WO2019084952A1 - 航线的分配方法、服务器、终端设备、控制设备及系统 - Google Patents

航线的分配方法、服务器、终端设备、控制设备及系统 Download PDF

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Publication number
WO2019084952A1
WO2019084952A1 PCT/CN2017/109515 CN2017109515W WO2019084952A1 WO 2019084952 A1 WO2019084952 A1 WO 2019084952A1 CN 2017109515 W CN2017109515 W CN 2017109515W WO 2019084952 A1 WO2019084952 A1 WO 2019084952A1
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WIPO (PCT)
Prior art keywords
target
target route
route
control terminal
server
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PCT/CN2017/109515
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English (en)
French (fr)
Inventor
吴智强
熊川樘
范礼明
Original Assignee
深圳市大疆创新科技有限公司
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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 CN201780029489.7A priority Critical patent/CN109196440A/zh
Priority to PCT/CN2017/109515 priority patent/WO2019084952A1/zh
Publication of WO2019084952A1 publication Critical patent/WO2019084952A1/zh

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    • 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
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement

Definitions

  • the embodiments of the present invention relate to the field of drones, and in particular, to a route allocation method, a server, a terminal device, a control device, and a system.
  • the drone can fly according to the planned route during flight. For example, when the drone performs tasks such as power inspection, security patrol, pipeline inspection, modeling and mapping, it usually travels according to the scheduled route.
  • tasks such as power inspection, security patrol, pipeline inspection, modeling and mapping
  • the ground control end of the drone such as the APP of the terminal device, needs to plan the route first, and then control the drone flight according to the planned route, resulting in low efficiency of the flight operation of the drone.
  • the embodiment of the invention provides a route allocation method, a server, a terminal device, a control device and a system, so as to improve the efficiency of the flight operation of the drone.
  • a first aspect of the embodiments of the present invention provides a route allocation method, which is applied to a server, and includes:
  • the target route is transmitted to a control terminal of the drone to cause the control terminal to control the drone to execute the target route.
  • a second aspect of the present invention provides a method for allocating a route, which is applied to a terminal device, and includes:
  • a third aspect of the present invention provides a route allocation method, which is applied to a control terminal of a drone, and includes:
  • a fourth aspect of the embodiments of the present invention provides a server, including: a communication interface and a processor;
  • the communication interface is configured to receive a target route selection instruction sent by the terminal device
  • the processor is configured to determine a target route according to the target route selection instruction
  • the communication interface is further configured to send the target route to a control terminal of the drone to cause the control terminal to control the drone to execute the target route.
  • a fifth aspect of the embodiments of the present invention provides a terminal device, including: a processor and a communication interface;
  • the processor is used to:
  • the communication interface is configured to send the target route selection command to the server, so that the server sends the target route indicated by the target route selection instruction to the control terminal of the drone.
  • a sixth aspect of the present invention provides a control terminal for a drone, including: a communication interface and a processor;
  • the communication interface is configured to receive a target route sent by the server, where the target route is determined by detecting, by the terminal device that is in communication with the server, by detecting a target route selection operation of the user;
  • the processor is configured to control the drone to execute the target route.
  • a seventh aspect of the embodiments of the present invention provides a route allocation system, including:
  • the route allocation method, the server, the terminal device, the control device and the system provided by the embodiment receive the target route selection instruction sent by the terminal device through the server, according to the target
  • the route selection command determines the target route, and sends the target route to the control terminal of the drone to enable the control terminal to control the drone to execute the target route, so that the drone manager can plan the route of the drone.
  • the control terminal of the drone does not need to pre-plan the route and then control the drone to execute the route, which improves the efficiency of the drone performing the route task.
  • FIG. 1 is a flowchart of a method for allocating a route according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a communication system according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a communication system according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of a method for allocating a route according to another embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for allocating a route according to another embodiment of the present invention.
  • FIG. 8 is a flowchart of a method for allocating a route according to another embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 10 is a flowchart of a method for allocating a route according to another embodiment of the present invention.
  • FIG. 11 is a flowchart of a method for allocating a route according to an embodiment of the present invention.
  • FIG. 12 is a flowchart of a method for allocating a route according to another embodiment of the present invention.
  • FIG. 13 is a flowchart of a method for allocating a route according to another embodiment of the present invention.
  • FIG. 14 is a flowchart of a method for allocating a route according to an embodiment of the present invention.
  • FIG. 15 is a structural diagram of a server according to an embodiment of the present invention.
  • FIG. 16 is a structural diagram of a terminal device according to an embodiment of the present disclosure.
  • FIG. 17 is a structural diagram of a control terminal of a drone 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 present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a flowchart of a method for allocating a route according to an embodiment of the present invention.
  • the route allocation method provided by the embodiment of the present invention is applied to a server. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Receive a target route selection instruction sent by the terminal device.
  • the method for allocating the route provided by the embodiment of the present invention is applicable to the communication system shown in FIG. 2 .
  • the terminal device 21 may be a terminal device of the UAV administrator, and the server 22 may specifically be the terminal device 21 .
  • the storage system 23 may be a storage system that is in communication with the server 22.
  • the storage system 23 may be a server, a server cluster, or a distributed server cluster.
  • the storage system 23 may be a server.
  • a portion of 22, which is here for illustrative purposes, is schematically illustrated in a form in which storage system 23 and server 22 are separate.
  • the server 22 local or storage system 23 stores the routes that have been generated.
  • the server 22 can send the route to the control terminal 24 of the drone, and the control terminal 24 can be a remote controller, a smart phone, a tablet computer, a ground control station, a laptop computer, a watch, a wristband, etc., and combinations thereof.
  • the control terminal 24 may specifically be a smart phone.
  • the control terminal 24 can directly control the drone 25 to fly.
  • the control terminal 24 can transmit the route sent by the server 22 to the control terminal 24 to the drone 25 to cause the drone 25 to perform the route task corresponding to the route.
  • the control terminal 24 may also send a route sent by the server 22 to the control terminal 24 to the remote controller 26 to cause the remote controller 26 to transmit the route to the drone 25 so that the drone 25 Perform the route task corresponding to the route.
  • the route stored locally by the server 22 or the storage system 23 may have the following possible generation modes:
  • the terminal device 21 acquires and displays an electronic map, the terminal device 21 detects a target area selected by the manager on the electronic map, and a target point selected by the manager in the target area, and the terminal device 21 according to the target area
  • the positioning information of each target point in the middle, and the configuration information of the manager for each target point generate a route when the drone is flying in the target area, and send the route to the server 22, so that the server 22 stores the route on the server. 22 local or storage system 23.
  • the configuration information of each target point includes at least one of information about a flight speed, a flying height, a posture, an operation to be performed, and the like of the drone at each target point.
  • the terminal device 21 may further transmit, to the server 22, the positioning information of each target point selected by the administrator in the target area, and the configuration information of the manager for each target point, so that the server 22 according to each target in the target area.
  • the location information of the point and the configuration information of the manager for each target point generate a route when the drone is flying in the target area.
  • the server 22 may store the route locally or may be stored in the storage system 23.
  • the terminal device 21 can generate a route when the drone is flying in the target area according to the positioning information of each target point and the configuration information of the target point by the manager, and the terminal device 21 sends the route to the server 22, further Alternatively, server 22 may store the route locally or in storage system 23.
  • the terminal device 21 acquires positioning information of a plurality of known target points, and the terminal device 21 acquires positioning information of a plurality of known target points.
  • the achievable manner is: the terminal device 21 imports the CSV file.
  • the CSV file includes positioning information of a plurality of known target points.
  • the terminal device 21 generates a route based on the positioning information of the plurality of known target points, and the manager's configuration information for each target point, and transmits the route to the server 22, so that the server 22 stores the route locally at the server 22 or stores it.
  • system 23 is another possible way of generating.
  • the terminal device 21 may also send positioning information of a plurality of known target points and configuration information of the administrator to each target point to the server 22, so that the server 22 can locate and manage the information according to the plurality of known target points.
  • the route information is generated for each target point, and the further server 22 may store the route locally or in the storage system 23.
  • the terminal device 21 can generate a route based on the CSV file, and the terminal device 21 transmits the route to the server 22. Further, the server 22 can store the route locally or in the storage system 23.
  • the flying hand controls the drone to fly in the target area.
  • the flying hand is controlled by the control device of the drone.
  • the drone records the positioning information of the position point, the flying speed of the drone at the position, the flying height, the attitude of the drone at the position, and the attitude of the shooting device when the drone is at the position.
  • the drone will record the positioning information of a series of position points and related information of the drone at each position, such as the drone at each position.
  • the drone can send the positioning information of each location point and the related information of the drone at each location point to the server 22 through the control device of the drone, and the server 22 according to the positioning information of each location point, and The relevant information of the drone at each location generates a route when the drone is flying in the target area, and the further server 22 may store the route locally or may be stored in the storage system 23.
  • the control terminal can be based on recorded location points The positioning information and the related information of the drone at each location point generate a route, and the control terminal transmits the route to the server 22. Further, the server 22 may store the route locally or may be stored in the storage system 23.
  • the execution body of the method of this embodiment may be the server 22 as shown in FIG. 2 or FIG.
  • the server 22 may specifically be a web server.
  • the terminal device 21 sends a web request to the server 22 to request to view the route stored by the server 22 or the storage system 23,
  • the server 22 may send the route stored by the server 22 or the storage system 23 to the terminal device 21, or may send a link of the route stored locally by the server 22 or the storage system 23 to the terminal device 21, for feeding back the current server to the terminal device 21. 22 Local or storage system 23 stored routes.
  • the server 22 transmits a link to the route stored locally by the server 22 or the storage system 23 to the terminal device 21, and the user interface of the terminal device 21 displays icons of the respective routes, each icon corresponding to a link of one route.
  • the user interface of the terminal device 21 displays a list of routes stored by the current server 22 or the storage system 23, for example, the route list includes an icon 41 of the route 1, an icon 42 of the route 2, and an icon 43 of the route 3.
  • the icon 41 includes a selection box 44
  • the icon 42 includes a selection box 45
  • the icon 43 includes a selection box 46.
  • the administrator can select route 1 as the target route by clicking on the selection box 44, or select route 2 as the target route by clicking on the selection box 45, or select route 3 as the target route by clicking on the selection box 46.
  • the administrator can view each route by clicking each hyperlink, and select one target route from each route stored by the server 22 local or the storage system 23 according to each route.
  • the administrator selects the route 2 as the target route from the route list shown in FIG. 4, for example, the administrator clicks on the selection box 45, indicating that the administrator selects the route 2 as the target route, and the terminal device 21 clicks the selection box 45 according to the administrator.
  • the operation generates a target route selection command and transmits the target route selection command to the server 22.
  • the server 22 receives the target route selection sent by the terminal device 21. instruction. This is merely a schematic illustration and does not limit the specific form and content of the user interface of the terminal device 21. In other embodiments, the administrator may also select other routes as the target route.
  • Step S102 Determine a target route according to the target route selection instruction.
  • each route stored by the server 22 or the storage system 23 respectively has route identification information such as an index number
  • the target route selection instruction may include identification information of the target route selected by the administrator, such as an index number, when the server 22 receives the
  • the target route corresponding to the identification information such as the index number
  • the target route may be determined from the route stored locally by the server 22 or the storage system 23 according to the identification information of the target route included in the target route selection command, such as an index number.
  • the target route selection command sent by the terminal device 21 received by the server 22 includes the identification information of the route 2, and the server 22 determines the route 2 from the plurality of routes stored by the server 22 or the storage system 23 according to the identification information of the route 2. .
  • Step S103 Send the target route to the control terminal of the drone to cause the control terminal to control the drone to execute the target route.
  • the server 22 transmits the target route selected by the administrator, for example, the route 2 to the control terminal 24 of the drone, and the control terminal 24 can transmit the route 2 sent by the server 22 to the control terminal 24 to the drone 25, So that the drone 25 performs the route task corresponding to the route 2.
  • the control terminal 24 may also send the route 2 sent by the server 22 to the control terminal 24 to the remote controller 26, so that the remote controller 26 transmits the route 2 to the drone 25 to make the unmanned person
  • the machine 25 executes the route task corresponding to the route 2.
