel is a channel determined according to the three-dimensional coordinates after converting the touch position coordinates and the start position coordinates into three-dimensional coordinates in the world coordinate system.
  • the fourth obtaining module 1505 is configured to acquire coordinates of the point of interest.
  • the sending module 1506 is configured to send indication information including coordinates of the point of interest to the aircraft, and the indication information is used to indicate that the aircraft controls the angle of the camera of the aircraft toward the point of interest according to the coordinates of the point of interest during the navigation on the three-dimensional channel.
  • the output module 1507 is configured to, if the detecting module 1501 detects that the user touches the portion above the horizon on the first display screen, output prompt information for prompting the user to touch the portion below the horizon.
  • FIG. 17 is a schematic structural diagram of a control end according to an embodiment of the present invention.
  • the control terminal 1700 includes one or more processors 1701, a memory 1702, a bus system 1703, and one or more programs.
  • the processor 1701 and the memory 1702 are connected by a bus system 1703.
  • the processor 1701 may be a central processing unit (CPU), a general-purpose processor, a coprocessor, and a digital signal processor (DSP).
  • DSP digital signal processor
  • ASIC Application-Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the processor 1701 can also be a combination of computing functions, such as one or more microprocessor combinations, a combination of a DSP and a microprocessor, and the like.
  • the wireless Charging device 1700 can also include a transceiver 1704 for communicating with other devices, such as aircraft.
  • the one or more programs are stored in a memory 1702 for invoking the one or more programs to execute portions 301, 302, and 303 of FIG.
  • the execution of the control terminal in the foregoing method embodiment is not limited.
  • the principle of solving the problem provided by the control terminal provided by FIG. 15 to FIG. 17 in the embodiment of the present invention is similar to the channel planning display method described in FIG. 3 in the method embodiment of the present invention. Therefore, the implementation of the control terminal can be implemented by referring to the method implementation. For the sake of brevity, it will not be repeated here.
  • FIG. 18 is a schematic structural diagram of an aircraft according to an embodiment of the present invention.
  • the control end of the embodiment of the present invention may include a receiving module 1801, a generating module 1802, and a sending module 1803. among them:
  • the receiving module 1801 is configured to receive, by the control terminal, a first coordinate, where the first coordinate is a coordinate obtained by the control end according to a touch operation performed by the user on the first display screen, where the first coordinate is a touch position coordinate, a spatial two-dimensional coordinate, or a three-dimensional coordinate,
  • the touch position coordinate is a two-dimensional coordinate corresponding to the touch position of the touch operation in the coordinate system of the display screen
  • the space two-dimensional coordinate is a two-dimensional coordinate in the world coordinate system obtained according to the touch position coordinate
  • the three-dimensional coordinate is obtained according to the touch position coordinate.
  • a generating module 1802 configured to generate a three-dimensional waterway according to the first coordinate
  • the sending module 1803 is configured to send a parameter of the three-dimensional channel to the control end.
  • the first coordinate is a touch position coordinate
  • the generating module 1802 is specifically configured to: convert the touch position coordinate into a three-dimensional coordinate; and generate a three-dimensional water channel according to the three-dimensional coordinate.
  • the first coordinate is a spatial two-dimensional coordinate
  • the generating module 1802 is specifically configured to: convert the spatial two-dimensional coordinate into three-dimensional coordinates; and generate the three-dimensional navigation channel according to the three-dimensional coordinate.
  • the sending module 1803 is further configured to send the remaining mileage of the three-dimensional channel to the control end, and the remaining mileage is calculated according to the end coordinates of the three-dimensional channel and the current position coordinates of the aircraft.
  • the receiving module 1801 is further configured to receive a second coordinate sent by the control terminal, where the second coordinate is a starting position coordinate, a two-dimensional coordinate in a world coordinate system obtained according to the starting position coordinate, or The three-dimensional coordinates in the world coordinate system obtained from the coordinates of the starting position, the starting position coordinates are the two-dimensional coordinates of the starting point displayed in the first display screen in the coordinate system of the display screen, and the starting point is
  • the generating module 1802 is specifically configured to: generate a three-dimensional waterway according to the first coordinate and the second coordinate.
  • the aircraft further includes a control module, wherein: the receiving module 1801 is further configured to receive coordinates of the point of interest sent by the control terminal; and the control module is configured to be used in the process of navigating on the three-dimensional channel, according to the interest The coordinates of the point control the shooting angle of the camera of the aircraft toward the point of interest.
  • the three-dimensional channel includes a channel projection layer and a flight channel layer
  • the channel projection layer is a channel obtained according to the third coordinate after the coordinate of the touch position is converted into the third coordinate
  • the flight channel layer is the touch position.
  • the third coordinate is the three-dimensional coordinate with the Z-axis coordinate in the world coordinate system being zero
  • the fourth coordinate is the Z-axis coordinate in the world coordinate system is greater than zero. And less than or equal to the three-dimensional coordinates of the current height of the aircraft.
  • the three-dimensional channel is a channel that satisfies the constraints of the aircraft dynamics.
  • FIG. 19 is a schematic structural diagram of an aircraft according to an embodiment of the present invention.
  • the aircraft 1900 includes one or more processors 1901, a memory 1902, a bus system 1903, and one or more programs.
  • the processor 1901 and the memory 1902 are connected by a bus system 1903.
  • the processor 1901 can be a central processing unit (CPU), a general-purpose processor, a coprocessor, and a digital signal processor (DSP).
  • DSP digital signal processor
  • ASIC Application-Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the processor 1901 can also be a combination of computing functions, such as one or more microprocessor combinations, a combination of a DSP and a microprocessor, and the like.
  • the wireless charging device 1900 can also include a transceiver 1904 for communicating with other devices, such as a console.
  • the one or more programs are stored in the memory 1902, and the processor 1901 is configured to call the one or more programs to execute 1404 and 1405 in FIG.
  • the execution of the embodiment of the present invention is not limited.
  • FIG. 18 and FIG. 19 the principle of solving the problem of the aircraft provided in FIG. 18 and FIG. 19 is the same as that of FIG. 14 . Therefore, the implementation of the aircraft can be referred to the implementation of the method, and is not described here.
  • FIG. 20 is a schematic flowchart diagram of another method for displaying a channel planning according to an embodiment of the present invention.
  • the channel planning display method may include sections 201 to 203. among them:
  • the control end If it is detected that the pressing duration of the pressing operation performed by the user on the pressing point in the first display screen exceeds the preset duration, the control end generates a geometric shape centered on the pressing point.
  • the first display screen may be any display screen of the control end, or the first display screen may be a first person view (FPV) display screen of the control end, which is not limited in the embodiment of the present invention. .
  • FV first person view
  • the geometric shape may be a circle, a rectangle, a square, a diamond, or other geometric figures, which is not limited in the embodiment of the present invention.
  • the control end acquires a first coordinate of the geometric figure.
  • the first coordinate is a two-dimensional coordinate of the geometric figure in the coordinate system of the display screen.
  • the coordinate system of the display screen of the control terminal can be seen in the coordinate system shown in FIG.
  • the control end acquires a three-dimensional waterway mapped in the second display screen.
  • the control end acquires the three-dimensional navigation channel mapped in the second display screen.
  • the second display screen may be the same as or different from the first display screen, which is not limited by the embodiment of the present invention.
  • the second display screen may be an FPV display screen or any other display screen.
  • the three-dimensional channel is a channel obtained from three-dimensional coordinates after converting the first coordinate into a three-dimensional coordinate in the world coordinate system.
  • a three-dimensional coordinate in the world coordinate system determines a position in real space.
  • the X-axis coordinate in the world coordinate system may be longitude
  • the Y-axis coordinate may be latitude
  • the Z-axis coordinate represents a height from the ground. That is to say, converting the first coordinate into the three-dimensional coordinate in the world coordinate system means mapping the position of the geometric figure in the first display picture to the position in the real space.
  • the three-dimensional channel is a channel generated according to three-dimensional coordinates in a world coordinate system, and the three-dimensional channel is a three-dimensional channel. Therefore, mapping the three-dimensional channel to the display screen allows the user to see the channel as if it were a road in the real world. Therefore, by implementing the method described in FIG. 20, the planned navigation channel can be visually and intuitively displayed.
  • the geometry generated by the portion 201 is a circle
  • the specific embodiment of the 201 portion may include: generating a circle having a preset radius centered on the pressing point.
  • the circle includes a radius adjustment icon
  • the control end may further receive a drag operation of the radius adjustment icon by the user, and between the radius adjustment icon and the touch pressing point when the drag operation is stopped.
  • the distance is determined as the radius of the circle.
  • the user can adjust the radius of the circle by dragging the radius adjustment icon on the circle. It can be seen that the radius of the circle can be conveniently adjusted by implementing this embodiment.
  • part 203 may include parts 2031-2033, where:
  • the control end converts the first coordinate into a spatial two-dimensional coordinate.
  • the two-dimensional coordinates of the space are two-dimensional coordinates in the world coordinate system.
  • the control end sends the spatial two-dimensional coordinates to the aircraft.
  • the control end receives the parameters of the three-dimensional channel returned by the aircraft, and maps the three-dimensional channel to the second display according to the parameters of the three-dimensional channel.
  • the three-dimensional channel is a channel that the aircraft converts the two-dimensional coordinates of the space into three-dimensional coordinates in the world coordinate system and determines the three-dimensional coordinates.
  • part 203 may include:
  • the control end converts the first coordinate into a three-dimensional coordinate in the world coordinate system, and sends the three-dimensional coordinate to the aircraft.
  • the control end receives the parameters of the three-dimensional channel determined by the aircraft according to the three-dimensional coordinates, and maps the three-dimensional channel to the second display according to the parameters of the three-dimensional channel.
  • part 203 may include:
  • part 203 may include:
  • the second display screen mapped with the three-dimensional waterway further includes a remaining mileage of the three-dimensional navigation channel, and the remaining mileage is calculated according to the end coordinate of the three-dimensional navigation channel and the current position coordinate of the aircraft.
  • the remaining mileage of the three-dimensional channel can be calculated by the control terminal, or the remaining mileage of the three-dimensional channel can also be returned to the control end after the calculation of the aircraft, which is not limited in the embodiment of the present invention.
  • the remaining mileage is displayed in the first position in the second display screen. If the end of the three-dimensional channel does not exist in the second display, the remaining mileage is displayed in the second position in the second display, the first position being different from the second position.
  • the remaining mileage can be displayed at different positions when the state of the currently displayed three-dimensional channel is different, and therefore, the remaining mileage can be flexibly displayed.
  • the first location is the end of the three-dimensional channel.
  • the display position of the pressing point in the first display screen is determined according to the angle information of the pan/tilt.
  • the display principle of the pressing point is the same as that of the starting point in FIG. 7 , FIG. 8 and FIG. 9 .
  • FIG. 7 , FIG. 8 and FIG. 9 For details, refer to the descriptions of FIG. 7 , FIG. 8 and FIG. 9 , and details are not described herein.
  • the control terminal may further acquire coordinates of the point of interest, and send indication information including coordinates of the point of interest to the aircraft, where the indication information is used to indicate that the aircraft is sailing on the three-dimensional channel, according to the interest
  • the coordinates of the point control the shooting angle of the camera of the aircraft toward the point of interest.
  • the arrow is an imaging device of the aircraft, and the direction of the arrow indicates the orientation of the camera of the aircraft. If point A is a point of interest, the aircraft controls the angle of the camera of the aircraft toward the interest when flying in the three-dimensional channel. point.
  • the user can set the point of interest and cause the aircraft to control the shooting angle of the camera of the aircraft toward the point of interest.
  • the three-dimensional channel includes a channel projection layer and a flight channel layer, and after the channel projection layer converts the first coordinate into the second coordinate, the flight channel layer is first according to the second coordinate. After the coordinate is converted to the third coordinate, the channel obtained according to the third coordinate, the second coordinate.
  • the three-dimensional coordinates of the Z-axis coordinate in the world coordinate system are zero, and the third coordinate is a three-dimensional coordinate in which the Z-axis coordinate in the world coordinate system is greater than zero and less than or equal to the current height of the aircraft.
  • the three-dimensional channel can be more three-dimensional by displaying two layers of channels.
  • the three-dimensional channel is a channel that satisfies the constraints of the aircraft dynamics. If the three-dimensional coordinates of the touch position coordinate conversion are directly used as the coordinates of the three-dimensional channel, it is possible that the three-dimensional channel cannot satisfy the aircraft dynamics constraint. For example, some curvature of the three-dimensional channel may be large, the aircraft cannot perform the flight of the curvature, and the like. Thus, in this embodiment, after the touch position coordinates are converted to three-dimensional coordinates in the world coordinate system, some appropriate adjustments can be made to the three-dimensional coordinates to obtain a channel that satisfies the constraints of the aircraft dynamics. This can improve the flight success rate of the aircraft flying according to the three-dimensional channel.
  • FIG. 22 is a schematic diagram of an interaction process between a control end and an aircraft in another navigation channel planning system according to an embodiment of the present invention.
  • the interaction flow between the control terminal and the aircraft may include sections 2201 to 2206. among them:
  • the control end If it is detected that the pressing duration of the pressing operation performed by the user on the pressing point in the first display screen exceeds the preset duration, the control end generates a geometric shape centered on the pressing point.
  • the specific implementation principle of the part 2201 is the same as the implementation principle of the above part 201.
  • the specific implementation principle of the part 2201 is the same as the implementation principle of the above part 201.
  • the description of the corresponding part of the above 201 and details are not described herein.
  • the control end acquires a first coordinate of the geometric figure.
  • the first coordinate is the two-dimensional coordinate of the geometric figure in the coordinate system of the display screen.
  • the specific implementation principle of the part 2202 is the same as the implementation principle of the above part 202.
  • the specific implementation principle of the part 2202 is the same as the implementation principle of the above part 202.
  • the description of the corresponding part of the above 202 and details are not described herein.
  • the control terminal sends the target coordinate to the aircraft.
  • the target coordinate is a first coordinate, a spatial two-dimensional coordinate or a three-dimensional coordinate
  • the two-dimensional coordinate of the space is a two-dimensional coordinate in a world coordinate system obtained according to the first coordinate
  • the three-dimensional coordinate is according to the first The coordinates in the world coordinate system obtained from the coordinates.
  • the controller when the target coordinate is a spatial two-dimensional coordinate, the controller needs to convert the first coordinate into a spatial two-dimensional coordinate, and then send the spatial two-dimensional coordinate to the aircraft.
  • the controller converts the first coordinate into the spatial two-dimensional coordinate can be referred to the description corresponding to the above 2031, and details are not described herein.
  • the control end when the target coordinate is a three-dimensional coordinate, the control end needs to convert the first coordinate into a three-dimensional coordinate in the world coordinate system, and then send the three-dimensional coordinate to the aircraft.
  • the controller converts the first coordinate into the three-dimensional coordinate can be referred to the description corresponding to the above 2034, and details are not described herein.
  • the aircraft generates a three-dimensional waterway according to the target coordinates.
  • the three-dimensional waterway is generated according to the target coordinates.
  • the aircraft when the target coordinate is a spatial two-dimensional coordinate, the aircraft generates a three-dimensional navigation channel according to the two-dimensional coordinate of the space, and the aircraft of the above part 2033 can convert the spatial two-dimensional coordinate into the three-dimensional coordinate in the world coordinate system, and according to the three-dimensional The corresponding description of the channel determined by the coordinates will not be described here.
