WO2019119186A1 - Procédé d'édition de points de cheminement et dispositif de commande pour véhicule aérien sans pilote, et support d'informations - Google Patents

Procédé d'édition de points de cheminement et dispositif de commande pour véhicule aérien sans pilote, et support d'informations Download PDF

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Publication number
WO2019119186A1
WO2019119186A1 PCT/CN2017/116867 CN2017116867W WO2019119186A1 WO 2019119186 A1 WO2019119186 A1 WO 2019119186A1 CN 2017116867 W CN2017116867 W CN 2017116867W WO 2019119186 A1 WO2019119186 A1 WO 2019119186A1
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WIPO (PCT)
Prior art keywords
waypoint
target area
editing
editing operation
mobile
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Application number
PCT/CN2017/116867
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English (en)
Chinese (zh)
Inventor
黄宗继
徐富
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/116867 priority Critical patent/WO2019119186A1/fr
Priority to CN201780023038.2A priority patent/CN109074213A/zh
Publication of WO2019119186A1 publication Critical patent/WO2019119186A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials

Definitions

  • the invention relates to the field of application of a drone, and in particular to a method, a control device and a storage medium for a waypoint editing of a drone.
  • drones have been widely used to perform various types of work tasks (such as aerial photography, agricultural plant protection, surveying, etc.).
  • work tasks such as aerial photography, agricultural plant protection, surveying, etc.
  • the unmanned aerial vehicle area can be pre-planned and set by the UAV control device to perform the agricultural plant protection task.
  • the accuracy deviation may occur due to the influence of the operation interface and the operation method, which may cause the deviation of the set route area and the expected route area of the task, affecting the drone's area to the target. Work efficiency.
  • Embodiments of the present invention provide a waypoint editing method, a control device, and a storage medium for a drone to improve the accuracy of setting a route area.
  • an embodiment of the present invention provides a waypoint editing method for a drone, which is applied to a terminal for route planning, where the terminal is used to display a route planning interface, where the route planning interface includes at least three
  • the route area obtained by the regional waypoint planning, the method includes:
  • the size of the route area is adjusted according to the updated target area waypoint.
  • an embodiment of the present invention provides a control device for a drone, which is applied to route planning control, and includes:
  • a display device configured to display a route planning interface, where the route planning interface includes a route region obtained by planning at least three regional waypoints;
  • control device configured to receive an editing operation of the user
  • processor being respectively connected to the display device and the control device, wherein the processor is configured to determine the editing operation and generate a corresponding control instruction, and perform the following steps:
  • the size of the route area is adjusted according to the updated target area waypoint.
  • an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, implements the navigation of the drone as described in the first aspect above. Point editing method.
  • the control device determines the type of the editing operation and the location information of the target area waypoint by acquiring an editing operation of the target area waypoint associated with the route area on the user interface, according to the Editing the type of the operation operation and the location information of the target area waypoint, and performing editing processing on the target area waypoint to update the location information of the target area waypoint, and adjusting according to the updated target area waypoint
  • the size of the route area is achieved, and the regional waypoints are edited quickly, so as to adjust the size of the route area, and the accuracy of setting the route area is improved.
  • FIG. 1 is a schematic diagram of an interface of a route area according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an interface of another route area according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an interface of another route area according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of another interface of a route area according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a method for editing a waypoint of a drone according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of a prompt interface according to an embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of another waypoint editing method of a drone according to an embodiment of the present invention.
  • FIG. 8 is a schematic flowchart of still another method for editing a waypoint of a drone according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • the waypoint editing method of the UAV provided by the embodiment of the present invention can be applied to a control device of a drone, and the control device can be a terminal for route planning.
  • the terminal can be a desktop computer or a notebook. Any one or more of a computer, a smart phone, a wearable device (such as a watch, a wristband), and a remote control.
  • the terminal is configured to display a route planning interface, where the route planning interface includes a route area obtained by planning at least three regional waypoints, where the route area includes a flight path of the drone, and the flight path includes Connect segment routes and flight segment routes.
  • the connecting segment route is parallel to the boundary line of the route region and is separated by a preset distance. As shown in FIG.
  • FIG. 1 is a schematic diagram of an interface of a route area according to an embodiment of the present invention.
