WO2018232586A1 - Procédé et dispositif de planification de région de vol de véhicule aérien sans pilote - Google Patents

Procédé et dispositif de planification de région de vol de véhicule aérien sans pilote Download PDF

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Publication number
WO2018232586A1
WO2018232586A1 PCT/CN2017/089154 CN2017089154W WO2018232586A1 WO 2018232586 A1 WO2018232586 A1 WO 2018232586A1 CN 2017089154 W CN2017089154 W CN 2017089154W WO 2018232586 A1 WO2018232586 A1 WO 2018232586A1
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WIPO (PCT)
Prior art keywords
boundary
user interface
boundary point
point
added
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Application number
PCT/CN2017/089154
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English (en)
Chinese (zh)
Inventor
谢卓
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780004691.4A priority Critical patent/CN108521804A/zh
Priority to PCT/CN2017/089154 priority patent/WO2018232586A1/fr
Publication of WO2018232586A1 publication Critical patent/WO2018232586A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0034—Assembly of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft

Definitions

  • the invention relates to the technical field of control, and in particular to a method and a device for planning a flight area of a drone.
  • the user can determine the flight area of the drone through the user interface of the flight area planning device, and after determining the flight area, the drone can only fly within the flight area.
  • a way to determine the flight area is to directly import a square initial area on the map displayed on the user interface.
  • the user has to adjust the size of the map on the one hand, and adjust the initial area on the other hand.
  • the operation mode is not flexible; another way to determine the flight area: the user first determines three boundary points on the user interface, determines an initial area through three boundary points, and then adds new boundaries.
  • the newly added boundary point will be connected with the two boundary points closest to the initial area to form a flight area, however, this will result in a flight area that the user does not want in some cases, because, in some In this case, the user does not want the newly added boundary point to be connected to the nearest two boundary points.
  • the lack of flexible flight area determination methods increases the operational burden on users.
  • Embodiments of the present invention provide a flight area planning method and apparatus for a drone to improve the accuracy and flexibility of determining a flight area planning of the drone.
  • an embodiment of the present invention provides a method for planning a flight area of a drone, including:
  • an embodiment of the present invention further provides a flight area planning device, including a memory and processor;
  • the memory is configured to store program instructions
  • the processor calls a program instruction stored in the memory to perform the following steps:
  • an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, implements the drone as described in the first aspect above. Flight area planning method.
  • an initial region is determined according to a boundary point received on a user interface, and an added boundary point operation associated with the boundary line is received on the user interface, and the added boundary point and the location are determined according to the added boundary point operation.
  • Two boundary points corresponding to the boundary line are described, so that the initial area is updated to acquire a flight area.
  • the boundary point is only connected with the two boundary points corresponding to the boundary line associated with the added boundary point operation to form a flight area, thereby improving the determination of the drone flight.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an interface for determining an initial area according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of an interface for determining a flight area according to an embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of a method for planning a flight area of a drone according to an embodiment of the present invention
  • FIG. 5 is a flow chart showing a method for planning a flight area of a second type of drone according to an embodiment of the present invention.
  • FIG. intention is a flow chart showing a method for planning a flight area of a second type of drone according to an embodiment of the present invention.
  • FIG. 6 is a schematic flow chart of a method for planning a flight area of a third type of drone according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a flight area planning device according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be in the middle. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the flight area planning method of the drone provided by the embodiment of the present invention can be performed by a flight area planning device.
  • FIG. 1 is a schematic structural diagram of a UAV system according to an embodiment of the present invention.
  • the system includes a flight area planning device 11 and a drone 12.
  • the flight area planning device 11 may be a control terminal of the drone, and may specifically be one of a remote controller, a smart phone, a tablet computer, a laptop computer, a ground station, a wearable device (watch, a wristband).
  • the drone 12 may be a rotor-type drone, such as a quadrotor drone, a six-rotor drone, an eight-rotor drone, or a fixed-wing drone.