  • the aircraft when the target coordinate is a three-dimensional coordinate, the aircraft generates a three-dimensional waterway according to the three-dimensional coordinates.
  • the aircraft of the above part 2035 the corresponding description of the three-dimensional waterway is determined according to the three-dimensional coordinates, and details are not described herein.
  • the aircraft when the target coordinate is the first coordinate, the aircraft generates the three-dimensional waterway according to the first coordinate.
  • the corresponding description of the three-dimensional waterway is determined according to the first coordinate, and details are not described herein.
  • the aircraft sends the parameters of the three-dimensional channel to the control end.
  • the parameters of the three-dimensional channel are sent to the control end.
  • the control end maps the three-dimensional channel to the second display screen according to the parameter of the three-dimensional channel.
  • the control terminal after receiving the parameters of the three-dimensional channel transmitted by the aircraft, maps the three-dimensional channel to the second display screen according to the parameters of the three-dimensional channel.
  • the second display screen may be the same as or different from the first display screen, which is not limited by the embodiment of the present invention.
  • the second display screen may be an FPV display screen or any other display screen.
  • the three-dimensional channel is a channel generated according to three-dimensional coordinates in a world coordinate system, and the three-dimensional channel is a three-dimensional channel. Therefore, mapping the three-dimensional channel to the display screen allows the user to see the channel as if it were a road in the real world. Therefore, by implementing the system described in Fig. 22, the planned navigation channel can be visually and intuitively displayed.
  • the geometry of the portion 2202 is a circle, and the circle includes a radius adjustment icon.
  • the specific embodiment of the 2201 portion may include: the control end generates a circle having a preset radius centered on the pressing point.
  • the control end is further configured to acquire the first coordinate of the geometric figure at the control end Before, the user's drag operation on the radius adjustment icon is received, and the distance between the radius adjustment icon and the touch pressure point when the drag operation is stopped is determined as the radius of the circle.
  • the second display screen mapped with the three-dimensional waterway further includes a remaining mileage of the three-dimensional navigation channel, and the remaining mileage is calculated according to the end coordinate of the three-dimensional navigation channel and the current position coordinate of the aircraft.
  • the remaining mileage of the three-dimensional channel can be calculated by the control terminal, or the remaining mileage of the three-dimensional channel can also be returned to the control end after the calculation of the aircraft, which is not limited in the embodiment of the present invention.
  • the control terminal displays the remaining mileage in the first position in the second display screen. If the end of the three-dimensional waterway does not exist in the second display screen, the control terminal displays the remaining mileage in the second position in the second display screen, and the first position is different from the second position.
  • the remaining mileage can be displayed at different positions when the state of the currently displayed three-dimensional channel is different, and therefore, the remaining mileage can be flexibly displayed.
  • the first location is the end of the three-dimensional channel.
  • the display position of the pressing point in the first display screen is determined according to the angle information of the pan/tilt.
  • the display principle of the pressing point is the same as that of the starting point in FIG. 7 , FIG. 8 and FIG. 9 .
  • FIG. 7 , FIG. 8 and FIG. 9 For details, refer to the descriptions of FIG. 7 , FIG. 8 and FIG. 9 , and details are not described herein.
  • control terminal is further configured to acquire coordinates of the interest point, and send indication information including coordinates of the interest point to the aircraft.
  • the aircraft is also used to control the shooting angle of the camera of the aircraft toward the point of interest according to the coordinates of the point of interest during the navigation on the three-dimensional channel.
  • the three-dimensional channel includes a channel projection layer and a flight channel layer, and after the channel projection layer converts the first coordinate into the second coordinate, the flight channel layer is first according to the second coordinate.
  • the channel obtained according to the third coordinate the second coordinate is a three-dimensional coordinate in which the Z-axis coordinate in the world coordinate system is zero, and the third coordinate is that the Z-axis coordinate in the world coordinate system is greater than zero. And less than or equal to the three-dimensional coordinates of the current height of the aircraft.
  • the three-dimensional channel can be more three-dimensional by displaying two layers of channels.
  • the three-dimensional channel is a channel that satisfies the constraints of the aircraft dynamics.
  • FIG. 23 is a schematic structural diagram of a control end according to an embodiment of the present invention.
  • the control end of the embodiment of the present invention may include a generating module 2301, a first obtaining module 2302, and a second acquiring module 2303. among them:
  • the generating module 2301 is configured to generate a geometric shape centered on the pressing point when detecting that the pressing time of the pressing operation performed by the user on the pressing point in the first display screen exceeds the preset time length.
  • the first obtaining module 2302 is configured to acquire a first coordinate of the geometric figure, where the first coordinate is a two-dimensional coordinate of the geometric figure in a coordinate system of the display screen.
  • the second obtaining module 2303 is configured to acquire a three-dimensional channel mapped in the second display screen, where the three-dimensional channel is a channel obtained according to the three-dimensional coordinates after converting the first coordinate into the three-dimensional coordinate in the world coordinate system.
  • the geometric figure is a circle
  • the generating module 2301 is specifically configured to: generate a circle having a preset radius centered on the pressing point.
  • the circle includes a radius adjustment icon
  • the control terminal further includes a receiving module and a determining module.
  • the receiving module is configured to receive a drag operation of the radius adjustment icon by the user before the first acquiring module 2302 acquires the first coordinate of the geometric figure.
  • the determining module is configured to determine the distance between the radius adjustment icon and the touch pressing point when the drag operation is stopped as the radius of the circle.
  • the second obtaining module 2302 is specifically configured to: convert the first coordinate into a spatial two-dimensional coordinate, the spatial two-dimensional coordinate is a two-dimensional coordinate in the world coordinate system, and send the spatial two-dimensional coordinate Go to the aircraft, and receive the parameters of the three-dimensional channel returned by the aircraft, and map the three-dimensional channel to the second display according to the parameters of the three-dimensional channel, and the three-dimensional channel converts the space two-dimensional coordinates into three-dimensional coordinates in the world coordinate system, and A channel determined based on three-dimensional coordinates.
  • the second obtaining module 2302 is specifically configured to: convert the first coordinate into a three-dimensional coordinate in the world coordinate system, and send the three-dimensional coordinate to the aircraft, and receive the three-dimensional navigation channel determined by the aircraft according to the three-dimensional coordinate.
  • the parameters are mapped to the second display screen according to the parameters of the three-dimensional channel.
  • the second obtaining module 2302 is specifically configured to: send the first coordinate to the aircraft, and receive parameters of the three-dimensional channel determined by the aircraft according to the first coordinate, and map the three-dimensional channel according to parameters of the three-dimensional channel In the second display screen.
  • the second obtaining module 2302 is specifically configured to: convert the first coordinate into a three-dimensional coordinate in the world coordinate system, determine the three-dimensional navigation channel according to the three-dimensional coordinate, and map the three-dimensional navigation channel In the second display screen.
  • the second display screen mapped with the three-dimensional channel further includes the remaining mileage of the three-dimensional channel, and the remaining mileage is calculated according to the end coordinates of the three-dimensional channel and the current position coordinates of the aircraft.
  • the remaining mileage is displayed in the first position in the second display screen. If the end of the three-dimensional channel does not exist in the second display screen, the remaining mileage is displayed in the second position in the second display screen, and the first position is different from the second position.
  • the first location is the end of the three-dimensional channel.
  • the display position of the pressing point in the first display screen is determined according to the angle information of the pan/tilt.
  • control terminal further includes: a third acquiring module and a sending module.
  • the third obtaining module is configured to acquire coordinates of the point of interest.
  • a sending module configured to send the indication information including the coordinates of the point of interest to the aircraft, the indication information is used to indicate that the aircraft controls the angle of the camera of the aircraft toward the point of interest according to the coordinates of the point of interest during the navigation on the three-dimensional channel.
  • the three-dimensional channel includes a channel projection layer and a flight channel layer, and after the channel projection layer converts the first coordinate into the second coordinate, the flight channel layer is first according to the second coordinate.
  • the second coordinate is a three-dimensional coordinate in which the Z-axis coordinate in the world coordinate system is zero, and the third coordinate is that the Z-axis coordinate in the world coordinate system is greater than zero. And less than or equal to the three-dimensional coordinates of the current height of the aircraft.
  • the three-dimensional channel is a channel that satisfies the constraints of the aircraft dynamics.
  • FIG. 24 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • the control terminal 2400 includes one or more processors 2401, a memory 2402, a bus system 2403, and one or more programs.
  • the processor 2401 and the memory 2402 are connected by a bus system 2403.
  • the processor 2401 may be a central processing unit (CPU), a general-purpose processor, a coprocessor, and a digital signal processor (DSP).
  • DSP digital signal processor
  • ASIC Application-Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the processor 2401 can also be a combination that implements computing functions, such as Contains one or more microprocessor combinations, a combination of DSP and microprocessor, and more.
  • the wireless charging device 2400 can also include a transceiver 2404 for communicating with other devices, such as an aircraft.
  • the one or more programs are stored in a memory 2402 for invoking the one or more programs to execute the 201, 202, and 203 portions of FIG.
  • the execution of the control terminal in the foregoing method embodiment is not limited.
  • the principle of the problem solved by the control terminal provided by FIG. 23 and FIG. 24 in the embodiment of the present invention is similar to the channel planning display method shown in FIG. 20 . Therefore, the implementation of the control terminal can be referred to the implementation of the method. I won't go into details here.
  • FIG. 25 is a schematic structural diagram of an aircraft according to an embodiment of the present invention.
  • the control end of the embodiment of the present invention may include a receiving module 2501, a generating module 2502, and a sending module 2503. among them:
  • the receiving module 2501 is configured to receive a target coordinate sent by the control end, where the target coordinate is a first coordinate, a spatial two-dimensional coordinate or a three-dimensional coordinate, and the first coordinate is a geometric figure in the first display screen of the control end in the coordinate system of the display screen.
  • the two-dimensional coordinates, the two-dimensional coordinates of the space are the two-dimensional coordinates in the world coordinate system obtained according to the first coordinate
  • the three-dimensional coordinates are the coordinates in the world coordinate system obtained according to the first coordinate
  • the geometric figures are in the first display screen The pressing point is centered.
  • a generating module 2502 is configured to generate a three-dimensional waterway according to the target coordinates.
  • the sending module 2503 is configured to send parameters of the three-dimensional channel to the control end.
  • the target coordinates are the first coordinates
  • the generating module 2501 is specifically configured to: convert the first coordinates into three-dimensional coordinates, and generate a three-dimensional water channel according to the three-dimensional coordinates.
  • the target coordinates are spatial two-dimensional coordinates
  • the generating module 2501 is specifically configured to: convert the spatial two-dimensional coordinates into three-dimensional coordinates, and generate a three-dimensional navigation channel according to the three-dimensional coordinates.
  • the sending module 2503 is further configured to send the remaining mileage of the three-dimensional channel to the control end, and the remaining mileage is calculated according to the end coordinates of the three-dimensional channel and the current position coordinates of the aircraft.
  • the aircraft further includes a control module, wherein:
  • the receiving module 2501 is further configured to receive coordinates of the point of interest sent by the control end.
  • Control module for controlling flight based on coordinates of points of interest during navigation on a three-dimensional channel
  • the shooting angle of the camera of the device is toward the point of interest.
  • the three-dimensional channel includes a channel projection layer and a flight channel layer, and after the channel projection layer converts the first coordinate into the second coordinate, the flight channel layer is first according to the second coordinate.
  • the second coordinate is a three-dimensional coordinate in which the Z-axis coordinate in the world coordinate system is zero, and the third coordinate is that the Z-axis coordinate in the world coordinate system is greater than zero. And less than or equal to the three-dimensional coordinates of the current height of the aircraft.
  • the three-dimensional channel is a channel that satisfies the constraints of the aircraft dynamics.
  • FIG. 26 is a schematic structural diagram of an aircraft according to an embodiment of the present invention.
  • the aircraft 2600 includes one or more processors 2601, a memory 2602, a bus system 2603, and one or more programs.
  • the processor 2601 and the memory 2602 are connected by a bus system 2603; the processor 2601 may be a central processing unit (CPU), a general-purpose processor, a coprocessor, and a digital signal processor (DSP).
  • DSP digital signal processor
  • ASIC Application-Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the processor 2601 can also be a combination of computing functions, such as one or more microprocessor combinations, a combination of a DSP and a microprocessor, and the like.
  • the wireless charging device 2600 can further include a transceiver 2604 for communicating with other devices, such as a control terminal.
  • the one or more programs are stored in a memory 2602, and the processor 2601 is configured to call the one or more programs to execute 2204 and 2205 in FIG.
  • the execution of the embodiment of the present invention is not limited.
  • the principle of the aircraft to solve the problem in the embodiment of the present invention is the same as that of the embodiment of the present invention. Therefore, the implementation of the aircraft can be referred to the implementation of the method, and is not described here.
  • the functions described herein can be implemented in hardware, software, firmware, or any combination thereof.
  • the functions may be stored in a computer readable medium or transmitted as one or more instructions or code on a computer readable medium.
  • Computer readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one location to another. medium.
  • a storage medium may be any available media that can be accessed by a general purpose or special purpose computer.