  • the server receives the target route selection command sent by the terminal device, determines the target route according to the target route selection command, and sends the target route to the control terminal of the drone to enable the control terminal to control the drone to perform the target.
  • the route allows the drone manager to plan the route of the drone.
  • the control terminal of the drone does not need to plan the route in advance and then control the drone to execute the route, which improves the execution of the route of the drone. effectiveness.
  • FIG. 5 is a flowchart of a method for allocating a route according to another embodiment of the present invention. As shown in Figure 5, the basis of the embodiment shown in Figure 1 The method in this embodiment may include:
  • Step S501 Receive a target route selection instruction sent by the terminal device.
  • Step S501 is consistent with the implementation manner and specific principles of step S101, and details are not described herein again.
  • Step S502 Determine a target route according to the target route selection instruction.
  • step S502 and step S102 are the same, and are not described here.
  • Step S503 Receive a control terminal selection instruction sent by the terminal device.
  • the user interface of the terminal device 21 is further displayed with a list of control terminals.
  • the control terminal list includes an icon 61 for controlling the terminal A, an icon 62 for controlling the terminal B, and an icon 63 for controlling the terminal C.
  • the icon 61 includes Selection box 64
  • icon 62 includes selection box 65
  • icon 63 includes selection box 66.
  • the administrator can select the control terminal A as the target control terminal by clicking the selection box 64, or select the control terminal B as the target control terminal by clicking the selection box 65, or select the control terminal C as the target control terminal by clicking the selection box 66.
  • the control terminal A, the control terminal B, and the control terminal C may be control terminals of different work teams. Administrators can assign different target routes to different job teams.
  • the administrator may select one control terminal from the control terminal A, the control terminal B, and the control terminal C as the control terminal that controls the drone to execute the route 2.
  • the administrator selects from the list of control terminals shown in FIG.
  • the control terminal B serves as a target control terminal for controlling the drone to execute the route 2.
  • the terminal device 21 generates a control terminal selection command according to the operation of the administrator clicking the selection box 65, and transmits the control terminal selection command to the server 22.
  • the server 22 receives the control terminal selection instruction sent by the terminal device 21.
  • the control terminal selection instruction includes controlling the identification information of the terminal B, for example, controlling the serial number of the terminal B.
  • the administrator may also select other control terminals.
  • Step S504 Send the target route to the target control terminal indicated by the control terminal selection instruction to enable the target control terminal to control the drone to execute the target route.
  • the server 22 can determine the target control terminal according to the control terminal selection instruction. For example, according to the identification information of the control terminal B in the control terminal selection command, the target control terminal can be determined as the control terminal B, and the server 22 sends the target route, that is, the route 2, to the control terminal for selection.
  • the target control terminal indicated by the instruction is to control the terminal B, so that the control terminal B controls the drone to execute the route. 2.
  • the server receives the control terminal selection command sent by the terminal device, and sends the target route to the target control terminal indicated by the control terminal selection instruction, so that the target control terminal controls the drone to execute the target route, so that the management is performed.
  • the staff can not only plan the route of the drone, but also stipulate the control terminal that controls the drone to execute the target route, which improves the flexibility of route allocation.
  • Embodiments of the present invention provide a method for allocating routes.
  • FIG. 7 is a flowchart of a method for allocating a route according to another embodiment of the present invention. As shown in FIG. 7, on the basis of the embodiment shown in FIG. 5, the method in this embodiment may include:
  • Step S701 Receive a target route selection instruction sent by the terminal device.
  • Step S702 determining a target route according to the target route selection instruction.
  • Step S703 Receive a control terminal selection instruction sent by the terminal device.
  • step S703 The implementation manners and specific principles of the step S703 are the same as those of the step S503, and are not described here.
  • Step S704 Receive a route request instruction sent by the target control terminal.
  • the server 22 may bind the target route indicated by the target route selection instruction to the target control terminal indicated by the control terminal selection instruction.
  • the server 22 confirms that the communication connection has been established with the target control terminal, and the server 22 may send the target route allocation prompt information to the target control terminal.
  • the flying hand can perform a route download operation on the target control terminal, and the target control terminal can send a route request command to the server 22 to request the server 22 to download the target route.
  • the target control terminal can send the target control terminal to the server.
  • the identification information for example, the serial number of the target control terminal
  • the server 22 After receiving the identification information, the server 22 confirms whether the control terminal indicated by the identification information is the target control terminal indicated by the control terminal selection instruction, and confirms the identification information.
  • the indicated control terminal selects the target control terminal indicated by the command by the control terminal
  • the server 22 may send the target route allocation prompt information to the target control terminal.
  • Step S705 After receiving the route request command, send the target route to the target control terminal indicated by the control terminal selection instruction to enable the target control terminal to control the drone to execute the target route.
  • the server 22 may send the target route, for example, the route 2, to the target control terminal indicated by the control terminal selection instruction, that is, the control terminal B, and after the target control terminal receives the target route, That is, the drone can be controlled to execute route 2.
  • the server receives the route request command sent by the target control terminal, and after receiving the route request command, sends the target route to the target control terminal indicated by the control terminal selection instruction to make the target control terminal Controlling the drone to execute the target route improves the reliability of the server transmitting the target route to the target control terminal.
  • Embodiments of the present invention provide a method for allocating routes.
  • FIG. 8 is a flowchart of a method for allocating a route according to another embodiment of the present invention. As shown in FIG. 8, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
  • Step S801 Receive a target route selection instruction sent by the terminal device.
  • Step S802 determining a target route according to the target route selection instruction.
  • step S802 and step S102 are the same, and are not described here.
  • Step S803 receiving a flying hand selection instruction sent by the terminal device.
  • the user interface of the terminal device 21 also displays a list of flying hands.
  • the flying hand list includes an icon 91 of the flying hand A, an icon 92 of the flying hand B, and an icon 93 of the flying hand C.
  • the icon 91 includes Selection box 94
  • icon 92 includes selection box 95
  • icon 93 includes selection box 96.
  • the administrator can select the flying hand A as the target flying hand by clicking the selection box 94, or select the flying hand B as the target flying hand by clicking the selection box 95, or select the flying hand C as the target flying hand by clicking the selection box 96.
  • Flying hand A, flying hand B, and flying hand C can be the flying hands of different working teams. Administrators can assign different target routes to different job teams.
  • the administrator can select a flying hand from the flying hand A, the flying hand B, and the flying hand C as the target flying hand to control the drone to execute the route 2.
  • the administrator selects the flying hand B as the target flying hand for controlling the drone to execute the route 2 from the flying hand list shown in FIG. 9, and the terminal device 21 generates the flying hand selection command according to the operation of the administrator clicking the selection box 95.
  • the flight selector selection command is sent to the server 22.
  • the server 22 receives the flying hand selection command sent by the terminal device 21.
  • the flying hand selection command includes identification information of the flying hand B, such as the serial number of the flying hand B.
  • the administrator may also select other flying hands as the target flying hand to control the drone to execute the route 2.
  • Step S804 Send the target route to the target control terminal, so that the target control terminal controls the drone to execute the target route, wherein the target control terminal is a target flight control operation indicated by the flyer selection instruction. terminal.
  • the server 22 can determine the target flying hand according to the flying hand selection command.
  • the target flying hand can be determined to be the flying hand B according to the identification information of the flying hand B in the flying hand selection command, and the server 22 sends the target route, that is, the route 2 to the target flying hand. That is, the control terminal operated by the flying hand B, so that the control terminal controls the drone to execute the route 2.
  • the server receives the flying hand selection command sent by the terminal device, and sends the target route to the control terminal of the target flying hand operation indicated by the flying hand selection instruction, so that the administrator can not only plan the route of the drone, but also It is stipulated that the drone that controls the drone to execute the target route improves the flexibility of route allocation.
  • Embodiments of the present invention provide a method for allocating routes.
  • FIG. 10 is a flowchart of a method for allocating a route according to another embodiment of the present invention. As shown in FIG. 10, on the basis of the embodiment shown in FIG. 8, the method in this embodiment may include:
  • Step S1001 Receive a target route selection instruction sent by the terminal device.
  • Step S1001 is consistent with the implementation manner and specific principles of step S101, and details are not described herein again.
  • Step S1002 Determine a target route according to the target route selection instruction.
  • Step S1002 is consistent with the implementation manner and specific principles of step S102, and details are not described herein again.
  • Step S1003 Receive a flying hand selection instruction sent by the terminal device.
  • Step S1003 is consistent with the implementation manner and specific principles of step S803, and details are not described herein again.
  • Step S1004 Receive a route request instruction sent by the target control terminal.
  • the server 22 when receiving the flying hand selection command sent by the terminal device 21, the server 22 may bind the target route indicated by the target route selection command to the target flying hand indicated by the flying hand selection command.
  • the server 22 confirms that the communication connection has been established with the control terminal operated by the target flying hand, and the server 22 can fly to the target.
  • the hand-operated control terminal sends the target route allocation prompt information, and after seeing the prompt information, the target flying hand can perform a route download operation on the control terminal of the operation thereof, for example, the download button of the target flying hand click control terminal, and the control terminal A route request command can be sent to the server 22 to request the server 22 to download the target route.
  • the control terminal operated by the target flying hand can transmit the identification information of the target flying hand to the server 22, for example, the serial number of the target flying hand, and after receiving the identification information, the server 22 confirms the flying indicated by the identification information.
  • the server 22 can send the target route allocation to the control terminal. Prompt message.
  • Step S1005 After receiving the route request command, send the target route to the target control terminal, so that the target control terminal controls the drone to execute the target route, where the target control terminal is a flying hand Select the control terminal of the target flying hand operation indicated by the instruction.
  • the server 22 may send the target route, that is, the route 2, to the control device operated by the flyer B, and the control device operated by the flyer B receives the target route. After route 2, the drone can be controlled to execute route 2.
  • the method further includes: acquiring contact information of the target flying hand, and transmitting prompt information according to the contact information, wherein the prompt information is used to prompt the target flying hand to acquire the target route.
  • the server 22 local or the storage system 23 also stores the contact information of each of the flying hands, and the server 22 may also obtain the contact information of the flying hand B from the server 22 or the storage system 23, such as a mobile phone number,
  • the mobile terminal of the flying hand B sends a short message to prompt the flying hand B to acquire the target route such as the route 2 from the server 22.
  • the flying hand B logs in to the server 22 through the control device operated by the flying hand B, and downloads the target route, such as the route 2 to the control device operated by the flying hand B, from the server 22.
  • the control device operated by the flying hand B may be the mobile terminal of the flying hand B.
  • the server receives the route request command sent by the target control terminal, and after receiving the route request command, sends the target route to the target control terminal indicated by the control terminal selection instruction to make the target control terminal Controlling the drone to execute the target route improves the reliability of the server transmitting the target route to the target control terminal.
  • the contact information of the target flying hand is obtained by the server, and the prompt information is sent according to the contact information, and the target flying hand is prompted to acquire the target route, thereby further improving the reliability of the server transmitting the target route to the target control terminal.
  • Embodiments of the present invention provide a method for allocating routes. Based on the foregoing embodiment, the method further includes: sending status information of the target route to the terminal device.
  • the status information of the target route is sent to the terminal device, including the following possible situations:
  • the sending the status information of the target route to the terminal device includes: sending the first status information to the terminal device when determining the target route.
  • the server 22 After the server 22 determines the target route according to the target route selection command sent by the terminal device 21, and sends the target route to the control terminal 24 of the drone, the server 22 sends the first state information to the terminal device 21, A status message indicates that the server 22 has determined the target route based on the target route selection command.
  • Another possible situation is: receiving the target route receiving confirmation information sent by the control terminal; and sending the status information of the target route to the terminal device, including: receiving the mesh After receiving the confirmation information, the standard route sends the second status information to the terminal device.
  • the control terminal 24 may also send the target route reception confirmation information to the server 22.
  • the server 22 After receiving the target route reception confirmation information, the server 22 transmits the second status information to the terminal device 21, and the second status information indicates that the target route has been received by the control terminal.
  • a further possible situation is: receiving the target route execution confirmation information sent by the control terminal; the sending the status information of the target route to the terminal device, including: sending the confirmation message to the terminal device after receiving the target route execution confirmation information Three status information.