  • the drone includes a power system 121 for providing flight power to the drone, wherein the power system 121 includes one or more of a propeller, a motor, and an electric switch, and the drone may further include a pan/tilt 122
  • the imaging device 123 mounts the imaging device on the main body of the drone through the pan/tilt.
  • the imaging device is used for image or video capture during the flight of the drone, including However, it is not limited to multi-spectral imager, hyperspectral imager, visible light camera and infrared camera.
  • the pan/tilt is a multi-axis drive and stabilization system.
  • the pan/tilt motor compensates the shooting angle of the imaging device by adjusting the rotation angle of the rotating shaft. And prevent or reduce the jitter of the imaging device by setting an appropriate buffer mechanism.
  • the flight area planning device 11 can be configured with an interaction device that interacts with a user, and the interaction device can be one or more of a touch display screen, a keyboard, a button, a joystick, and a pulsator.
  • a user interface may be provided, and an electronic map is displayed on the user interface, and the user may perform a click operation on the electronic map displayed on the user interface of the flight area planning device 11, and the click operation may confirm a boundary point by clicking once, the flight After receiving the at least three boundary points clicked by the click operation, the regional planning device 11 connects the at least three boundary points to form an area enclosed by at least three boundary lines.
  • Each of the boundary lines is obtained by connecting two boundary points, and the enclosed area is determined as an initial area, and an identifier corresponding to each of the at least three boundary lines is displayed.
  • the flight area planning device 11 may receive an operation of adding a boundary point to the identifier, and determine, according to the added boundary point operation, an added boundary point and two boundary points corresponding to the boundary line, respectively, where the added boundary points are respectively Two boundary points corresponding to the boundary line are connected, and the boundary line is deleted to acquire a flight area.
  • the user can click on a button to determine the flight area and send a control command to the drone via the upstream data link to control the drone 12 to navigate within the flight area.
  • FIG. 2 is a schematic diagram of an interface for determining an initial area according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of an interface for determining a flight area according to an embodiment of the present invention.
  • the user can perform a click operation directly on the user interface of the flight area planning device 101, and click once to confirm a boundary point (201 in FIG. 2), as shown in FIG.
  • the flight area planning device connects the three boundary points to form a triangular area surrounded by three boundary lines, wherein each boundary line is connected by two boundary points.
  • the boundary corresponding to the boundary line is displayed on each boundary line as shown in FIG. 2, 204, 205, and 206, and the enclosed triangular area is determined as an initial area.
  • FIG. 3 is obtained on the basis of FIG. 2, and the flight area planning device determines the initial region of the triangle as shown in FIG. 2 according to the boundary point received on the user interface, wherein, FIG. 2
  • the triangle initial area displays a corresponding identifier on each of the boundary lines as a plus sign as shown in 204, 205, 206, and the device can receive a drag on the identifier represented by the plus sign on the user interface.
  • An operation for example, the flight area planning device can receive on the user interface The drag operation of the plus sign indicated by 204, and the position point corresponding to the plus sign (as shown in 301 in FIG.
  • the boundary points 301 are respectively connected to the boundary points 201 corresponding to the boundary lines as shown in FIG. 2 and the boundary points 202, and the boundary lines obtained by connecting the boundary points 201 and the boundary points 202 as shown in FIG. 2 are deleted. To obtain the flight area as shown in FIG.
  • the initial area is determined by three boundary points for illustrative purposes only, and is not intended to limit the initial area by using other data boundary points.
  • the user can determine other on the user interface of the flight area planning device.
  • the boundary point of the data is used to determine the initial region, which is not specifically limited herein.
  • FIG. 4 is a schematic flowchart of a method for planning a flight area of a drone according to an embodiment of the present invention.
  • the method may be performed by a flight area planning device, where a specific explanation of the flight area planning device is as follows.
  • the method of the embodiment of the present invention includes the following steps.
  • S401 Determine an initial area according to a boundary point received on the user interface.
  • the flight area planning device may determine the initial area according to the boundary points received on the user interface.
  • the initial area includes an area enclosed by at least three boundary lines, and each boundary line is obtained by connecting two boundary points.