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Abstract

一种航道规划方法及相关设备。方法应用于控制端，可形象地、直观地显示规划的航道。方法包括：检测用户在第一显示画面中的触摸操作（301）；获取触摸位置坐标（302），触摸位置坐标为显示屏的坐标系中触摸操作的触摸位置对应的二维坐标；获取映射于第二显示画面中的三维航道（303），三维航道为将触摸位置坐标转换为世界坐标系中的三维坐标之后，根据三维坐标确定的航道。

Description

航道规划方法、控制端、飞行器及航道规划系统 技术领域
本发明涉及终端技术领域，尤其涉及一种航道规划方法、控制端、飞行器及航道规划系统。
背景技术
随着科学技术的不断进步，无人机(Unmanned Aerial Vehicle，UAV)等飞行器的功能不断丰富，其应用领域也在不断扩展，包括专业航拍，农业灌溉，电力巡航，遥感测绘，治安监控等。飞行器通常由控制端(如手机、穿戴式设备等)控制飞行。通常控制端需要规划飞行器的航道，以控制飞行器按照规划的航道飞行来完成相应任务。
然而在实践中发现，用户在控制端规划飞行器的航道时，通常是在控制端提供的平面地图中规划出一条航道，如图1所示，在飞行器飞行的过程中，控制端显示的航道的起始点和目的地以及航道的样式都是平面图形。可见，这种方式不能形象地、直观地对规划的航道进行显示。
发明内容
本发明实施例公开了一种航道规划方法、控制端、飞行器及航道规划系统，能够形象地、直观地对航道进行规划及显示。
第一方面，提供了一种航道规划方法，应用于控制端，所述方法包括：
检测用户在第一显示画面中的触摸操作；
获取触摸位置坐标，所述触摸位置坐标为显示屏的坐标系中所述触摸操作的触摸位置对应的二维坐标；
获取映射于第二显示画面中的三维航道，所述三维航道为将所述触摸位置坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标确定的航道。
第二方面，提供了一种控制端，所述控制端包括：
检测模块，用于检测用户在第一显示画面中的触摸操作；
第一获取模块，用于获取触摸位置坐标，所述触摸位置坐标为显示屏的坐 标系中所述触摸操作的触摸位置对应的二维坐标；
第二获取模块，用于获取映射于第二显示画面中的三维航道，所述三维航道为将所述触摸位置坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标确定的航道。
第三方面，提供了一种控制端，所述控制端包括：一个或多个处理器、存储器、总线系统、收发器以及一个或多个程序，所述处理器、所述存储器和所述收发器通过所述总线系统相连；其中，所述一个或多个程序被存储在所述存储器中，该处理器用于调用所述存储器中的所述一个或多个程序执行第一方面所述的方法。
第四方面，提供了一种航道规划方法，应用于飞行器，所述方法包括：
接收控制端发送第一坐标，所述第一坐标为所述控制端根据用户在第一显示画面的触摸操作得到的坐标，所述第一坐标为触摸位置坐标、空间二维坐标或三维坐标，所述触摸位置坐标为显示屏的坐标系中所述触摸操作的触摸位置对应的二维坐标，所述空间二维坐标为根据所述触摸位置坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述触摸位置坐标得到的世界坐标系中的坐标；
根据所述第一坐标生成三维航道；
发送所述三维航道的参数至所述控制端。
第五方面，提供了一种飞行器，所述飞行器包括：
接收模块，用于接收控制端发送第一坐标，所述第一坐标为所述控制端根据用户在第一显示画面的触摸操作得到的坐标，所述第一坐标为触摸位置坐标、空间二维坐标或三维坐标，所述触摸位置坐标为显示屏的坐标系中所述触摸操作的触摸位置对应的二维坐标，所述空间二维坐标为根据所述触摸位置坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述触摸位置坐标得到的世界坐标系中的坐标；
生成模块，用于根据所述第一坐标生成三维航道；
发送模块，用于发送所述三维航道的参数至所述控制端。
第六方面，提供了一种飞行器，所述飞行器包括：一个或多个处理器、存储器、总线系统、收发器以及一个或多个程序，所述处理器、所述存储器和所述收发器通过所述总线系统相连；其中，所述一个或多个程序被存储在所述存 储器中，该处理器用于调用所述存储器中的所述一个或多个程序执行第四方面所述的方法。
第七方面，提供了一种航道规划系统，所述系统包括控制端和飞行器，其中：
所述控制端，用于检测用户在第一显示画面中的触摸操作；
所述控制端，还用于获取触摸位置坐标，所述触摸位置坐标为显示屏的坐标系中所述触摸操作的触摸位置对应的二维坐标；
所述控制端，还用于发送第一坐标至所述飞行器，所述第一坐标为所述触摸位置坐标、空间二维坐标或三维坐标，所述空间二维坐标为根据所述触摸位置坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述触摸位置坐标得到的世界坐标系中的坐标；
所述飞行器，用于根据所述第一坐标生成三维航道；
所述飞行器，还用于发送所述三维航道的参数至所述控制端。
所述控制端，还用于根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
第八方面，提供了一种航道规划显示方法，应用于控制端，所述方法包括：
若检测到用户对第一显示画面中的按压点进行的按压操作的按压时长超过预设时长，则生成以所述按压点为中心的几何图形；
获取所述几何图形的第一坐标，所述第一坐标为所述几何图形在显示屏的坐标系中的二维坐标；
获取映射于第二显示画面中的三维航道，所述三维航道为将所述第一坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标得到的航道。
第九方面，提供了一种控制端，所述控制端包括：
生成模块，用于若检测到用户对第一显示画面中的按压点进行的按压操作的按压时长超过预设时长，则生成以所述按压点为中心的几何图形；
第一获取模块，用于获取所述几何图形的第一坐标，所述第一坐标为所述几何图形在显示屏的坐标系中的二维坐标；
第二获取模块，用于获取映射于第二显示画面中的三维航道，所述三维航道为将所述第一坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标得到的航道。
第十方面，提供了一种控制端，所述控制端包括：一个或多个处理器、存储器、总线系统、收发器以及一个或多个程序，所述处理器、所述存储器和所述收发器通过所述总线系统相连；其中，所述一个或多个程序被存储在所述存储器中，该处理器用于调用所述存储器中的所述一个或多个程序执行第八方面所述的方法。
第十一方面，提供了一种航道规划方法，应用于飞行器，所述方法包括：
接收控制端发送的目标坐标，所述目标坐标为第一坐标、空间二维坐标或三维坐标，所述第一坐标为控制端的第一显示画面中的几何图形在显示屏的坐标系中的二维坐标，所述空间二维坐标为根据所述第一坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述第一坐标得到的世界坐标系中的坐标，所述几何图形以所述第一显示画面中的按压点为中心；
根据所述目标坐标生成三维航道；
发送所述三维航道的参数至所述控制端。
第十二方面，提供了一种飞行器，所述飞行器包括：
接收模块，用于接收控制端发送的目标坐标，所述目标坐标为第一坐标、空间二维坐标或三维坐标，所述第一坐标为控制端的第一显示画面中的几何图形在显示屏的坐标系中的二维坐标，所述空间二维坐标为根据所述第一坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述第一坐标得到的世界坐标系中的坐标，所述几何图形以所述第一显示画面中的按压点为中心；
生成模块，用于根据所述目标坐标生成三维航道；
发送模块，用于发送所述三维航道的参数至所述控制端。
第十三方面，提供了一种飞行器，所述飞行器包括：一个或多个处理器、存储器、总线系统、收发器以及一个或多个程序，所述处理器、所述存储器和所述收发器通过所述总线系统相连；其中，所述一个或多个程序被存储在所述存储器中，该处理器用于调用所述存储器中的所述一个或多个程序执行十一所述的方法。
第十四方面，提供了一种航道规划系统，所述系统包括控制端和飞行器，其中：
所述控制端，用于若检测到用户对第一显示画面中的按压点进行的按压操作的按压时长超过预设时长，则生成以所述按压点为中心的几何图形；
所述控制端，还用于获取所述几何图形的第一坐标，所述第一坐标为所述几何图形在显示屏的坐标系中的二维坐标；
所述控制端，还用于发送目标坐标至所述飞行器，所述目标坐标为所述第一坐标、空间二维坐标或三维坐标，所述空间二维坐标为根据所述第一坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述第一坐标得到的世界坐标系中的坐标；
所述飞行器，用于根据所述目标坐标生成三维航道；
所述飞行器，还用于发送所述三维航道的参数至所述控制端；
所述控制端，还用于根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
本发明实施例中，控制器可在显示画面中显示三维航道，该三维航道是立体的航道，因此，将该三维航道显示于显示画面中，可使用户看的航道如同现实世界中的道路一般。因此，通过实施本发明实施例所描述的方法，可形象地、直观地显示规划的航道。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种现有的航道显示的示意图；
图2是本发明实施例提供的一种可能的系统架构的示意图；
图3是本发明实施例提供的一种航道规划显示方法的流程示意图；
图4是本发明实施例提供的一种显示屏的坐标系的示意图；
图5是本发明实施例提供的一种三维航道的显示示意图；
图6是本发明实施例提供的一种剩余里程的显示示意图；
图7～图9是本发明实施例提供的一种起始点的显示示意图；
图10是本发明实施例提供的一种从起始点开始的触摸过程的示意图；
图11是本发明实施例提供的一种对显示画面的触摸过程的示意图；
图12是本发明实施例提供的一种摄像装置朝向兴趣点的示意图；
图13是本发明实施例提供的一种地平线的显示示意图；
图14为本发明实施例公开的一种航道规划系统中控制端和飞行器的交互流程示意图；
图15～图17是本发明实施例提供的一种控制端的结构示意图；
图18和图19是本发明实施例提供的一种飞行器的结构示意图；
图20为本发明实施例公开的另一种航道规划显示方法的流程示意图；
图21为本发明实施例公开的一种半径调节图标的显示示意图；
图22为本发明实施例公开的另一种航道规划系统中控制端和飞行器的交互流程示意图；
图23和图24是本发明实施例提供的一种控制端的结构示意图；
图25和图26是本发明实施例提供的一种飞行器的结构示意图。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施例的技术方案进行描述。
为解决现有技术中不能形象地、直观地对规划的航道进行显示的问题，本发明实施例提供一种航道规划方法、控制端、飞行器及航道规划系统。
为了清楚地描述本发明实施例的方案，下面结合附图2对本发明实施例可能应用的业务场景和系统架构进行说明。
图2示出了本发明实施例提供的一种可能的系统架构。本实施例的无人机系统包括飞行器(图2以无人机1为例)和控制端。其中，该控制端用于对飞行器进行控制。该控制端可以为手机、平板电脑、遥控器或其他穿戴式设备。值得一提的是，该控制端具有显示屏。图2以控制端为手机2为例。其中，无人机1包括飞行主体、云台以及摄像装置。在本实施例中，飞行主体可包括多个旋翼以及驱动旋翼转动的旋翼电机，由此提供无人机1飞行所需动力。摄像装置通过云台搭载于飞行主体上。摄像装置用于在无人机的飞行过程中进行图像或视频拍摄，可包括但不限于多光谱成像仪、高光谱成像仪、可见光相机及红外相机等。云台可以为多轴传动及增稳系统，可包括多 个转动轴和云台电机。云台电机可通过调整转动轴的转动角度来对摄像装置的拍摄角度进行补偿，并可通过设置适当的缓冲机构来防止或减小摄像装置的抖动。当然，摄像装置可以直接或通过其他方式搭载于飞行主体上，本发明实施例不做限定。
可以理解的是，本发明实施例描述的系统架构以及业务场景是为了更加清楚的说明本发明实施例的技术方案，并不构成对于本发明实施例提供的技术方案的限定，本领域普通技术人员可知，随着系统架构的演变和新业务场景的出现，本发明实施例提供的技术方案对于类似的技术问题，同样适用。
下面对本发明实施例提供的航道规划显示方法的具体流程进一步进行说明。
请参阅图3，图3为本发明实施例公开的一种航道规划显示方法的流程示意图。如图3所示，该航道规划显示方法可包括301部分～303部分。其中：
301、控制端检测用户在第一显示画面中的触摸操作。
本发明实施例中，该第一显示画面可以为控制端的任意显示画面，或该第一显示画面可以为控制端的第一人称主视角(First Person View，FPV)显示画面，本发明实施例不做限定。
302、控制端获取触摸位置坐标。
本发明实施例中，该触摸位置坐标为301部分检测到的触摸操作的触摸位置在控制端的显示屏的坐标系中的二维坐标。图4为本发明实施例提供的一种控制端的显示屏的坐标系的示意图，如图4所示，该显示屏的坐标系的X轴方向可以为与显示屏的下边平行的方向，该显示屏的坐标系的Y轴方向可以为与显示屏的左边平行的方向，当然，本发明实施例对显示屏的坐标系的X轴方向和Y轴方向不做限制，图4只是显示屏的坐标系的一种示例图。
303、控制端获取映射于第二显示画面中的三维航道。
本发明实施例中，控制端获取触摸位置坐标之后，就获取映射于第二显示画面中的三维航道。其中，该第二显示画面可以与第一显示画面相同或者不同，本发明实施例不做限定。可选的，第二显示画面可以为FPV显示画面，或者为其他任意的显示画面。其中，该三维航道为将触摸位置坐标转换为世界坐标系中的三维坐标之后，根据三维坐标确定的航道。该世界坐标系中的一个三维坐标可确定现实空间中的一个位置。例如，该世界坐标系中的X轴坐标可以 为经度，Y轴坐标可以为纬度，Z轴坐标表示离地面的高度。也就是说，将触摸位置坐标转换为世界坐标系中的三维坐标，就是将在用户在显示屏中的触摸位置映射至现实空间中的一个位置。
举例来说，若用户在第一显示画面中的触摸位置为第一显示画面中显示的建筑物的A点位置，则该三维坐标在现实空间中的位置为A点位置或A点上方或A点的下方。
本发明实施例中，该三维航道是根据世界坐标系中的三维坐标生成的航道，该三维航道是立体的航道，因此，如图5所示，将该三维航道映射于显示画面中，可使用户看的航道如同现实世界中的道路一般。因此，通过实施图3所描述的方法，可形象地、直观地显示规划的航道。
作为一种可选的实施方式，303部分的具体实施方式可以包括以下3031～3033部分，其中：
3031、控制端将触摸位置坐标转换为空间二维坐标。该空间二维坐标为世界坐标系中的二维坐标。
3032、控制端将空间二维坐标发送至飞行器。
3033、控制端接收飞行器返回的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。该三维航道为飞行器将空间二维坐标转换为世界坐标系中的三维坐标，并根据三维坐标确定的航道。
在该实施方式中，可选的，该空间二维坐标可以是经纬度坐标。在该实施方式中，将触摸位置坐标转换为世界坐标系中的三维坐标，是由控制端和飞行器共同完成的，即由控制器将触摸位置坐标转换为空间二维坐标，再由飞行器将该空间二维坐标转换为三维坐标。飞行器将该空间二维坐标转换为三维坐标的具体实施方式可以为将空间二维坐标的X轴值作为三维坐标的X轴值，将空间二维坐标的Y轴值作为三维坐标的Y轴值，再对三维坐标的Z轴坐标进行赋值。
在该实施方式中，飞行器可根据飞行器当前的高度对Z轴进行赋值。可选的，可将Z轴值设置为比飞行器当前的高度小预设高度的值，例如，可将Z轴值设置为比飞行器当前的高度小2米的值。通过将Z轴值设置为比飞行器当前的高度小预设高度的值，可使生成的三维航道映射于显示画面中时，显示效果更好。当然也可将飞行器当前的高度直接设置为Z轴值，只是这样生成的三 维航道映射于显示画面中时，显示效果不是最好。或者，也可直接将一个预设的值设置为Z轴的值。
在该实施方式中，飞行器根据三维坐标确定的三维航道之后，将该三维航道的参数发送至控制端。其中，该三维航道的参数可以为三维航道的坐标信息等。控制端根据三维航道的参数就可将三维航道映射于第二显示画面中。
作为一种可选的实施方式，303部分的具体实施方式可以包括以下3034和3035部分，其中：
3034、控制端将触摸位置坐标转换为世界坐标系中的三维坐标，并将三维坐标发送给飞行器。
3035、控制端接收飞行器根据三维坐标确定的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。
在该实施方式中，控制器可直接将触摸位置坐标转换为世界坐标系中的三维坐标。可选的，控制器可以将触摸位置坐标转换为经纬度坐标，再将经纬度坐标确定为该三维坐标中的X轴和Y轴坐标。例如，可将得到的经度坐标确定为三维坐标中的X轴坐标，将得到的维度坐标确定为三维坐标中的Y轴坐标。控制器可将预设值确定为三维坐标中的Z轴坐标，或将Z轴值设置为比飞行器当前的高度小预设高度的值，或将Z轴值设置为飞行器当前的高度，本发明实施例不做限定。
在该实施方式中，飞行器接收到三维坐标之后，可根据三维坐标来确定三维航道。并发送确定的三维航道的参数至控制端。控制端根据接收的三维航道的参数就可将三维航道映射于第二显示画面中。
作为一种可选的实施方式，303部分的具体实施方式可以包括以下3036和3037部分，其中：
3036、控制端将触摸位置坐标发送至飞行器。
