WO2019090488A1 - Method for generating simulated route, method and device for flight simulation, and storage medium - Google Patents

Abstract

A method for generating a simulated route, a method and device for flight simulation and a storage medium, the method for generating a simulated route comprising: loading a three-dimensional model of a target scene; calling a three-dimensional rendering engine to render the three-dimensional model, and outputting a human-computer interaction interface, the human-computer interaction interface comprising a picture window used for presenting the rendered three-dimensional picture; obtaining initial three-dimensional information of a way point on the basis of the human-computer interaction interface; and generating a simulated route according to the initial three-dimensional information. By applying the embodiments of the present application, three-dimensional information of a way point that comprises position information and height information may be programmed, thereby obtaining a more accurate three-dimensional simulated route and improving the efficiency of programming a simulated route since multiple actual flight operations may be avoided. Correspondingly, performing a simulated flight on the basis of the three-dimensional simulated route may provide a more accurate basis for the actual flight path of an aircraft.

Description

Method for generating simulated route, method, equipment and storage medium for simulating flight Technical field

The present application relates to the field of computer technologies, and in particular, to a method for generating a simulated route, a method for simulating flight, a device, a computing device, and a computer readable storage medium.

Background technique

At present, aircraft represented by drones have a wide range of applications, such as professional aerial photography, agricultural irrigation, power line inspection, and public security monitoring. Usually, during the actual flight, the ground station plans the route for the aircraft. When the control system of the aircraft is turned on, the ground station uploads the route to the control system to control the actual flight of the aircraft according to the route. In order to ensure the accuracy of the aircraft during the actual flight, the flight process of the aircraft can be simulated in advance through the ground station simulator to provide a relatively accurate route for the actual flight process of the aircraft.

In the related art, the ground station simulator usually performs route planning based on a two-dimensional plane map, so each of the planned route points has only two-dimensional position information, and the height information of the waypoint can only be set by parameters. In relation to the relative height of the aircraft's take-off point (home point), when the aircraft takes off at different home points, the actual flight of the aircraft will be caused due to the difference in the actual altitude of the home point and the relative height. The height is not accurate; correspondingly, since the ground station simulator only supports two-dimensional route planning, it is difficult to carry out flight simulation of the flight process of the aircraft through the ground station simulator, and it is necessary to combine the height information of the actually set waypoints. A reasonable route can be obtained through multiple actual flight operations, so the operation is cumbersome, and because the ground station simulator has a single function, it is difficult to plan a route with precise requirements for the actual flight altitude of the waypoint.

Summary of the invention

The present application provides a method of generating a simulated route, a method of simulating flight, a device, a computing device, and a computer readable storage medium.

According to a first aspect of the present application, a method of generating a simulated route is provided, the method comprising:

Loading a three-dimensional model of the target scene;

After the 3D rendering engine is invoked to render the 3D model, a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

Obtaining initial three-dimensional information of a waypoint based on the human-computer interaction interface;

A simulated route is generated based on the initial three-dimensional information.

According to a second aspect of the present application, there is provided a method of simulating flight, which simulates flight using a simulated route generated by the method for generating a simulated route, the method comprising:

Setting the flight parameters of the aircraft model through the parameter adjustment simulator;

After receiving the simulated flight instruction, controlling the aircraft model to execute the simulated route in a three-dimensional picture according to the flight parameter to obtain simulated flight data;

Rendering the simulated flight data by a three-dimensional rendering engine;

The simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.

According to a third aspect of the present application, an apparatus for generating a simulated route is provided, comprising:

a loading unit for loading a three-dimensional model of the target scene;

a rendering unit, configured to invoke a three-dimensional rendering engine to render the three-dimensional model, and output a human-computer interaction interface, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

An obtaining unit, configured to obtain initial three-dimensional information of a waypoint based on the human-computer interaction interface;

And a generating unit, configured to generate a simulated route according to the initial three-dimensional information.

According to a fourth aspect of the present application, there is provided a device for simulating flight, the device applying the simulated route generated by the device for generating a simulated route to perform a simulated flight, including:

a setting unit configured to set flight parameters of the aircraft model by a parameter adjustment simulator;

a control unit, configured to: after receiving the simulated flight instruction, control the aircraft model to execute the simulated route in a three-dimensional picture according to the flight parameter to obtain simulated flight data;

a rendering unit, configured to render the simulated flight data by using a three-dimensional rendering engine;

And an output unit, configured to output a simulated flight picture in a picture window of the human-computer interaction interface according to the rendering result.

According to a fifth aspect of the present application, there is provided a computing device comprising a memory, a processor and an external interface connected by an internal bus,

The memory is configured to store machine readable instructions corresponding to control logic for generating an analog route;

The processor is configured to read machine readable instructions on the memory and execute the instructions to:

Loading a three-dimensional model of the target scene;

After the 3D rendering engine is invoked to render the 3D model, a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

Obtaining initial three-dimensional information of a waypoint based on the human-computer interaction interface;

A simulated route is generated based on the initial three-dimensional information.

According to a sixth aspect of the present application, there is provided a computing device comprising a memory, a processor and an external interface connected by an internal bus,

The memory is configured to store machine readable instructions corresponding to the control logic of the simulated flight, and the simulated route corresponding to the control logic of the simulated flight is an analog route generated by the foregoing computing device;

The processor is configured to read the machine readable instructions on the memory and execute the instructions to:

Setting the flight parameters of the aircraft model through the parameter adjustment simulator;

After receiving the simulated flight instruction, controlling the aircraft model to execute the simulated route in a three-dimensional picture according to the flight parameter to obtain simulated flight data;

Rendering the simulated flight data by a three-dimensional rendering engine;

The simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.

According to a seventh aspect of the present application, there is provided a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to:

Loading a three-dimensional model of the target scene;

After the 3D rendering engine is invoked to render the 3D model, a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

Obtaining initial three-dimensional information of a waypoint based on the human-computer interaction interface;

A simulated route is generated based on the initial three-dimensional information.

According to an eighth aspect of the present application, there is provided a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to:

Setting the flight parameters of the aircraft model through the parameter adjustment simulator;

After receiving the simulated flight instruction, controlling the aircraft model to execute a simulated route in a three-dimensional picture according to the flight parameter, and obtaining simulated flight data, the simulated route being an analog route generated by executing a program on the computer readable storage medium ;

Rendering the simulated flight data by a three-dimensional rendering engine;

The simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.

As can be seen from the technical solutions provided by the embodiments of the present application, the present application can calculate the three-dimensional information of the waypoints including the location information and the altitude information, and obtain the three-dimensional information of the waypoints including the location information and the height information. More accurate 3D simulation of the route, and because it can avoid multiple actual flight operations, thus improving the planning efficiency of the simulated route; correspondingly, based on the 3D simulation route for simulation flight, the simulated flight picture can be obtained synchronously, and can be simulated flight The simulation route is adjusted in real time during the process to provide a more accurate basis for the actual flight path of the aircraft.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present application. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a flow chart of an embodiment of a method for generating a simulated route of the present application;

2 is a schematic diagram of a human-machine interaction interface in FIG. 1;

3 is a flow chart showing an embodiment of obtaining initial three-dimensional information of a waypoint in the embodiment of FIG. 2;

4 is a flow chart showing another embodiment of obtaining initial three-dimensional information of a waypoint in the embodiment of FIG. 2;

Figure 5 is a flow chart showing another embodiment of obtaining initial three-dimensional information of a waypoint in the embodiment of Figure 2;

6 is a flow chart of an embodiment of a method of simulating flight of the present application;

7 is a block diagram of an embodiment of an apparatus for generating a simulated route of the present application;

Figure 8 is a block diagram of an embodiment of the apparatus for simulating flight of the present application;

9 is a block diagram of an embodiment of a computing device of the present application.