  • the control terminal 24 can send the target route to the drone. 25, so that the drone 25 executes the target route, or the control terminal 24 sends the target route to the remote controller 26, so that the remote controller 26 transmits the target route to the drone 25, so that the drone 25 Execute the target route.
  • the control terminal 24 may also send the target route execution confirmation information to the server 22, and after receiving the target route execution confirmation information, the server 22 transmits the third state information to the terminal device 21, The third status information indicates that the drone 25 has performed the completion of the target route.
  • the server sends the status information of the target route to the terminal device, so that the administrator can supervise the status of the target route.
  • Embodiments of the present invention provide a method for allocating routes.
  • FIG. 11 is a flowchart of a method for allocating a route according to an embodiment of the present invention.
  • the route allocation method provided by the embodiment of the present invention is applied to a terminal device. As shown in FIG. 11, the method in this embodiment may include:
  • Step S1101 detecting a target route selection operation.
  • the execution body of the method of this embodiment may be the terminal device 21 as shown in FIG. 2 or FIG.
  • the user interface of the terminal device 21 displays a route list.
  • the route list includes an icon 41 of the route 1, an icon 42 of the route 2, and an icon 43 of the route 3.
  • the icon 41 includes a selection frame 44 and an icon 42.
  • Including selection box 45, icon 43 includes selection box 46.
  • the administrator can select route 1 as the target route by clicking on the selection box 44, or by clicking on the selection Block 45 selects route 2 as the target route, or selects route 3 as the target route by clicking on selection box 46.
  • the terminal device 21 can detect an administrator's click operation on the selection box 44, the selection box 45, and the selection box 46.
  • Step S1102 determining a target route selection instruction according to the detected target route selection operation.
  • the administrator selects the route 2 as the target route from the route list shown in FIG. 4, for example, the administrator clicks on the selection box 45, indicating that the administrator selects the route 2 as the target route, and the terminal device 21 clicks the selection box 45 according to the administrator.
  • the operation generates a target route selection command.
  • Step S1103 Send the target route selection command to the server, so that the server sends the target route indicated by the target route selection instruction to the control terminal of the drone.
  • the terminal device 21 transmits the target route selection command to the server 22 to cause the server 22 to transmit the target route indicated by the target route selection command, for example, the route 2 to the control terminal of the drone.
  • the administrator may also select other routes as the target route.
  • the target route selection operation is detected by the terminal device, the target route selection command is determined according to the detected target route selection operation, and the target route selection command is sent to the server to enable the server to target the target route selection instruction.
  • the route is sent to the control terminal of the drone, so that the drone manager can plan the route of the drone.
  • the control terminal of the drone does not need to plan the route in advance and then control the drone to execute the route, thereby improving The efficiency of the drone to perform route tasks.
  • Embodiments of the present invention provide a method for allocating routes.
  • FIG. 12 is a flowchart of a method for allocating a route according to another embodiment of the present invention. As shown in FIG. 12, on the basis of the embodiment shown in FIG. 11, the method in this embodiment may include:
  • Step S1201 detecting a target route selection operation.
  • Step S1201 is consistent with the implementation manner and specific principles of step S1101, and details are not described herein again.
  • Step S1202 Determine a target route selection finger according to the detected target route selection operation make.
  • Step S1202 is consistent with the implementation manner and specific principles of step S1102, and details are not described herein again.
  • Step S1203 The detection control terminal selects an operation.
  • the user interface of the terminal device 21 also displays a list of control terminals, and the administrator can select the control terminal A as the target control terminal by clicking the selection box 64, or select the control terminal B as the target control terminal by clicking the selection box 65. Alternatively, the control terminal C is selected as the target control terminal by clicking the selection box 66.
  • the terminal device 21 can detect an administrator's click operation on the selection box 64, the selection box 65, and the selection box 66.
  • Step S1204 Determine a control terminal selection instruction according to the control terminal selection operation.
  • the administrator selects the control terminal B as the target control terminal from the control terminal list shown in FIG. 6. For example, the administrator clicks on the selection box 65, indicating that the administrator selects the control terminal B as the target control terminal, and the terminal device 21 manages according to the management. The member clicks on the operation of selection box 65 to generate a control terminal selection command.
  • Step S1205 Send the target route selection command to the server, so that the server sends the target route indicated by the target route selection instruction to the target control terminal indicated by the control terminal selection instruction.
  • the terminal device 21 transmits a target route selection command to the server 22 to cause the server 22 to transmit the target route indicated by the target route selection command, for example, the route 2, to the target control terminal indicated by the control terminal selection command, for example, the control terminal B.
  • the terminal device detects the control terminal selection operation, determines the control terminal selection instruction according to the control terminal selection operation, and sends the target route selection command to the server to enable the server to send the target route indicated by the target route selection instruction. Selecting, by the control terminal, the target control terminal indicated by the instruction, so that the administrator can not only plan the route of the drone, but also specify a control terminal that controls the drone to execute the target route, thereby improving the flexibility of route allocation. .
  • Embodiments of the present invention provide a method for allocating routes.
  • FIG. 13 is a flowchart of a method for allocating a route according to another embodiment of the present invention. As shown in FIG. 13, on the basis of the embodiment shown in FIG. 11, the method in this embodiment may include:
  • Step S1301 detecting a target route selection operation.
  • Step S1301 is consistent with the implementation manner and specific principles of step S1101, and details are not described herein again.
  • Step S1302 Determine a target route selection instruction according to the detected target route selection operation.
  • Step S1302 is consistent with the implementation manner and specific principles of step S1102, and details are not described herein again.
  • Step S1303 detecting a flying hand selection operation.
  • the user interface of the terminal device 21 also displays a list of flying hands, and the administrator can select the flying hand A as the target flying hand by clicking the selection box 94, or select the flying hand B as the target flying hand by clicking the selection box 95. Or select the Flying Hand C as the target flying hand by clicking on the selection box 96.
  • the terminal device 21 can detect an administrator's click operation on the selection box 94, the selection box 95, and the selection box 96.
  • Step S1304 Determine a flying hand selection instruction according to the flying hand selection operation.
  • the administrator selects the flying hand B as the target flying hand from the list of flying hands shown in FIG. 9. For example, the administrator clicks on the selection box 95, indicating that the administrator selects the flying hand B as the target flying hand, and the terminal device 21 according to the management. The member clicks on the operation of selection box 95 to generate a flying hand selection command.
  • Step S1305 Send the target route selection command to the server, so that the server sends the target route indicated by the target route selection instruction to the target control terminal, where the target control terminal is the target indicated by the flying hand selection instruction The control terminal operated by the flying hand.
  • the terminal device 21 transmits a target route selection command to the server 22 to cause the server 22 to transmit the target route indicated by the target route selection command, for example, the route 2 to the control terminal operated by the flyer B.
  • the flying device selection operation is detected by the terminal device, the flying hand selection command is determined according to the flying hand selection operation, and the target route selection command is sent to the server to enable the server to target the target route indicated by the target route selection instruction.
  • the machine executes the flying hand of the target route, which improves the flexibility of route allocation.
  • Embodiments of the present invention provide a method for allocating routes. Based on the foregoing embodiment, the method further includes: receiving status information of a target route sent by the server, and displaying the status information.
  • the status information of the target route sent by the server is received, and the status information is displayed, including the following possible situations:
  • a possible situation is that the first status information of the target route sent by the server is received, and the first status information is displayed, wherein the first status information is used to indicate that the server has determined the target route according to the target route selection instruction.
  • the server 22 After the server 22 determines the target route according to the target route selection command sent by the terminal device 21, and transmits the target route to the control terminal 24 of the drone, the server 22 transmits the first state information to the terminal device 21, and the terminal The device 21 receives the first status information of the target route transmitted by the server 22 and displays the first status information indicating that the server 22 has determined the target route according to the target route selection command.
  • Another possible situation is: receiving second state information of the target route sent by the server, and displaying the second state information, wherein the second state information is used to indicate that the control terminal has acquired the target route.
  • the server 22 determines the target route according to the target route selection command sent by the terminal device 21, and transmits the target route to the control terminal 24 of the drone, if the control terminal 24 successfully receives the target route, the control terminal The terminal 24 may also send the target route receiving confirmation information to the server 22.
  • the server 22 After receiving the target route receiving confirmation information, the server 22 transmits the second state information to the terminal device 21, and the terminal device 21 receives the second state of the target route transmitted by the server 22. Information, and displaying the second status information, the second status information indicating that the target route has been received by the control terminal.
  • a further possible situation is: receiving third state information of the target route sent by the server, displaying the third state information, wherein the third state information is used to indicate that the drone has executed the target route.
  • the control terminal 24 can send the target route to the drone. 25, so that the drone 25 executes the target route, or the control terminal 24 sends the target route to the remote controller 26 to cause the remote controller 26 to target the target The route is sent to the drone 25 to cause the drone 25 to execute the target route.
  • control terminal 24 may also send the target route execution confirmation information to the server 22, and after receiving the target route execution confirmation information, the server 22 transmits the third state information to the terminal device 21,
  • the terminal device 21 receives the third state information of the target route transmitted by the server 22, and displays the third state information indicating that the drone 25 has performed the completion of the target route.
  • the terminal device receives the status information of the target route sent by the server, so that the administrator can monitor the status of the target route.
  • Embodiments of the present invention provide a method for allocating routes.
  • FIG. 14 is a flowchart of a method for allocating a route according to an embodiment of the present invention.
  • the route allocation method provided by the embodiment of the present invention is applied to a control terminal of a drone. As shown in FIG. 14, the method in this embodiment may include:
  • Step S1401 Receive a target route sent by the server, where the target route is determined by the terminal device communicatively connected to the server by detecting a target route selection operation of the user.
  • the execution body of the method of this embodiment may be the control terminal 24 of the drone as shown in FIG. 2 or FIG. 3.
  • the user interface of the terminal device 21 displays a route list.
  • the route list includes an icon 41 of the route 1, an icon 42 of the route 2, and an icon 43 of the route 3.
  • the icon 41 includes a selection frame 44 and an icon 42.
  • Including selection box 45, icon 43 includes selection box 46.
  • the administrator can select route 1 as the target route by clicking on the selection box 44, or select route 2 as the target route by clicking on the selection box 45, or select route 3 as the target route by clicking on the selection box 46.
  • the terminal device 21 can detect an administrator's click operation on the selection box 44, the selection box 45, and the selection box 46. Specifically, the administrator selects the route 2 as the target route from the route list shown in FIG.
  • the administrator clicks on the selection box 45, indicating that the administrator selects the route 2 as the target route, and the terminal device 21 clicks the selection box 45 according to the administrator.
  • the operation generates a target route selection command.
  • the terminal device 21 transmits the target route selection command to the server 22 to cause the server 22 to transmit the target route indicated by the target route selection command, for example, the route 2 to the control terminal 24 of the drone.
  • the control terminal 24 of the drone receives the target route transmitted by the server 22, such as route 2.
  • the target route sent by the receiving server includes: sending a route request instruction to the server; and after receiving the route request command, receiving the target route sent by the server.
  • each control terminal may send a route request command to the server 22 in real time or periodically, requesting the server 22 to send a route assigned by the administrator to each control terminal.
  • the control terminal B sends a route request command to the server 22, which includes the IP address of the control terminal B. After the control terminal B transmits a route request command to the server 22, the server 22 transmits the route 2 to the control terminal B according to the IP address of the control terminal B, and the control terminal B receives the route 2 transmitted by the server 22.
  • the method further includes: after receiving the target route, sending the target route receiving confirmation information to the server.
  • sending the target route receiving confirmation information For example, when the control terminal B receives the target route, for example, the route 2, the target route reception confirmation information is transmitted to the server 22, indicating that the control terminal B has received the target route.
  • Step S1402 Control the drone to execute the target route.
  • the control terminal 24 may transmit the route 2 to the drone 25 to cause the drone 25 to execute the route task corresponding to the route 2.
  • the control terminal 24 may also send the route 2 sent by the server 22 to the control terminal 24 to the remote controller 26, so that the remote controller 26 transmits the route 2 to the drone 25 to make the unmanned person The machine 25 executes the route task corresponding to the route 2.
  • the method further includes: after confirming that the drone performs the target route, sending the target route execution confirmation information to the server.