3037、控制端接收飞行器根据触摸位置坐标确定的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。
在该实施方式中，控制器也可直接将触摸位置坐标发送给飞行器，由飞行器来将触摸位置坐标转换为世界坐标系中的三维坐标，并根据该三维坐标确定三维航道。在飞行器确定三维航道之后，发送该三维航道的参数至控制端。飞行器如何将触摸位置坐标转换为世界坐标系中的三维坐标的原理，与上述 3034部分中控制端将触摸位置坐标转换为世界坐标系中的三维坐标的原理相同，具体可参见上述3034部分对应的说明，在此不赘述。
作为一种可选的实施方式，303部分的具体实施方式可以包括以下3038～30310部分，其中：
3038、控制端将触摸位置坐标转换为世界坐标系中的三维坐标。
3039、控制端根据三维坐标确定三维航道。
30310、控制端将三维航道映射于第二显示画面中。
在该实施方式中，控制器也可直接根据触摸位置坐标生成三维航道。其中，3038部分的具体实施方式与3034部分的具体实施方式相同，具体可参见上述3034部分对应的说明，在此不赘述。
作为一种可选的实施方式，如图5所示，映射有三维航道的第二显示画面中还包括三维航道的剩余里程。其中，该剩余里程为根据三维航道的末端坐标和飞行器的当前位置坐标计算得到的。图5以剩余里程为624米为例。
在该实施方式中，三维航道的剩余里程可以由控制端计算得到的，或三维航道的剩余里程也可以是飞行器计算之后返回控制端的，本发明实施例不做限定。通过在映射有三维航道的第二显示画面中显示三维航道的剩余里程，可实时地提醒用户三维航道的剩余里程。
作为一种可选的实施方式，若第二显示画面中存在三维航道的末端，则在第二显示画面中的第一位置显示剩余里程；若第二显示画面中不存在三维航道的末端，则在第二显示画面中的第二位置显示剩余里程，第一位置与第二位置不相同。如图5所示，若第二显示画面中存在三维航道的末端，在第二显示画面中的三维航道的末端显示剩余里程。如图6所示，若第二显示画面中不存在三维航道的末端，则在第二显示画面中的第二位置显示剩余里程，第一位置与第二位置不相同。图6以剩余里程为325米为例。通过实施该实施方式，在当前显示的三维航道的状态不同时可在不同的位置显示剩余里程，因此，可灵活地对剩余里程进行显示。
作为一种可选的实施方式，301部分的具体实施方式可以为：控制端检测用户从第一显示画面中显示的起始点开始进行的触摸操作。其中，该起始点是根据云台的角度信息显示的。例如，如图7所示，当云台正常朝前(即摄像头拍摄的方向朝前)时，可将起始点显示于第一显示画面的底部；如图8所示， 当云台朝向地面方向转动(即摄像头拍摄的方向朝地面方向移动)时，起始点的显示位置从底部向上移动；如图9所示，当云台转动的角度使摄像头正对地面时，起始点的显示位置为第一显示画面的中心位置。在第一显示画面中显示起始点之后，如图10所示，用户可从第一显示画面中显示的起始点开始进行的触摸操作。
作为一种可选的实施方式，301部分的具体实施方式可以为：控制端检测用户对第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作。
在该实施方式中，控制端检测用户对第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作之后，还可获取第一显示画面中显示的起始点的起始位置坐标。该起始位置坐标为显示屏的坐标系中起始点对应的二维坐标，起始点是根据云台的角度信息显示的。相应地，303部分中的三维航道为将触摸位置坐标和起始位置坐标转换为世界坐标系中的三维坐标之后，根据三维坐标确定的航道。
举例来说，如图11所示，用户对第一显示画面中的A点和B点分别进行了按压时长超过预设时长的触摸操作，控制端检测到用户对A点进行的按压时长超过预设时长的触摸操作之后，获取A点在显示屏的坐标系中的二维坐标；同理，控制端检测到用户对B点进行的按压时长超过预设时长的触摸操作之后，获取B点在显示屏的坐标系中的二维坐标。控制端还会获取如图11所示的起始点的起始位置坐标。303部分中的三维航道为将A点在显示屏的坐标系中的二维坐标、B点在显示屏的坐标系中的二维坐标和起始位置坐标转换为世界坐标系中的三维坐标之后，根据三维坐标确定的航道。也就是说，通过该实施方式，用户在第一显示画面中的触摸轨迹可以不是连续的一条触摸轨迹，可以是多个触摸点，然后通过预设的算法生成贯通该多个触摸点在现实空间中的映射位置的航道。
作为一种可选的实施方式，控制端还可获取兴趣点的坐标，并发送包括该兴趣点的坐标的指示信息至飞行器。其中，该指示信息用于指示飞行器在三维航道上航行的过程中，根据兴趣点的坐标控制飞行器的摄像装置的拍摄角度朝向兴趣点。如图12所示，箭头为飞行器的摄像装置，箭头的方向表示飞行器的摄像装置的朝向，若A点为兴趣点，则飞行器在三维航道飞行时，会控制飞行器的摄像装置的拍摄角度朝向兴趣点。通过实施该实施方式，用户可设置 兴趣点，并使飞行器控制飞行器的摄像装置的拍摄角度朝向兴趣点。
作为一种可选的实施方式，如图13所示，该第一显示画面中显示有地平线。可选的，该地平线可根据飞行器的云台角度得到或通过其他方式得到，本发明实施例不做限定。图3提供的航道规划显示方法的主要思想是，通过检测用户在第一显示画面中的触摸位置，将该触摸位置映射到现实空间中的位置，最后生成一条经过现实空间的目标位置的航道，该目标位置为触摸位置映射到现实空间中的位置。因此，当用户在地平线以上的画面中进行触摸操作时，该触摸操作对应的触摸位置在现实空间中的位置为无穷远处，因此为避免控制端规划出一条无穷远的航道，通过在第一显示画面中显示地平线，可提示用户在地平线以下的画面中进行触摸操作。
作为一种可选的实施方式，如图13所示，第一显示画面中地平线以下的部分和地平线以上的部分以不同的方式显示。如图13所示，地平线以下的部分以方格显示，地平线以上的部分以斜纹显示。当然，地平线以下的部分和地平线以上的部分还可以其他方式进行不同显示，本发明实施例不做限定。通过实施该实施方式，可便于用户更好的区分地平线以下的部分和地平线以上的部分。
作为一种可选的实施方式，当第一显示界面包括地平线时，302部分的具体实施方式可以为：控制端获取用户在第一显示画面中对地平线以下的部分的触摸操作对应的触摸位置坐标。也就是说，生成的三维航道是根据对地平线以下的部分的触摸位置坐标得到的，这样有利于避免规划出无穷远的航道。
作为一种可选的实施方式，控制端还可在检测到用户在第一显示画面中对地平线以上的部分进行触摸操作时或在检测到用户在第一显示画面中对地平线以上的部分进行触摸操作之后，输出用于提示用户对地平线以下的部分进行触摸的提示信息。可选的，控制端输出该提示信息之后，可继续执行301部分。可见，通过实施该实施方式，可及时提醒用户进行正确的触摸操作。
作为一种可选的实施方式，如图13所示，该三维航道包括航道投影层和飞行航道层，航道投影层为将触摸位置坐标转换为第一坐标之后，根据第一坐标得到的航道，飞行航道层为将触摸位置坐标转换为第二坐标之后，根据第二坐标得到的航道。其中，该第一坐标为在世界坐标系中的Z轴坐标为零的三维坐标，该第二坐标为在世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。通过显示两层航道可使三维航道更具有立体感。
作为一种可选的实施方式，该三维航道为满足飞行器动力学约束的航道。如果直接将触摸位置坐标转换的三维坐标作为三维航道的坐标，则有可能该三维航道不能满足飞行器动力学约束，比如，三维航道的一些弯度可能较大，飞行器不能进行该弯度的飞行等等。因此，在该实施方式中，在将触摸位置坐标转换为世界坐标系中的三维坐标之后，可对三维坐标进行一些适当的调整，以得到满足飞行器动力学约束的航道。这样可提高飞行器按照该三维航道飞行的飞行成功率。
请参阅图14，图14为本发明实施例公开的一种航道规划系统中控制端和飞行器的交互流程示意图。如图14所示，控制端和飞行器的交互流程可包括1401部分～1406部分。其中：
1401、控制端检测用户在第一显示画面中的触摸操作。
本发明实施例中，1401部分的具体实现原理与上述301部分的实现原理相同，具体可参见上述301部分对应的描述，在此不赘述。
1402、控制端获取触摸位置坐标。
本发明实施例中，该触摸位置坐标为显示屏的坐标系中触摸操作的触摸位置对应的二维坐标。1402部分的具体实现原理与上述302部分的实现原理相同，具体可参见上述302部分对应的描述，在此不赘述。
1403、控制端发送第一坐标至飞行器。
本发明实施例中，第一坐标为触摸位置坐标、空间二维坐标或三维坐标，空间二维坐标为根据触摸位置坐标得到的世界坐标系中的二维坐标，三维坐标为根据触摸位置坐标得到的世界坐标系中的坐标。
本发明实施例中，当第一坐标为空间二维坐标时，控制器需要将触摸位置坐标转换为空间二维坐标，再发送空间二维坐标至飞行器。其中，控制器如何将触摸位置坐标转换为空间二维坐标可参见上述3031对应的描述，在此不赘述。
本发明实施例中，当第一坐标为三维坐标时，控制端需要将触摸位置坐标转换为世界坐标系中的三维坐标，再将三维坐标发送给飞行器。其中，控制器如何将触摸位置坐标转换为三维坐标可参见上述3034对应的描述，在此不赘述。
1404、飞行器根据第一坐标生成三维航道。
本发明实施例中，飞行器接收第一坐标之后，就根据该第一坐标生成三维航道。
本发明实施例中，当第一坐标为空间二维坐标时，飞行器根据空间二维坐标生成三维航道可参见上述3033部分的飞行器将空间二维坐标转换为世界坐标系中的三维坐标，并根据三维坐标确定的航道的对应描述，在此不赘述。
本发明实施例中，当第一坐标为三维坐标时，飞行器根据三维坐标生成三维航道可参见上述3035部分的飞行器根据三维坐标确定三维航道的对应描述，在此不赘述。
本发明实施例中，当第一坐标为触摸位置坐标时，飞行器根据触摸位置坐标生成三维航道可参见上述3037部分的飞行器根据触摸位置坐标确定三维航道的对应描述，在此不赘述。
1405、飞行器发送三维航道的参数至控制端。
本发明实施例中，飞行器确定三维航道之后，将三维航道的参数发送至控制端。
1406、控制端根据三维航道的参数将三维航道映射于第二显示画面中。
本发明实施例中，控制端接收飞行器发送的三维航道的参数之后，根据三维航道的参数将三维航道映射于第二显示画面中。其中，该第二显示画面可以与第一显示画面相同或者不同，本发明实施例不做限定。可选的，第二显示画面可以为FPV显示画面，或者为其他任意的显示画面。
本发明实施例中，该三维航道是根据世界坐标系中的三维坐标生成的航道，该三维航道是立体的航道，因此，如图5所示，将该三维航道映射于显示画面中，可使用户看的航道如同现实世界中的道路一般。因此，通过实施图14所描述的系统，可形象地、直观地显示规划的航道。
作为一种可选的实施方式，映射有三维航道的第二显示画面中还包括三维航道的剩余里程，该剩余里程为根据三维航道的末端坐标和飞行器的当前位置坐标计算得到的。该实施方式的具体实现原理可参见图3所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，该第二显示画面中存在三维航道的末端，则控制端在第二显示画面中的第一位置显示剩余里程；若第二显示画面中不存在三 维航道的末端，则控制端在第二显示画面中的第二位置显示剩余里程，该第一位置与第二位置不相同。该实施方式的具体实现原理可参见图3所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，第一位置为三维航道的末端。
作为一种可选的实施方式，1401部分的具体实施方式可以包括：控制端检测用户从第一显示画面中显示的起始点开始进行的触摸操作，该起始点是根据云台的角度信息显示的。该实施方式的具体实现原理可参见图3所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，1401部分的具体实施方式可以包括：控制端检测用户对第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作。控制端，还用于在检测用户对第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作之后，获取第一显示画面中显示的起始点的起始位置坐标，该起始位置坐标为显示屏的坐标系中起始点对应的二维坐标，该起始点是根据云台的角度信息显示的。控制端，还用于发送第二坐标至飞行器，该第二坐标为起始位置坐标、根据起始位置坐标得到的世界坐标系中的二维坐标或根据起始位置坐标得到的世界坐标系中的三维坐标。相应地，1404部分的具体实施方式可以包括：飞行器根据第一坐标和第二坐标生成三维航道。该实施方式的实现原理请参见图3所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，控制端，还用于获取兴趣点的坐标，并发送包括兴趣点的坐标的指示信息至飞行器。相应地，飞行器在三维航道上航行的过程中，根据兴趣点的坐标控制飞行器的摄像装置的拍摄角度朝向兴趣点。该实施方式的实现原理请参见图3所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，第一显示画面中显示有地平线。该实施方式的实现原理请参见图3所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，第一显示画面中地平线以下的部分和地平线以上的部分以不同的方式显示。该实施方式的实现原理请参见图3所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，1402部分的具体实施方式可以包括：控制端获取用户在第一显示画面中对地平线以下的部分的触摸操作对应的触摸位置坐标。该实施方式的实现原理请参见图3所示的实施例中对应的描述，在此不 赘述。
作为一种可选的实施方式，控制端，还用于若检测到用户在第一显示画面中对地平线以上的部分进行触摸操作，则输出用于提示用户对地平线以下的部分进行触摸的提示信息。该实施方式的实现原理请参见图3所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，三维航道包括航道投影层和飞行航道层，航道投影层为将触摸位置坐标转换为第三坐标之后，根据第三坐标得到的航道，飞行航道层为将触摸位置坐标转换为第四坐标之后，根据第四坐标得到的航道，第三坐标为在世界坐标系中的Z轴坐标为零的三维坐标，第四坐标为在世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。该实施方式的实现原理请参见图3所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，三维航道为满足飞行器动力学约束的航道。该实施方式的实现原理请参见图3所示的实施例中对应的描述，在此不赘述。
请参阅图15，图15是本发明实施例提供的一种控制端的结构示意图。如图15所示，本发明实施例的控制端可以包括检测模块1501、第一获取模块1502和第二获取模块1503。其中：
检测模块1501，用于检测用户在第一显示画面中的触摸操作。
第一获取模块1502，用于获取触摸位置坐标，该触摸位置坐标为显示屏的坐标系中触摸操作的触摸位置对应的二维坐标。
第二获取模块1503，用于获取映射于第二显示画面中的三维航道，该三维航道为将触摸位置坐标转换为世界坐标系中的三维坐标之后，根据三维坐标确定的航道。
作为一种可选的实施方式，第二获取模块1503具体用于：将触摸位置坐标转换为空间二维坐标，空间二维坐标为世界坐标系中的二维坐标；将空间二维坐标发送至飞行器；接收飞行器返回的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。该三维航道为飞行器将空间二维坐标转换为世界坐标系中的三维坐标，并根据三维坐标确定的航道。
作为一种可选的实施方式，第二获取模块1503具体用于：将触摸位置坐标转换为世界坐标系中的三维坐标，并将三维坐标发送给飞行器；接收飞行器 根据三维坐标确定的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。
作为一种可选的实施方式，第二获取模块1503具体用于：将触摸位置坐标发送至飞行器；接收飞行器根据触摸位置坐标确定的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。
作为一种可选的实施方式，第二获取模块1503具体用于：将触摸位置坐标转换为世界坐标系中的三维坐标；根据三维坐标确定三维航道；将三维航道映射于第二显示画面中。
作为一种可选的实施方式，映射有三维航道的第二显示画面中还包括三维航道的剩余里程。该剩余里程为根据三维航道的末端坐标和飞行器的当前位置坐标计算得到的。
作为一种可选的实施方式，若第二显示画面中存在三维航道的末端，则在第二显示画面中的第一位置显示剩余里程。若第二显示画面中不存在三维航道的末端，则在第二显示画面中的第二位置显示剩余里程，第一位置与第二位置不相同。
作为一种可选的实施方式，第一位置为三维航道的末端。
作为一种可选的实施方式，检测模块1501具体用于：检测用户从第一显示画面中显示的起始点开始进行的触摸操作，该起始点是根据云台的角度信息显示的。
作为一种可选的实施方式，第一显示画面中显示有地平线。
作为一种可选的实施方式，第一显示画面中地平线以下的部分和地平线以上的部分以不同的方式显示。
作为一种可选的实施方式，第一获取模块1502具体用于：获取用户在第一显示画面中对地平线以下的部分的触摸操作对应的触摸位置坐标。
作为一种可选的实施方式，三维航道包括航道投影层和飞行航道层，航道投影层为将触摸位置坐标转换为第一坐标之后，根据第一坐标得到的航道，飞行航道层为将触摸位置坐标转换为第二坐标之后，根据第二坐标得到的航道，第一坐标为在世界坐标系中的Z轴坐标为零的三维坐标，第二坐标为在世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
