WO2020215188A1 - 飞行航线的生成方法、控制装置及无人机系统 - Google Patents

飞行航线的生成方法、控制装置及无人机系统 Download PDF

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Publication number
WO2020215188A1
WO2020215188A1 PCT/CN2019/083735 CN2019083735W WO2020215188A1 WO 2020215188 A1 WO2020215188 A1 WO 2020215188A1 CN 2019083735 W CN2019083735 W CN 2019083735W WO 2020215188 A1 WO2020215188 A1 WO 2020215188A1
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WIPO (PCT)
Prior art keywords
sampling point
height
sampling
point
points
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PCT/CN2019/083735
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English (en)
French (fr)
Inventor
石仁利
李劲松
黄振昊
徐富
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深圳市大疆创新科技有限公司
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Priority to CN201980005024.7A priority Critical patent/CN111226185B/zh
Priority to PCT/CN2019/083735 priority patent/WO2020215188A1/zh
Publication of WO2020215188A1 publication Critical patent/WO2020215188A1/zh
Priority to US17/508,381 priority patent/US20220051574A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0034—Assembly of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0086—Surveillance aids for monitoring terrain
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • This application relates to the field of intelligent control, in particular to a method for generating flight routes, a control device, and an unmanned aerial vehicle system.
  • UAVs are widely used in agriculture, UAV photography and other fields due to their fast flight speed and flexible operation.
  • drones can be used to capture terrain in undulating terrain.
  • the drone In the process of shooting, to ensure that the sampling interval on the ground remains the same and the overlap rate remains the same, the drone needs to fly in a ground-like flight mode.
  • Ground-like flight means that the UAV adjusts the flying height of the UAV according to the terrain of the undulating terrain. During the flight, the UAV maintains a constant height difference with the undulating terrain.
  • the route generation method of ground-simulating flight is mainly: obtaining the height of sampling points through digital surface model, and determining the route of ground-simulating flight based on the height of these sampling points.
  • UAVs may collide with ground objects when flying in undulating terrain with large altitude differences.
  • the embodiments of the application provide a method for generating a flight route, a control device, and an unmanned aerial vehicle system, which are beneficial to avoid collisions between an unmanned aerial vehicle and ground objects.
  • an embodiment of the present application provides a method for generating a flight route, and the method includes:
  • the flight route is generated according to the expanded height of each sampling point and the coordinate position of each sampling point.
  • an embodiment of the present application provides a UAV control device, including a memory and a processor, wherein the memory is used to store a computer program;
  • the processor is configured to call the computer program to perform the following steps: obtain an initial route;
  • the flight route is generated according to the expanded height of each sampling point and the coordinate position of each sampling point.
  • an embodiment of the present application provides a control terminal, the control terminal is connected to the drone and is used to control the drone, the control terminal includes a memory and a processor, wherein,
  • the memory is used to store computer programs
  • the processor is configured to call the computer program to execute the following steps:
  • the flight route is generated according to the expanded height of each sampling point and the coordinate position of each sampling point.
  • an embodiment of the present application provides a drone, including a fuselage, a power device, and a control device.
  • the control device and the power device are respectively disposed on the fuselage of the drone, and the control device The device is used to control the power device to drive the drone to move, wherein the control device includes a memory and a processor, wherein,
  • the memory is used to store computer programs
  • the processor is configured to call the computer program to execute the following steps:
  • the flight route is generated according to the expanded height of each sampling point and the coordinate position of each sampling point.
  • an embodiment of the present application provides an unmanned aerial vehicle system, including a control terminal and an unmanned aerial vehicle, the unmanned aerial vehicle system further includes a control device provided on the control terminal body or the unmanned aerial vehicle body, The control device includes a memory and a processor, wherein,
  • the memory is used to store computer programs
  • the processor is configured to call the computer program to execute the following steps:
  • the flight route is generated according to the expanded height of each sampling point and the coordinate position of each sampling point.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the following steps:
  • the flight route is generated according to the expanded height of each sampling point and the coordinate position of each sampling point.