  • the route area interface includes an area waypoint 11 , a regional waypoint 12 , and an area waypoint. 13 and a route point 15 planned by the regional waypoint 14 , wherein the route area 15 includes a flight route 16 , and the latitude and longitude information 121 of the waypoint 12 of the area is suspended and displayed on the regional waypoint 12 , and the regional waypoint 13
  • the upper suspension shows the distance 131 between the regional waypoint 13 and the regional waypoint 12.
  • the waypoint editing method of the drone provided by the embodiment of the invention can be applied to the operation tasks of the drone, such as agricultural plant protection tasks (such as spraying pesticides), aerial work tasks, survey work tasks, and the following will be based on agricultural plant protection.
  • the task is to give a schematic explanation.
  • the waypoint editing method of the drone provided by the embodiment of the present invention is exemplified below.
  • the control device of the UAV can acquire an editing operation of a target area waypoint associated with the route area on the user interface, and determine the type of the editing operation and the target area navigation. Position information of the point, so that the target area waypoint is edited according to the type of the editing operation and the location information of the target area waypoint to update the location information of the target area waypoint, and according to the location The updated target area waypoint is adjusted to adjust the size of the route area.
  • the control device may acquire an editing operation on the target area waypoint input by the user through the user interface, and when the control device determines the type of the editing operation, if the target area is detected
  • the pressing operation of the waypoint the control device may acquire the pressing time of the pressing operation, and determine whether the pressing time is greater than a preset threshold. If it is greater than, the type of the editing operation may be determined to be a mobile editing operation.
  • FIG. 1 is used as an example for description. It is assumed that the control device detects a pressing operation on the target area waypoint 11 as shown in FIG. 1 and obtains a pressing time of the pressing operation of 2 s, assuming a preset.
  • the threshold value is 1 s, and the control device can determine that the pressing time 2s is greater than a preset threshold value of 1 s, so that the editing operation can be determined to be a mobile editing operation.
  • the control device acquires the type of the editing operation for the target area waypoint as a mobile editing operation
  • the mobile editing instruction for the target area waypoint on the user interface may be acquired. And acquiring, according to a movement editing instruction of the target area waypoint, moving position information of the target area waypoint, moving the target area waypoint to a position corresponding to the moving position information, thereby adjusting the route The size of the area.
  • the control device when the control device adjusts the size of the route region, the control device also adjusts the route length of the flight route in the route region accordingly.
  • the position corresponding to the moving position information of the waypoint of the target area may be a position in any direction, which is not limited in the embodiment of the present invention. 1 and FIG.
  • FIG. 2 is a schematic diagram of another route area provided by an embodiment of the present invention.
  • the control device determines that the editing operation of the target area waypoint 11 shown in FIG. 1 is a mobile editing operation
  • a mobile editing instruction for the target area waypoint 11 on the user interface may be acquired.
  • the control device may acquire the mobile location information of the target area waypoint 11 according to the mobile editing instruction of the target area waypoint 11, and move the target area waypoint 11 to the manner as shown in FIG. Moving the position 21 corresponding to the position information, thereby adjusting the size of the route area 15 shown in FIG. 1 to obtain the route area 25 as shown in FIG. 2, the control device may adjust according to the route area 15 shown in FIG.
  • the route length of the flight path 16 in the route area 15 is also adjusted accordingly, and the route length of the adjusted flight path 26 as shown in FIG. 2 is obtained.
  • the latitude and longitude information 221 of the regional waypoint 22, the regional waypoint 23, the regional waypoint 24, the regional waypoint 22 corresponding to FIG. 1 and the display on the regional waypoint 23 are also included in FIG. 2 .
  • the deletion instruction of the target area waypoint on the user interface may be acquired, And deleting the target area waypoint according to the deletion instruction and the location information of the target area waypoint.
  • the deletion editing operation may be a click operation on the waypoint of the target area, and the click operation may be a double-click operation or other operations, which is not limited in the embodiment of the present invention.
  • the new route area may be obtained by planning at least three regional waypoints remaining after the deletion.
  • FIG. 3 is a schematic diagram of another route region provided by an embodiment of the present invention.
  • the control device acquires a double-click operation on the target area waypoint 11 as shown in FIG. 1 and determines that the double-tap operation is a delete editing operation on the target area waypoint 11,
  • the control device may acquire a deletion instruction for the target area waypoint 11 on the user interface, and delete the target area waypoint 11 according to the deletion instruction and the location information of the target area waypoint 11 .
  • the route area 15 shown in FIG. 1 is composed of four regional waypoints.