作为一种可选的实施方式，三维航道为满足飞行器动力学约束的航道。
进一步的，请参阅图16，图16是本发明实施例提供的另一种控制端的结构示意图。具体的，本发明实施例的控制端除包括图15所示的控制端的所有模块之外，还包括第三获取模块1504、第四获取模块1505、发送模块1506和输出模块1507。其中：
检测模块1501具体用于：检测用户对第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作。
第三获取模块1504，用于在检测模块1501检测到用户对第一显示画面的某一位置进行按压时长超过预设时长的触摸操作之后，获取第一显示画面中显示的起始点的起始位置坐标，该起始位置坐标为显示屏的坐标系中起始点对应的二维坐标，该起始点是根据云台的角度信息显示的。其中，该三维航道为将触摸位置坐标和起始位置坐标转换为世界坐标系中的三维坐标之后，根据三维坐标确定的航道。
第四获取模块1505，用于获取兴趣点的坐标。
发送模块1506，用于发送包括兴趣点的坐标的指示信息至飞行器，指示信息用于指示飞行器在三维航道上航行的过程中，根据兴趣点的坐标控制飞行器的摄像装置的拍摄角度朝向兴趣点。
输出模块1507，用于若检测模块1501检测到用户在第一显示画面中对地平线以上的部分进行触摸操作，则输出用于提示用户对地平线以下的部分进行触摸的提示信息。
请参阅图17，图17是本发明实施例提供的一种控制端的结构示意图。如图17所示，该控制端1700包括一个或多个处理器1701、存储器1702、总线系统1703以及一个或多个程序。其中，处理器1701和存储器1702通过总线系统1703相连；处理器1701可以是中央处理器(Central Processing Unit，CPU)，通用处理器，协处理器，数字信号处理器(Digital Signal Processor，DSP)，专用集成电路(Application-Specific Integrated Circuit，ASIC)，现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。该处理器1701也可以是实现计算功能的组合，例如包含一个或多个微处理器组合，DSP和微处理器的组合等等。可选的，该无线 充电设备1700还可包括收发器1704，该收发器用于与其他设备(如飞行器)进行通信。
其中，该一个或多个程序被存储在存储器1702中，该处理器1701用于调用该一个或多个程序，执行图3中的301、302和303部分。或多个程序执行上述方法实施例中控制端的所有执行过程，本发明实施例不做限定。
基于同一发明构思，本发明实施例中图15～17提供的控制端解决问题的原理与本发明方法实施例中图3所描述的航道规划显示方法相似，因此该控制端的实施可以参见方法的实施，为简洁描述，在这里不再赘述。
请参阅图18，图18是本发明实施例提供的一种飞行器的结构示意图。如图18所示，本发明实施例的控制端可以包括接收模块1801、生成模块1802和发送模块1803。其中：
接收模块1801，用于接收控制端发送第一坐标，第一坐标为控制端根据用户在第一显示画面的触摸操作得到的坐标，第一坐标为触摸位置坐标、空间二维坐标或三维坐标，触摸位置坐标为显示屏的坐标系中触摸操作的触摸位置对应的二维坐标，空间二维坐标为根据触摸位置坐标得到的世界坐标系中的二维坐标，三维坐标为根据触摸位置坐标得到的世界坐标系中的坐标；
生成模块1802，用于根据第一坐标生成三维航道；
发送模块1803，用于发送三维航道的参数至控制端。
作为一种可选的实施方式，第一坐标为触摸位置坐标，生成模块1802具体用于：将触摸位置坐标转换为三维坐标；根据三维坐标生成三维航道。
作为一种可选的实施方式，第一坐标为空间二维坐标，生成模块1802具体用于：将空间二维坐标转换为三维坐标；根据三维坐标生成三维航道。
作为一种可选的实施方式，发送模块1803，还用于发送三维航道的剩余里程至控制端，剩余里程为根据三维航道的末端坐标和飞行器的当前位置坐标计算得到的。
作为一种可选的实施方式，接收模块1801，还用于接收控制端发送的第二坐标，第二坐标为起始位置坐标、根据起始位置坐标得到的世界坐标系中的二维坐标或根据起始位置坐标得到的世界坐标系中的三维坐标，起始位置坐标为第一显示画面中显示的起始点在显示屏的坐标系中的二维坐标，起始点为是 根据云台的角度信息显示的；生成模块1802具体用于：根据第一坐标和第二坐标生成三维航道。
作为一种可选的实施方式，飞行器还包括控制模块，其中：接收模块1801，还用于接收控制端发送的兴趣点的坐标；控制模块，用于在三维航道上航行的过程中，根据兴趣点的坐标控制飞行器的摄像装置的拍摄角度朝向兴趣点。
作为一种可选的实施方式，三维航道包括航道投影层和飞行航道层，航道投影层为将触摸位置坐标转换为第三坐标之后，根据第三坐标得到的航道，飞行航道层为将触摸位置坐标转换为第四坐标之后，根据第四坐标得到的航道，第三坐标为在世界坐标系中的Z轴坐标为零的三维坐标，第四坐标为在世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
作为一种可选的实施方式，三维航道为满足飞行器动力学约束的航道。
请参阅图19，图19是本发明实施例提供的一种飞行器的结构示意图。如图19所示，该飞行器1900包括一个或多个处理器1901、存储器1902、总线系统1903以及一个或多个程序。其中，处理器1901和存储器1902通过总线系统1903相连；处理器1901可以是中央处理器(Central Processing Unit，CPU)，通用处理器，协处理器，数字信号处理器(Digital Signal Processor，DSP)，专用集成电路(Application-Specific Integrated Circuit，ASIC)，现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。该处理器1901也可以是实现计算功能的组合，例如包含一个或多个微处理器组合，DSP和微处理器的组合等等。可选的，该无线充电设备1900还可包括收发器1904，该收发器用于与其他设备(如控制端)进行通信。
其中，该一个或多个程序被存储在存储器1902中，该处理器1901用于调用该一个或多个程序，执行图14中的1404和1405。或多个程序执行上述方法实施例中飞行器的所有执行过程，本发明实施例不做限定。
基于同一发明构思，本发明实施例中图18和19提供的飞行器解决问题的原理与图14的原理相同，因此该飞行器的实施可以参见方法的实施，为简洁描述，在这里不再赘述。
请参阅图20，图20为本发明实施例公开的另一种航道规划显示方法的流程示意图。如图20所示，该航道规划显示方法可包括201部分～203部分。其中：
201、若检测到用户对第一显示画面中的按压点进行的按压操作的按压时长超过预设时长，则控制端生成以按压点为中心的几何图形。
本发明实施例中，该第一显示画面可以为控制端的任意显示画面，或该第一显示画面可以为控制端的第一人称主视角(First Person View，FPV)显示画面，本发明实施例不做限定。
本发明实施例中，该几何图形可以为圆形、长方形、正方形、菱形或其他几何图形，本发明实施例不做限定。
202、控制端获取几何图形的第一坐标。
本发明实施例中，该第一坐标为几何图形在显示屏的坐标系中的二维坐标。控制端的显示屏的坐标系可参见图4所示的坐标系。
203、控制端获取映射于第二显示画面中的三维航道。
本发明实施例中，控制端获取第一坐标之后，就获取映射于第二显示画面中的三维航道。其中，该第二显示画面可以与第一显示画面相同或者不同，本发明实施例不做限定。可选的，第二显示画面可以为FPV显示画面，或者为其他任意的显示画面。该三维航道为将第一坐标转换为世界坐标系中的三维坐标之后，根据三维坐标得到的航道。该世界坐标系中的一个三维坐标可确定现实空间中的一个位置。例如，该世界坐标系中的X轴坐标可以为经度，Y轴坐标可以为纬度，Z轴坐标表示离地面的高度。也就是说，将第一坐标转换为世界坐标系中的三维坐标，就是将第一显示画面中的几何图形的位置映射至现实空间中的位置。
本发明实施例中，该三维航道是根据世界坐标系中的三维坐标生成的航道，该三维航道是立体的航道。因此，将该三维航道映射于显示画面中，可使用户看的航道如同现实世界中的道路一般。因此，通过实施图20所描述的方法，可形象地、直观地显示规划的航道。
作为一种可选的实施方式，201部分生成的几何图形为圆，201部分的具体实施方式可以包括：生成以按压点为中心的具有预设半径的圆。在该实施 方式中，圆包括半径调节图标，获取几何图形的第一坐标之前，控制端还可接收用户对半径调节图标的拖动操作，以及将停止拖动操作时半径调节图标与触摸按压点之间的距离确定为圆的半径。如图21所示，用户可通过对圆上的半径调节图标进行拖动来调节圆的半径。可见，通过实施该实施方式可便利地对圆的半径进行调节。
作为一种可选的实施方式，203部分的具体实施方式可以包括2031～2033部分，其中：
2031、控制端将第一坐标转换为空间二维坐标。该空间二维坐标为世界坐标系中的二维坐标。
2032、控制端将空间二维坐标发送至飞行器。
2033、控制端接收飞行器返回的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。该三维航道为飞行器将空间二维坐标转换为世界坐标系中的三维坐标，并根据三维坐标确定的航道。
该实施方式的具体实现原理与上述3031～3033部分的实现原理相似，具体可参见上述3031～3033部分对应的描述，在此不赘述。
作为一种可选的实施方式，203部分的具体实施方式可以包括：
2034、控制端将第一坐标转换为世界坐标系中的三维坐标，并将三维坐标发送给飞行器。
2035、控制端接收飞行器根据三维坐标确定的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。
该实施方式的具体实现原理与上述3034和3035部分的实现原理相似，具体可参见上述3034和3035部分对应的描述，在此不赘述。
作为一种可选的实施方式，203部分的具体实施方式可以包括：
2036、将第一坐标发送至飞行器。
2037、接收飞行器根据第一坐标确定的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。
该实施方式的具体实现原理与上述3036和3037部分的实现原理相似，具体可参见上述3036和3037部分对应的描述，在此不赘述。
作为一种可选的实施方式，203部分的具体实施方式可以包括：
2038、将第一坐标转换为世界坐标系中的三维坐标。
2039、根据三维坐标确定三维航道。
20310、将三维航道映射于第二显示画面中。
该实施方式的具体实现原理与上述3038～30310部分的实现原理相似，具体可参见上述3038～30310部分对应的描述，在此不赘述。
作为一种可选的实施方式，映射有三维航道的第二显示画面中还包括三维航道的剩余里程，该剩余里程为根据三维航道的末端坐标和飞行器的当前位置坐标计算得到的。在该实施方式中，三维航道的剩余里程可以由控制端计算得到的，或三维航道的剩余里程也可以是飞行器计算之后返回控制端的，本发明实施例不做限定。通过在映射有三维航道的第二显示画面中显示三维航道的剩余里程，可实时地提醒用户三维航道的剩余里程。
作为一种可选的实施方式，若第二显示画面中存在三维航道的末端，则在第二显示画面中的第一位置显示剩余里程。若第二显示画面中不存在三维航道的末端，则在第二显示画面中的第二位置显示剩余里程，该第一位置与第二位置不相同。通过实施该实施方式，在当前显示的三维航道的状态不同时可在不同的位置显示剩余里程，因此，可灵活地对剩余里程进行显示。
作为一种可选的实施方式，第一位置为三维航道的末端。
作为一种可选的实施方式，第一显示画面中的按压点的显示位置是根据云台的角度信息确定的。其中，该按压点的显示原理与图7、图8和图9中起始点的显示原理相同，具体可参见图7、图8和图9对应的描述，在此不赘述。
作为一种可选的实施方式，控制端还可获取兴趣点的坐标，以及发送包括兴趣点的坐标的指示信息至飞行器，该指示信息用于指示飞行器在三维航道上航行的过程中，根据兴趣点的坐标控制飞行器的摄像装置的拍摄角度朝向兴趣点。如图12所示，箭头为飞行器的摄像装置，箭头的方向表示飞行器的摄像装置的朝向，若A点为兴趣点，则飞行器在三维航道飞行时，会控制飞行器的摄像装置的拍摄角度朝向兴趣点。通过实施该实施方式，用户可设置兴趣点，并使飞行器控制飞行器的摄像装置的拍摄角度朝向兴趣点。
作为一种可选的实施方式，三维航道包括航道投影层和飞行航道层，航道投影层为将第一坐标转换为第二坐标之后，根据第二坐标得到的航道，飞行航道层为将第一坐标转换为第三坐标之后，根据第三坐标得到的航道，第二坐标 为在世界坐标系中的Z轴坐标为零的三维坐标，第三坐标为在世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。通过显示两层航道可使三维航道更具有立体感。
作为一种可选的实施方式，三维航道为满足飞行器动力学约束的航道。如果直接将触摸位置坐标转换的三维坐标作为三维航道的坐标，则有可能该三维航道不能满足飞行器动力学约束，比如，三维航道的一些弯度可能较大，飞行器不能进行该弯度的飞行等等。因此，在该实施方式中，在将触摸位置坐标转换为世界坐标系中的三维坐标之后，可对三维坐标进行一些适当的调整，以得到满足飞行器动力学约束的航道。这样可提高飞行器按照该三维航道飞行的飞行成功率。
请参阅图22，图22为本发明实施例公开的另一种航道规划系统中控制端和飞行器的交互流程示意图。如图22所示，控制端和飞行器的交互流程可包括2201部分～2206部分。其中：
2201、若检测到用户对第一显示画面中的按压点进行的按压操作的按压时长超过预设时长，则控制端生成以按压点为中心的几何图形。
本发明实施例中，2201部分的具体实现原理与上述201部分的实现原理相同，具体可参见上述201部分对应的描述，在此不赘述。
2202、控制端获取几何图形的第一坐标。该第一坐标为几何图形在显示屏的坐标系中的二维坐标。
本发明实施例中，2202部分的具体实现原理与上述202部分的实现原理相同，具体可参见上述202部分对应的描述，在此不赘述。
2203、控制端发送目标坐标至飞行器。
本发明实施例中，该目标坐标为第一坐标、空间二维坐标或三维坐标，该空间二维坐标为根据第一坐标得到的世界坐标系中的二维坐标，该三维坐标为根据第一坐标得到的世界坐标系中的坐标。
本发明实施例中，当目标坐标为空间二维坐标时，控制器需要将第一坐标转换为空间二维坐标，再发送空间二维坐标至飞行器。其中，控制器如何将第一坐标转换为空间二维坐标可参见上述2031对应的描述，在此不赘述。
本发明实施例中，当目标坐标为三维坐标时，控制端需要将第一坐标转换为世界坐标系中的三维坐标，再将三维坐标发送给飞行器。其中，控制器如何将第一坐标转换为三维坐标可参见上述2034对应的描述，在此不赘述。
2204、飞行器根据目标坐标生成三维航道。
本发明实施例中，飞行器接收目标坐标之后，就根据该目标坐标生成三维航道。
本发明实施例中，当目标坐标为空间二维坐标时，飞行器根据空间二维坐标生成三维航道可参见上述2033部分的飞行器将空间二维坐标转换为世界坐标系中的三维坐标，并根据三维坐标确定的航道的对应描述，在此不赘述。
本发明实施例中，当目标坐标为三维坐标时，飞行器根据三维坐标生成三维航道可参见上述2035部分的飞行器根据三维坐标确定三维航道的对应描述，在此不赘述。
本发明实施例中，当目标坐标为第一坐标时，飞行器根据第一坐标生成三维航道可参见上述2037部分的飞行器根据第一坐标确定三维航道的对应描述，在此不赘述。
2205、飞行器发送三维航道的参数至控制端。
本发明实施例中，飞行器确定三维航道之后，将三维航道的参数发送至控制端。
2206、控制端根据三维航道的参数将三维航道映射于第二显示画面中。
本发明实施例中，控制端接收飞行器发送的三维航道的参数之后，根据三维航道的参数将三维航道映射于第二显示画面中。其中，该第二显示画面可以与第一显示画面相同或者不同，本发明实施例不做限定。可选的，第二显示画面可以为FPV显示画面，或者为其他任意的显示画面。
本发明实施例中，该三维航道是根据世界坐标系中的三维坐标生成的航道，该三维航道是立体的航道。因此，将该三维航道映射于显示画面中，可使用户看的航道如同现实世界中的道路一般。因此，通过实施图22所描述的系统，可形象地、直观地显示规划的航道。
作为一种可选的实施方式，2202部分的几何图形为圆，该圆包括半径调节图标，2201部分的具体实施方式可以包括：控制端生成以按压点为中心的具有预设半径的圆。相应地，控制端，还用于在控制端获取几何图形的第一坐标之 前，接收用户对半径调节图标的拖动操作，以及将停止拖动操作时半径调节图标与触摸按压点之间的距离确定为圆的半径。
作为一种可选的实施方式，映射有三维航道的第二显示画面中还包括三维航道的剩余里程，该剩余里程为根据三维航道的末端坐标和飞行器的当前位置坐标计算得到的。在该实施方式中，三维航道的剩余里程可以由控制端计算得到的，或三维航道的剩余里程也可以是飞行器计算之后返回控制端的，本发明实施例不做限定。通过在映射有三维航道的第二显示画面中显示三维航道的剩余里程，可实时地提醒用户三维航道的剩余里程。
作为一种可选的实施方式，若第二显示画面中存在三维航道的末端，则控制端在第二显示画面中的第一位置显示剩余里程。若第二显示画面中不存在三维航道的末端，则控制端在第二显示画面中的第二位置显示剩余里程，第一位置与第二位置不相同。通过实施该实施方式，在当前显示的三维航道的状态不同时可在不同的位置显示剩余里程，因此，可灵活地对剩余里程进行显示。