  • the drone 25 transmits a target route execution confirmation message to the control terminal 24 to indicate that the drone 25 has executed the target route such as the route. 2.
  • the control terminal 24 transmits the target route execution confirmation information to the server 22.
  • the drone 25 transmits a target route execution confirmation message to the remote controller 26 to indicate that the drone 25 has executed the target route.
  • the route 2 the remote controller 26 transmits the target route execution confirmation information to the control terminal 24, and the control terminal 24 transmits the target route execution confirmation information to the server 22.
  • the target route sent by the server is received by the control terminal of the drone, and the drone is controlled to execute the target route, where the target route is connected by the server.
  • the end device is determined by detecting the user's target route selection operation, so that the drone manager can plan the route of the drone, and at the same time, the control terminal of the drone does not need to pre-plan the route and then control the drone to perform the operation.
  • the route improves the efficiency of the drone's execution of the route task.
  • the embodiment of the invention provides a server. 15 is a structural diagram of a server according to an embodiment of the present invention.
  • the server 150 includes: a communication interface 151 and a processor 152.
  • the communication interface 151 is configured to receive a target route selection command sent by the terminal device.
  • the processor 152 And configured to determine the target route according to the target route selection instruction;
  • the communication interface 151 is further configured to send the target route to the control terminal of the drone to enable the control terminal to control the drone to execute the target route.
  • the communication interface 151 is further configured to: receive a control terminal selection command sent by the terminal device; the communication interface 151 sends the target route to the control terminal of the drone to enable the control terminal to control the drone to perform the
  • the target route is specifically configured to: send the target route to the target control terminal indicated by the control terminal selection instruction to enable the target control terminal to control the drone to execute the target route.
  • the communication interface 151 is further configured to: receive a route request command sent by the target control terminal; the communication interface 151 sends the target route to the target control terminal indicated by the control terminal to enable the target control terminal to control
  • the method is specifically configured to: after receiving the route request command, send the target route to the target control terminal indicated by the control terminal selection instruction to enable the target control terminal to control The drone performs the target route.
  • the communication interface 151 is further configured to: receive a flying hand selection instruction sent by the terminal device; the communication interface 151 sends the target route to the control terminal of the drone to enable the control terminal to control the drone to perform the
  • the target route is specifically configured to: send the target route to the target control terminal, so that the target control terminal controls the drone to execute the target route, wherein the target control terminal is a target indicated by the flying hand selection instruction.
  • the communication interface 151 is further configured to: receive a route request command sent by the target control terminal; the communication interface 151 sends the target route to the target control terminal, so that the target control terminal controls the drone to perform the target route.
  • the target route is sent to the target control terminal to cause the target control terminal to control the drone to execute the target route.
  • the processor 152 is further configured to: obtain contact information of the target flying hand, and send prompt information according to the contact information, where the prompt information is used to prompt the target flying hand to acquire the target route.
  • the communication interface 151 is further configured to: send status information of the target route to the terminal device.
  • the method is specifically configured to: when determining the target route, send the first state information to the terminal device.
  • the communication interface 151 is further configured to: receive the target route receiving confirmation information sent by the control terminal; and when the communication interface 151 sends the state information of the target route to the terminal device, specifically, the receiving the confirmation information by receiving the target route After that, the second status information is sent to the terminal device.
  • the communication interface 151 is further configured to: receive the target route execution confirmation information sent by the control terminal; when the communication interface 151 sends the state information of the target route to the terminal device, specifically, the method is: receiving the confirmation information on the target route after receiving the target route After that, the third status information is sent to the terminal device.
  • the server receives the target route selection command sent by the terminal device, determines the target route according to the target route selection command, and sends the target route to the control terminal of the drone to enable the control terminal to control the drone to perform the target.
  • the route allows the drone manager to plan the route of the drone.
  • the control terminal of the drone does not need to plan the route in advance and then control the drone to execute the route, which improves the execution of the route of the drone. effectiveness.
  • FIG. 16 is a structural diagram of a terminal device according to an embodiment of the present invention; as shown in FIG. 16, the terminal device 160 includes: a processor 161 and a communication interface 162; the processor 161 is configured to: detect a target route selection operation; The target route selection operation determines a target route selection command; the communication interface 162 is configured to select the target route The command is sent to the server to cause the server to transmit the target route indicated by the target route selection command to the control terminal of the drone.
  • the processor 161 is further configured to: detect a control terminal selection operation; determine a control terminal selection instruction according to the control terminal selection operation; and the communication interface 162 sends the target route selection instruction to the server to enable the server to target the target
  • the method is specifically configured to: send the target route selection command to the server, so that the server sends the target route indicated by the target route selection instruction to the control The terminal selects the target control terminal indicated by the instruction.
  • the processor 161 is further configured to: detect a flying hand selection operation; determine a flying hand selection instruction according to the flying hand selection operation; the communication interface 162 sends the target route selection instruction to the server to enable the server to target the target