  • the target area waypoint 11 After deleting the target area waypoint 11, the three regional waypoints of the regional waypoint 12, the regional waypoint 13 and the regional waypoint 14 remain. Therefore, after the target area waypoint 11 is deleted, the regional waypoint 12, the regional waypoint 13 and the regional waypoint 14 are planned to obtain a new route area 35 as shown in FIG.
  • the regional waypoint 32, the regional waypoint 33 and the regional waypoint 34, the latitude and longitude information 321 and the distance 331 corresponding to FIG. 1 are also included in FIG. 3 .
  • the control device may acquire the target area on the user interface. a fine-tuning instruction of the waypoint, and outputting a fine-tuning interface with respect to the waypoint of the target area, and fine-tuning the position of the waypoint of the target area according to the editing operation received on the fine-tuning interface.
  • the fine-tuning editing operation may be a click operation on the user interface, or may be other operations, which are not limited in the embodiment of the present invention.
  • the fine-tuning interface includes a direction operation button, an undo button, a selection button, a cancel button, and the like. Any one or more buttons.
  • the editing operation received by the control device on the fine-tuning interface is obtained according to the operation of each button acquired on the fine-tuning interface.
  • FIG. 1 and FIG. 4 are used as an example for illustration.
  • FIG. 4 is a schematic diagram of another route region provided by an embodiment of the present invention.
  • the control device may acquire the pair on the user interface. a fine-tuning command of the waypoint 11 of the target area, and outputting a fine-tuning interface 40 for the waypoint 11 of the target area as shown in FIG. 4, the control device being receivable according to the fine-tuning interface 40 as shown in FIG.
  • the editing operation is performed, and the position of the waypoint 11 of the target area is fine-tuned and edited.
  • the prompting information is used to prompt the user about the adjustment direction of the waypoint fine adjustment and the corresponding adjustment distance.
  • the fine adjustment interface 40 further includes a direction operation button 41.
  • the direction operation button 41 includes: an upward adjustment button 411 for indicating that the adjustment direction is an upward adjustment button 412 for indicating that the adjustment direction is a rightward direction, and a downward adjustment button 413 for indicating that the adjustment direction is downward, and
  • the left adjustment button 414 is configured to indicate that the adjustment direction is to the left
  • the fine adjustment interface 40 further includes an undo button 42 for canceling the editing of the previous regional waypoint
  • the fine adjustment interface 40 further includes a selection button.
  • the selection button is used to select an area waypoint adjacent to the current regional waypoint.
  • the selection button includes: a previous button 44, a next button 43, and the fine adjustment interface 40 further includes: a cancel button 45 and an OK button 46,
  • the cancel button 45 is used to cancel the editing process of all regional waypoints performed on the fine-tuning interface, and the determining button 46 is used to complete the fine-tuning interface 40. Editing region waypoint.
  • control device may acquire an editing instruction for the target area waypoint input by the user through the button, determine the type of the editing operation according to the editing instruction, and according to the type and location of the editing operation.
  • the location information of the target area waypoint is edited, and the target area waypoint is edited to adjust the size of the route area according to the edited target area waypoint.
  • the waypoint editing method of the drone provided by the embodiment of the present invention needs to be implemented by the control device, and the waypoint editing method corresponding to the drone for controlling the device will be described in detail below with reference to the accompanying drawings.
  • FIG. 5 is a schematic flowchart of a method for editing a waypoint of a drone according to an embodiment of the present invention, which is applied to a terminal for route planning, where the terminal is used to display a route planning interface, and the route is
  • the planning interface includes a route area obtained by planning at least three regional waypoints, and the method can be performed by a control device, wherein a specific explanation of the control device is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S501 Acquire an editing operation of a target area waypoint associated with the route area on the user interface.
  • control device may acquire an editing operation of a target area waypoint associated with the route area on a user interface.
  • the editing operation may be a pressing operation, or may be another operation of editing the waypoint of the target area, which is not limited in the embodiment of the present invention.
  • the control device may hover display the editing operation with the target area waypoint on the user interface before acquiring the editing operation of the target area waypoint associated with the route area on the user interface.
  • the prompt information is used to indicate an operation mode corresponding to an editing operation of the target area waypoint.
  • FIG. 6 is a schematic diagram of a prompting interface provided by an embodiment of the present invention.
  • the prompt interface shown in FIG. 6 includes a waypoint fine adjustment operation guide 61, a mobile waypoint operation guide 62, a delete waypoint operation guide 63, and prompt information 64.