作为一种可选的实施方式，第一位置为三维航道的末端。
作为一种可选的实施方式，第一显示画面中的按压点的显示位置是根据云台的角度信息确定的。其中，该按压点的显示原理与图7、图8和图9中起始点的显示原理相同，具体可参见图7、图8和图9对应的描述，在此不赘述。
作为一种可选的实施方式，控制端，还用于获取兴趣点的坐标，并发送包括兴趣点的坐标的指示信息至飞行器。相应地，飞行器，还用于在三维航道上航行的过程中，根据兴趣点的坐标控制飞行器的摄像装置的拍摄角度朝向兴趣点。该实施方式的实现原理请参见图20所示的实施例中对应的描述，在此不赘述。
作为一种可选的实施方式，三维航道包括航道投影层和飞行航道层，航道投影层为将第一坐标转换为第二坐标之后，根据第二坐标得到的航道，飞行航道层为将第一坐标转换为第三坐标之后，根据第三坐标得到的航道，第二坐标为在世界坐标系中的Z轴坐标为零的三维坐标，第三坐标为在世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。通过显示两层航道可使三维航道更具有立体感。
作为一种可选的实施方式，三维航道为满足飞行器动力学约束的航道。
请参阅图23，图23是本发明实施例提供的一种控制端的结构示意图。如图23所示，本发明实施例的控制端可以包括生成模块2301、第一获取模块2302和第二获取模块2303。其中：
生成模块2301，用于若检测到用户对第一显示画面中的按压点进行的按压操作的按压时长超过预设时长，则生成以按压点为中心的几何图形。
第一获取模块2302，用于获取几何图形的第一坐标，第一坐标为几何图形在显示屏的坐标系中的二维坐标。
第二获取模块2303，用于获取映射于第二显示画面中的三维航道，三维航道为将第一坐标转换为世界坐标系中的三维坐标之后，根据三维坐标得到的航道。
作为一种可选的实施方式，几何图形为圆，生成模块2301具体用于：生成以按压点为中心的具有预设半径的圆。
圆包括半径调节图标，控制端还包括接收模块和确定模块。其中，接收模块，用于在第一获取模块2302获取几何图形的第一坐标之前，接收用户对半径调节图标的拖动操作。确定模块，用于将停止拖动操作时半径调节图标与触摸按压点之间的距离确定为圆的半径。
作为一种可选的实施方式，第二获取模块2302具体用于：将第一坐标转换为空间二维坐标，空间二维坐标为世界坐标系中的二维坐标，以及将空间二维坐标发送至飞行器，以及接收飞行器返回的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中，三维航道为飞行器将空间二维坐标转换为世界坐标系中的三维坐标，并根据三维坐标确定的航道。
作为一种可选的实施方式，第二获取模块2302具体用于：将第一坐标转换为世界坐标系中的三维坐标，并将三维坐标发送给飞行器，以及接收飞行器根据三维坐标确定的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。
作为一种可选的实施方式，第二获取模块2302具体用于：将第一坐标发送至飞行器，以及接收飞行器根据第一坐标确定的三维航道的参数，并根据三维航道的参数将三维航道映射于第二显示画面中。
作为一种可选的实施方式，第二获取模块2302具体用于：将第一坐标转换为世界坐标系中的三维坐标，根据三维坐标确定三维航道，将三维航道映射 于第二显示画面中。
作为一种可选的实施方式，映射有三维航道的第二显示画面中还包括三维航道的剩余里程，剩余里程为根据三维航道的末端坐标和飞行器的当前位置坐标计算得到的。
作为一种可选的实施方式，若第二显示画面中存在三维航道的末端，则在第二显示画面中的第一位置显示剩余里程。若第二显示画面中不存在三维航道的末端，则在第二显示画面中的第二位置显示剩余里程，第一位置与第二位置不相同。
作为一种可选的实施方式，第一位置为三维航道的末端。
作为一种可选的实施方式，第一显示画面中的按压点的显示位置是根据云台的角度信息确定的。
作为一种可选的实施方式，控制端还包括：第三获取模块和发送模块。其中，第三获取模块，用于获取兴趣点的坐标。发送模块，用于发送包括兴趣点的坐标的指示信息至飞行器，该指示信息用于指示飞行器在三维航道上航行的过程中，根据兴趣点的坐标控制飞行器的摄像装置的拍摄角度朝向兴趣点。
作为一种可选的实施方式，三维航道包括航道投影层和飞行航道层，航道投影层为将第一坐标转换为第二坐标之后，根据第二坐标得到的航道，飞行航道层为将第一坐标转换为第三坐标之后，根据第三坐标得到的航道，第二坐标为在世界坐标系中的Z轴坐标为零的三维坐标，第三坐标为在世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
作为一种可选的实施方式，三维航道为满足飞行器动力学约束的航道。
请参阅图24，图24是本发明实施例提供的一种控制端的结构示意图。如图24所示，该控制端2400包括一个或多个处理器2401、存储器2402、总线系统2403以及一个或多个程序。其中，处理器2401和存储器2402通过总线系统2403相连；处理器2401可以是中央处理器(Central Processing Unit，CPU)，通用处理器，协处理器，数字信号处理器(Digital Signal Processor，DSP)，专用集成电路(Application-Specific Integrated Circuit，ASIC)，现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。该处理器2401也可以是实现计算功能的组合，例如 包含一个或多个微处理器组合，DSP和微处理器的组合等等。可选的，该无线充电设备2400还可包括收发器2404，该收发器用于与其他设备(如飞行器)进行通信。
其中，该一个或多个程序被存储在存储器2402中，该处理器2401用于调用该一个或多个程序，执行图20中的201、202和203部分。或多个程序执行上述方法实施例中控制端的所有执行过程，本发明实施例不做限定。
基于同一发明构思，本发明实施例中图23和24提供的控制端解决问题的原理与图20所示的航道规划显示方法相似，因此该控制端的实施可以参见方法的实施，为简洁描述，在这里不再赘述。
请参阅图25，图25是本发明实施例提供的一种飞行器的结构示意图。如图25所示，本发明实施例的控制端可以包括接收模块2501、生成模块2502和发送模块2503。其中：
接收模块2501，用于接收控制端发送的目标坐标，目标坐标为第一坐标、空间二维坐标或三维坐标，第一坐标为控制端的第一显示画面中的几何图形在显示屏的坐标系中的二维坐标，空间二维坐标为根据第一坐标得到的世界坐标系中的二维坐标，三维坐标为根据第一坐标得到的世界坐标系中的坐标，几何图形以第一显示画面中的按压点为中心。
生成模块2502，用于根据目标坐标生成三维航道。
发送模块2503，用于发送三维航道的参数至控制端。
作为一种可选的实施方式，目标坐标为第一坐标，生成模块2501具体用于：将第一坐标转换为三维坐标，以及根据三维坐标生成三维航道。
作为一种可选的实施方式，目标坐标为空间二维坐标，生成模块2501具体用于：将空间二维坐标转换为三维坐标，以及根据三维坐标生成三维航道。
作为一种可选的实施方式，发送模块2503，还用于发送三维航道的剩余里程至控制端，该剩余里程为根据三维航道的末端坐标和飞行器的当前位置坐标计算得到的。
作为一种可选的实施方式，飞行器还包括控制模块，其中：
接收模块2501，还用于接收控制端发送的兴趣点的坐标。
控制模块，用于在三维航道上航行的过程中，根据兴趣点的坐标控制飞行 器的摄像装置的拍摄角度朝向兴趣点。
作为一种可选的实施方式，三维航道包括航道投影层和飞行航道层，航道投影层为将第一坐标转换为第二坐标之后，根据第二坐标得到的航道，飞行航道层为将第一坐标转换为第三坐标之后，根据第三坐标得到的航道，第二坐标为在世界坐标系中的Z轴坐标为零的三维坐标，第三坐标为在世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
作为一种可选的实施方式，三维航道为满足飞行器动力学约束的航道。
请参阅图26，图26是本发明实施例提供的一种飞行器的结构示意图。如图26所示，该飞行器2600包括一个或多个处理器2601、存储器2602、总线系统2603以及一个或多个程序。其中，处理器2601和存储器2602通过总线系统2603相连；处理器2601可以是中央处理器(Central Processing Unit，CPU)，通用处理器，协处理器，数字信号处理器(Digital Signal Processor，DSP)，专用集成电路(Application-Specific Integrated Circuit，ASIC)，现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。该处理器2601也可以是实现计算功能的组合，例如包含一个或多个微处理器组合，DSP和微处理器的组合等等。可选的，该无线充电设备2600还可包括收发器2604，该收发器用于与其他设备(如控制端)进行通信。
其中，该一个或多个程序被存储在存储器2602中，该处理器2601用于调用该一个或多个程序，执行图22中的2204和2205。或多个程序执行上述方法实施例中飞行器的所有执行过程，本发明实施例不做限定。
基于同一发明构思，本发明实施例中图25和26提供的飞行器解决问题的原理与图22的原理相同，因此该飞行器的实施可以参见方法的实施，为简洁描述，在这里不再赘述。
本领域技术人员应该可以意识到，在上述一个或多个示例中，本发明所描述的功能可以用硬件、软件、固件或它们的任意组合来实现。当使用软件实现时，可以将这些功能存储在计算机可读介质中或者作为计算机可读介质上的一个或多个指令或代码进行传输。计算机可读介质包括计算机存储介质和通信介质，其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何 介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的技术方案的基础之上，所做的任何修改、等同替换、改进等，均应包括在本发明的保护范围之内。

Claims (120)

  1. 一种航道规划方法，应用于控制端，其特征在于，所述方法包括：
    检测用户在第一显示画面中的触摸操作；
    获取触摸位置坐标，所述触摸位置坐标为显示屏的坐标系中所述触摸操作的触摸位置对应的二维坐标；
    获取映射于第二显示画面中的三维航道，所述三维航道为将所述触摸位置坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标确定的航道。
  2. 根据权利要求1所述的方法，其特征在于，所述获取映射于第二显示画面中的三维航道，包括：
    将所述触摸位置坐标转换为空间二维坐标，所述空间二维坐标为世界坐标系中的二维坐标；
    将所述空间二维坐标发送至飞行器；
    接收所述飞行器返回的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中，所述三维航道为所述飞行器将所述空间二维坐标转换为世界坐标系中的三维坐标，并根据所述三维坐标确定的航道。
  3. 根据权利要求1所述的方法，其特征在于，所述获取映射于第二显示画面中的三维航道，包括：
    将所述触摸位置坐标转换为世界坐标系中的三维坐标，并将所述三维坐标发送给飞行器；
    接收所述飞行器根据所述三维坐标确定的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
  4. 根据权利要求1所述的方法，其特征在于，所述获取映射于第二显示画面中的三维航道，包括：
    将所述触摸位置坐标发送至飞行器；
    接收所述飞行器根据所述触摸位置坐标确定的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
  5. 根据权利要求1所述的方法，其特征在于，所述获取映射于第二显示画面中的三维航道，包括：
    将所述触摸位置坐标转换为世界坐标系中的三维坐标；
    根据所述三维坐标确定三维航道；
    将所述三维航道映射于第二显示画面中。
  6. 根据权利要求1～5任意一项所述的方法，其特征在于，映射有所述三维航道的第二显示画面中还包括所述三维航道的剩余里程，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  7. 根据权利要求6所述的方法，其特征在于，若所述第二显示画面中存在所述三维航道的末端，则在所述第二显示画面中的第一位置显示所述剩余里程；若所述第二显示画面中不存在所述三维航道的末端，则在所述第二显示画面中的第二位置显示所述剩余里程，所述第一位置与所述第二位置不相同。
  8. 根据权利要求7所述的方法，其特征在于，所述第一位置为所述三维航道的末端。
  9. 根据权利要求1～8任意一项所述的方法，其特征在于，所述检测用户在第一显示画面中的触摸操作，包括：
    检测用户从第一显示画面中显示的起始点开始进行的触摸操作，所述起始点是根据云台的角度信息显示的。
  10. 根据权利要求1～8任意一项所述的方法，其特征在于，所述检测用户在第一显示画面中的触摸操作，包括：
    检测用户对第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作；
    所述检测用户对所述第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作之后，所述方法还包括：
    获取所述第一显示画面中显示的起始点的起始位置坐标，所述起始位置坐 标为所述显示屏的坐标系中所述起始点对应的二维坐标，所述起始点是根据云台的角度信息显示的；
    其中，所述三维航道为将所述触摸位置坐标和所述起始位置坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标确定的航道。
  11. 根据权利要求1～10任意一项所述的方法，其特征在于，所述方法还包括：
    获取兴趣点的坐标；
    发送包括所述兴趣点的坐标的指示信息至所述飞行器，所述指示信息用于指示所述飞行器在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  12. 根据权利要求1～11任意一项所述的方法，其特征在于，所述第一显示画面中显示有地平线。
  13. 根据权利要求12所述的方法，其特征在于，所述第一显示画面中所述地平线以下的部分和所述地平线以上的部分以不同的方式显示。
  14. 根据权利要求12或13所述的方法，其特征在于，所述获取触摸位置坐标，包括：
    获取用户在所述第一显示画面中对所述地平线以下的部分的触摸操作对应的触摸位置坐标。
  15. 根据权利要求12～14任意一项所述的方法，其特征在于，所述方法还包括:
    若检测到用户在所述第一显示画面中对所述地平线以上的部分进行触摸操作，则输出用于提示用户对所述地平线以下的部分进行触摸的提示信息。
  16. 根据权利要求1～15任意一项所述的方法，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述触摸位置坐标转换 为第一坐标之后，根据所述第一坐标得到的航道，所述飞行航道层为将所述触摸位置坐标转换为第二坐标之后，根据所述第二坐标得到的航道，所述第一坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第二坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
  17. 根据权利要求1～16任意一项所述的方法，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
  18. 一种控制端，其特征在于，所述控制端包括：
    检测模块，用于检测用户在第一显示画面中的触摸操作；
    第一获取模块，用于获取触摸位置坐标，所述触摸位置坐标为显示屏的坐标系中所述触摸操作的触摸位置对应的二维坐标；
    第二获取模块，用于获取映射于第二显示画面中的三维航道，所述三维航道为将所述触摸位置坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标确定的航道。
  19. 根据权利要求18所述的控制端，其特征在于，所述第二获取模块具体用于：
    将所述触摸位置坐标转换为空间二维坐标，所述空间二维坐标为世界坐标系中的二维坐标；
    将所述空间二维坐标发送至飞行器；
    接收所述飞行器返回的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中，所述三维航道为所述飞行器将所述空间二维坐标转换为世界坐标系中的三维坐标，并根据所述三维坐标确定的航道。
  20. 根据权利要求18所述的控制端，其特征在于，所述第二获取模块具体用于：
    将所述触摸位置坐标转换为世界坐标系中的三维坐标，并将所述三维坐标发送给飞行器；
    接收所述飞行器根据所述三维坐标确定的三维航道的参数，并根据所述三 维航道的参数将所述三维航道映射于第二显示画面中。
  21. 根据权利要求18所述的控制端，其特征在于，所述第二获取模块具体用于：
    将所述触摸位置坐标发送至飞行器；
    接收所述飞行器根据所述触摸位置坐标确定的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
  22. 根据权利要求18所述的控制端，其特征在于，所述第二获取模块具体用于：