  • the method is specifically configured to: send the target route selection command to the server, so that the server sends the target route indicated by the target route selection instruction to the target control terminal.
  • the target control terminal is a control terminal of the target flying hand operation indicated by the flying hand selection instruction.
  • the terminal device 160 further includes: a display device 163; the communication interface 162 is further configured to: receive status information of the target route sent by the server; and the display device 163 is configured to display the status information.
  • the communication interface 162 is specifically configured to receive the first state information of the target route sent by the server; the display device 163 is specifically configured to display the first state information, where the first state information is used to indicate that the server has been The target route selection command determines the target route.
  • the communication interface 162 is specifically configured to receive the second state information of the target route sent by the server; the display device 163 is specifically configured to display the second state information, where the second state information is used to indicate that the control terminal has Get the target route.
  • the communication interface 162 is specifically configured to receive third state information of the target route sent by the server; the display device 163 is specifically configured to display the third state information, where the third state information is used to indicate the drone The target route has been executed.
  • the target route selection operation is detected by the terminal device, according to the detected target.
  • the route selection operation determines a target route selection command, and sends the target route selection command to the server to cause the server to send the target route indicated by the target route selection instruction to the control terminal of the drone, so that the drone manager can The route of the drone is planned.
  • the control terminal of the drone does not need to pre-plan the route and then control the drone to execute the route, which improves the efficiency of the drone performing the route task.
  • FIG. 17 is a structural diagram of a control terminal of a drone according to an embodiment of the present invention.
  • the control terminal 170 of the drone includes: a communication interface 171 and a processor 172; and the communication interface 171 is configured to receive a server.
  • the target route wherein the target route is determined by the terminal device communicatively connected to the server by detecting a target route selection operation of the user; the processor 172 is configured to control the drone to execute the target route.
  • the communication interface 171 when receiving the target route sent by the server, is specifically configured to: send a route request instruction to the server; and after receiving the route request command, receive the target route sent by the server.
  • the communication interface 171 is further configured to: after receiving the target route, send the target route receiving confirmation information to the server.
  • the processor 172 is further configured to: confirm whether the drone performs the target route; and the communication interface 171 is further configured to: after confirming that the drone performs the target route, send a target route execution confirmation to the server. information.
  • control terminal of the UAV The specific principles and implementation manners of the control terminal of the UAV provided by the embodiments of the present invention are similar to the embodiment shown in FIG. 14, and are not described herein again.
  • the target route sent by the server is received by the control terminal of the drone, and the drone is controlled to execute the target route, and the target route is determined by the terminal device communicatively connected with the server by detecting the target route selection operation of the user.
  • the drone manager can plan the route of the drone.
  • the control terminal of the drone does not need to pre-plan the route and then control the drone to execute the route, which improves the execution of the route of the drone. effectiveness.
  • Embodiments of the present invention provide a route allocation system. As shown in FIG. 2 or FIG. 3, the route distribution system includes: the server 22, the terminal device 21, and the control of the drone described in the foregoing embodiment. System terminal 24.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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Abstract

本发明实施例提供一种航线的分配方法、服务器、终端设备、控制设备及系统，该方法包括：接收终端设备发送的目标航线选择指令；根据所述目标航线选择指令确定目标航线；将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线。本发明实施例通过服务器接收终端设备发送的目标航线选择指令，根据该目标航线选择指令确定目标航线，并将该目标航线发送给无人机的控制终端以使该控制终端控制无人机执行该目标航线，使得无人机管理者可以对无人机的航线进行规划，同时，无人机的控制终端不需要预先规划好航线再控制无人机执行该航线，提高了无人机执行航线任务的效率。

Description

航线的分配方法、服务器、终端设备、控制设备及系统 技术领域
本发明实施例涉及无人机领域，尤其涉及一种航线的分配方法、服务器、终端设备、控制设备及系统。
背景技术
无人机在飞行时可依据规划好的航线飞行，例如无人机在执行电力巡检、安防巡逻、管道巡线、建模测绘等任务时，通常依据预定的航线飞行作业。
现有技术中，无人机的地面控制端例如终端设备的APP需要先规划航线，再依据规划好的航线控制无人机飞行，导致无人机飞行作业的效率较低。
发明内容
本发明实施例提供一种航线的分配方法、服务器、终端设备、控制设备及系统，以提高无人机飞行作业的效率。
本发明实施例的第一方面是提供一种航线的分配方法，应用于服务器，包括：
接收终端设备发送的目标航线选择指令；
根据所述目标航线选择指令确定目标航线；
将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线。
本发明实施例的第二方面是提供一种航线的分配方法，应用于终端设备，包括：
检测目标航线选择操作；
根据检测到的目标航线选择操作确定目标航线选择指令；
将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端。
本发明实施例的第三方面是提供一种航线的分配方法，应用于无人机的控制终端，包括：
接收服务器发送的目标航线，其中，所述目标航线是由与服务器通信连接的终端设备通过检测用户的目标航线选择操作确定的；
控制无人机执行所述目标航线。
本发明实施例的第四方面是提供一种服务器，包括：通讯接口和处理器；
所述通讯接口用于接收终端设备发送的目标航线选择指令；
所述处理器用于根据所述目标航线选择指令确定目标航线；
所述通讯接口还用于将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线。
本发明实施例的第五方面是提供一种终端设备，包括：处理器和通讯接口；
所述处理器用于：
检测目标航线选择操作；
根据检测到的目标航线选择操作确定目标航线选择指令；
所述通讯接口用于将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端。
本发明实施例的第六方面是提供一种无人机的控制终端，包括：通讯接口和处理器；
所述通讯接口用于接收服务器发送的目标航线，其中，所述目标航线是由与服务器通信连接的终端设备通过检测用户的目标航线选择操作确定的；
所述处理器用于控制无人机执行所述目标航线。
本发明实施例的第七方面是提供一种航线的分配系统，包括：
上述第四方面的服务器；
上述第五方面的终端设备；以及
上述第六方面的无人机的控制终端。
本实施例提供的航线的分配方法、服务器、终端设备、控制设备及系统，通过服务器接收终端设备发送的目标航线选择指令，根据该目标 航线选择指令确定目标航线，并将该目标航线发送给无人机的控制终端以使该控制终端控制无人机执行该目标航线，使得无人机管理者可以对无人机的航线进行规划，同时，无人机的控制终端不需要预先规划好航线再控制无人机执行该航线，提高了无人机执行航线任务的效率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图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性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的航线的分配方法的流程图；
图2为本发明实施例提供的通信系统的示意图；
图3为本发明实施例提供的通信系统的示意图；
图4为本发明实施例提供的用户界面的示意图；
图5为本发明另一实施例提供的航线的分配方法的流程图；
图6为本发明实施例提供的用户界面的示意图；
图7为本发明另一实施例提供的航线的分配方法的流程图；
图8为本发明另一实施例提供的航线的分配方法的流程图；
图9为本发明实施例提供的用户界面的示意图；
图10为本发明另一实施例提供的航线的分配方法的流程图；
图11为本发明实施例提供的航线的分配方法的流程图；
图12为本发明另一实施例提供的航线的分配方法的流程图；
图13为本发明另一实施例提供的航线的分配方法的流程图；
图14为本发明实施例提供的航线的分配方法的流程图；
图15为本发明实施例提供的服务器的结构图；
图16为本发明实施例提供的终端设备的结构图；
图17为本发明实施例提供的无人机的控制终端的结构图。
附图标记：
21-终端设备     22-服务器      23-存储系统
24-控制终端     25-无人机      26-遥控器
41-图标         42-图标       43-图标
44-选择框       45-选择框     46-选择框
61-图标         62-图标       63-图标
64-选择框       65-选择框     66-选择框
91-图标         92-图标       93-图标
94-选择框       95-选择框      96-选择框
150-服务器       151-通讯接口    152-处理器
160-终端设备      161-处理器     162-通讯接口
163-显示设备       170-无人机的控制终端
171-通讯接口         172-处理器
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种航线的分配方法。图1为本发明实施例提供的航线的分配方法的流程图。本发明实施例提供的航线的分配方法应用于服务器。如图1所示，本实施例中的方法，可以包括：
步骤S101、接收终端设备发送的目标航线选择指令。
本发明实施例提供的航线的分配方法适用于如图2所示的通信系统，如图2所示，终端设备21具体可以是无人机管理者的终端设备，服务器22具体可以是终端设备21访问登录的服务器，存储系统23可以是与服务器22通讯连接的存储系统，存储系统23具体可以是服务器、服务器集群、或分布式服务器集群等，在某些实施例中，存储系统23可以是服务器22的一部分，这里为了说明方便，以存储系统23和服务器22分离的形式来进行示意性说明。服务器22本地或存储系统23存储有已经生成的航线。服务器22可以将航线发送给无人机的控制终端24，控制终端24可以是遥控器、智能手机、平板电脑、地面控制站、膝上型电脑、手表、手环等及其组合，在本实施例中，控制终端24具体可以是智能手机。控制终端24可以直接控制无人机25飞行，例如，控制终端24可以将服务器22发送给控制终端24的航线发送给无人机25，以使无人机25执行该航线对应的航线任务。或者，如图3所示，控制终端24还可以将服务器22发送给控制终端24的航线发送给遥控器26，以使遥控器26将该航线发送给无人机25，以使无人机25执行该航线对应的航线任务。