  • FIG. 2 is taken as an example.
  • 201, 202, and 203 are boundary points, and 204, 205, and 206 are added to the boundary points.
  • the user can directly click on the boundary of the task on which the task is to be executed on the user interface, and click once to confirm a boundary point (201 in FIG. 2), and click on 201, 202, 203 as shown in FIG.
  • the flight area planning device connects the three boundary points to form a triangular area surrounded by three boundary lines, wherein each boundary line is obtained by connecting two boundary points, and the boundary is displayed on each boundary line.
  • the boundary points corresponding to the lines are identified as 204, 205, and 206 in FIG. 2, and the enclosed triangular area is determined as the initial area.
  • the flight area planning device may display, according to a boundary point received on the user interface, an initial region, and display a boundary line corresponding to each of at least three boundary lines in the initial region. Add a logo to the boundary point.
  • S402 Receive an added boundary point operation associated with the boundary line on the user interface.
  • the flight area planning device may receive an added boundary point operation associated with the boundary line on the user interface. Specifically, in the embodiment of the present invention, the flight area planning device After the initial region is determined according to the boundary point received on the user interface, a corresponding boundary point addition identifier is displayed on each boundary line of the initial region, and the flight area planning device can receive the opposite on the user interface. Add a boundary point operation for the identifier.
  • the flight area planning device may receive an operation of adding a boundary point to the identifier on the user interface. Specifically, the flight area planning device may receive the pair on the user interface. In the drag operation of the identifier, the flight area planning device may determine a position point corresponding to the identifier after the drag operation is completed as an added boundary point. 2 and FIG. 3 can be used as an example, and FIG. 3 is obtained on the basis of FIG. 2 .
  • the flight area planning device determines the initial area of the triangle as shown in FIG. 2 according to the boundary point received on the user interface, wherein, as shown in FIG. 2, the initial area of the triangular initial area is displayed with a corresponding identifier on each boundary line.
  • the user may perform a drag operation on the plus sign, and the flight area planning device may receive the identifier represented by the plus sign on the user interface.
  • a drag operation for example, the flight area planning device may receive a drag operation on the user interface for the identifier represented by the plus sign indicated by 204, and corresponding to the plus sign after the drag operation is completed
  • the location point (shown as 301 in Figure 3) is determined to be the added boundary point.
  • a boundary point addition identifier is displayed on each of at least three boundary lines of the initial region.
  • the flight area planning device may receive an added boundary point operation associated with the boundary line on the user interface.
  • the device may receive a selection operation on the boundary line on the user interface, and then receive a determination operation of adding a boundary point on the user interface.
  • the selected operation and the determining operation comprise a click operation.
  • FIG. 2 and FIG. 3 are used as an example.
  • the flight area planning device can receive a click operation on the boundary line corresponding to the selected identifier shown by 204 in FIG. 2 on the user interface, and then on the user interface. A click operation of the location point at 301 in FIG. 3 is received.
  • S403 Determine an added boundary point and two boundary points corresponding to the boundary line according to the added boundary point operation, and update the initial area to obtain a flight area.
  • the flight area planning device may determine the added boundary point and the two boundary points corresponding to the boundary line according to the added boundary point operation, and update the initial area to obtain the flight area. Specifically, the flight area planning device may determine, according to the adding a boundary point operation, an added boundary point and two boundary points corresponding to the boundary line, and respectively adding the added boundary point to the Two boundary points corresponding to the boundary line are connected, and the boundary line is deleted to acquire a flight area. A boundary point identifier is displayed on each of the two added boundary lines between the two boundary points of the flight area and the added boundary point and the boundary line. Specifically, FIG. 2 and FIG. 3 can be used as an example.
  • the flight area planning device can determine the added boundary point 301 to be added after the drag operation according to the drag operation of the identifier described in FIG. a boundary point, connecting the added boundary points 301 to the two boundary points 201 and 202 corresponding to the boundary line of the identifier 204 in FIG. 2, and deleting the boundary line, thereby acquiring the flight area shown in FIG. .
