WO2019090488A1 - Procédé de génération d'un itinéraire simulé, procédé et dispositif de simulation de vol, et support de stockage - Google Patents

Procédé de génération d'un itinéraire simulé, procédé et dispositif de simulation de vol, et support de stockage Download PDF

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Publication number
WO2019090488A1
WO2019090488A1 PCT/CN2017/109783 CN2017109783W WO2019090488A1 WO 2019090488 A1 WO2019090488 A1 WO 2019090488A1 CN 2017109783 W CN2017109783 W CN 2017109783W WO 2019090488 A1 WO2019090488 A1 WO 2019090488A1
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WIPO (PCT)
Prior art keywords
waypoint
dimensional
information
simulated
initial
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PCT/CN2017/109783
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English (en)
Chinese (zh)
Inventor
李文林
田艺
林芊芊
贺克俭
王磊
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/109783 priority Critical patent/WO2019090488A1/fr
Priority to CN201780004905.8A priority patent/CN108521788B/zh
Publication of WO2019090488A1 publication Critical patent/WO2019090488A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • 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.
  • aircraft represented by drones have a wide range of applications, such as professional aerial photography, agricultural irrigation, power line inspection, and public security monitoring.
  • the ground station plans the route for the aircraft.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a method of generating a simulated route comprising:
  • a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
  • a simulated route is generated based on the initial three-dimensional information.
  • a method of simulating flight which simulates flight using a simulated route generated by the method for generating a simulated route, the method comprising:
  • the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
  • an apparatus 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
  • a generating unit configured to generate a simulated route according to the initial three-dimensional information.
  • 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
  • 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
  • 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.
  • 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:
  • a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
  • a simulated route is generated based on the initial three-dimensional information.
  • 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:
  • the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
  • a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to:
  • a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
  • a simulated route is generated based on the initial three-dimensional information.
  • a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to:
  • the aircraft model 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 ;
  • the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
  • 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.
  • FIG. 1 is a flow chart of an embodiment of a method for generating a simulated route of the present application
  • FIG. 2 is a schematic diagram of a human-machine interaction interface in FIG. 1;
  • FIG. 3 is a flow chart showing an embodiment of obtaining initial three-dimensional information of a waypoint in the embodiment of FIG. 2;
  • FIG. 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;
  • FIG. 6 is a flow chart of an embodiment of a method of simulating flight of the present application.
  • FIG. 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.
  • FIG. 9 is a block diagram of an embodiment of a computing device of the present application.
  • the aircraft ground station is the command center of the aircraft system to control the aircraft to fly according to a preset route.
  • 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.
  • 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.
  • 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.
  • 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.
  • a terminal device such as a mobile phone, a tablet computer, a PC (Personal Computer, a personal computer), and the like.
  • 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.
  • the human-computer interaction interface for planning the three-dimensional simulation route can be entered.
  • the waypoints in the simulated route can be obtained.
  • 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.
  • 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.
  • 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.
  • 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.
  • the initial three-dimensional information of the waypoint may include: location information of the waypoint and altitude information of the waypoint.
  • location information of the waypoint may include: location information of the waypoint and altitude information of the waypoint.
  • Step 301 Receive a mode switching instruction.
  • the mode switching instructions in this step can be triggered in different ways:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the intersection of the click position and the three-dimensional model is determined, and the intersection is determined as a waypoint;
  • the height of each waypoint is the ground height, and the adjacent waypoints set in sequence are connected by a route.
  • 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.
  • 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.
  • the waypoint 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:
  • 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 can be set.
  • 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.
  • an input device such as a mouse or a touchpad
  • 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.
  • 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.
  • 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.
  • 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.
  • the image data 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Step 501 Load a preset route template in the picture window.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Step 104 Generate a simulated route according to the initial three-dimensional information.
  • 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. .
  • 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.
  • 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.
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the present application also provides an embodiment of a device for generating a simulated route, a device for simulating flight, and a computing device.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the obtaining unit 730 may also include (not shown in FIG. 7):
  • 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.
  • the human-computer interaction interface may further include a preview window
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • a generating unit configured to generate an updated simulated route based on the adjusted three-dimensional information.
  • 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.
  • 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.
  • 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.
  • 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:
  • a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
  • a simulated route is generated based on the initial three-dimensional information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
  • 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.
  • 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.
  • 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:
  • 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
  • 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:
  • the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
  • 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.
  • 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.
  • 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.
  • FPGA Field Programmable Gate Array
  • ASIC Application Specific Integrated Circuit
  • 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.
  • 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.
  • 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.
  • the computer does not have to have such a device.
  • 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.
  • PDA personal digital assistant
  • GPS global positioning system
  • USB universal serial bus
  • 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.
  • semiconductor memory devices eg, EPROM, EEPROM, and flash memory devices
  • magnetic disks eg, internal hard drives or Mobile disk
  • magneto-optical disks e.g, CD ROM and DVD-ROM disks.
  • the processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.

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Abstract

La présente invention concerne un procédé de génération d'un itinéraire simulé, un procédé et un dispositif de simulation de vol et un support de stockage, le procédé de génération d'un itinéraire simulé comportant les étapes consistant à: charger un modèle tridimensionnel d'une scène cible; appeler un moteur de rendu tridimensionnel pour restituer le modèle tridimensionnel, et délivrer une interface d'interaction homme-ordinateur, l'interface d'interaction homme-ordinateur comportant une fenêtre d'image utilisée pour présenter l'image tridimensionnelle restituée; obtenir des informations tridimensionnelles initiales d'un point de parcours sur la base de l'interface d'interaction homme-ordinateur; et générer un itinéraire simulé d'après les informations tridimensionnelles initiales. En appliquant les modes de réalisation de la présente invention, des informations tridimensionnelles d'un point de parcours qui comporte des informations de position et des informations de hauteur peuvent être programmées, obtenant ainsi un itinéraire simulé tridimensionnel plus exact et améliorant le rendement de la programmation d'un itinéraire simulé, puisque des opérations de vol réelles multiples peuvent être évitées. De façon correspondante, la réalisation d'un vol simulé sur la base de l'itinéraire simulé tridimensionnel peut constituer une base plus exacte pour la trajectoire de vol réelle d'un aéronef.
PCT/CN2017/109783 2017-11-07 2017-11-07 Procédé de génération d'un itinéraire simulé, procédé et dispositif de simulation de vol, et support de stockage WO2019090488A1 (fr)

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