Detailed ways

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. Based on this application All other embodiments obtained by those skilled in the art without creative efforts are within the scope of the present application. Further, the features of the following embodiments and examples may be combined with each other without conflict.

The aircraft ground station is the command center of the aircraft system to control the aircraft to fly according to a preset route. Take the unmanned aerial platform as an example, which usually includes a remote controller, a terminal device (mobile phone, tablet, PC, etc.) with a video display function, a power supply system, a radio station, and the like. The ground station can plan the route for the aircraft. When the control system of the aircraft is turned on, the ground station uploads the route to the control system to control the actual flight of the aircraft according to the route. In order to ensure the accuracy of the aircraft during the actual flight, the flight process of the aircraft can be simulated in advance through the ground station simulator to provide a relatively accurate reference for the actual flight path of the aircraft.

As an APP (Application), the ground station simulator can be installed in a terminal device, such as a mobile phone, a tablet computer, a PC (Personal Computer, a personal computer), and the like. Different from the existing ground station simulator based on the two-dimensional plane planning two-dimensional route, the ground station simulator in the embodiment of the present application can plan a three-dimensional simulation route through the human-machine interaction interface on the basis of loading the three-dimensional model, and can be based on The three-dimensional simulation route is simulated flight. In practical applications, when the user opens the ground station simulator APP, the human-computer interaction interface for planning the three-dimensional simulation route can be entered. At this time, according to the various operations of the user on the human-computer interaction interface, the waypoints in the simulated route can be obtained. 3D information and generate 3D simulation routes; further display various preview images of the aircraft model on the display of the terminal device, so that the route can be adjusted in real time during the generation of the simulated route or during the simulated flight . Therefore, the application of the embodiment of the present application can improve the planning efficiency of the simulated route while obtaining a more accurate simulated route, and provide a more accurate basis for the actual flight of the aircraft. The embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to FIG. 1 , a flowchart of an embodiment of a method for generating a simulated route according to the present application includes the following steps:

Step 101: Load a three-dimensional model of the target scene.

The three-dimensional model in this embodiment can be obtained by using an image-based modeling method, that is, after the scene to be modeled is determined, a plurality of two-dimensional images of the scene can be obtained, and then the two-dimensional image is used to establish the scene. The 3D geometry is used to complete the creation of the 3D model.

In an optional implementation manner, the three-dimensional model of various scenarios may be generated in advance or generated in real time; the three-dimensional model may be generated by a cloud server or generated by a local terminal device.

In this step, after the target scenario of the simulated route to be planned is determined, if the three-dimensional model of the target scenario is generated by the cloud server, the three-dimensional model may be loaded after receiving the three-dimensional model transmitted by the cloud server; The model is generated by the local terminal device, and the three-dimensional model can be loaded locally after the three-dimensional model is generated.

Step 102: After calling the three-dimensional rendering engine to render the three-dimensional model, output a human-computer interaction interface, where the human-computer interaction interface includes a picture window for presenting the rendered three-dimensional image.

In this step, after loading the 3D model, the 3D rendering engine can be called to render the 3D model to obtain a 3D image of the target scene, and output a human-computer interaction interface, wherein the 3D image can be presented in the screen window of the human-computer interaction interface. The human-computer interaction interface may further include: a parameter setting panel for setting various parameters, a preview window for previewing the screen, and the like. 2 is a schematic diagram of a human-computer interaction interface according to an embodiment of the present application.

Step 103: Obtain initial three-dimensional information of the waypoint based on the human-computer interaction interface.

In this step, the initial three-dimensional information of the waypoint may include: location information of the waypoint and altitude information of the waypoint. Wherein, any of the following implementation manners may be adopted to obtain initial three-dimensional information of the waypoint based on the human-computer interaction interface:

In an alternative implementation, referring to FIG. 3, a process for obtaining initial three-dimensional information of a waypoint by means of striking directly in the picture window is shown:

Step 301: Receive a mode switching instruction.

The mode switching instructions in this step can be triggered in different ways:

In an implementation manner, for a three-dimensional picture presented by the picture window, the user may perform a flip operation on the three-dimensional picture by using an input device such as a mouse or a touch pad, and trigger a corresponding mode switching instruction according to the flip state presented by the detected flip operation. . For example, when the three-dimensional image is flipped to the top view state, the position editing instruction is triggered, and when the three-dimensional image is flipped to the head-up state, the height editing instruction is triggered; wherein the top view state and the pan view state can be determined according to the tilt angle of the three-dimensional image after the flip operation, for example, for example When the inclination angle of the three-dimensional screen is less than 45 degrees, it is in a plan view state, and when it is not less than 45 degrees, it is in a head-up state.

In another implementation manner, for the mode switching option provided in the parameter setting panel, the corresponding mode switching instruction may be triggered according to the user's selection result, for example, when the selection result is the position option, the position editing instruction is triggered, when selecting When the result is a height option, the height edit command is triggered.

It should be noted that, after the human-computer interaction interface is output in step 102, the position editing mode or the high-edit mode may be directly entered according to the mode switching instruction; or the position editing mode may be entered first by default, and then the high-definition mode is followed according to the mode switching instruction. Switch between and position mode. The embodiments of the present application are not limited.

Step 302: Determine the type of the mode switching instruction. If it is a position editing instruction, execute step 303; if it is a height editing instruction, execute step 304.

Step 303: Switch to the location editing mode according to the location editing command, and obtain the location information of the waypoint through the human-computer interaction interface. If yes, go to step 305.

In this step, when switching to the position editing mode according to the position editing command, a plurality of waypoints may be generated based on the user's dot operation on the three-dimensional screen. The user can perform a right-click operation by using an input device such as a mouse or a touchpad. After obtaining the click position corresponding to the click operation, the intersection of the click position and the three-dimensional model is determined, and the intersection is determined as a waypoint; In the mode, the height of each waypoint is the ground height, and the adjacent waypoints set in sequence are connected by a route.

After generating any waypoint by the dot operation, the user can drag the waypoint and determine the target position of the waypoint according to the result of the drag operation; or the user can also set the position parameter in the parameter setting panel. The position parameter corresponds to the target position of the waypoint. After determining the target position of any waypoint, the corresponding location information of the target location in the three-dimensional picture may be obtained, and the location information includes latitude and longitude.

Step 304: Switch to the height editing mode according to the height editing command, and obtain the height information of the waypoint through the human-machine interaction interface.

In this step, when switching to the height editing mode according to the height editing command, the waypoint can be controlled to perform a preset operation, wherein the preset operation may include the following operations:

In an implementation manner, the user can set the translation height of the waypoint in the parameter setting panel of the human-computer interaction interface, and after obtaining the translation height, can control all the waypoints that have set the position information according to the translation height in the three-dimensional picture. The overall movement in the vertical direction.

In another implementation manner, the user can drag any waypoint through an input device such as a mouse or a touchpad, and control the waypoint to move in the vertical direction according to the drag operation.

After the preset way is completed by controlling the waypoint, the height information of the waypoint in the three-dimensional picture may be determined, and the height information may include an absolute height indicating the altitude of the waypoint or a relative height of the waypoint relative to the height of the takeoff point. After obtaining the absolute height of the waypoint, the projection height of the takeoff point of the aircraft model on the three-dimensional model can be obtained, and the difference between the absolute height of the waypoint and the projected height is calculated, and the relative height of the waypoint is obtained.