  • Boundary point identifiers 302 and 303 are displayed on each of the two added boundary lines between the two boundary points corresponding to the added boundary point 301 and the boundary line on the flight area. Further, the user may continue to drag the boundary point identifiers (205, 206, 302, 303) in FIG. 3, add a new boundary point, and acquire an updated flight area for the flight area, where the updated The determination method of the flight area is as described above, and will not be described here.
  • the flight area planning device determines, according to the adding boundary point operation, the added boundary point and the two boundary points corresponding to the boundary line, after updating the initial area to obtain the flight area,
  • the preset rules determine the route of the drone in the flight area.
  • the drone is caused to sail in the flight area in accordance with the determined route.
  • the flight area planning device determines an initial area according to a boundary point received on the user interface, and receives an added boundary point operation associated with the boundary line on the user interface, according to the adding boundary
  • the point operation determines the added boundary point and the two boundary points corresponding to the boundary line, and updates the initial area to obtain the flight area, so that after the user adds the boundary point operation on the user interface, the boundary point only
  • the two boundary points corresponding to the boundary line associated with the added boundary point operation are connected to form a flight area, which improves the accuracy and flexibility of determining the flight area of the drone.
  • FIG. 5 is a schematic flowchart of a method for planning a flight area of a second type of drone according to an embodiment of the present invention.
  • the method may be performed by a flight area planning device, where a specific explanation of the flight area planning device is as before. Said.
  • the embodiment of the present invention receives the drag operation of the identifier on the user interface, and determines a location point corresponding to the identifier after the drag operation is completed as an added boundary point, thereby determining a flight area.
  • the method of the embodiment of the invention comprises the following steps.
  • S501 Determine an initial area according to a boundary point received on the user interface.
  • the flight area planning device can be based on the edge received on the user interface.
  • the boundary point determines the initial area.
  • FIG. 2 is taken as an example.
  • 201, 202, and 203 are boundary points, and 204, 205, and 206 are added to the boundary points.
  • the user can directly click on the boundary of the task on which the task is to be executed on the user interface, and click once to confirm a boundary point (201 in FIG. 2), and click on 201, 202, 203 as shown in FIG.
  • the three boundary points are connected to form a triangular area surrounded by three boundary lines, wherein each boundary line is obtained by connecting two boundary points, and the boundary corresponding to the boundary line is displayed on each boundary line.
  • the point addition is identified as 204, 205, and 206 in FIG. 2, and the enclosed triangular area is determined as the initial area.
  • S502 Display a boundary point corresponding to each of the at least three boundary lines to add an identifier.
  • the flight area planning device may display a boundary point adding identifier corresponding to each of the at least three boundary lines.
  • FIG. 2 is used as an example. After determining the initial region of the triangle as shown in FIG. 2, the flight area planning device displays 204, 205, and 206 in each boundary line of the triangular initial region. The boundary points shown are added with an identifier.
  • S503 Receive a drag operation on the identifier on the user interface.
  • the flight area planning device may receive a drag operation on the identifier on the user interface.
  • FIG. 2 is used as an example.
  • the flight area planning device displays 204, 205, and 206 in each boundary line of the triangular initial region.
  • the identification shown such that the flight area planning device can receive a drag operation on the identification indicated by 204, 205 or 206 on the initial area on the user interface, for example, the flight area planning device can receive as shown in FIG.
  • S504 Determine a position point corresponding to the identifier after the drag operation is completed as the added boundary point.
  • the flight area planning device may determine the position point corresponding to the identifier after the drag operation is completed as the added boundary point.
  • FIG. 2 and FIG. 3 are used as an example.
  • the flight area planning device displays the identifiers shown in 204, 205, and 206 in FIG. 2 on each of the determined boundary lines of the triangular initial area as shown in FIG. 2 .
  • the flight area planning device can receive a drag operation on the identification indicated by 204, 205 or 206 on the initial area on the user interface, for example, the flight area planning device can receive as shown at 204 in FIG.