  • the user can perform an editing operation on the target area waypoint according to the prompt interface shown in FIG. 6 according to the operation guide on the prompt interface.
  • distance information associated with an editing operation of the target area waypoint is displayed on the user interface, wherein the distance information is a location corresponding to the target area waypoint and adjacent The distance between the locations corresponding to the regional waypoints. For example, as shown in FIG. 1, the distance 131 between the regional waypoint 13 and the adjacent regional waypoint 12 is displayed on the regional waypoint 13 on the user interface.
  • S502 Determine a type of the editing operation and location information of the target area waypoint.
  • control device may determine, according to the acquired editing operation of the target area waypoint associated with the route area on the user interface, the type of the editing operation and the destination area of the destination point. location information.
  • the control device may determine the type of the editing operation according to the acquired editing operation. In the process of determining the type of the editing operation, if the control device receives a pressing operation on the waypoint of the target area, the control device may acquire a pressing time of the pressing operation, and determine the pressing Whether the time is greater than a preset threshold, and if greater, the control device may determine that the type of the editing operation is a mobile editing operation.
  • FIG. 1 is used as an example for description. It is assumed that the control device detects a pressing operation on the target area waypoint 11 and obtains a pressing time of the pressing operation of 2 s. If the preset threshold value is 1 s, The control device may determine that the pressing time 2s is greater than a preset threshold value of 1 s, so that the editing operation may be determined to be a mobile editing operation.
  • S503 Perform editing processing on the target area waypoint according to the type of the editing operation and the location information of the target area waypoint to update the location information of the target area waypoint.
  • control device may perform editing processing on the target area waypoint according to the type of the editing operation and the location information of the target area waypoint to update the location of the target area waypoint. information.
  • the control device may acquire a mobile editing instruction for the target area waypoint on the user interface, and according to the target area And a moving edit instruction of the waypoint, acquiring moving position information of the target area waypoint, and moving the target area waypoint to a position corresponding to the moving position information.
  • the position corresponding to the moving position information of the waypoint of the target area may be a position in any direction, which is not limited in the embodiment of the present invention. Specifically, FIG. 1 is taken as an example. If the control device determines that the editing operation of the target area waypoint 11 shown in FIG. 1 is a mobile editing operation, the target device may be acquired on the user interface.
  • the control device may acquire moving position information of the target area waypoint 11 according to a movement editing instruction of the target area waypoint 11 , and move the target area waypoint 11 To the position 21 corresponding to the moving position information as shown in FIG. 2.
  • the control device may acquire a delete instruction for the target area waypoint on the user interface, and delete The target area waypoint, wherein the explanation of the delete editing operation is as described above.
  • the new route area may be obtained by the at least three regional waypoints remaining after the deletion, if the target is deleted. If there are fewer than three waypoints remaining after the regional waypoint, the route area disappears.
  • FIG. 1 and FIG. 3 can be used as an example.
  • the delete editing operation corresponds to a double-click operation on the target area waypoint
  • the control device acquires a double-click operation on the target area waypoint 11 in FIG.
  • the control device may acquire a deletion instruction for the target area waypoint 11 on the user interface, and delete the target area navigation according to the deletion instruction and the location information of the target area waypoint 11 Point 11.
  • the control device may adjust the size of the route area according to the updated target area waypoint, and the control device may adjust the route area size to the route.
  • the length of the route of the flight route in the area is adjusted accordingly.
  • FIG. 1 and FIG. 2 can be used as an example. It is assumed that the control device moves the target area waypoint 11 to the target area by moving the editing operation to the target area waypoint 11 as shown in FIG.
  • the control device can adjust the size of the course area 15 as shown in FIG. 1 to the size shown by the course area 25 as shown in FIG.
  • the control device may adjust the route length of the flight route 16 in the route region 15 according to the adjustment of the size of the route region 15 described in FIG. 1 to obtain the flight route 26 as shown in FIG. 2 .
  • Route length is assumed that the control device moves the target area waypoint 11 to the target area by moving the editing operation to the target area waypoint 11 as shown in FIG.
  • the control device can adjust the size of the course area 15 as shown in FIG. 1 to the size shown by the course area
  • the control device determines the type of the editing operation and the location information of the target area waypoint by acquiring an editing operation of the target area waypoint associated with the route area on the user interface, and according to Editing processing of the target area waypoint to update the location information of the target area waypoint according to the type of the editing operation and the location information of the target area waypoint, thereby navigating according to the updated target area
  • the editing of the regional waypoints is quickly performed to adjust the size of the route area, and the accuracy of setting the route area is improved.