Step 305: Save initial three-dimensional information of each waypoint, and the initial three-dimensional information includes location information and altitude information of the waypoint.

In another alternative implementation, referring to FIG. 4, a process for obtaining initial three-dimensional information by real-time dot-dot during the flight simulation of controlling the aircraft model in a three-dimensional picture is shown:

Step 401: Control the aircraft model to start a simulated flight from a take-off point in the three-dimensional picture according to a control command issued by the remote controller.

The aircraft model in this embodiment may include a dynamic model for interacting with the three-dimensional model, a control model for controlling the flight attitude of the aircraft model, and a visual system model for providing visual data for the control model. In this step, the user can set the takeoff point of the aircraft model in the three-dimensional picture through the analog remote controller or the real remote controller, and then issue a control command to the aircraft model, thereby controlling the aircraft model to start the simulation flight from the takeoff point.

Step 402: If the waypoint increase command issued by the controller is received at any flight point during the simulated flight, the flight point is determined to be a waypoint, and the initial three-dimensional information of the waypoint is recorded.

In an optional implementation manner, when the preview window is included in the human-computer interaction interface, after the image data captured by the simulated image transmission function of the aircraft model during the simulated flight is acquired, the image data may be performed by the three-dimensional rendering engine. Render and render the rendered simulation in the preview window for real-time preview by the user.

During the flight simulation of the aircraft model, when the user determines through the preview window that a certain flight point can be used as a waypoint, the waypoint increase command can be issued by operating a designated button on the remote controller, and after receiving the waypoint increase command, The current flight point is determined as a waypoint, and the position information and height information of the flight point in the three-dimensional picture are recorded as the initial three-dimensional information of the newly added waypoint.

Step 403: Save initial three-dimensional information of each waypoint, and the initial three-dimensional information includes location information and altitude information of the waypoint.

In an optional implementation manner, during the simulated flight of the aircraft model, if a pause command issued by the remote controller is received at a certain waypoint, the simulated flight may be interrupted, and the adjusted for the waypoint is obtained. The initial 3D information is then saved to the adjusted initial 3D information of the waypoint. In the adjustment of the initial three-dimensional information of the waypoint, the adjustment may be performed through the parameter setting panel, or the navigation point may be dragged in the three-dimensional image by using an input device such as a mouse or a touchpad, and details are not described herein.

In another optional implementation manner, when a waypoint operation of a waypoint is performed by using a remote controller, a selection instruction of a target waypoint issued by the remote controller may be received, and the target waypoint may be a waypoint set by the dot operation. Any of the waypoints, then control the aircraft model to start from the target waypoint and re-execute the simulated flight in the 3D picture.

In another optional implementation, referring to FIG. 5, a process of setting a waypoint through a preset route template and obtaining initial three-dimensional information of the waypoint is illustrated:

Step 501: Load a preset route template in the picture window.

In this embodiment, multiple route templates may be preset, and the initial simulated route corresponding to each route template may have a fixed shape, such as a rectangle, a square, or a triangle, etc., and then the name and route template of each route template may be stored locally. Correspondence. After the user inputs the name of the selected route template, the route template corresponding to the input name may be obtained from the stored correspondence, and the route template may be loaded in the picture window. The route template is also available It is set by the user.

Step 502: Generate an initial simulated route according to the route template, where the initial simulated route includes multiple initial waypoints, and the waypoint information of each initial waypoint includes initial three-dimensional information.

In an optional implementation, the take-off point and the landing point of the initial simulated route can be determined by a user's click operation in the three-dimensional picture or a setting operation in the parameter setting panel, and then between the take-off point and the landing point. The initial simulated route is generated according to the fixed shape of the initial simulated route.

In another optional implementation, the takeoff point and length of the initial simulated route may be determined by a user clicking operation in a three-dimensional picture or a setting operation in a parameter setting panel, and then starting from the takeoff point, according to the initial simulation The fixed shape of the route generates an initial simulated route that is consistent with the length of the simulated route.

Step 503: Obtain modified initial three-dimensional information for any initial waypoint through the human-computer interaction interface.

After the initial simulation route is generated, a plurality of initial waypoints may be set according to a preset interval in the initial simulated route, and the initial three-dimensional information may be determined according to the position of each initial waypoint in the three-dimensional picture. In this step, any of the initial waypoints may be adjusted, for example, by dragging to reset the position of any of the initial waypoints, or after selecting any initial waypoints, in the parameters The position of the initial waypoint is set in the setting panel, and then the modified initial three-dimensional information is obtained according to the adjusted initial waypoint position.

Step 504: Save the modified initial three-dimensional information of each waypoint, and the initial three-dimensional information includes location information and altitude information.

So far, the description of the centralized alternative manner of obtaining the initial three-dimensional information of the waypoint based on the human-computer interaction interface is completed.

Step 104: Generate a simulated route according to the initial three-dimensional information.

In this step, the target three-dimensional information of the waypoint may be obtained according to the initial three-dimensional information obtained in step 103, and the simulated route file may be saved correspondingly, and the simulated route file may include: a waypoint order and a waypoint information of each waypoint, The point information includes the target three-dimensional information of the waypoint and the attribute information of the waypoint. The target three-dimensional information of the waypoint may include: location information and altitude information of the waypoint; the attribute information of the waypoint may include: a posture parameter of the pan/tilt when the aircraft flies to the waypoint, a speed parameter of the aircraft, and an attitude parameter of the aircraft. .

In an optional implementation manner, if the initial three-dimensional information of the waypoint includes the position information and the absolute height of the waypoint, when the target three-dimensional information of the waypoint is obtained according to the initial three-dimensional information, the takeoff point of the aircraft model can be acquired in three dimensions. The projection height on the model, and calculate the difference between the absolute height of each waypoint and the projected height, which is the relative height of each waypoint relative to the takeoff point, which can be determined as the target three-dimensional information. Height information.

It can be seen from the above embodiment that, according to the simulation of the route planning based on the three-dimensional model, compared with the prior art, the three-dimensional information of the waypoint including the position information and the height information can be planned, thereby obtaining a more accurate three-dimensional image. The route is simulated, and the planning efficiency of the simulated route is improved because multiple actual flight operations can be avoided.

6 is a flowchart of an embodiment of a method for simulating flight according to the present application. The embodiment may apply the simulated route generated by the foregoing embodiment shown in FIG. 2 to perform simulated flight, including the following steps:

Step 601: Set flight parameters of the aircraft model by a parameter adjustment simulator.

In this step, various flight parameters of the aircraft model can be set by the parameter adjustment simulator. These flight parameters are consistent with various flight parameters that need to be set during the actual flight of the aircraft, and may include: the cloud platform parameters of the aircraft model, and the aircraft model hangs. Parameters of the analog camera, GPS parameters of the aircraft model, attitude parameters, etc.

Step 602: After receiving the simulated flight instruction, control the aircraft model to execute the simulated route in the three-dimensional picture according to the flight parameter, and obtain simulated flight data.

In an optional implementation manner, the simulated route can be adjusted during the execution of the simulated route. If a pause command is received at a certain waypoint, the simulated route can be interrupted and the adjusted for the waypoint can be obtained. The 3D information is then generated based on the adjusted 3D information to generate an updated simulated route. Based on the regenerated analog route, if the selection instruction of the target waypoint is received, the aircraft model can be controlled to start from the target waypoint, and the updated simulated route is executed in the three-dimensional picture, thereby improving the adjustment of the simulated route by adjusting the waypoint in real time. effectiveness.

Step 603: Rendering simulated flight data by using a three-dimensional rendering engine.