在本实施例中，服务器22本地或存储系统23存储的航线可以有如下几种可能的生成方式：
一种可能的生成方式是：终端设备21获取并显示电子地图，终端设备21检测管理者在电子地图上选择的目标区域，以及管理者在该目标区域选择的目标点，终端设备21根据目标区域中各目标点的定位信息，以及管理者对各目标点的配置信息生成无人机在该目标区域飞行时的航线，并将该航线发送给服务器22，以使服务器22将该航线存储在服务器22本地或存储系统23中。可选的，各目标点的配置信息包括无人机在各目标点的飞行速度、飞行高度、姿态、需要执行的操作等信息中的至少一个。或者，终端设备21还可以将管理者在该目标区域中选择的各目标点的定位信息，以及管理者对各目标点的配置信息发送给服务器22，以使服务器22根据该目标区域中各目标点的定位信息，以及管理者对各目标点的配置信息生成无人机在该目标区域飞行时的航线，进一步地，服务器22可以将该航线存储在本地，也可以存储在存储系统23中。在某些实 施例中，终端设备21可以根据各目标点的定位信息，以及管理者对各目标点的配置信息生成无人机在该目标区域飞行时的航线，终端设备21将航线发送给服务器22，进一步地，服务器22可以将该航线存储在本地，也可以存储在存储系统23中。
另一种可能的生成方式是：终端设备21获取多个已知目标点的定位信息，终端设备21获取多个已知目标点的定位信息的一种可实现方式是：终端设备21导入CSV文件，该CSV文件包括多个已知目标点的定位信息。终端设备21根据多个已知目标点的定位信息，以及管理者对各目标点的配置信息生成航线，并将该航线发送给服务器22，以使服务器22将该航线存储在服务器22本地或存储系统23中。或者，终端设备21还可以将多个已知目标点的定位信息，以及管理者对各目标点的配置信息发送给服务器22，以使服务器22根据多个已知目标点的定位信息，以及管理者对各目标点的配置信息生成航线，进一步的服务器22可以将该航线存储在本地，也可以存储在存储系统23中。在某些实施例中，终端设备21可以根据CSV文件生成航线，终端设备21将航线发送给服务器22，进一步地，服务器22可以将该航线存储在本地，也可以存储在存储系统23中。
再一种可能的生成方式是：飞手控制无人机在目标区域飞行，在无人机飞行过程中，当无人机飞到某一位置点时，飞手通过无人机的控制设备控制无人机记录下该位置点的定位信息、无人机在该位置点的飞行速度、飞行高度、无人机在该位置点的姿态、无人机在该位置点时拍摄设备的姿态等信息，通过这种方式，无人机在该目标区域飞行的过程中，会记录下一系列的位置点的定位信息，以及无人机在各位置点的相关信息，例如无人机在各位置点的飞行速度、飞行高度、无人机在各位置点的姿态、无人机在各位置点时拍摄设备的姿态等信息。进一步的，无人机可以通过该无人机的控制设备将各位置点的定位信息，以及无人机在各位置点的相关信息发送给服务器22，服务器22根据各位置点的定位信息，以及无人机在各位置点的相关信息生成无人机在该目标区域飞行时的航线，进一步的服务器22可以将该航线存储在本地，也可以存储在存储系统23中。在某些实施例中，控制终端可以根据记录的各位置点 的定位信息，以及无人机在各位置点的相关信息生成航线，控制终端将航线发送给服务器22，进一步地，服务器22可以将该航线存储在本地，也可以存储在存储系统23中。
本实施例方法的执行主体可以是如图2或图3所示的服务器22。在本实施例中，服务器22具体可以是web服务器，当管理员通过终端设备21访问服务器22时，终端设备21向服务器22发送web请求，以请求查看服务器22本地或存储系统23存储的航线，服务器22可以将服务器22本地或存储系统23存储的航线发送给终端设备21，也可以将服务器22本地或存储系统23存储的航线的链接发送给终端设备21，用于向终端设备21反馈当前服务器22本地或存储系统23所存储的航线。例如，服务器22将服务器22本地或存储系统23存储的航线的链接发送给终端设备21，终端设备21的用户界面显示各航线的图标，每个图标对应一个航线的链接。如图4所示，终端设备21的用户界面显示当前服务器22本地或存储系统23存储的航线列表，例如，航线列表包括航线1的图标41、航线2的图标42、以及航线3的图标43，图标41包括选择框44、图标42包括选择框45、图标43包括选择框46。管理员可通过点击选择框44选择航线1作为目标航线，或者通过点击选择框45选择航线2作为目标航线，或者通过点击选择框46选择航线3作为目标航线。
如图4所示，“航线1”、“航线2”、“航线3”分别是用户界面上的超链接，“航线1”指向航线1的链接，“航线2”指向航线2的链接，“航线3”指向航线3的链接，当管理员点击其中的一个超链接例如“航线1”时，终端设备21可根据航线1的链接从服务器22获取航线1并显示航线1，航线1具体可以包括目标区域1中各个航点的定位信息、无人机在各个航点的飞行高度、飞行速度、姿态、所需执行的操作等信息。可选的，管理员可通过点击各超链接查看各航线，并根据各航线从服务器22本地或存储系统23存储的各航线中选择一个目标航线。具体的，管理员从图4所示的航线列表中选择航线2作为目标航线，例如，管理员点击选择框45，表示管理员选择航线2作为目标航线，终端设备21根据管理员点击选择框45的操作生成目标航线选择指令，并将该目标航线选择指令发送给服务器22。服务器22接收终端设备21发送的该目标航线选择 指令。此处只是示意性说明，并不限定终端设备21的用户界面的具体形式和内容。在其他实施例中，管理员还可以选择其他的航线作为目标航线。
步骤S102、根据所述目标航线选择指令确定目标航线。
可以理解，服务器22本地或存储系统23存储的各航线分别对应有航线标识信息例如索引号，该目标航线选择指令可包括管理员选择的目标航线的标识信息例如索引号，当服务器22接收到该目标航线选择指令时，可根据该目标航线选择指令包括的目标航线的标识信息例如索引号，从服务器22本地或存储系统23存储的航线中确定出与该标识信息例如索引号对应的目标航线。
例如，服务器22接收到的终端设备21发送的该目标航线选择指令包括航线2的标识信息，服务器22根据航线2的标识信息从服务器22本地或存储系统23存储的多个航线中确定出航线2。
步骤S103、将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线。
如图2所示，服务器22将管理员选择的目标航线例如航线2发送给无人机的控制终端24，控制终端24可以将服务器22发送给控制终端24的航线2发送给无人机25，以使无人机25执行该航线2对应的航线任务。或者，如图3所示，控制终端24还可以将服务器22发送给控制终端24的航线2发送给遥控器26，以使遥控器26将该航线2发送给无人机25，以使无人机25执行该航线2对应的航线任务。
本实施例通过服务器接收终端设备发送的目标航线选择指令，根据该目标航线选择指令确定目标航线，并将该目标航线发送给无人机的控制终端以使该控制终端控制无人机执行该目标航线，使得无人机管理者可以对无人机的航线进行规划，同时，无人机的控制终端不需要预先规划好航线再控制无人机执行该航线，提高了无人机执行航线任务的效率。
本发明实施例提供一种航线的分配方法。图5为本发明另一实施例提供的航线的分配方法的流程图。如图5所示，在图1所示实施例的基础 上，本实施例中的方法，可以包括：
步骤S501、接收终端设备发送的目标航线选择指令。
步骤S501与步骤S101的实现方式和具体原理均一致，此处不再赘述。
步骤S502、根据所述目标航线选择指令确定目标航线。
步骤S502与步骤S102的实现方式和具体原理均一致，此处不再赘述。
步骤S503、接收终端设备发送的控制终端选择指令。
如图6所示，终端设备21的用户界面还显示有控制终端列表，例如，控制终端列表包括控制终端A的图标61、控制终端B的图标62、以及控制终端C的图标63，图标61包括选择框64、图标62包括选择框65、图标63包括选择框66。管理员可通过点击选择框64选择控制终端A作为目标控制终端，或者通过点击选择框65选择控制终端B作为目标控制终端，或者通过点击选择框66选择控制终端C作为目标控制终端。控制终端A、控制终端B、控制终端C可以是不同作业团队的控制终端。管理员可以给不同的作业团队分配不同的目标航线。
具体的，管理员可以从控制终端A、控制终端B、控制终端C中选择一个控制终端作为控制无人机执行航线2的控制终端，例如，管理员从图6所示的控制终端列表中选择了控制终端B作为控制无人机执行航线2的目标控制终端，终端设备21根据管理员点击选择框65的操作生成控制终端选择指令，并将该控制终端选择指令发送给服务器22。服务器22接收终端设备21发送的该控制终端选择指令，可选的，该控制终端选择指令包括控制终端B的标识信息，例如控制终端B的序列号。在其他实施例中，管理员还可以选择其他的控制终端。
步骤S504、将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
服务器22根据控制终端选择指令可以确定目标控制终端，例如根据控制终端选择指令中控制终端B的标识信息可以确定目标控制终端为控制终端B，服务器22将目标航线即航线2发送给该控制终端选择指令指示的目标控制终端即控制终端B，以使控制终端B控制无人机执行航线 2。
此处只是示意性说明，并不限定终端设备21的用户界面的具体形式和内容。
本实施例通过服务器接收终端设备发送的控制终端选择指令，并将目标航线发送给该控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线，使得管理员不仅可以对无人机的航线进行规划，还可以规定控制无人机执行该目标航线的控制终端，提高了航线分配的灵活性。
本发明实施例提供一种航线的分配方法。图7为本发明另一实施例提供的航线的分配方法的流程图。如图7所示，在图5所示实施例的基础上，本实施例中的方法，可以包括：
步骤S701、接收终端设备发送的目标航线选择指令。
步骤S701与步骤S101的实现方式和具体原理均一致，此处不再赘述。
步骤S702、根据所述目标航线选择指令确定目标航线。
步骤S702与步骤S102的实现方式和具体原理均一致，此处不再赘述。
步骤S703、接收终端设备发送的控制终端选择指令。
步骤S703与步骤S503的实现方式和具体原理均一致，此处不再赘述。
步骤S704、接收目标控制终端发送的航线请求指令。
在本实施例中，服务器22在接收到终端设备21发送的控制终端选择指令时，可以将目标航线选择指令指示的目标航线与控制终端选择指令指示的目标控制终端绑定。当飞手在目标控制终端上进行登录操作时，目标控制终端和服务器22完成鉴权之后，服务器22确认已经与目标控制终端建立通信连接，服务器22可以向目标控制终端发送目标航线分配提示信息，飞手在看到该提示信息之后，可以在目标控制终端上执行航线下载操作，目标控制终端可以向服务器22发送航线请求指令以向服务器22请求下载目标航线。在鉴权时，目标控制终端可以向服务器发送目标控制终端 的标识信息，例如目标控制终端的序列号，服务器22在接收到所述标识信息后，确认所述标识信息指示的控制终端是否为控制终端选择指令指示的目标控制终端，当确认所述标识信息指示的控制终端为控制终端选择指令指示的目标控制终端时，完成鉴权，服务器22可以向目标控制终端发送目标航线分配提示信息。
步骤S705、在接收到所述航线请求指令后，将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
服务器22接收到控制终端B发送的航线请求指令后，可以将目标航线，例如航线2，发送给该控制终端选择指令指示的目标控制终端，即控制终端B，目标控制终端接收到目标航线之后，即可以控制无人机执行航线2。
本实施例通过服务器接收目标控制终端发送的航线请求指令，在接收到所述航线请求指令后，将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线，提高了服务器将目标航线发送给目标控制终端的可靠性。
本发明实施例提供一种航线的分配方法。图8为本发明另一实施例提供的航线的分配方法的流程图。如图8所示，在图1所示实施例的基础上，本实施例中的方法，可以包括：
步骤S801、接收终端设备发送的目标航线选择指令。
步骤S801与步骤S101的实现方式和具体原理均一致，此处不再赘述。
步骤S802、根据所述目标航线选择指令确定目标航线。
步骤S802与步骤S102的实现方式和具体原理均一致，此处不再赘述。
步骤S803、接收终端设备发送的飞手选择指令。
如图9所示，终端设备21的用户界面还显示有飞手列表，例如，飞手列表包括飞手A的图标91、飞手B的图标92、以及飞手C的图标93，图标91包括选择框94、图标92包括选择框95、图标93包括选择框96。 管理员可通过点击选择框94选择飞手A作为目标飞手，或者通过点击选择框95选择飞手B作为目标飞手，或者通过点击选择框96选择飞手C作为目标飞手。飞手A、飞手B、飞手C可以是不同作业团队的飞手。管理员可以给不同的作业团队分配不同的目标航线。
具体的，管理员可以从飞手A、飞手B、飞手C中选择一个飞手作为控制无人机执行航线2的目标飞手。例如，管理员从图9所示的飞手列表中选择了飞手B作为控制无人机执行航线2的目标飞手，终端设备21根据管理员点击选择框95的操作生成飞手选择指令，并将该飞手选择指令发送给服务器22。服务器22接收终端设备21发送的该飞手选择指令，可选的，该飞手选择指令包括飞手B的标识信息，例如飞手B的序列号。在其他实施例中，管理员还可以选择其他的飞手作为目标飞手来控制无人机执行航线2。
步骤S804、将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线，其中，所述目标控制终端为飞手选择指令指示的目标飞手操作的控制终端。
服务器22根据飞手选择指令可以确定目标飞手，例如可以根据飞手选择指令中飞手B的标识信息可以确定目标飞手为飞手B，服务器22将目标航线即航线2发送给目标飞手即飞手B操作的控制终端，以使该控制终端控制无人机执行航线2。
此处只是示意性说明，并不限定终端设备21的用户界面的具体形式和内容。
本实施例通过服务器接收终端设备发送的飞手选择指令，将目标航线发送给飞手选择指令指示的目标飞手操作的控制终端，使得管理员不仅可以对无人机的航线进行规划，还可以规定控制无人机执行该目标航线的飞手，提高了航线分配的灵活性。
本发明实施例提供一种航线的分配方法。图10为本发明另一实施例提供的航线的分配方法的流程图。如图10所示，在图8所示实施例的基础上，本实施例中的方法，可以包括：
步骤S1001、接收终端设备发送的目标航线选择指令。
步骤S1001与步骤S101的实现方式和具体原理均一致，此处不再赘述。
步骤S1002、根据所述目标航线选择指令确定目标航线。
步骤S1002与步骤S102的实现方式和具体原理均一致，此处不再赘述。
步骤S1003、接收终端设备发送的飞手选择指令。
步骤S1003与步骤S803的实现方式和具体原理均一致，此处不再赘述。
步骤S1004、接收目标控制终端发送的航线请求指令。
在本实施例中，服务器22在接收到终端设备21发送的飞手选择指令时，可以将目标航线选择指令指示的目标航线与飞手选择指令指示的目标飞手绑定。当目标飞手在控制终端上进行登录操作时，目标飞手操作的控制终端和服务器22完成鉴权之后，服务器22确认已经与目标飞手操作的控制终端建立通信连接，服务器22可以向目标飞手操作的控制终端发送目标航线分配提示信息，目标飞手在看到该提示信息之后，可以在其操作的控制终端上执行航线下载操作，例如目标飞手点击控制终端中的下载按键，控制终端可以向服务器22发送航线请求指令以向服务器22请求下载目标航线。在鉴权时，目标飞手操作的控制终端可以向服务器22发送目标飞手的标识信息，例如目标飞手的序列号，服务器22在接收到所述标识信息后，确认所述标识信息指示的飞手是否为飞手选择指令指示的目标飞手，当确认所述标识信息指示的飞手为飞手选择指令指示的目标飞手时，完成鉴权，服务器22可以向该控制终端发送目标航线分配提示信息。
步骤S1005、在接收到所述航线请求指令后，将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线，其中，所述目标控制终端为飞手选择指令指示的目标飞手操作的控制终端。
服务器22在接收到飞手B操作的控制设备发送的该航线请求指令后，可以将目标航线即航线2发送给该飞手B操作的控制设备，飞手B操作的控制设备接收到目标航线即航线2之后，即可控制无人机执行航线2。
在其他实施例中，所述方法还包括：获取目标飞手的联系方式信息，根据所述联系方式信息发送提示信息，其中，所述提示信息用于提示目标飞手获取目标航线。
在本实施例中，服务器22本地或存储系统23还存储有各飞手的联系方式信息，服务器22还可以从服务器22本地或存储系统23获取飞手B的联系方式信息，例如手机号码，给飞手B的移动终端发送短信，以提示飞手B从服务器22获取目标航线例如航线2。可选的，飞手B通过其移动终端接收到该短信后，通过飞手B操作的控制设备登录服务器22，并从服务器22中下载目标航线例如航线2到飞手B操作的控制设备。在一些实施例中，飞手B操作的控制设备可以是飞手B的移动终端。
本实施例通过服务器接收目标控制终端发送的航线请求指令，在接收到所述航线请求指令后，将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线，提高了服务器将目标航线发送给目标控制终端的可靠性。另外，通过服务器获取目标飞手的联系方式信息，根据所述联系方式信息发送提示信息，提示目标飞手获取目标航线，进一步提高了服务器将目标航线发送给目标控制终端的可靠性。