    将所述触摸位置坐标转换为世界坐标系中的三维坐标；
    根据所述三维坐标确定三维航道；
    将所述三维航道映射于第二显示画面中。
  23. 根据权利要求18～22任意一项所述的控制端，其特征在于，映射有所述三维航道的第二显示画面中还包括所述三维航道的剩余里程，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  24. 根据权利要求23所述的控制端，其特征在于，若所述第二显示画面中存在所述三维航道的末端，则在所述第二显示画面中的第一位置显示所述剩余里程；若所述第二显示画面中不存在所述三维航道的末端，则在所述第二显示画面中的第二位置显示所述剩余里程，所述第一位置与所述第二位置不相同。
  25. 根据权利要求24所述的控制端，其特征在于，所述第一位置为所述三维航道的末端。
  26. 根据权利要求18～25任意一项所述的控制端，其特征在于，所述检测模块具体用于：
    检测用户从第一显示画面中显示的起始点开始进行的触摸操作，所述起始 点是根据云台的角度信息显示的。
  27. 根据权利要求18～25任意一项所述的控制端，其特征在于，所述控制端还包括第三获取模块，其中，所述检测模块具体用于：
    检测用户对第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作；
    所述第三获取模块，用于在所述检测模块检测到用户对所述第一显示画面的某一位置进行按压时长超过预设时长的触摸操作之后，获取所述第一显示画面中显示的起始点的起始位置坐标，所述起始位置坐标为所述显示屏的坐标系中所述起始点对应的二维坐标，所述起始点是根据云台的角度信息显示的；
    其中，所述三维航道为将所述触摸位置坐标和所述起始位置坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标确定的航道。
  28. 根据权利要求18～27任意一项所述的控制端，其特征在于，所述控制端还包括：
    第四获取模块，用于获取兴趣点的坐标；
    发送模块，用于发送包括所述兴趣点的坐标的指示信息至所述飞行器，所述指示信息用于指示所述飞行器在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  29. 根据权利要求18～28任意一项所述的控制端，其特征在于，所述第一显示画面中显示有地平线。
  30. 根据权利要求29所述的控制端，其特征在于，所述第一显示画面中所述地平线以下的部分和所述地平线以上的部分以不同的方式显示。
  31. 根据权利要求29或30所述的控制端，其特征在于，所述第一获取模块具体用于：
    获取用户在所述第一显示画面中对所述地平线以下的部分的触摸操作对应的触摸位置坐标。
  32. 根据权利要求29～31任意一项所述的控制端，其特征在于，所述控制端还包括：
    输出模块，用于若所述检测模块检测到用户在所述第一显示画面中对所述地平线以上的部分进行触摸操作，则输出用于提示用户对所述地平线以下的部分进行触摸的提示信息。
  33. 根据权利要求18～32任意一项所述的控制端，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述触摸位置坐标转换为第一坐标之后，根据所述第一坐标得到的航道，所述飞行航道层为将所述触摸位置坐标转换为第二坐标之后，根据所述第二坐标得到的航道，所述第一坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第二坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
  34. 根据权利要求18～33任意一项所述的控制端，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
  35. 一种控制端，其特征在于，所述控制端包括：一个或多个处理器、存储器、总线系统、收发器以及一个或多个程序，所述处理器、所述存储器和所述收发器通过所述总线系统相连；其中，所述一个或多个程序被存储在所述存储器中，该处理器用于调用所述存储器中的所述一个或多个程序执行如权利要求1～17任意一项所述的方法。
  36. 一种航道规划方法，应用于飞行器，其特征在于，所述方法包括：
    接收控制端发送第一坐标，所述第一坐标为所述控制端根据用户在第一显示画面的触摸操作得到的坐标，所述第一坐标为触摸位置坐标、空间二维坐标或三维坐标，所述触摸位置坐标为显示屏的坐标系中所述触摸操作的触摸位置对应的二维坐标，所述空间二维坐标为根据所述触摸位置坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述触摸位置坐标得到的世界坐标系中 的坐标；
    根据所述第一坐标生成三维航道；
    发送所述三维航道的参数至所述控制端。
  37. 根据权利要求36所述的方法，其特征在于，所述第一坐标为所述触摸位置坐标，所述根据所述第一坐标生成三维航道，包括：
    将所述触摸位置坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  38. 根据权利要求36所述的方法，其特征在于，所述第一坐标为所述空间二维坐标，所述根据所述第一坐标生成三维航道，包括：
    将所述空间二维坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  39. 根据权利要求36～38任意一项所述的方法，其特征在于，所述方法还包括：
    发送所述三维航道的剩余里程至所述控制端，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  40. 根据权利要求36所述的方法，其特征在于，所述方法还包括：
    接收所述控制端发送的第二坐标，所述第二坐标为起始位置坐标、根据所述起始位置坐标得到的世界坐标系中的二维坐标或根据所述起始位置坐标得到的世界坐标系中的三维坐标，所述起始位置坐标为所述第一显示画面中显示的起始点在所述显示屏的坐标系中的二维坐标，所述起始点为是根据云台的角度信息显示的；
    所述根据所述第一坐标生成三维航道，包括：
    根据所述第一坐标和所述第二坐标生成三维航道。
  41. 根据权利要求36～40任意一项所述的方法，其特征在于，所述方法还包括：
    接收所述控制端发送的所述兴趣点的坐标；
    在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  42. 根据权利要求36～41任意一项所述的方法，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述触摸位置坐标转换为第三坐标之后，根据所述第三坐标得到的航道，所述飞行航道层为将所述触摸位置坐标转换为第四坐标之后，根据所述第四坐标得到的航道，所述第三坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第四坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
  43. 根据权利要求36～42任意一项所述的方法，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
  44. 一种飞行器，其特征在于，所述飞行器包括：
    接收模块，用于接收控制端发送第一坐标，所述第一坐标为所述控制端根据用户在第一显示画面的触摸操作得到的坐标，所述第一坐标为触摸位置坐标、空间二维坐标或三维坐标，所述触摸位置坐标为显示屏的坐标系中所述触摸操作的触摸位置对应的二维坐标，所述空间二维坐标为根据所述触摸位置坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述触摸位置坐标得到的世界坐标系中的坐标；
    生成模块，用于根据所述第一坐标生成三维航道；
    发送模块，用于发送所述三维航道的参数至所述控制端。
  45. 根据权利要求44所述的飞行器，其特征在于，所述第一坐标为所述触摸位置坐标，所述生成模块具体用于：
    将所述触摸位置坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  46. 根据权利要求44所述的飞行器，其特征在于，所述第一坐标为所述 空间二维坐标，所述生成模块具体用于：
    将所述空间二维坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  47. 根据权利要求44～46任意一项所述的飞行器，其特征在于，
    所述发送模块，还用于发送所述三维航道的剩余里程至所述控制端，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  48. 根据权利要求44所述的飞行器，其特征在于，
    所述接收模块，还用于接收所述控制端发送的第二坐标，所述第二坐标为起始位置坐标、根据所述起始位置坐标得到的世界坐标系中的二维坐标或根据所述起始位置坐标得到的世界坐标系中的三维坐标，所述起始位置坐标为所述第一显示画面中显示的起始点在所述显示屏的坐标系中的二维坐标，所述起始点为是根据云台的角度信息显示的；
    所述生成模块具体用于：
    根据所述第一坐标和所述第二坐标生成三维航道。
  49. 根据权利要求44～48任意一项所述的飞行器，其特征在于，所述飞行器还包括控制模块，其中：
    所述接收模块，还用于接收所述控制端发送的所述兴趣点的坐标；
    所述控制模块，用于在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  50. 根据权利要求44～49任意一项所述的飞行器，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述触摸位置坐标转换为第三坐标之后，根据所述第三坐标得到的航道，所述飞行航道层为将所述触摸位置坐标转换为第四坐标之后，根据所述第四坐标得到的航道，所述第三坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第四坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐 标。
  51. 根据权利要求44～50任意一项所述的飞行器，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
  52. 一种飞行器，其特征在于，所述飞行器包括：一个或多个处理器、存储器、总线系统、收发器以及一个或多个程序，所述处理器、所述存储器和所述收发器通过所述总线系统相连；其中，所述一个或多个程序被存储在所述存储器中，该处理器用于调用所述存储器中的所述一个或多个程序执行如权利要求36～43任意一项所述的方法。
  53. 一种航道规划系统，其特征在于，所述系统包括控制端和飞行器，其中：
    所述控制端，用于检测用户在第一显示画面中的触摸操作；
    所述控制端，还用于获取触摸位置坐标，所述触摸位置坐标为显示屏的坐标系中所述触摸操作的触摸位置对应的二维坐标；
    所述控制端，还用于发送第一坐标至所述飞行器，所述第一坐标为所述触摸位置坐标、空间二维坐标或三维坐标，所述空间二维坐标为根据所述触摸位置坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述触摸位置坐标得到的世界坐标系中的坐标；
    所述飞行器，用于根据所述第一坐标生成三维航道；
    所述飞行器，还用于发送所述三维航道的参数至所述控制端。
    所述控制端，还用于根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
  54. 根据权利要求53所述的系统，其特征在于，所述第一坐标为所述触摸位置坐标，所述飞行器根据所述第一坐标生成三维航道，包括：
    所述飞行器将所述触摸位置坐标转换为所述三维坐标；
    所述飞行器根据所述三维坐标生成三维航道。
  55. 根据权利要求53所述的系统，其特征在于，所述第一坐标为所述空间二维坐标，所述飞行器根据所述第一坐标生成三维航道，包括：
    将所述空间二维坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  56. 根据权利要求53～55任意一项所述的系统，其特征在于，映射有所述三维航道的第二显示画面中还包括所述三维航道的剩余里程，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  57. 根据权利要求56所述的系统，其特征在于，若所述第二显示画面中存在所述三维航道的末端，则所述控制端在所述第二显示画面中的第一位置显示所述剩余里程；若所述第二显示画面中不存在所述三维航道的末端，则所述控制端在所述第二显示画面中的第二位置显示所述剩余里程，所述第一位置与所述第二位置不相同。
  58. 根据权利要求57所述的系统，其特征在于，所述第一位置为所述三维航道的末端。
  59. 根据权利要求53～58任意一项所述的系统，其特征在于，所述控制端检测用户在第一显示画面中的触摸操作，包括：
    所述控制端检测用户从第一显示画面中显示的起始点开始进行的触摸操作，所述起始点是根据云台的角度信息显示的。
  60. 根据权利要求53～58任意一项所述的系统，其特征在于，所述控制端检测用户在第一显示画面中的触摸操作，包括：
    所述控制端检测用户对第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作；
    所述控制端，还用于在检测用户对所述第一显示画面的某一位置进行的按压时长超过预设时长的触摸操作之后，获取所述第一显示画面中显示的起始点的起始位置坐标，所述起始位置坐标为所述显示屏的坐标系中所述起始点对应 的二维坐标，所述起始点是根据云台的角度信息显示的；
    所述控制端，还用于发送第二坐标至飞行器，所述第二坐标为所述起始位置坐标、根据所述起始位置坐标得到的世界坐标系中的二维坐标或根据所述起始位置坐标得到的世界坐标系中的三维坐标；
    所述飞行器根据所述第一坐标生成三维航道，包括：
    所述飞行器根据所述第一坐标和所述第二坐标生成三维航道。
  61. 根据权利要求53～60任意一项所述的系统，其特征在于，
    所述控制端，还用于获取兴趣点的坐标；
    所述控制端，还用于发送包括所述兴趣点的坐标的指示信息至所述飞行器。
    所述飞行器，还用于在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  62. 根据权利要求53～61任意一项所述的系统，其特征在于，所述第一显示画面中显示有地平线。
  63. 根据权利要求62所述的系统，其特征在于，所述第一显示画面中所述地平线以下的部分和所述地平线以上的部分以不同的方式显示。
  64. 根据权利要求62或63所述的系统，其特征在于，所述控制端获取触摸位置坐标，包括：
    所述控制端获取用户在所述第一显示画面中对所述地平线以下的部分的触摸操作对应的触摸位置坐标。
  65. 根据权利要求62～64任意一项所述的系统，其特征在于，
    所述控制端，还用于若检测到用户在所述第一显示画面中对所述地平线以上的部分进行触摸操作，则输出用于提示用户对所述地平线以下的部分进行触摸的提示信息。
  66. 根据权利要求53～65任意一项所述的系统，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述触摸位置坐标转换为第三坐标之后，根据所述第三坐标得到的航道，所述飞行航道层为将所述触摸位置坐标转换为第四坐标之后，根据所述第四坐标得到的航道，所述第三坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第四坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
  67. 根据权利要求53～66任意一项所述的系统，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
  68. 一种航道规划显示方法，应用于控制端，其特征在于，所述方法包括：
    若检测到用户对第一显示画面中的按压点进行的按压操作的按压时长超过预设时长，则生成以所述按压点为中心的几何图形；
    获取所述几何图形的第一坐标，所述第一坐标为所述几何图形在显示屏的坐标系中的二维坐标；
    获取映射于第二显示画面中的三维航道，所述三维航道为将所述第一坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标得到的航道。
  69. 根据权利要求68所述的方法，其特征在于，所述几何图形为圆，所述生成以所述按压点为中心的几何图形，包括：
    生成以所述按压点为中心的具有预设半径的圆；
    所述圆包括半径调节图标，所述获取所述几何图形的第一坐标之前，所述方法还包括：
    接收用户对所述半径调节图标的拖动操作；
    将停止所述拖动操作时所述半径调节图标与所述触摸按压点之间的距离确定为所述圆的半径。
  70. 根据权利要求68或69所述的方法，其特征在于，所述获取映射于第二显示画面中的三维航道，包括：
    将所述第一坐标转换为空间二维坐标，所述空间二维坐标为世界坐标系中 的二维坐标；
    将所述空间二维坐标发送至飞行器；