Step 604: Output a simulated flight picture in a picture window of the human-computer interaction interface according to the rendering result.

In an optional implementation manner, the human-computer interaction interface may further include a preview window, so after acquiring the image data captured by the simulated image transmission function during the execution of the simulated flight path of the aircraft model, the image may be imaged by the three-dimensional rendering engine. The data is rendered, and the rendered simulation image is presented in real time in the preview window for the user to preview the simulated image captured by the aircraft model in real time during flight.

It can be seen from the above embodiment that the embodiment performs simulation flight based on the three-dimensional simulation route, and the simulated flight picture can be obtained synchronously, and the simulation route can be adjusted in real time during the simulation flight, thereby providing a more accurate basis for the actual flight path of the aircraft.

Corresponding to the aforementioned method of generating a simulated route, and a method embodiment of a simulated flight, the present application also provides an embodiment of a device for generating a simulated route, a device for simulating flight, and a computing device.

Referring to FIG. 7, a block diagram of an embodiment of an apparatus for generating a simulated route according to the present application is as follows:

The apparatus includes a loading unit 710, a rendering unit 720, an obtaining unit 730, and a generating unit 740.

The loading unit 710 is configured to load a three-dimensional model of the target scene.

a rendering unit 720, configured to invoke a three-dimensional rendering engine to render the three-dimensional model, and output a human-computer interaction interface, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

The obtaining unit 730 is configured to obtain initial three-dimensional information of a waypoint based on the human-machine interaction interface;

The generating unit 740 is configured to generate a simulated route according to the initial three-dimensional information.

In an optional implementation, the loading unit 710 may include at least one of the following units (not shown in FIG. 7):

a first loading subunit, configured to load the three-dimensional model after receiving the three-dimensional model of the target scene generated by the cloud server;

a second loading subunit, configured to load the three-dimensional model after generating a three-dimensional model of the target scene by the local three-dimensional reconstruction function.

In another optional implementation, the obtaining unit 730 may include (not shown in FIG. 7):

a mode switching subunit, configured to control the human-machine interaction interface to switch between a position editing mode and a high-edit mode according to a mode switching instruction;

a location information obtaining subunit, configured to obtain location information of a waypoint through the human-machine interaction interface when switching to the location editing mode;

a height information obtaining subunit, configured to obtain height information of a waypoint through the human-machine interaction interface when switching to the height editing mode;

And a first information saving subunit, configured to save initial three-dimensional information of each waypoint, the initial three-dimensional information including the location information and the height information.

In an example, the mode switching subunit may be specifically configured to obtain a mode switching instruction according to the detected inversion state of the three-dimensional picture, and switch to a position editing mode when the three-dimensional picture is flipped to a top view state. When the three-dimensional picture is flipped to the head-up state, the mode is switched to the height editing mode; or, according to the mode switching option provided by the human-machine interaction interface, the mode switching instruction is obtained, and when the position option is selected, the mode is switched to the position editing mode, when the height is When the option is selected, switch to the height edit mode.

In another example, the location information obtaining subunit may be specifically used to perform based on the three-dimensional picture. Point operation, generate a plurality of waypoints; determine a target position after any of the waypoints after the drag operation, or perform a target position after the position parameter setting in the parameter setting panel of the human-computer interaction interface, and obtain the target Corresponding location information in the three-dimensional picture, the location information including latitude and longitude.

In another example, the height information obtaining sub-unit may be specifically configured to control the waypoint to perform a preset operation, and determine height information in the three-dimensional picture after the waypoint completes the preset operation. The controlling the waypoint to perform the preset operation may include: obtaining a translation height of the waypoint set in the parameter setting panel of the human-machine interaction interface, and controlling the waypoint according to the translation height Move in the vertical direction, or control the waypoint to move in the vertical direction according to the drag operation.

In another optional implementation, the obtaining unit 730 may also include (not shown in FIG. 7):

Simulating a flight control subunit for controlling the aircraft model to perform a simulated flight from a takeoff point in the three-dimensional picture according to a control command issued by the remote controller;

a waypoint increase determination subunit for determining that the flight point is a waypoint if the waypoint increase command issued by the controller is received at any flight point during the simulated flight, and recording the waypoint Initial three-dimensional information;

The second information saving subunit is configured to save initial three-dimensional information of each waypoint, where the initial three-dimensional information includes location information and altitude information of the waypoint.

In an example, the human-computer interaction interface may further include a preview window, and the rendering unit 720 may be further configured to acquire image data captured by the aircraft model during the simulated flight, by using the three-dimensional rendering. The engine renders the image data and renders the rendered simulated picture in the preview window.

In another example, the simulated flight control subunit may be further configured to interrupt execution of the simulated flight if a pause command is received at a certain waypoint during the simulated flight, obtaining Adjusted initial three-dimensional information of the waypoint;

The second information saving subunit may further be configured to save the adjusted initial three-dimensional information of the waypoint

In another example, the simulated flight control sub-unit may be further configured to receive a selection instruction of a target waypoint, where the target waypoint is any one of the waypoints determined by the waypoint increase command. Controlling the aircraft model from the target waypoint, performing the simulated flight in the three-dimensional picture.

In another optional implementation manner, the obtaining unit 730 may further include (not shown in FIG. 7):

a route template loading subunit, configured to load a preset route template in the picture window;

An initial route generation subunit, configured to generate an initial simulated route according to the route template, where the initial simulated route The method includes a plurality of initial waypoints, and the waypoint information of each initial waypoint includes initial three-dimensional information;

a three-dimensional information obtaining subunit, configured to obtain modified initial three-dimensional information for any initial waypoint through the human-computer interaction interface;

The third information saving subunit is configured to save the modified three-dimensional information of each waypoint, the initial three-dimensional information including location information and height information.

In an example, the initial simulated route corresponding to each route template may have a fixed shape; the initial route generation subunit may be specifically configured to determine a takeoff point and a landing point of the initial route, according to the takeoff point and the landing point, Generating an initial simulated route according to the fixed shape of the initial simulated route, or determining a takeoff point and length of the initial simulated route, and generating an initial simulated route according to the fixed shape of the initial simulated route according to the takeoff point and length.

In another optional implementation manner, the height information may include: an absolute height for indicating an altitude of the waypoint, or a relative height of the waypoint relative to a takeoff point height.

In another optional implementation, the generating unit 740 can include (not shown in FIG. 7):

a target information obtaining subunit, configured to obtain target three-dimensional information of a waypoint according to the initial three-dimensional information;

The simulated route save subunit is configured to save the simulated route file, where the simulated route file includes: a waypoint sequence and waypoint information of each waypoint; the waypoint information includes target three-dimensional information of the waypoint, and Attribute information of waypoints;

The target three-dimensional information of the waypoint includes: location information and altitude information of the waypoint;

The attribute information of the waypoint includes: a posture parameter of the pan/tilt when the aircraft flies to the waypoint, a speed parameter of the aircraft, and a posture of the aircraft.

In an example, if the initial three-dimensional information of the waypoint includes: location information of the waypoint and an absolute height; correspondingly, the target information obtaining subunit may be specifically used to acquire a projection of the takeoff point of the aircraft model on the three-dimensional model. Height, the difference between the absolute height of each waypoint and the projected height is determined as the height information of each waypoint.

In another example, the human-computer interaction interface further includes a preview window. The rendering unit 720 is further configured to: when the waypoint information of any waypoint is determined, acquire the aircraft model based on the three-dimensional image. The image data captured by the waypoint information is rendered by the three-dimensional rendering engine, and the rendered simulated image is presented in the preview window.