  • the editing point edits the drag operation of the logo, and can determine the corresponding position point shown by 301 in FIG. 3 obtained by dragging the identifier shown in FIG. 204 as the added boundary point.
  • the flight area planning device may connect the added boundary points to two boundary points corresponding to the boundary line, and delete the boundary line to obtain a flight area.
  • FIG. 2 and FIG. 3 can be used as an example.
  • the boundary point shown by 301 in FIG. 3 is a boundary point added by dragging the identifier shown in FIG. 2, and the flight area planning device can
  • the added boundary points 301 are respectively connected to two boundary points corresponding to the boundary line connecting the 201 boundary point and the 202 boundary point in FIG. 2, and the boundary line is deleted to acquire the flight area shown in FIG.
  • the user may continue to drag the boundary point identifiers (205, 206, 302, 303) in FIG. 3, add a new boundary point, and acquire an updated flight area for the flight area, where the updated The determination method of the flight area is as described above, and will not be described here.
  • the flight area planning device determines an initial area according to a boundary point received on the user interface, and displays a corresponding boundary point added identifier on each boundary line in the initial area, and in the user interface Receiving a drag operation on the identifier, and determining a position point corresponding to the identifier after the drag operation is determined as an added boundary point, respectively connecting the added boundary points to two boundary points corresponding to the boundary line, and The boundary line is deleted, so that the flight area is obtained, so that the user receives the drag operation on the identifier on the user interface, and after determining the position point corresponding to the identifier after the drag operation is completed as the added boundary point, the boundary point Only the two boundary points corresponding to the boundary line associated with the identification are connected to form a flight area, which improves the accuracy and flexibility of determining the flight area of the drone.
  • FIG. 6 is a schematic flowchart diagram of a method for planning a flight area of a third type of drone according to an embodiment of the present invention, which may be performed by a flight area planning device.
  • the embodiment of the present invention receives the selection operation of the boundary line corresponding to the identifier on the user interface, and receives a determination operation of adding a boundary point on the user interface, and updates the initial region, where the method includes The following steps.
  • S601 Determine an initial area according to a boundary point received on the user interface.
  • the flight area planning device may determine an initial area according to a boundary point received on a user interface, where the initial area includes an area enclosed by at least three boundary lines, each boundary The line is obtained by connecting two boundary points.
  • S602 Display a selected identifier corresponding to each of the at least three boundary lines.
  • the flight area planning device may display each of the at least three boundary lines A selected mark corresponding to a boundary line.
  • FIG. 2 is used as an example. After determining the initial region of the triangle as shown in FIG. 2, the flight area planning device displays 204, 205, and 206 in each boundary line of the triangular initial region. The selected identifier shown.
  • S603 Receive a selection operation of the boundary line corresponding to the identifier on the user interface.
  • the flight area planning device may receive the selection operation of the boundary line corresponding to the identifier on the user interface, which may be illustrated by using FIG. 2 as an example.
  • the flight area planning device may be the user in FIG. 2 .
  • a selection operation of the boundary line corresponding to the selected identifier shown by 204, 105 or 206 is received on the initial area of the interface, and the selected operation includes a click operation.
  • the flight area planning device may receive a click operation on the selected identification indicated by 204 on the initial area of the user interface in FIG. 2, the click operation determining that the boundary line of the selected identification indicated by 204 is the selected boundary. line.
  • S604 Receive a determination operation of adding a boundary point on the user interface.
  • the flight area planning device may receive a determining operation of adding a boundary point on the user interface, where the determining operation includes a click operation.
  • the user may perform a click operation of adding a boundary point on the user interface
  • the flight area planning device may receive a click operation of adding a boundary point on the user interface, and the location point indicated by the click operation is as shown in FIG. The location point shown.
  • S605 Update the initial region to obtain a flight region according to the boundary point corresponding to the determining operation indication and the two boundary points corresponding to the boundary line indicated by the selected operation.
  • the flight area planning device may update the initial area to obtain a flight area according to the boundary point of the determination operation indication and the two boundary points corresponding to the boundary line of the selected operation indication.