  • FIG. 7 is a schematic flowchart of another method for editing a waypoint of a drone according to an embodiment of the present invention.
  • the method of the embodiment of the present invention is different from the embodiment of FIG. 5 described above.
  • the embodiment of the invention is an editing process performed on the target area waypoint on the fine adjustment interface when the type of the editing operation is a position fine-tuning editing operation.
  • the method of the embodiment of the present invention includes the following steps.
  • S701 Acquire an editing operation of a target area waypoint associated with the route area on the user interface.
  • control device may determine, according to the acquired editing operation of the target area waypoint associated with the route area on the user interface, the type of the editing operation and the destination area of the destination point. location information.
  • control device may determine the type of the editing operation and the destination area of the target area according to the acquired editing operation of the target area waypoint associated with the route area on the user interface. location information.
  • a fine-tuning instruction for the target area waypoint on the user interface may be acquired.
  • S703 Output a fine adjustment interface of the target area waypoint.
  • the control device may output a fine adjustment interface of the target area waypoint when acquiring the fine adjustment instruction of the target area waypoint.
  • FIG. 1 and FIG. 4 can be used as an example. If the control device acquires the type of the editing operation of the target area waypoint 11 as shown in FIG. 1 as a position fine-tuning editing operation, the control device A fine-tuning instruction for the target area waypoint 11 on the user interface may be obtained, and a fine-tuning interface 40 for the target area waypoint 11 as shown in FIG. 4 may be output.
  • S704 Perform editing processing on the target area waypoint indicated by the editing operation according to the editing operation received on the fine adjustment interface.
  • control device may perform fine-tuning editing processing on the location of the target area waypoint according to the editing operation received on the fine-tuning interface to update the location information of the target area waypoint.
  • the fine adjustment interface includes any one or more of a direction operation button, an undo button, a selection button, a cancel button, and the like.
  • the control device receives a click operation on the direction operation button
  • the adjustment direction indicated by the direction operation button clicked by the click operation may be acquired, and moved in the adjustment direction.
  • the target area waypoint Specifically, FIG. 4 is used as an example. As shown in FIG. 4, it is assumed that the control device acquires a fine-tuning editing operation for the position of the target area waypoint 11 as shown in FIG. a user interface, and the fine adjustment interface 40 is output on the user interface.
  • the control device may acquire the direction indicated by the upward adjustment button 411 clicked by the click operation as Upward, the control device may adjust the preset distance according to the fine adjustment interface by 0.5 m/time as shown in FIG. 4, and move the distance of the target area waypoint 11 to 0.5 m in the upward adjustment direction. / time.
  • the preset adjustment distance may be set to other values, which is not limited in the embodiment of the present invention.
  • the editing operation on the target region waypoint may be revoked, and the revoked edit operation refers to: according to the last acquisition
  • the fine-tuning instruction performs an editing process on the regional waypoint indicated by the editing operation.
  • FIG. 4 is used as an example. As shown in FIG. 4, it is assumed that the control device has edited the regional waypoint 11 and the regional waypoint 12 on the fine adjustment interface 40, and currently receives the cancellation. With the click operation of the button 42, the control device can cancel the editing operation of the regional waypoint 11 and the regional waypoint 12 that have been edited.
  • the control device may determine a currently edited target region waypoint and compare with the currently edited target region waypoint The adjacent regional waypoints are edited.
  • FIG. 4 is used as an example. As shown in FIG. 4, it is assumed that the control device has edited the regional waypoint 11 on the fine adjustment interface 40, and currently edits the target area waypoint 12, wherein The regional waypoints 12 are adjacent to the regional waypoints 11 and the regional waypoints 13, respectively. If the control device receives a click operation on the previous one of the selection buttons 44, the control device may first determine the currently edited target area waypoint 12 and then pair with the target area waypoint 12 Adjacent area waypoints 11 are edited. For another example, if the control device accepts a click operation on the next button 43 of the selection buttons, the control device may edit the regional waypoint 13 adjacent to the target region waypoint 12 deal with.
  • FIG. 4 is used as an example. As shown in FIG. 4, it is assumed that the control device has edited the regional waypoint 11 and the regional waypoint 12 on the fine adjustment interface 40, and currently receives the cancellation. With the click operation of the button 45, the control device can cancel the editing process that has been performed on the regional waypoint 11 and the regional waypoint 12 on the fine-tuning interface 40.