Referring to FIG. 8, a block diagram of an embodiment of a device for simulating flight of the present application can be simulated flight using the simulated route generated by the device shown in FIG. 7:

The apparatus includes a setting unit 810, a control unit 820, a rendering unit 830, and an output unit 840.

The setting unit 810 is configured to set flight parameters of the aircraft model by using a parameter adjustment simulator;

The control unit 820 is configured to, after receiving the simulated flight instruction, control the aircraft model to execute the simulated route in a three-dimensional picture according to the flight parameter, to obtain simulated flight data;

a rendering unit 830, configured to render the simulated flight data by using a three-dimensional rendering engine;

The output unit 840 is configured to output a simulated flight picture in a picture window of the human-machine interaction interface according to the rendering result.

In an alternative implementation, the apparatus may also include (not shown in FIG. 8):

An interruption unit, configured to interrupt execution of the simulated route if a pause command is received at a certain waypoint during execution of the simulated route by the aircraft model;

An obtaining unit, configured to obtain adjusted three-dimensional information for the waypoint;

And a generating unit, configured to generate an updated simulated route based on the adjusted three-dimensional information.

In another optional implementation, the apparatus may further include (not shown in FIG. 8):

a receiving unit, configured to receive a selection instruction of a target waypoint after regenerating the simulated route;

The control unit 820 may be further configured to control the aircraft model to start from the target waypoint, and execute the updated simulated route in the three-dimensional picture.

In another optional implementation manner, the flight parameters may include: a cloud platform parameter of the aircraft model, a parameter of the aircraft model mounting analog camera, a GPS parameter of the aircraft model, and a posture parameter.

9 is a schematic diagram of an embodiment of a computing device of the present application. The computing device may have the following general structure, including: a memory 920 connected through an internal bus 910, a processor 930, and an external interface 940. The memory 920 can store machine readable instructions corresponding to different control logics. Accordingly, the processor 930 can read machine readable instructions on the memory 920 to perform different operations.

In one implementation of the present application:

The memory 920 is configured to store machine readable instructions corresponding to control logic for obtaining flight simulation data;

The processor 930 is configured to read the machine readable instructions on the memory 920 and execute the instructions to implement the following operations:

Loading a three-dimensional model of the target scene;

After the 3D rendering engine is invoked to render the 3D model, a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

Obtaining initial three-dimensional information of a waypoint based on the human-computer interaction interface;

A simulated route is generated based on the initial three-dimensional information.

In an optional example, the processor 930 is specifically configured to perform loading the three-dimensional model after receiving the three-dimensional model of the target scene generated by the cloud server; or generating the target scene by using the local three-dimensional reconstruction function. After the 3D model, the 3D model is loaded.

In another optional example, the processor 930 is specifically configured to perform, according to the mode switching instruction, controlling the human-machine interaction interface to switch between a position editing mode and a height editing mode; when switching to the position editing mode, Obtaining location information of the waypoint through the human-computer interaction interface; obtaining the height information of the waypoint through the human-machine interaction interface when switching to the high-edit mode; and saving initial three-dimensional information of each waypoint, the initial The three-dimensional information includes the location information and the height information.

In another optional example, the processor 930 is specifically configured to: obtain a mode switching instruction according to the detected inversion state of the three-dimensional picture, and switch to position editing when the three-dimensional picture is flipped to a top view state. a mode of switching to a height editing mode when the three-dimensional screen is flipped to a head-up state; or obtaining a mode switching instruction according to a mode switching option provided by the human-machine interaction interface, and switching to a position editing mode when the location option is selected When the height option is selected, switch to the height edit mode.

In another optional example, the processor 930 is configured to perform, according to the striking operation on the three-dimensional picture, generate a plurality of waypoints; determine a target position of any waypoint after the drag operation, or Performing a target position after the position parameter setting in the parameter setting panel of the human-computer interaction interface; obtaining position information corresponding to the target position in the three-dimensional picture, the position information including latitude and longitude.

In another optional example, the processor 930 is specifically configured to perform control of the waypoint to perform a preset operation; and determine height information in the three-dimensional picture after the waypoint completes the preset operation.

In another optional example, the processor 930 is specifically configured to perform obtaining a translation height of the waypoint set in a parameter setting panel of the human-machine interaction interface, and control the waypoint according to the The translation height is moved in the vertical direction; or, the waypoint is controlled to move in the vertical direction according to the drag operation.

In another optional example, the processor 930 is specifically configured to execute, according to a control command issued by the remote controller, control the aircraft model to start a simulated flight from a take-off point in the three-dimensional picture; if during the simulated flight Receiving a waypoint increase command issued by the controller at any flight point, determining that the flight point is a waypoint, and recording initial three-dimensional information of the waypoint; and saving initial three-dimensional information of each waypoint The initial three-dimensional information includes location information and altitude information of the waypoint.

In another optional example, the processor 930 is specifically configured to perform acquiring image data captured by the aircraft model during the simulated flight; and rendering the image data by using the three-dimensional rendering engine; The rendered simulated picture is rendered in the preview window.

In another optional example, the processor 930 is further configured to perform, during the simulated flight, if the pause instruction is received at a certain waypoint, interrupting performing the simulated flight; The adjusted initial three-dimensional information of the waypoint is stored; and the adjusted initial three-dimensional information of the waypoint is saved.

In another optional example, the processor 930 is further configured to perform a selection instruction of receiving a target waypoint, where the target waypoint is any one of the waypoints determined by the waypoint increase instruction. Pointing; controlling the aircraft model to start from the target waypoint, performing the simulated flight in the three-dimensional picture.

In another optional example, the processor 930 is specifically configured to perform loading a preset route template in the picture window, and generate an initial simulated route according to the route template, where the initial simulated route includes multiple The initial waypoints, the waypoint information of each initial waypoint contains initial three-dimensional information; the modified initial three-dimensional information for any initial waypoint is obtained through the human-computer interaction interface; and the modified each waypoint is saved Initial three-dimensional information, the initial three-dimensional information including location information and height information.

In another optional example, the processor 930 is specifically configured to perform a determination of a take-off point and a landing point of an initial simulated route, and generate an initial shape according to the fixed shape of the initial simulated route according to the take-off point and the landing point. Simulating the route; or determining the takeoff point and length of the initial simulated route, and generating an initial simulated route according to the fixed shape of the initial simulated route according to the takeoff point and length.

In another optional example, the height information includes an absolute height for indicating an altitude of the waypoint or a relative height of the waypoint relative to a height of the takeoff point.

In another optional example, the processor 930 is specifically configured to perform target three-dimensional information for obtaining a waypoint according to the initial three-dimensional information; and save a simulated route file, where the simulated route file includes: a waypoint sequence and Waypoint information of each waypoint; the waypoint information includes target three-dimensional information of the waypoint, and attribute information of the waypoint;

The target three-dimensional information of the waypoint includes: location information and altitude information of the waypoint;

The attribute information of the waypoint includes: a posture parameter of the pan/tilt when the aircraft flies to the waypoint, a speed parameter of the aircraft, and an attitude parameter of the aircraft.

In another optional example, the initial three-dimensional information of the waypoint includes: location information of the waypoint and an absolute height;

The processor 930 is specifically configured to perform a high projection of the takeoff point of the acquiring aircraft model on the three-dimensional model Degree; the difference between the absolute height of each waypoint and the projected height is determined as the height information of each waypoint.

In another optional example, the human-computer interaction interface further includes a preview window. The processor 930 is further configured to: when the waypoint information of any waypoint is determined, acquire the aircraft model in the three-dimensional image. Image data captured based on the waypoint information; rendering the image data by the three-dimensional rendering engine; presenting the rendered simulated image in the preview window.