    接收所述飞行器返回的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中，所述三维航道为所述飞行器将所述空间二维坐标转换为世界坐标系中的三维坐标，并根据所述三维坐标确定的航道。
  71. 根据权利要求68或69所述的方法，其特征在于，所述获取映射于第二显示画面中的三维航道，包括：
    将所述第一坐标转换为世界坐标系中的三维坐标，并将所述三维坐标发送给飞行器；
    接收所述飞行器根据所述三维坐标确定的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
  72. 根据权利要求68或69所述的方法，其特征在于，所述获取映射于第二显示画面中的三维航道，包括：
    将所述第一坐标发送至飞行器；
    接收所述飞行器根据所述第一坐标确定的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
  73. 根据权利要求68或69所述的方法，其特征在于，所述获取映射于第二显示画面中的三维航道，包括：
    将所述第一坐标转换为世界坐标系中的三维坐标；
    根据所述三维坐标确定三维航道；
    将所述三维航道映射于第二显示画面中。
  74. 根据权利要求68～73任意一项所述的方法，其特征在于，映射有所述三维航道的第二显示画面中还包括所述三维航道的剩余里程，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  75. 根据权利要求74所述的方法，其特征在于，若所述第二显示画面中 存在所述三维航道的末端，则在所述第二显示画面中的第一位置显示所述剩余里程；若所述第二显示画面中不存在所述三维航道的末端，则在所述第二显示画面中的第二位置显示所述剩余里程，所述第一位置与所述第二位置不相同。
  76. 根据权利要求75所述的方法，其特征在于，所述第一位置为所述三维航道的末端。
  77. 根据权利要求68～76任意一项所述的方法，其特征在于，所述第一显示画面中的按压点的显示位置是根据云台的角度信息确定的。
  78. 根据权利要求68～77任意一项所述的方法，其特征在于，所述方法还包括：
    获取兴趣点的坐标；
    发送包括所述兴趣点的坐标的指示信息至所述飞行器，所述指示信息用于指示所述飞行器在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  79. 根据权利要求68～78任意一项所述的方法，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述第一坐标转换为第二坐标之后，根据所述第二坐标得到的航道，所述飞行航道层为将所述第一坐标转换为第三坐标之后，根据所述第三坐标得到的航道，所述第二坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第三坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
  80. 根据权利要求68～79任意一项所述的方法，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
  81. 一种控制端，其特征在于，所述控制端包括：
    生成模块，用于若检测到用户对第一显示画面中的按压点进行的按压操作的按压时长超过预设时长，则生成以所述按压点为中心的几何图形；
    第一获取模块，用于获取所述几何图形的第一坐标，所述第一坐标为所述几何图形在显示屏的坐标系中的二维坐标；
    第二获取模块，用于获取映射于第二显示画面中的三维航道，所述三维航道为将所述第一坐标转换为世界坐标系中的三维坐标之后，根据所述三维坐标得到的航道。
  82. 根据权利要求81所述的控制端，其特征在于，所述几何图形为圆，生成模块具体用于：生成以所述按压点为中心的具有预设半径的圆；
    所述圆包括半径调节图标，所述控制端还包括：
    接收模块，用于在所述第一获取模块获取所述几何图形的第一坐标之前，接收用户对所述半径调节图标的拖动操作；
    确定模块，用于将停止所述拖动操作时所述半径调节图标与所述触摸按压点之间的距离确定为所述圆的半径。
  83. 根据权利要求81或82所述的控制端，其特征在于，所述第二获取模块具体用于：
    将所述第一坐标转换为空间二维坐标，所述空间二维坐标为世界坐标系中的二维坐标；
    将所述空间二维坐标发送至飞行器；
    接收所述飞行器返回的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中，所述三维航道为所述飞行器将所述空间二维坐标转换为世界坐标系中的三维坐标，并根据所述三维坐标确定的航道。
  84. 根据权利要求81或82所述的控制端，其特征在于，所述第二获取模块具体用于：
    将所述第一坐标转换为世界坐标系中的三维坐标，并将所述三维坐标发送给飞行器；
    接收所述飞行器根据所述三维坐标确定的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
  85. 根据权利要求81或82所述的控制端，其特征在于，所述第二获取模块具体用于：
    将所述第一坐标发送至飞行器；
    接收所述飞行器根据所述第一坐标确定的三维航道的参数，并根据所述三维航道的参数将所述三维航道映射于第二显示画面中。
  86. 根据权利要求81或82所述的控制端，其特征在于，所述第二获取模块具体用于：
    将所述第一坐标转换为世界坐标系中的三维坐标；
    根据所述三维坐标确定三维航道；
    将所述三维航道映射于第二显示画面中。
  87. 根据权利要求81～86任意一项所述的控制端，其特征在于，映射有所述三维航道的第二显示画面中还包括所述三维航道的剩余里程，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  88. 根据权利要求87所述的控制端，其特征在于，若所述第二显示画面中存在所述三维航道的末端，则在所述第二显示画面中的第一位置显示所述剩余里程；若所述第二显示画面中不存在所述三维航道的末端，则在所述第二显示画面中的第二位置显示所述剩余里程，所述第一位置与所述第二位置不相同。
  89. 根据权利要求88所述的控制端，其特征在于，所述第一位置为所述三维航道的末端。
  90. 根据权利要求81～88任意一项所述的控制端，其特征在于，所述第一显示画面中的按压点的显示位置是根据云台的角度信息确定的。
  91. 根据权利要求81～90任意一项所述的控制端，其特征在于，所述控制端还包括：
    第三获取模块，用于获取兴趣点的坐标；
    发送模块，用于发送包括所述兴趣点的坐标的指示信息至所述飞行器，所述指示信息用于指示所述飞行器在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  92. 根据权利要求81～91任意一项所述的控制端，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述第一坐标转换为第二坐标之后，根据所述第二坐标得到的航道，所述飞行航道层为将所述第一坐标转换为第三坐标之后，根据所述第三坐标得到的航道，所述第二坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第三坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
  93. 根据权利要求81～92任意一项所述的控制端，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
  94. 一种控制端，其特征在于，所述控制端包括：一个或多个处理器、存储器、总线系统、收发器以及一个或多个程序，所述处理器、所述存储器和所述收发器通过所述总线系统相连；其中，所述一个或多个程序被存储在所述存储器中，该处理器用于调用所述存储器中的所述一个或多个程序执行如权利要求68～80任意一项所述的方法。
  95. 一种航道规划方法，应用于飞行器，其特征在于，所述方法包括：
    接收控制端发送的目标坐标，所述目标坐标为第一坐标、空间二维坐标或三维坐标，所述第一坐标为控制端的第一显示画面中的几何图形在显示屏的坐标系中的二维坐标，所述空间二维坐标为根据所述第一坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述第一坐标得到的世界坐标系中的坐标，所述几何图形以所述第一显示画面中的按压点为中心；
    根据所述目标坐标生成三维航道；
    发送所述三维航道的参数至所述控制端。
  96. 根据权利要求95所述的方法，其特征在于，所述目标坐标为所述第一坐标，所述根据所述目标坐标生成三维航道，包括：
    将所述第一坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  97. 根据权利要求95所述的方法，其特征在于，所述目标坐标为所述空间二维坐标，所述根据所述目标坐标生成三维航道，包括：
    将所述空间二维坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  98. 根据权利要求95～97任意一项所述的方法，其特征在于，所述方法还包括：
    发送所述三维航道的剩余里程至所述控制端，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  99. 根据权利要求95～98任意一项所述的方法，其特征在于，所述方法还包括：
    接收所述控制端发送的所述兴趣点的坐标；
    在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  100. 根据权利要求95～99任意一项所述的方法，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述第一坐标转换为第二坐标之后，根据所述第二坐标得到的航道，所述飞行航道层为将所述第一坐标转换为第三坐标之后，根据所述第三坐标得到的航道，所述第二坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第三坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
  101. 根据权利要求95～100任意一项所述的方法，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
  102. 一种飞行器，其特征在于，所述飞行器包括：
    接收模块，用于接收控制端发送的目标坐标，所述目标坐标为第一坐标、空间二维坐标或三维坐标，所述第一坐标为控制端的第一显示画面中的几何图形在显示屏的坐标系中的二维坐标，所述空间二维坐标为根据所述第一坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述第一坐标得到的世界坐标系中的坐标，所述几何图形以所述第一显示画面中的按压点为中心；
    生成模块，用于根据所述目标坐标生成三维航道；
    发送模块，用于发送所述三维航道的参数至所述控制端。
  103. 根据权利要求102所述的飞行器，其特征在于，所述目标坐标为所述第一坐标，所述生成模块具体用于：
    将所述第一坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  104. 根据权利要求102所述的飞行器，其特征在于，所述目标坐标为所述空间二维坐标，所述生成模块具体用于：
    将所述空间二维坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  105. 根据权利要求102～104任意一项所述的飞行器，其特征在于，
    所述发送模块，还用于发送所述三维航道的剩余里程至所述控制端，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  106. 根据权利要求102～105任意一项所述的飞行器，其特征在于，所述飞行器还包括控制模块，其中：
    所述接收模块，还用于接收所述控制端发送的所述兴趣点的坐标；
    所述控制模块，用于在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  107. 根据权利要求102～106任意一项所述的飞行器，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述第一坐标转换为第二坐标之后，根据所述第二坐标得到的航道，所述飞行航道层为将所述第一坐标转换为第三坐标之后，根据所述第三坐标得到的航道，所述第二坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第三坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
  108. 根据权利要求102～107任意一项所述的飞行器，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
  109. 一种飞行器，其特征在于，所述飞行器包括：一个或多个处理器、存储器、总线系统、收发器以及一个或多个程序，所述处理器、所述存储器和所述收发器通过所述总线系统相连；其中，所述一个或多个程序被存储在所述存储器中，该处理器用于调用所述存储器中的所述一个或多个程序执行如权利要求95～101任意一项所述的方法。
  110. 一种航道规划系统，其特征在于，所述系统包括控制端和飞行器，其中：
    所述控制端，用于若检测到用户对第一显示画面中的按压点进行的按压操作的按压时长超过预设时长，则生成以所述按压点为中心的几何图形；
    所述控制端，还用于获取所述几何图形的第一坐标，所述第一坐标为所述几何图形在显示屏的坐标系中的二维坐标；
    所述控制端，还用于发送目标坐标至所述飞行器，所述目标坐标为所述第一坐标、空间二维坐标或三维坐标，所述空间二维坐标为根据所述第一坐标得到的世界坐标系中的二维坐标，所述三维坐标为根据所述第一坐标得到的世界坐标系中的坐标；
    所述飞行器，用于根据所述目标坐标生成三维航道；
    所述飞行器，还用于发送所述三维航道的参数至所述控制端；
    所述控制端，还用于根据所述三维航道的参数将所述三维航道映射于第二 显示画面中。
  111. 根据权利要求110所述的系统，其特征在于，所述几何图形为圆，所述圆包括半径调节图标，所述控制端生成以所述按压点为中心的几何图形，包括：
    所述控制端生成以所述按压点为中心的具有预设半径的圆；
    所述控制端，还用于在所述控制端获取所述几何图形的第一坐标之前，接收用户对所述半径调节图标的拖动操作，以及将停止所述拖动操作时所述半径调节图标与所述触摸按压点之间的距离确定为所述圆的半径。
  112. 根据权利要求110或111所述的系统，其特征在于，所述目标坐标为第一坐标，所述飞行器根据所述目标坐标生成三维航道，包括：
    将所述第一坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  113. 根据权利要求110或111所述的系统，其特征在于，所述目标坐标为所述空间二维坐标，所述飞行器根据所述目标坐标生成三维航道，包括：
    将所述空间二维坐标转换为所述三维坐标；
    根据所述三维坐标生成三维航道。
  114. 根据权利要求110～113任意一项所述的系统，其特征在于，映射有所述三维航道的第二显示画面中还包括所述三维航道的剩余里程，所述剩余里程为根据所述三维航道的末端坐标和所述飞行器的当前位置坐标计算得到的。
  115. 根据权利要求114所述的系统，其特征在于，若所述第二显示画面中存在所述三维航道的末端，则所述控制端在所述第二显示画面中的第一位置显示所述剩余里程；若所述第二显示画面中不存在所述三维航道的末端，则所述控制端在所述第二显示画面中的第二位置显示所述剩余里程，所述第一位置与所述第二位置不相同。
  116. 根据权利要求115所述的系统，其特征在于，所述第一位置为所述三维航道的末端。
  117. 根据权利要求110～116任意一项所述的系统，其特征在于，所述第一显示画面中的按压点的显示位置是根据云台的角度信息确定的。
  118. 根据权利要求110～117任意一项所述的系统，其特征在于，
    所述控制端，还用于获取兴趣点的坐标；
    所述控制端，还用于发送包括所述兴趣点的坐标的指示信息至所述飞行器。
    所述飞行器，还用于在所述三维航道上航行的过程中，根据所述兴趣点的坐标控制所述飞行器的摄像装置的拍摄角度朝向所述兴趣点。
  119. 根据权利要求110～118任意一项所述的系统，其特征在于，所述三维航道包括航道投影层和飞行航道层，所述航道投影层为将所述第一坐标转换为第二坐标之后，根据所述第二坐标得到的航道，所述飞行航道层为将所述第一坐标转换为第三坐标之后，根据所述第三坐标得到的航道，所述第二坐标为在所述世界坐标系中的Z轴坐标为零的三维坐标，所述第三坐标为在所述世界坐标系中的Z轴坐标大于零且小于或等于飞行器当前的高度的三维坐标。
  120. 根据权利要求110～119任意一项所述的系统，其特征在于，所述三维航道为满足飞行器动力学约束的航道。
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