本发明实施例提供一种航线的分配方法。在上述实施例的基础上，所述方法还包括：向终端设备发送目标航线的状态信息。
具体的，向终端设备发送目标航线的状态信息包括如下几种可能的情况：
一种可能的情况是：所述向终端设备发送目标航线的状态信息包括：在确定出所述目标航线时，向终端设备发送第一状态信息。
当服务器22根据终端设备21发送的目标航线选择指令确定出所述目标航线，并将所述目标航线发送给无人机的控制终端24后，服务器22向终端设备21发送第一状态信息，第一状态信息表示服务器22已经根据目标航线选择指令确定出目标航线。
另一种可能的情况是：接收控制终端发送的目标航线接收确认信息；所述向终端设备发送目标航线的状态信息，包括：在接收到所述目 标航线接收确认信息后，向终端设备发送第二状态信息。
当服务器22根据终端设备21发送的目标航线选择指令确定出所述目标航线，并将所述目标航线发送给无人机的控制终端24后，如果控制终端24成功接收到该目标航线，控制终端24还可以向服务器22发送目标航线接收确认信息，当服务器22接收到该目标航线接收确认信息后，向终端设备21发送第二状态信息，第二状态信息表示目标航线已被控制终端接收。
再一种可能的情况是：接收控制终端发送的目标航线执行确认信息；所述向终端设备发送目标航线的状态信息，包括：在接收到所述目标航线执行确认信息后，向终端设备发送第三状态信息。
当服务器22根据终端设备21发送的目标航线选择指令确定出所述目标航线，并将所述目标航线发送给无人机的控制终端24后，控制终端24可以将该目标航线发送给无人机25，以使无人机25执行该目标航线，或者，控制终端24将该目标航线发送给遥控器26，以使遥控器26将该目标航线发送给无人机25，以使无人机25执行该目标航线。当无人机25执行完该目标航线后，控制终端24还可以向服务器22发送目标航线执行确认信息，当服务器22接收到该目标航线执行确认信息后，向终端设备21发送第三状态信息，第三状态信息表示无人机25已执行完成该目标航线。
本实施例通过服务器向终端设备发送目标航线的状态信息，使得管理员可以监管目标航线的状态。
本发明实施例提供一种航线的分配方法。图11为本发明实施例提供的航线的分配方法的流程图。本发明实施例提供的航线的分配方法应用于终端设备。如图11所示，本实施例中的方法，可以包括：
步骤S1101、检测目标航线选择操作。
本实施例方法的执行主体可以是如图2或图3所示的终端设备21。
如图4所示，终端设备21的用户界面显示有航线列表，例如，航线列表包括航线1的图标41、航线2的图标42、以及航线3的图标43，图标41包括选择框44、图标42包括选择框45、图标43包括选择框46。管理员可通过点击选择框44选择航线1作为目标航线，或者通过点击选择 框45选择航线2作为目标航线，或者通过点击选择框46选择航线3作为目标航线。终端设备21可以检测管理员对选择框44、选择框45、选择框46的点击操作。
步骤S1102、根据检测到的目标航线选择操作确定目标航线选择指令。
具体的，管理员从图4所示的航线列表中选择航线2作为目标航线，例如，管理员点击选择框45，表示管理员选择航线2作为目标航线，终端设备21根据管理员点击选择框45的操作生成目标航线选择指令。
步骤S1103、将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端。
终端设备21将该目标航线选择指令发送给服务器22，以使服务器22将该目标航线选择指令指示的目标航线例如航线2发送给无人机的控制终端。
此处只是示意性说明，并不限定终端设备21的用户界面的具体形式和内容。在其他实施例中，管理员还可以选择其他的航线作为目标航线。
本实施例通过终端设备检测目标航线选择操作，根据检测到的目标航线选择操作确定目标航线选择指令，并将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端，使得无人机管理者可以对无人机的航线进行规划，同时，无人机的控制终端不需要预先规划好航线再控制无人机执行该航线，提高了无人机执行航线任务的效率。
本发明实施例提供一种航线的分配方法。图12为本发明另一实施例提供的航线的分配方法的流程图。如图12所示，在图11所示实施例的基础上，本实施例中的方法，可以包括：
步骤S1201、检测目标航线选择操作。
步骤S1201与步骤S1101的实现方式和具体原理均一致，此处不再赘述。
步骤S1202、根据检测到的目标航线选择操作确定目标航线选择指 令。
步骤S1202与步骤S1102的实现方式和具体原理均一致，此处不再赘述。
步骤S1203、检测控制终端选择操作。
如图6所示，终端设备21的用户界面还显示有控制终端列表，管理员可通过点击选择框64选择控制终端A作为目标控制终端，或者通过点击选择框65选择控制终端B作为目标控制终端，或者通过点击选择框66选择控制终端C作为目标控制终端。终端设备21可以检测管理员对选择框64、选择框65、选择框66的点击操作。
步骤S1204、根据所述控制终端选择操作确定控制终端选择指令。
具体的，管理员从图6所示的控制终端列表中选择控制终端B作为目标控制终端，例如，管理员点击选择框65，表示管理员选择控制终端B作为目标控制终端，终端设备21根据管理员点击选择框65的操作生成控制终端选择指令。
步骤S1205、将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给所述控制终端选择指令所指示的目标控制终端。
终端设备21将目标航线选择指令发送给服务器22，以使服务器22将该目标航线选择指令指示的目标航线例如航线2发送给该控制终端选择指令所指示的目标控制终端例如控制终端B。
本实施例通过终端设备检测控制终端选择操作，根据所述控制终端选择操作确定控制终端选择指令，将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给所述控制终端选择指令所指示的目标控制终端，使得管理员不仅可以对无人机的航线进行规划，还可以规定控制无人机执行该目标航线的控制终端，提高了航线分配的灵活性。
本发明实施例提供一种航线的分配方法。图13为本发明另一实施例提供的航线的分配方法的流程图。如图13所示，在图11所示实施例的基础上，本实施例中的方法，可以包括：
步骤S1301、检测目标航线选择操作。
步骤S1301与步骤S1101的实现方式和具体原理均一致，此处不再赘述。
步骤S1302、根据检测到的目标航线选择操作确定目标航线选择指令。
步骤S1302与步骤S1102的实现方式和具体原理均一致，此处不再赘述。
步骤S1303、检测飞手选择操作。
如图9所示，终端设备21的用户界面还显示有飞手列表，管理员可通过点击选择框94选择飞手A作为目标飞手，或者通过点击选择框95选择飞手B作为目标飞手，或者通过点击选择框96选择飞手C作为目标飞手。终端设备21可以检测管理员对选择框94、选择框95、选择框96的点击操作。
步骤S1304、根据所述飞手选择操作确定飞手选择指令。
具体的，管理员从图9所示的飞手列表中选择飞手B作为目标飞手，例如，管理员点击选择框95，表示管理员选择飞手B作为目标飞手，终端设备21根据管理员点击选择框95的操作生成飞手选择指令。
步骤S1305、将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给目标控制终端，其中，所述目标控制终端为所述飞手选择指令指示的目标飞手操作的控制终端。
终端设备21将目标航线选择指令发送给服务器22，以使服务器22将该目标航线选择指令指示的目标航线例如航线2发送给飞手B操作的控制终端。
本实施例通过终端设备检测飞手选择操作，根据所述飞手选择操作确定飞手选择指令，并将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给目标控制终端，其中，所述目标控制终端为所述飞手选择指令指示的目标飞手操作的控制终端，使得管理员不仅可以对无人机的航线进行规划，还可以规定控制无人机执行该目标航线的飞手，提高了航线分配的灵活性。
本发明实施例提供一种航线的分配方法。在上述实施例的基础上，所述方法还包括：接收服务器发送的目标航线的状态信息，显示所述状态信息。
具体的，接收服务器发送的目标航线的状态信息，显示所述状态信息，包括如下几种可能的情况：
一种可能的情况是：接收服务器发送的目标航线的第一状态信息，显示所述第一状态信息，其中，所述第一状态信息用于指示服务器已经根据目标航线选择指令确定出目标航线。
当服务器22根据终端设备21发送的目标航线选择指令确定出所述目标航线，并将所述目标航线发送给无人机的控制终端24后，服务器22向终端设备21发送第一状态信息，终端设备21接收服务器22发送的目标航线的第一状态信息，并显示该第一状态信息，该第一状态信息表示服务器22已经根据目标航线选择指令确定出目标航线。
另一种可能的情况是：接收服务器发送的目标航线的第二状态信息，显示所述第二状态信息，其中，所述第二状态信息用于指示控制终端已经获取到目标航线。
当服务器22根据终端设备21发送的目标航线选择指令确定出所述目标航线，并将所述目标航线发送给无人机的控制终端24后，如果控制终端24成功接收到该目标航线，控制终端24还可以向服务器22发送目标航线接收确认信息，当服务器22接收到该目标航线接收确认信息后，向终端设备21发送第二状态信息，终端设备21接收服务器22发送的目标航线的第二状态信息，并显示该第二状态信息，该第二状态信息表示目标航线已被控制终端接收。
再一种可能的情况是：接收服务器发送的目标航线的第三状态信息，显示所述第三状态信息，其中，所述第三状态信息用于指示无人机已经执行完所述目标航线。
当服务器22根据终端设备21发送的目标航线选择指令确定出所述目标航线，并将所述目标航线发送给无人机的控制终端24后，控制终端24可以将该目标航线发送给无人机25，以使无人机25执行该目标航线，或者，控制终端24将该目标航线发送给遥控器26，以使遥控器26将该目标 航线发送给无人机25，以使无人机25执行该目标航线。当无人机25执行完该目标航线后，控制终端24还可以向服务器22发送目标航线执行确认信息，当服务器22接收到该目标航线执行确认信息后，向终端设备21发送第三状态信息，终端设备21接收服务器22发送的目标航线的第三状态信息，并显示该第三状态信息，该第三状态信息表示无人机25已执行完成该目标航线。
本实施例通过终端设备接收服务器发送的目标航线的状态信息，使得管理员可以监管目标航线的状态。
本发明实施例提供一种航线的分配方法。图14为本发明实施例提供的航线的分配方法的流程图。本发明实施例提供的航线的分配方法应用于无人机的控制终端。如图14所示，本实施例中的方法，可以包括：
步骤S1401、接收服务器发送的目标航线，其中，所述目标航线是由与服务器通信连接的终端设备通过检测用户的目标航线选择操作确定的。
本实施例方法的执行主体可以是如图2或图3所示的无人机的控制终端24。
如图4所示，终端设备21的用户界面显示有航线列表，例如，航线列表包括航线1的图标41、航线2的图标42、以及航线3的图标43，图标41包括选择框44、图标42包括选择框45、图标43包括选择框46。管理员可通过点击选择框44选择航线1作为目标航线，或者通过点击选择框45选择航线2作为目标航线，或者通过点击选择框46选择航线3作为目标航线。终端设备21可以检测管理员对选择框44、选择框45、选择框46的点击操作。具体的，管理员从图4所示的航线列表中选择航线2作为目标航线，例如，管理员点击选择框45，表示管理员选择航线2作为目标航线，终端设备21根据管理员点击选择框45的操作生成目标航线选择指令。终端设备21将该目标航线选择指令发送给服务器22，以使服务器22将该目标航线选择指令指示的目标航线例如航线2发送给无人机的控制终端24。无人机的控制终端24接收服务器22发送的目标航线例如航线2。
另外，在其他实施例中，所述接收服务器发送的目标航线包括：向服务器发送航线请求指令；在发送所述航线请求指令后，接收服务器发送的目标航线。例如，各控制终端可以实时的或周期性的向服务器22发送航线请求指令，请求服务器22给各控制终端发送由管理员分配的航线。例如，控制终端B向服务器22发送航线请求指令，该航线请求指令中包括控制终端B的IP地址。控制终端B向服务器22发送航线请求指令后，服务器22根据控制终端B的IP地址，将航线2发送给控制终端B，控制终端B接收服务器22发送的航线2。
此外，在其他实施例中，所述方法还包括：在接收到所述目标航线后，向服务器发送目标航线接收确认信息。例如，当控制终端B接收到目标航线例如航线2后，向服务器22发送目标航线接收确认信息，表示控制终端B已接收到目标航线。
步骤S1402、控制无人机执行所述目标航线。
如图2所示，控制终端24接收到服务器22发送的目标航线例如航线2之后，可以将航线2发送给无人机25，以使无人机25执行该航线2对应的航线任务。或者，如图3所示，控制终端24还可以将服务器22发送给控制终端24的航线2发送给遥控器26，以使遥控器26将该航线2发送给无人机25，以使无人机25执行该航线2对应的航线任务。
另外，在其他实施例中，所述方法还包括：当确认无人机执行完所述目标航线后，向服务器发送目标航线执行确认信息。
如图2所示，当无人机25执行完该目标航线例如航线2之后，无人机25向控制终端24发送目标航线执行确认信息，以表示无人机25已执行完该目标航线例如航线2，控制终端24将该目标航线执行确认信息发送给服务器22。或者，如图3所示，当无人机25执行完该目标航线例如航线2之后，无人机25向遥控器26发送目标航线执行确认信息，以表示无人机25已执行完该目标航线例如航线2，遥控器26将该目标航线执行确认信息发送给控制终端24，控制终端24将该目标航线执行确认信息发送给服务器22。
本实施例通过无人机的控制终端接收服务器发送的目标航线，并控制无人机执行所述目标航线，所述目标航线是由与服务器通信连接的终 端设备通过检测用户的目标航线选择操作确定的，使得无人机管理者可以对无人机的航线进行规划，同时，无人机的控制终端不需要预先规划好航线再控制无人机执行该航线，提高了无人机执行航线任务的效率。
本发明实施例提供一种服务器。图15为本发明实施例提供的服务器的结构图，如图15所示，服务器150包括：通讯接口151和处理器152；通讯接口151用于接收终端设备发送的目标航线选择指令；处理器152用于根据所述目标航线选择指令确定目标航线；通讯接口151还用于将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线。
可选的，通讯接口151还用于：接收终端设备发送的控制终端选择指令；通讯接口151将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线时，具体用于：将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
可选的，通讯接口151还用于：接收目标控制终端发送的航线请求指令；通讯接口151将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线时，具体用于：在接收到所述航线请求指令后，将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
可选的，通讯接口151还用于：接收终端设备发送的飞手选择指令；通讯接口151将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线时，具体用于：将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线，其中，所述目标控制终端为飞手选择指令指示的目标飞手操作的控制终端。
可选的，通讯接口151还用于：接收目标控制终端发送的航线请求指令；通讯接口151将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线时，具体用于：在接收到所述航线请 求指令后，将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
可选的，处理器152还用于：获取目标飞手的联系方式信息，根据所述联系方式信息发送提示信息，其中，所述提示信息用于提示目标飞手获取目标航线。
可选的，通讯接口151还用于：向终端设备发送目标航线的状态信息。
可选的，通讯接口151向终端设备发送目标航线的状态信息时，具体用于：在确定出所述目标航线时，向终端设备发送第一状态信息。
可选的，通讯接口151还用于：接收控制终端发送的目标航线接收确认信息；通讯接口151向终端设备发送目标航线的状态信息时，具体用于：在接收到所述目标航线接收确认信息后，向终端设备发送第二状态信息。
可选的，通讯接口151还用于：接收控制终端发送的目标航线执行确认信息；通讯接口151向终端设备发送目标航线的状态信息时，具体用于：在接收到所述目标航线执行确认信息后，向终端设备发送第三状态信息。
本发明实施例提供的服务器的具体原理和实现方式均与图1-图10所示实施例类似，此处不再赘述。
本实施例通过服务器接收终端设备发送的目标航线选择指令，根据该目标航线选择指令确定目标航线，并将该目标航线发送给无人机的控制终端以使该控制终端控制无人机执行该目标航线，使得无人机管理者可以对无人机的航线进行规划，同时，无人机的控制终端不需要预先规划好航线再控制无人机执行该航线，提高了无人机执行航线任务的效率。
本发明实施例提供一种终端设备。图16为本发明实施例提供的终端设备的结构图；如图16所示，终端设备160包括：处理器161和通讯接口162；处理器161用于：检测目标航线选择操作；根据检测到的目标航线选择操作确定目标航线选择指令；通讯接口162用于将所述目标航线选 择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端。