In another implementation of the present application:

The memory 920 is configured to store machine readable instructions corresponding to the control logic of the simulated flight, and the simulated route corresponding to the control logic of the simulated flight is an analog route generated by the foregoing computing device;

The processor 930 is configured to read the machine readable instructions on the memory and execute the instructions to:

Setting the flight parameters of the aircraft model through the parameter adjustment simulator;

After receiving the simulated flight instruction, controlling the aircraft model to execute the simulated route in a three-dimensional picture according to the flight parameter to obtain simulated flight data;

Rendering the simulated flight data by a three-dimensional rendering engine;

The simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.

In one example, the processor 930 is further configured to perform execution of the simulated route during the execution of the simulated route of the aircraft model, if the suspension instruction is received at a certain waypoint, interrupting execution of the simulated route; The adjusted three-dimensional information of the waypoint; generating an updated simulated route based on the adjusted three-dimensional information.

In another example, the processor 930 is further configured to perform a selection instruction of receiving a target waypoint after regenerating the simulated route; controlling the aircraft model to start from the target waypoint in the three-dimensional picture The updated simulated route is executed in the middle.

In another example, the flight parameters include: a pan/tilt parameter of the aircraft model, a parameter of the aircraft model mount analog camera, a GPS parameter of the aircraft model, and a pose parameter.

The embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, and when the program is executed, the following operations are implemented:

Loading a three-dimensional model of the target scene;

After the 3D rendering engine is called to render the 3D model, a human-computer interaction interface is output, and the human-computer interaction boundary The facet includes a picture window for rendering the rendered three-dimensional picture;

Obtaining initial three-dimensional information of a waypoint based on the human-computer interaction interface;

A simulated route is generated based on the initial three-dimensional information.

The embodiment of the present application further provides another computer readable storage medium, on which a computer program is stored, and when the program is executed, the following operations are implemented:

Setting the flight parameters of the aircraft model through the parameter adjustment simulator;

After receiving the simulated flight instruction, controlling the aircraft model to perform a simulated flight route in a three-dimensional picture according to the flight parameter, and obtaining simulated flight data, the simulated flight path being performed on the computer readable storage medium according to claim 45 Simulated route generated by the program;

Rendering the simulated flight data by a three-dimensional rendering engine;

The simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply such entities or operations. There is any such actual relationship or order between them. The terms "including", "comprising" or "comprising" or "comprising" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

Embodiments of the subject matter and functional operations described in this specification can be implemented in the following: digital electronic circuits, tangible embodied computer software or firmware, computer hardware including the structures disclosed in the specification and their structural equivalents, or One or more combinations. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., encoded on a tangible, non-transitory program carrier, to be executed by or controlled by a data processing device. One or more modules in a computer program instruction. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagating signal, such as a machine-generated electrical, optical or electromagnetic signal that is generated to encode and transmit the information to a suitable receiver device for data The processing device executes. The computer storage medium can be a machine readable storage device, a machine readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform the corresponding functions by operating in accordance with input data and generating an output. The processing and logic flow may also be performed by dedicated logic circuitry, such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), and the apparatus may also be implemented as dedicated logic circuitry.

Computers suitable for the execution of a computer program include, for example, a general purpose and/or special purpose microprocessor, or any other type of central processing unit. Typically, the central processing unit will receive instructions and data from a read only memory and/or a random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, the computer will also include one or more mass storage devices for storing data, such as a magnetic disk, magneto-optical disk or optical disk, or the like, or the computer will be operatively coupled to the mass storage device for receiving data or It transmits data, or both. However, the computer does not have to have such a device. In addition, the computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or, for example, a universal serial bus (USB) ) Portable storage devices for flash drives, to name a few.

Computer readable media suitable for storing computer program instructions and data include all forms of nonvolatile memory, media and memory devices including, for example, semiconductor memory devices (eg, EPROM, EEPROM, and flash memory devices), magnetic disks (eg, internal hard drives or Mobile disk), magneto-optical disks, and CD ROM and DVD-ROM disks. The processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.

The description contains many specific implementation details, which are not intended to limit the scope of the invention or the scope of the claimed invention, but are mainly used to describe the features of the specific embodiments of the invention. Certain features that are described in the various embodiments in this specification can also be implemented in combination in a single embodiment. In another aspect, the various features described in a single embodiment can also be implemented separately in various embodiments or in any suitable sub-combination. Moreover, although features may function in certain combinations as described above and even initially claimed, one or more features from the claimed combination may be removed from the combination in some cases and are required The combination of protections can point to a variant of a sub-combination or sub-combination.

Similarly, although the operations are depicted in a particular order in the drawings, this should not be construed as requiring that the operations are performed in the particular order shown or in the sequence, or that all illustrated operations are performed to achieve the desired. result. In In some cases, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product. Medium, or packaged into multiple software products.

Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. In addition, the processes depicted in the figures are not necessarily in the specific order or order of the order shown in order to achieve the desired results. In some implementations, multitasking and parallel processing may be advantageous.

The method and apparatus provided in the embodiments of the present application are described in detail. The principles and implementation manners of the application are described in the specific examples. The description of the above embodiments is only used to help understand the method of the present application and At the same time, there will be changes in the specific embodiments and application scopes according to the idea of the present application, and the contents of the present specification should not be construed as limiting the present application. .

Claims (46)

1. A method of generating a simulated route, the method comprising:

   Loading a three-dimensional model of the target scene;

   After the 3D rendering engine is invoked to render the 3D model, a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

   Obtaining initial three-dimensional information of a waypoint based on the human-computer interaction interface;

   A simulated route is generated based on the initial three-dimensional information.
2. The method according to claim 1, wherein the loading of the three-dimensional model of the target scene comprises:

   After receiving the three-dimensional model of the target scene generated by the cloud server, loading the three-dimensional model; or

   After the three-dimensional model of the target scene is generated by the local three-dimensional reconstruction function, the three-dimensional model is loaded.
3. The method according to claim 1, wherein the obtaining the initial three-dimensional information of the waypoint based on the human-computer interaction interface comprises:

   Controlling the human-machine interaction interface to switch between the position editing mode and the altitude editing mode according to the mode switching instruction;

   Obtaining location information of the waypoint through the human-machine interaction interface when switching to the location editing mode;

   When switching to the high edit mode, obtaining the height information of the waypoint through the human-machine interaction interface;

   The initial three-dimensional information of each waypoint is saved, the initial three-dimensional information including the location information and the height information.
4. The method according to claim 3, wherein the controlling the human-computer interaction interface to switch between the location editing mode and the high-edit mode according to the mode switching instruction comprises:

   Obtaining a mode switching instruction according to the detected inversion state of the three-dimensional picture, switching to a position editing mode when the three-dimensional picture is flipped to a top view state, and switching to a high-edit mode when the three-dimensional picture is flipped to a head-up state; or,

   The mode switching instruction is obtained according to the mode switching option provided by the human-computer interaction interface. When the location option is selected, the mode is switched to the location editing mode, and when the height option is selected, the mode is switched to the high editing mode.
5. The method according to claim 3, wherein the obtaining the location information of the waypoint through the human-machine interaction interface comprises:

   Generating a plurality of waypoints based on the striking operation on the three-dimensional screen;

   Determining a target position of any waypoint after the drag operation, or setting a target position after the position parameter setting in the parameter setting panel of the human-computer interaction interface;

   Obtaining corresponding location information of the target location in the three-dimensional picture, the location information including latitude and longitude.
6. The method according to claim 3, wherein said obtaining a high degree of waypoints through a human-machine interface Interest, including:

   Controlling the waypoint to perform a preset operation;

   Determining height information in the three-dimensional picture after the waypoint completes the preset operation.
7. The method according to claim 6, wherein the controlling the waypoint to perform a preset operation comprises:

   Obtaining a translation height of the waypoint set in a parameter setting panel of the human-computer interaction interface, and controlling the waypoint to move in a vertical direction according to the translation height; or

   The waypoint is controlled to move in the vertical direction according to the drag operation.
8. The method according to claim 1, wherein the obtaining the initial three-dimensional information of the waypoint based on the human-computer interaction interface comprises:

   Controlling the aircraft model to perform a simulated flight from a take-off point in the three-dimensional picture according to a control command issued by the remote controller;

   If the waypoint increase command issued by the controller is received at any flight point during the simulated flight, determining the flight point as a waypoint and recording initial three-dimensional information of the waypoint;

   The initial three-dimensional information of each waypoint is saved, and the initial three-dimensional information includes location information and altitude information of the waypoint.
9. The method according to claim 8, wherein the human-computer interaction interface further comprises a preview window; the method further comprises:

   Acquiring image data captured by the aircraft model during the simulated flight;

   Rendering the image data by the three-dimensional rendering engine;

   The rendered simulated picture is rendered in the preview window.
10. The method of claim 8 further comprising:

    During the simulated flight, if a pause command is received at a certain waypoint, the simulated flight is interrupted;

    Obtaining adjusted initial three-dimensional information for the waypoint;

    The adjusted initial three-dimensional information of the waypoint is saved.
11. The method of claim 10, wherein the method further comprises:

    Receiving a selection instruction of a target waypoint, wherein the target waypoint is any one of the waypoints determined by the waypoint increase instruction;

    Controlling the aircraft model begins with the target waypoint, performing the simulated flight in the three-dimensional picture.
12. The method according to claim 1, wherein the obtaining the initial three-dimensional information of the waypoint based on the human-computer interaction interface comprises:

    Loading a preset route template in the picture window;

    Generating an initial simulated route according to the route template, where the initial simulated route includes a plurality of initial waypoints, and the waypoint information of each initial waypoint includes initial three-dimensional information;

    Obtaining modified initial three-dimensional information for any initial waypoint through the human-computer interaction interface;

    The modified three-dimensional information of each waypoint is saved, and the initial three-dimensional information includes location information and height information.
13. The method according to claim 12, wherein the initial simulated route corresponding to each route template has a fixed shape; and the initial simulated route is generated according to the route template, including:

    Determining a take-off point and a landing point of the initial simulated route, and generating an initial simulated route according to the fixed shape of the initial simulated route according to the take-off point and the landing point;

    or,

    Determining a takeoff point and length of the initial simulated route, and generating an initial simulated route according to the fixed shape of the initial simulated route according to the takeoff point and length.
14. The method according to claim 3, 8 or 12, wherein said height information comprises: an absolute height for indicating an altitude of said waypoint, or for indicating said waypoint relative to a takeoff point The relative height of the height.
15. The method according to claim 1, wherein the generating a simulated route according to the initial three-dimensional information comprises:

    Obtaining target three-dimensional information of the waypoint according to the initial three-dimensional information;

    And storing the simulated route file, where the simulated route file includes: a waypoint sequence and waypoint information of each waypoint; the waypoint information includes target three-dimensional information of the waypoint, and attribute information of the waypoint;

    The target three-dimensional information of the waypoint includes: location information and altitude information of the waypoint;

    The attribute information of the waypoint includes: a posture parameter of the pan/tilt when the aircraft flies to the waypoint, a speed parameter of the aircraft, and an attitude parameter of the aircraft.
16. The method according to claim 15, wherein the initial three-dimensional information of the waypoint comprises: location information of the waypoint and an absolute height;

    And obtaining the target three-dimensional information of the waypoint according to the initial three-dimensional information, including:

    Obtaining a projection height of a takeoff point of the aircraft model on the three-dimensional model;

    The difference between the absolute height of each waypoint and the projected height is determined as the height information of each waypoint.
17. The method according to claim 15, wherein the human-machine interaction interface further comprises a preview window; the method further comprises:

    After the waypoint information of any waypoint is determined, acquiring image data of the aircraft model based on the waypoint information in the three-dimensional image;

    Rendering the image data by the three-dimensional rendering engine;

    The rendered simulated picture is rendered in the preview window.
18. A method of simulating flight, characterized in that the method uses a simulated route generated by the method of any one of claims 1 to 17 for simulated flight, the method comprising:

    Setting the flight parameters of the aircraft model through the parameter adjustment simulator;

    After receiving the simulated flight instruction, controlling the aircraft model to execute the simulated route in a three-dimensional picture according to the flight parameter to obtain simulated flight data;

    Rendering the simulated flight data by a three-dimensional rendering engine;

    The simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
19. The method of claim 18, wherein the method further comprises:

    During the execution of the simulated route by the aircraft model, if a pause command is received at a certain waypoint, the execution of the simulated route is interrupted;

    Obtaining adjusted three-dimensional information for the waypoint;

    The updated simulated route is generated based on the adjusted three-dimensional information.
20. The method of claim 19, wherein the method further comprises:

    After regenerating the simulated route, receiving a selection instruction of the target waypoint;

    Controlling the aircraft model begins with the target waypoint, and executing the updated simulated route in the three-dimensional picture.
21. The method of claim 18, wherein the flight parameters comprise: a pan/tilt parameter of the aircraft model, a parameter of the aircraft model mount analog camera, a GPS parameter of the aircraft model, and a pose parameter.
22. A device for generating a simulated route, comprising:

    a loading unit for loading a three-dimensional model of the target scene;

    a rendering unit, configured to invoke a three-dimensional rendering engine to render the three-dimensional model, and output a human-computer interaction interface, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

    An obtaining unit, configured to obtain initial three-dimensional information of a waypoint based on the human-computer interaction interface;

    And a generating unit, configured to generate a simulated route according to the initial three-dimensional information.
23. A device for simulating flight, characterized in that the device applies a simulated flight generated by the device according to claim 22 for simulated flight, comprising:

    a setting unit configured to set flight parameters of the aircraft model by a parameter adjustment simulator;

    a control unit, configured to control the aircraft model according to the flight parameter after receiving a simulated flight instruction Performing the simulated route in the dimension picture to obtain simulated flight data;

    a rendering unit, configured to render the simulated flight data by using a three-dimensional rendering engine;

    And an output unit, configured to output a simulated flight picture in a picture window of the human-computer interaction interface according to the rendering result.
24. A computing device, including a memory, a processor, and an external interface connected by an internal bus,

    The memory is configured to store machine readable instructions corresponding to control logic for generating an analog route;

    The processor is configured to read machine readable instructions on the memory and execute the instructions to:

    Loading a three-dimensional model of the target scene;

    After the 3D rendering engine is invoked to render the 3D model, a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

    Obtaining initial three-dimensional information of a waypoint based on the human-computer interaction interface;

    A simulated route is generated based on the initial three-dimensional information.
25. The computing device of claim 24 wherein:

    The processor is specifically configured to: after receiving the three-dimensional model of the target scene generated by the cloud server, loading the three-dimensional model; or, after generating the three-dimensional model of the target scene by using the local three-dimensional reconstruction function, loading the three-dimensional model .
26. The computing device of claim 24 wherein:

    The processor is configured to perform, according to the mode switching instruction, controlling the human-machine interaction interface to switch between a position editing mode and a height editing mode; when switching to the position editing mode, obtaining a waypoint through the human-machine interaction interface Position information; when switching to the height editing mode, obtaining height information of the waypoint through the human-machine interaction interface; and saving initial three-dimensional information of each waypoint, the initial three-dimensional information including the location information and the Height information.
27. The computing device of claim 26, wherein

    The processor is configured to: obtain a mode switching instruction according to the detected inversion state of the three-dimensional picture, and switch to a position editing mode when the three-dimensional picture is flipped to a top view state, when the three-dimensional picture is flipped to a head-up view In the state, switch to the height editing mode; or, according to the mode switching option provided by the human-computer interaction interface, obtain a mode switching instruction, when the position option is selected, switch to the position editing mode, when the height option is selected, switch to Highly edit mode.
28. The computing device of claim 26, wherein

    The processor is specifically configured to: generate a plurality of waypoints based on the striking operation on the three-dimensional picture; determine a target position after any of the waypoints by the drag operation, or set parameter settings in the human-machine interaction interface a target position after the position parameter setting is performed in the panel; obtaining position information corresponding to the target position in the three-dimensional picture, the location information package Includes latitude and longitude.
29. The computing device of claim 26, wherein

    The processor is specifically configured to perform control of the waypoint to perform a preset operation; and determine height information in the three-dimensional picture after the waypoint completes the preset operation.
30. The computing device of claim 29, wherein

    The processor is specifically configured to: obtain a translation height of the waypoint set in a parameter setting panel of the human-computer interaction interface, and control the waypoint to move in a vertical direction according to the translation height; or The waypoint is controlled to move in the vertical direction according to the drag operation.
31. The computing device of claim 24 wherein:

    The processor is specifically configured to execute, according to a control command issued by the remote controller, control the aircraft model to start a simulated flight from a take-off point in the three-dimensional picture; if the flight is received at any flight point during the simulated flight a waypoint increase command issued by the controller, determining that the flight point is a waypoint, and recording initial three-dimensional information of the waypoint; and storing initial three-dimensional information of each waypoint, the initial three-dimensional information including a waypoint Location and height information.
32. The computing device of claim 31 wherein:

    The processor is specifically configured to perform acquiring image data captured by the aircraft model during the simulated flight; rendering the image data by the three-dimensional rendering engine; presenting the rendered simulated image in the Preview window.
33. The computing device of claim 31 wherein:

    The processor is further configured to execute, during a process of the simulated flight, if a pause command is received at a certain waypoint, interrupting execution of the simulated flight; and obtaining adjusted initial three-dimensional information for the waypoint ; The adjusted initial three-dimensional information of the waypoint is saved.
34. The computing device of claim 33, wherein

    The processor is further configured to execute a selection instruction of receiving a target waypoint, the target waypoint being any one of the waypoints determined by the waypoint addition instruction; controlling the aircraft model from the The target waypoint begins, and the simulated flight is performed in the three-dimensional picture.
35. The computing device of claim 24 wherein:

    The processor is specifically configured to perform loading a preset route template in the picture window, and generate an initial simulated route according to the route template, where the initial simulated route includes multiple initial waypoints, and each initial waypoint The waypoint information includes initial three-dimensional information; the modified initial three-dimensional information for any initial waypoint is obtained through the human-computer interaction interface; and the modified initial three-dimensional information of each waypoint is saved, the initial three-dimensional information includes Location and height information.
36. A computing device according to claim 35, wherein

    The processor is specifically configured to perform a determination of a takeoff point and a landing point of the initial simulated route, and generate an initial simulated route according to the fixed shape of the initial simulated route according to the takeoff point and the landing point; or determine an initial simulated route. The takeoff point and length, based on the takeoff point and length, generate an initial simulated route in accordance with the fixed shape of the initial simulated route.
37. A computing device according to claim 26, 31 or 35, wherein said height information comprises: an absolute height for indicating the altitude of said waypoint, or for indicating said waypoint relative to takeoff The relative height of the point height.
38. The computing device of claim 24 wherein:

    The processor is specifically configured to perform target three-dimensional information for obtaining a waypoint according to the initial three-dimensional information; and save a simulated route file, where the simulated route file includes: a waypoint sequence and a waypoint information of each waypoint; The waypoint information includes target three-dimensional information of the waypoint and attribute information of the waypoint;

    The target three-dimensional information of the waypoint includes: location information and altitude information of the waypoint;

    The attribute information of the waypoint includes: a posture parameter of the pan/tilt when the aircraft flies to the waypoint, a speed parameter of the aircraft, and an attitude parameter of the aircraft.
39. The computing device according to claim 38, wherein the initial three-dimensional information of the waypoint comprises: location information of the waypoint and an absolute height;

    The processor is specifically configured to perform a projection height of a takeoff point of the acquiring aircraft model on the three-dimensional model; determining a difference between an absolute height of each waypoint and the projected height as a height of each waypoint information.
40. The computing device according to claim 38, wherein the human-machine interaction interface further comprises a preview window;

    The processor is further configured to: after the waypoint information of any waypoint is determined, acquire image data captured by the aircraft model based on the waypoint information in a three-dimensional image; and the image data is obtained by the three-dimensional rendering engine Rendering; presenting the rendered simulated picture in the preview window.
41. A computing device, including a memory, a processor, and an external interface connected by an internal bus,

    The memory is configured to store machine readable instructions corresponding to control logic of the simulated flight, and the simulated route corresponding to the control logic of the simulated flight is an analog route generated by the computing device of any one of claims 24 to 40;

    The processor is configured to read the machine readable instructions on the memory and execute the instructions to:

    Setting the flight parameters of the aircraft model through the parameter adjustment simulator;

    After receiving the simulated flight instruction, controlling the aircraft model to execute the simulated route in a three-dimensional picture according to the flight parameter to obtain simulated flight data;

    Rendering the simulated flight data by a three-dimensional rendering engine;

    The simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
42. A computing device according to claim 41, wherein

    The processor is further configured to perform execution of the simulated route during the execution of the simulated route of the aircraft model, if the suspension instruction is received at a certain waypoint, interrupting execution of the simulated route; and obtaining an adjusted for the waypoint Three-dimensional information; generating an updated simulated route based on the adjusted three-dimensional information.
43. The computing device of claim 42 wherein:

    The processor is further configured to perform a selection instruction of receiving a target waypoint after regenerating the simulated route; controlling the aircraft model to start from the target waypoint, and executing the updated in the three-dimensional picture Simulate the route.
44. The computing device of claim 41, wherein the flight parameters comprise: a pan/tilt parameter of the aircraft model, a parameter of the aircraft model mount analog camera, a GPS parameter of the aircraft model, and a pose parameter.
45. A computer readable storage medium having stored thereon a computer program, wherein when the program is executed, the following operations are performed:

    Loading a three-dimensional model of the target scene;

    After the 3D rendering engine is invoked to render the 3D model, a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;

    Obtaining initial three-dimensional information of a waypoint based on the human-computer interaction interface;

    A simulated route is generated based on the initial three-dimensional information.
46. A computer readable storage medium having stored thereon a computer program, wherein when the program is executed, the following operations are performed:

    Setting the flight parameters of the aircraft model through the parameter adjustment simulator;

    After receiving the simulated flight instruction, controlling the aircraft model to perform a simulated flight route in a three-dimensional picture according to the flight parameter, and obtaining simulated flight data, the simulated flight path being performed on the computer readable storage medium according to claim 45 Simulated route generated by the program;

    Rendering the simulated flight data by a three-dimensional rendering engine;

    The simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.

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