  • control device may adjust the size of the route area according to the target area waypoint of the editing process. In an embodiment, when the control device adjusts the size of the route area, The length of the route of the flight route in the route area is adjusted accordingly.
  • the control device obtains a fine-tuning instruction for the destination area waypoint on the user interface by acquiring a position fine-tuning editing operation of the target area waypoint associated with the route area on the user interface. And outputting a fine-tuning interface of the target area waypoint, so as to edit the target area waypoint indicated by the editing operation according to the editing operation received on the fine-tuning interface, thereby implementing the method Fine-tuning the location of the regional waypoints improves the accuracy of the set route area by adjusting the size of the route area and adjusting the length of the route.
  • FIG. 8 is a schematic flowchart of a method for editing a waypoint of a UAV according to an embodiment of the present invention.
  • the difference between the method of the embodiment of the present invention and the embodiment of FIG. 5 is that In an embodiment of the invention, the regional waypoints are controlled and edited by control buttons.
  • the method of an embodiment of the present invention includes the following steps.
  • S801 Acquire an editing instruction input by the user to the waypoint of the target area.
  • the control device may acquire an editing instruction for the target area waypoint input by the user through the control button, where the editing instruction may be any one or more of a mobile editing instruction, a deletion instruction, and a fine adjustment instruction.
  • the control device may acquire a mobile editing instruction input by the user through a control button; or the control device may acquire a deletion instruction input by the user through the control button; or the control device may acquire the user by controlling Fine-tuning command for key input.
  • the control device may determine the type of the editing operation corresponding to the editing instruction according to the obtained editing instruction. In one embodiment, if the control device acquires a mobile editing instruction input by the user through a control button, it may be determined that the type of the editing operation is a mobile editing operation. In one embodiment, if the control device acquires a delete instruction input by the user through the control button, it may be determined that the type of the editing operation is a delete editing operation. In one embodiment, if the control device acquires a fine-tuning instruction input by the user through a control button, it may be determined that the type of the editing operation is a position fine-tuning editing operation.
  • S803 Perform a motion editing process on the target area waypoint according to the editing instruction and the type of the editing operation.
  • control device may perform a mobile editing process on the target area waypoint according to the editing instruction and the type of the editing operation to update the location information of the target area waypoint.
  • the control device determines that the type of the editing operation is a mobile editing operation
  • the mobile editing direction and the number of mobile editing inputs input by the user may be acquired, and edited according to the moving editing direction and the mobile editing The number of times, the movement editing process is performed on the waypoint of the target area.
  • the control device determines that the user continuously presses the mobile editing button
  • the mobile editing direction may be continuously performed on the target region waypoint according to the mobile editing direction corresponding to the mobile editing button. Examples of implementations of specific embodiments are as described above, and are not described herein again.
  • the control device determines that the type of the editing operation is a delete editing operation
  • the user may delete the target area according to the delete editing operation corresponding to the delete button when determining that the user presses the delete button.
  • Waypoint Examples of implementations of specific embodiments are as described above, and are not described herein again.
  • the control device determines that the type of the editing operation is a position fine-tuning editing operation
  • the adjustment direction of the position fine adjustment input by the user may be acquired, and according to the adjustment direction of the position fine adjustment,
  • the target area waypoint performs mobile editing processing. Examples of implementations of specific embodiments are as described above, and are not described herein again.
  • control device may adjust the size of the route area according to the updated target area waypoint in the editing process.
  • the example of the implementation manner of the specific embodiment is as described above, and details are not described herein again.
  • the control device acquires an editing operation on the waypoint of the target area by acquiring an editing instruction input by the user, and determines a type of the editing operation, and according to the editing instruction and the editing a type of operation, performing a motion editing process on the waypoint of the target area, thereby adjusting a size of the route area according to the target area waypoint of the editing process, and in this way, realizing a fast way to the regional waypoint
  • the editing improves the accuracy of setting the route area by adjusting the size of the route area and adjusting the length of the route.
  • FIG. 9 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • the control device includes a display device 901, a control device 902, a processor 903, a data interface 904, and a memory 905.
  • the display device 901 is configured to display a route planning interface that is planned by the processor 903.
  • the control device 902 is configured to receive an editing operation acquired from the data interface 904.