可选的，处理器161还用于：检测控制终端选择操作；根据所述控制终端选择操作确定控制终端选择指令；通讯接口162将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端时，具体用于：将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给所述控制终端选择指令所指示的目标控制终端。
可选的，处理器161还用于：检测飞手选择操作；根据所述飞手选择操作确定飞手选择指令；通讯接口162将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端时，具体用于：将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给目标控制终端，其中，所述目标控制终端为所述飞手选择指令指示的目标飞手操作的控制终端。
可选的，终端设备160还包括：显示设备163；通讯接口162还用于：接收服务器发送的目标航线的状态信息；显示设备163用于显示所述状态信息。
可选的，通讯接口162具体用于接收服务器发送的目标航线的第一状态信息；显示设备163具体用于显示所述第一状态信息，其中，所述第一状态信息用于指示服务器已经根据目标航线选择指令确定出目标航线。
可选的，通讯接口162具体用于接收服务器发送的目标航线的第二状态信息；显示设备163具体用于显示所述第二状态信息，其中，所述第二状态信息用于指示控制终端已经获取到目标航线。
可选的，通讯接口162具体用于接收服务器发送的目标航线的第三状态信息；显示设备163具体用于显示所述第三状态信息，其中，所述第三状态信息用于指示无人机已经执行完所述目标航线。
本发明实施例提供的终端设备的具体原理和实现方式均与图11-图13所示实施例类似，此处不再赘述。
本实施例通过终端设备检测目标航线选择操作，根据检测到的目标 航线选择操作确定目标航线选择指令，并将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端，使得无人机管理者可以对无人机的航线进行规划，同时，无人机的控制终端不需要预先规划好航线再控制无人机执行该航线，提高了无人机执行航线任务的效率。
本发明实施例提供一种无人机的控制终端。图17为本发明实施例提供的无人机的控制终端的结构图；如图17所示，无人机的控制终端170包括：通讯接口171和处理器172；通讯接口171用于接收服务器发送的目标航线，其中，所述目标航线是由与服务器通信连接的终端设备通过检测用户的目标航线选择操作确定的；处理器172用于控制无人机执行所述目标航线。
可选的，通讯接口171接收服务器发送的目标航线时，具体用于：向服务器发送航线请求指令；在发送所述航线请求指令后，接收服务器发送的目标航线。
可选的，通讯接口171还用于：在接收到所述目标航线后，向服务器发送目标航线接收确认信息。
可选的，处理器172还用于：确认无人机是否执行完所述目标航线；通讯接口171还用于：当确认无人机执行完所述目标航线后，向服务器发送目标航线执行确认信息。
本发明实施例提供的无人机的控制终端的具体原理和实现方式均与图14所示实施例类似，此处不再赘述。
本实施例通过无人机的控制终端接收服务器发送的目标航线，并控制无人机执行所述目标航线，所述目标航线是由与服务器通信连接的终端设备通过检测用户的目标航线选择操作确定的，使得无人机管理者可以对无人机的航线进行规划，同时，无人机的控制终端不需要预先规划好航线再控制无人机执行该航线，提高了无人机执行航线任务的效率。
本发明实施例提供一种航线的分配系统。如图2或图3所示，航线的分配系统包括：上述实施例所述的服务器22、终端设备21、无人机的控 制终端24。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而 非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (43)

  1. 一种航线的分配方法，应用于服务器，其特征在于，包括：
    接收终端设备发送的目标航线选择指令；
    根据所述目标航线选择指令确定目标航线；
    将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收终端设备发送的控制终端选择指令；
    所述将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线包括：
    将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    接收目标控制终端发送的航线请求指令；
    所述将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线包括：
    在接收到所述航线请求指令后，将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收终端设备发送的飞手选择指令；
    所述将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线包括：
    将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线，其中，所述目标控制终端为飞手选择指令指示的目标飞手操作的控制终端。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    接收目标控制终端发送的航线请求指令；
    所述将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线包括：
    在接收到所述航线请求指令后，将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
  6. 根据权利要求4或5所述的方法，其特征在于，所述方法还包括：
    获取目标飞手的联系方式信息，根据所述联系方式信息发送提示信息，其中，所述提示信息用于提示目标飞手获取目标航线。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述方法还包括：
    向终端设备发送目标航线的状态信息。
  8. 根据权利要求7所述的方法，其特征在于，所述向终端设备发送目标航线的状态信息包括：
    在确定出所述目标航线时，向终端设备发送第一状态信息。
  9. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    接收控制终端发送的目标航线接收确认信息；
    所述向终端设备发送目标航线的状态信息，包括：
    在接收到所述目标航线接收确认信息后，向终端设备发送第二状态信息。
  10. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    接收控制终端发送的目标航线执行确认信息；
    所述向终端设备发送目标航线的状态信息，包括：在接收到所述目标航线执行确认信息后，向终端设备发送第三状态信息。
  11. 一种航线的分配方法，应用于终端设备，其特征在于，包括：
    检测目标航线选择操作；
    根据检测到的目标航线选择操作确定目标航线选择指令；
    将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端。
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    检测控制终端选择操作；
    根据所述控制终端选择操作确定控制终端选择指令；
    所述将所述目标航线选择指令发送给服务器以使服务器将所述目标 航线选择指令指示的目标航线发送给无人机的控制终端包括：
    将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给所述控制终端选择指令所指示的目标控制终端。
  13. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    检测飞手选择操作；
    根据所述飞手选择操作确定飞手选择指令；
    所述将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端包括：
    将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给目标控制终端，其中，所述目标控制终端为所述飞手选择指令指示的目标飞手操作的控制终端。
  14. 根据权利要求11-13任一项所述的方法，其特征在于，所述方法还包括：
    接收服务器发送的目标航线的状态信息，显示所述状态信息。
  15. 根据权利要求14所述的方法，其特征在于，所述接收服务器发送的目标航线的状态信息，显示所述状态信息包括：
    接收服务器发送的目标航线的第一状态信息，显示所述第一状态信息，其中，所述第一状态信息用于指示服务器已经根据目标航线选择指令确定出目标航线。
  16. 根据权利要求14所述的方法，其特征在于，所述接收服务器发送的目标航线的状态信息，显示所述状态信息包括：
    接收服务器发送的目标航线的第二状态信息，显示所述第二状态信息，其中，所述第二状态信息用于指示控制终端已经获取到目标航线。
  17. 根据权利要求14所述的方法，其特征在于，所述接收服务器发送的目标航线的状态信息，显示所述状态信息包括：
    接收服务器发送的目标航线的第三状态信息，显示所述第三状态信息，其中，所述第三状态信息用于指示无人机已经执行完所述目标航线。
  18. 一种航线的分配方法，应用于无人机的控制终端，其特征在 于，包括：
    接收服务器发送的目标航线，其中，所述目标航线是由与服务器通信连接的终端设备通过检测用户的目标航线选择操作确定的；
    控制无人机执行所述目标航线。
  19. 根据权利要求18所述的方法，其特征在于，所述接收服务器发送的目标航线包括：
    向服务器发送航线请求指令；
    在发送所述航线请求指令后，接收服务器发送的目标航线。
  20. 根据权利要求19所述的方法，其特征在于，所述方法还包括：
    在接收到所述目标航线后，向服务器发送目标航线接收确认信息。
  21. 根据权利要求20所述的方法，其特征在于，所述方法还包括：
    当确认无人机执行完所述目标航线后，向服务器发送目标航线执行确认信息。
  22. 一种服务器，其特征在于，包括：通讯接口和处理器；
    所述通讯接口用于接收终端设备发送的目标航线选择指令；
    所述处理器用于根据所述目标航线选择指令确定目标航线；
    所述通讯接口还用于将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线。
  23. 根据权利要求22所述的服务器，其特征在于，所述通讯接口还用于：
    接收终端设备发送的控制终端选择指令；
    所述通讯接口将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线时，具体用于：
    将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
  24. 根据权利要求23所述的服务器，其特征在于，所述通讯接口还用于：
    接收目标控制终端发送的航线请求指令；
    所述通讯接口将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线时，具 体用于：
    在接收到所述航线请求指令后，将所述目标航线发送给所述控制终端选择指令指示的目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
  25. 根据权利要求22所述的服务器，其特征在于，所述通讯接口还用于：
    接收终端设备发送的飞手选择指令；
    所述通讯接口将所述目标航线发送给无人机的控制终端以使所述控制终端控制无人机执行所述目标航线时，具体用于：
    将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线，其中，所述目标控制终端为飞手选择指令指示的目标飞手操作的控制终端。
  26. 根据权利要求25所述的服务器，其特征在于，所述通讯接口还用于：
    接收目标控制终端发送的航线请求指令；
    所述通讯接口将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线时，具体用于：
    在接收到所述航线请求指令后，将所述目标航线发送给目标控制终端以使所述目标控制终端控制无人机执行所述目标航线。
  27. 根据权利要求25或26所述的服务器，其特征在于，所述处理器还用于：
    获取目标飞手的联系方式信息，根据所述联系方式信息发送提示信息，其中，所述提示信息用于提示目标飞手获取目标航线。
  28. 根据权利要求22-27任一项所述的服务器，其特征在于，所述通讯接口还用于：
    向终端设备发送目标航线的状态信息。
  29. 根据权利要求28所述的服务器，其特征在于，所述通讯接口向终端设备发送目标航线的状态信息时，具体用于：
    在确定出所述目标航线时，向终端设备发送第一状态信息。
  30. 根据权利要求28所述的服务器，其特征在于，所述通讯接口还 用于：
    接收控制终端发送的目标航线接收确认信息；
    所述通讯接口向终端设备发送目标航线的状态信息时，具体用于：
    在接收到所述目标航线接收确认信息后，向终端设备发送第二状态信息。
  31. 根据权利要求28所述的服务器，其特征在于，所述通讯接口还用于：
    接收控制终端发送的目标航线执行确认信息；
    所述通讯接口向终端设备发送目标航线的状态信息时，具体用于：在接收到所述目标航线执行确认信息后，向终端设备发送第三状态信息。
  32. 一种终端设备，其特征在于，包括：处理器和通讯接口；
    所述处理器用于：
    检测目标航线选择操作；
    根据检测到的目标航线选择操作确定目标航线选择指令；
    所述通讯接口用于将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端。
  33. 根据权利要求32所述的终端设备，其特征在于，所述处理器还用于：
    检测控制终端选择操作；
    根据所述控制终端选择操作确定控制终端选择指令；
    所述通讯接口将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端时，具体用于：
    将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给所述控制终端选择指令所指示的目标控制终端。
  34. 根据权利要求32所述的终端设备，其特征在于，所述处理器还用于：
    检测飞手选择操作；
    根据所述飞手选择操作确定飞手选择指令；
    所述通讯接口将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给无人机的控制终端时，具体用于：
    将所述目标航线选择指令发送给服务器以使服务器将所述目标航线选择指令指示的目标航线发送给目标控制终端，其中，所述目标控制终端为所述飞手选择指令指示的目标飞手操作的控制终端。
  35. 根据权利要求32-34任一项所述的终端设备，其特征在于，还包括：显示设备；
    所述通讯接口还用于：接收服务器发送的目标航线的状态信息；
    所述显示设备用于显示所述状态信息。
  36. 根据权利要求35所述的终端设备，其特征在于，所述通讯接口具体用于接收服务器发送的目标航线的第一状态信息；
    所述显示设备具体用于显示所述第一状态信息，其中，所述第一状态信息用于指示服务器已经根据目标航线选择指令确定出目标航线。
  37. 根据权利要求35所述的终端设备，其特征在于，所述通讯接口具体用于接收服务器发送的目标航线的第二状态信息；
    所述显示设备具体用于显示所述第二状态信息，其中，所述第二状态信息用于指示控制终端已经获取到目标航线。
  38. 根据权利要求35所述的终端设备，其特征在于，所述通讯接口具体用于接收服务器发送的目标航线的第三状态信息；
    所述显示设备具体用于显示所述第三状态信息，其中，所述第三状态信息用于指示无人机已经执行完所述目标航线。
  39. 一种无人机的控制终端，其特征在于，包括：通讯接口和处理器；
    所述通讯接口用于接收服务器发送的目标航线，其中，所述目标航线是由与服务器通信连接的终端设备通过检测用户的目标航线选择操作确定的；
    所述处理器用于控制无人机执行所述目标航线。
  40. 根据权利要求39所述的控制终端，其特征在于，所述通讯接口接收服务器发送的目标航线时，具体用于：
    向服务器发送航线请求指令；
    在发送所述航线请求指令后，接收服务器发送的目标航线。
  41. 根据权利要求40所述的控制终端，其特征在于，所述通讯接口还用于：
    在接收到所述目标航线后，向服务器发送目标航线接收确认信息。
  42. 根据权利要求41所述的控制终端，其特征在于，所述处理器还用于：确认无人机是否执行完所述目标航线；
    所述通讯接口还用于：
    当确认无人机执行完所述目标航线后，向服务器发送目标航线执行确认信息。
  43. 一种航线的分配系统，其特征在于，包括：
    如权利要求22-31任一项所述的服务器；
    如权利要求32-38任一项所述的终端设备；
    如权利要求39-42任一项所述的无人机的控制终端。
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