  • FIG. 2 and FIG. 3 can be used as an example. If the flight area planning device receives a click operation on the selected identifier shown by 204 on the initial area of the user interface in FIG. 2, the click operation determines the 204 as shown in FIG. If the boundary line of the selected identifier is the selected boundary line, the flight area planning device can receive a click operation for adding a boundary point on the user interface, and the position point indicated by the click operation is a position point as shown by 301 in FIG.
  • the added boundary point 301 is respectively associated with The two boundary points 201 and 202 corresponding to the boundary line are connected, and the boundary line where the selected identifier shown by 204 is located is deleted to update the initial area to obtain the flight area shown in FIG. Further, the user can continue to Figure 3
  • the boundary point identifier (205, 206, 302, 303) in the selection operation is performed, a new boundary point is added, and the updated flight area of the flight area is acquired, wherein the method for determining the updated flight area is as described above. I will not repeat them here.
  • the flight area planning device determines an initial area according to a boundary point received on the user interface, and displays a corresponding selected identifier on each boundary line in the initial area, if received on the user interface Selecting the boundary line corresponding to the selected identifier, and then receiving a determination operation of adding a boundary point on the user interface, and then selecting two boundary points corresponding to the boundary point of the determination operation indication and the boundary line of the selected operation indication
  • the added boundary points are respectively connected to the two boundary points corresponding to the boundary line, and the boundary line is deleted, thereby obtaining the flight area, so that the user performs the selection operation on the user interface and the determination operation of adding the boundary point.
  • the boundary points are only connected to the two boundary points corresponding to the boundary line associated with the selected operation to form a flight area, which improves the accuracy and flexibility of determining the flight area of the drone.
  • FIG. 7 is a schematic structural diagram of a flight area planning device according to an embodiment of the present invention.
  • the flight area planning device includes: an interaction device 701, a processor 702, and a memory 703; the flight area planning device can be configured with an interaction device 701 that interacts with a user, and the interaction device can be a touch display screen, a keyboard, a button, One or more of a rocker, a pulsator, the user interface can be provided on the interaction device.
  • the interaction device 701 is configured to process interaction data generated for a user, including touching a display screen and the like.
  • the memory 703 may include a volatile memory; the memory 703 may also include a non-volatile memory; the memory 703 may also include a combination of the above types of memory.
  • the processor 702 can be a central processing unit (CPU).
  • the processor 702 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory 703 is configured to store program instructions.
  • the processor 702 can call the program instructions stored in the memory 703 to implement the flight area planning method of the drone as shown in the embodiment corresponding to FIG. 4 or FIG. 5.
  • the processor 702 calls a program instruction stored in the memory 703 for performing the following steps:
  • the processor 702 optionally invokes a program instruction stored in the memory 703, to perform, according to the adding boundary point operation, determining the added boundary point and the two boundary points corresponding to the boundary line, When the initial area is updated to obtain a flight area, the following steps are specifically performed:
  • the added boundary points are respectively connected to two boundary points corresponding to the boundary line, and the boundary lines are deleted to acquire a flight area.
  • the processor 702 calls the program instructions stored in the memory 703 to perform the following steps:
  • the processor is configured to perform the following steps when receiving an add boundary point operation associated with the boundary line on the user interface:
  • An add boundary point operation to the identification is received on the user interface.
  • the processor 702 optionally invokes the program instructions stored in the memory 703, and is further configured to perform the following steps:
  • the processor is configured to perform determining, according to the adding boundary point operation, that the added boundary point and the two boundary points corresponding to the boundary line are updated, and when the initial area is updated to obtain a flight area, specifically, the following steps are performed:
  • the position point corresponding to the identifier is determined as the added boundary point, and the initial area is updated according to the added boundary point and the two boundary points corresponding to the boundary line to obtain the flight area.
  • the processor 702 calls a program instruction stored in the memory 703, and further Used to perform the following steps:
  • a boundary point addition identifier is displayed on each of the at least three boundary lines.