  • the memory 905 may include a volatile memory; the memory 905 may also include a non-volatile memory; the memory 905 may also include a combination of the above types of memory.
  • the processor 903 can be a central processing unit (CPU).
  • the processor 903 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory 905 is used to store program instructions.
  • the processor 903 is connected to the display device 901 and the control device 902, respectively, and the processor 903 can call the program instructions stored in the memory 905 for performing the following steps:
  • the size of the route area is adjusted according to the updated target area waypoint.
  • control device 902 is a touch screen, and the touch screen is integrally provided with the display device.
  • processor 903 calls a program instruction stored in the memory 905 for performing the following non-steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • the type of the editing operation is a mobile editing operation, acquiring a mobile editing instruction for the target area waypoint on the user interface;
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • If the type of the editing operation is a delete editing operation, acquiring a delete instruction for the target area waypoint on the user interface;
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • the type of the editing operation is a position fine-tuning editing operation, acquiring a fine-tuning instruction for the target area waypoint on the user interface;
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • Editing processing is performed on the target area waypoint indicated by the editing operation according to the editing operation received on the fine adjustment interface.
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • the editing operation on the waypoint of the target area is revoked, and the revoked editing operation refers to: indicating the editing operation according to the last obtained fine-tuning instruction Edit processing for regional waypoints.
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • the prompt information associated with the editing operation of the target area waypoint is displayed on the user interface, and the prompt information is used to indicate an operation mode corresponding to the editing operation of the target area waypoint.
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • control device is a control button.
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • the type of the editing operation is a mobile editing operation.
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • the type of the editing operation is a position fine-tuning editing operation.
  • processor 903 calls a program instruction stored in the memory 905 for performing the following steps:
  • the control device determines the type of the editing operation and the location information of the target area waypoint by acquiring an editing operation of the target area waypoint associated with the route area on the user interface, and according to Editing the waypoint of the target area by editing the type of the editing operation and the location information of the target area waypoint, thereby adjusting the size of the route area according to the edited target area waypoint
  • the editing of the regional waypoints is realized quickly, and the accuracy of the set route area is improved by adjusting the size of the route area.
  • FIG. 5, FIG. 7, or FIG. 8 of the present invention Also provided in an embodiment of the present invention is a computer readable storage medium storing a computer program that, when executed by a processor, implements FIG. 5, FIG. 7, or FIG. 8 of the present invention
  • the control device of the embodiment corresponding to FIG. 9 can also be implemented, and details are not described herein again.
  • the computer readable storage medium may be an internal storage unit of the terminal described in any of the foregoing embodiments, such as a hard disk or a memory of the terminal.
  • the computer readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart memory card (SMC), and a Secure Digital (SD) card. , Flash Card, etc.
  • the computer readable storage medium may also include both an internal storage unit of the terminal and an external storage device.
  • the computer readable storage medium is for storing the computer program and other programs and data required by the terminal.
  • the computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

Les modes de réalisation de la présente invention se réfèrent à un procédé d'édition de points de cheminement et à un dispositif de commande pour un véhicule aérien sans pilote, et à un support d'informations appliqués à un terminal pour l'édition de points de cheminement. Le terminal est utilisé pour afficher une interface d'édition de points de cheminement, l'interface d'édition de points de cheminement comprenant une région d'itinéraire obtenue par la planification d'au moins trois points de cheminement régionaux. Le procédé consiste à : obtenir une opération d'édition d'un point de cheminement régional cible associé à la région d'itinéraire sur une interface utilisateur ; déterminer le type de l'opération d'édition et les informations de localisation du point de cheminement régional cible ; éditer le point de cheminement régional cible selon le type de l'opération d'édition et les informations de localisation du point de cheminement régional cible pour mettre à jour les informations de localisation du point de cheminement régional cible ; et régler la taille de la région d'itinéraire selon le point de cheminement régional cible mis à jour. L'invention permet ainsi de réaliser l'édition rapide des points de cheminement régionaux, et d'améliorer la précision de la région d'itinéraire par le réglage de la taille de la région d'itinéraire et le réglage de la longueur de l'itinéraire.
PCT/CN2017/116867 2017-12-18 2017-12-18 Procédé d'édition de points de cheminement et dispositif de commande pour véhicule aérien sans pilote, et support d'informations WO2019119186A1 (fr)

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CN201780023038.2A CN109074213A (zh) 2017-12-18 2017-12-18 一种无人机的航点编辑方法、控制设备及存储介质

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