  • the processor 702 calls the program instructions stored in the memory 703 to perform the following steps:
  • the processor 702 calls the program instructions stored in the memory 703 to perform the following steps:
  • the processor is configured to perform determining, according to the adding boundary point operation, that the added boundary point and the two boundary points corresponding to the boundary line are updated, and when the initial area is updated to obtain a flight area, specifically, the following steps are performed:
  • the processor 702 calls the program instructions stored in the memory 703 to perform the following steps:
  • the processor is configured to perform the following steps when receiving a selection operation on the boundary line on the user interface:
  • a selection operation of the boundary line corresponding to the identifier is received on the user interface.
  • the selected operation, the determining operation includes a click operation.
  • the processor 702 calls the program instructions stored in the memory 703 to perform the following steps:
  • a selected identifier corresponding to each of the two added boundary lines between the boundary point of the determination operation indication and the two boundary points corresponding to the boundary line is displayed.
  • the processor 702 calls the program instructions stored in the memory 703 to perform the following steps:
  • the route of the drone in the flight area is determined according to a preset rule.
  • processor 702 in the embodiment of the present invention, reference may be made to the phases in the foregoing embodiments. The description of the content is not described here.
  • the flight area planning device determines an initial area according to a boundary point received on the user interface, and receives an added boundary point operation associated with the boundary line on the user interface, according to the adding boundary
  • the point operation determines the added boundary point and the two boundary points corresponding to the boundary line, and updates the initial area to obtain the flight area, so that after the user adds the boundary point operation on the user interface, the boundary point only
  • the two boundary points corresponding to the boundary line associated with the added boundary point operation are connected to form a flight area, which improves the accuracy and flexibility of determining the flight area of the drone.
  • Also provided in an embodiment of the present invention is a computer readable storage medium storing a computer program, which when executed by a processor, implements the present invention as shown in FIG. 2 or FIG. Interface, and implementing the flight area planning mode of the unmanned aerial vehicle described in the embodiment corresponding to FIG. 4, FIG. 5 or FIG. 6, and also implementing the flight area planning setting of the corresponding embodiment of the present invention shown in FIG. Let me repeat.
  • the computer readable storage medium may be an internal storage unit of the device described in any of the preceding embodiments, such as a hard disk or a memory of the device.
  • the computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (SMC), and a secure digital (SD) card. , Flash Card, etc.
  • the computer readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer readable storage medium is for storing the computer program and other programs and data required by the terminal.
  • the computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un procédé et un dispositif de planification de région de vol pour un véhicule aérien sans pilote. Le procédé consiste à : déterminer une région initiale selon des points limites reçus sur une interface utilisateur, la région initiale comprenant une région définie par au moins trois lignes limites, chacune étant obtenue en reliant deux points limites (S401) ; recevoir sur l'interface utilisateur une opération consistant à ajouter des points limites associés à une ligne limite (S402) ; et déterminer les points limites ajoutés et deux points limites correspondant à la ligne limite en fonction de l'opération consistant à ajouter des points limites, et à mettre à jour la région initiale pour obtenir une région de vol (S403). Dans le procédé, après qu'un utilisateur effectue l'opération d'ajout de points de limite sur l'interface utilisateur, les points limites peuvent uniquement être connectés à deux points de limite correspondant à la ligne limite associée à l'opération consistant à ajouter des points limites pour former une région de vol, améliorant ainsi la précision et la flexibilité de détermination d'une région de vol d'un véhicule aérien sans pilote.
PCT/CN2017/089154 2017-06-20 2017-06-20 Procédé et dispositif de planification de région de vol de véhicule aérien sans pilote WO2018232586A1 (fr)

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CN201780004691.4A CN108521804A (zh) 2017-06-20 2017-06-20 一种无人机的飞行区域规划方法及设备
PCT/CN2017/089154 WO2018232586A1 (fr) 2017-06-20 2017-06-20 Procédé et dispositif de planification de région de vol de véhicule aérien sans pilote

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