  • control device can determine the expanded height of the sampling point according to the height of multiple points in the buffer by acquiring the buffer of the sampling point, and determine the flight route according to the expanded height and coordinate position of each sampling point, which can be realized Fly like the ground, and can avoid the problem of collision between the drone and the ground object when there are high objects or terrain between every two adjacent sampling points, and improve the safety of drone flight.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle system provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a method for generating a flight route provided by an embodiment of the present application
  • Figure 3 is a top view of a digital elevation model provided by an embodiment of the present application.
  • Figure 4 is a side view of a digital elevation model provided by an embodiment of the present application.
  • Figure 5 is a top view of an initial route provided by an embodiment of the present application.
  • Figure 6 is a side view of an initial route provided by an embodiment of the present application.
  • FIG. 7 is a top view of a sampling point provided by an embodiment of the present application.
  • FIG. 8 is a side view of a sampling point provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a buffer of sampling points provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of another sampling point buffer provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of yet another sampling point buffer provided by an embodiment of the present application.
  • FIG. 12 is a schematic diagram of sampling points after height expansion provided by an embodiment of the present application.
  • FIG. 13 is a schematic diagram of another sampling point after height expansion provided by an embodiment of the present application.
  • FIG. 14 is a schematic diagram of a flight route provided by an embodiment of the present application.
  • 15 is a schematic flowchart of another method for generating a flight route provided by an embodiment of the present application.
  • FIG. 16 is a schematic diagram of screening effective sampling points according to an embodiment of the present application.
  • FIG. 17 is another schematic diagram of screening effective sampling points provided by an embodiment of the present application.
  • FIG. 18 is a schematic diagram of another flight route provided by an embodiment of the present application.
  • FIG. 19 is a schematic diagram of another flight route provided by an embodiment of the present application.
  • FIG. 20 is a schematic structural diagram of a control device provided by an embodiment of the present application.
  • FIG. 1 is an unmanned aerial vehicle system provided by an embodiment of the application.
  • the unmanned aerial vehicle system includes an unmanned aerial vehicle and a control terminal.
  • the unmanned aerial vehicle may refer to an unmanned aerial vehicle, which may be a rotary-wing mobile robot, such as a four-rotor mobile robot, a six-rotor mobile robot, and an eight-rotor mobile robot.
  • the unmanned aerial vehicle may include a power device, which is arranged on the fuselage of the unmanned aerial vehicle to provide mobile power for the unmanned aerial vehicle, and the power device may include one or more of an engine, a propeller, a motor, and an ESC.
  • the drone may also include a pan-tilt and a camera, which is mounted on the main body of the drone through the pan-tilt.
  • the shooting device is used for image or video shooting during the movement of the drone, including but not limited to multispectral imagers, hyperspectral imagers, visible light cameras, infrared cameras, etc.
  • the pan/tilt is a multi-axis transmission and stabilization system.
  • the pan/tilt motor compensates the shooting angle of the imaging device by adjusting the rotation angle of the rotation axis, and prevents or reduces the jitter of the imaging device by setting an appropriate buffer mechanism.
  • the control terminal can control the drone by establishing a wireless communication connection with the drone.
  • the control terminal can control the movement state of the drone (such as position, speed, acceleration, etc.), and/or control the rotation direction of the drone's pan/tilt, and/or control the drone to take images and/or video.
  • the control terminal can be a remote control, a smart phone, a tablet computer, a computer or a smart bracelet, etc.
  • the unmanned aerial vehicle system may further include a control device arranged on the main body of the control terminal or the fuselage of the unmanned aerial vehicle, and the control device is used to generate a flight route of the unmanned aerial vehicle.
  • the specific implementation manner of the control device generating the flight route can be seen in Fig. 2 and Fig. 15.
  • FIG. 2 is a schematic flowchart of a method for generating a flight route according to an embodiment of the present application.
  • the method can be applied to the above-mentioned control device.
  • the method for generating a flight route may include the following steps.
  • the control device obtains the initial route.
  • the control device may obtain the initial route.
  • the initial route may refer to a non-standard ground-simulating flight route.
  • the initial route may be generated by the control device, or the initial route may be It is obtained from other equipment by the control device.
  • the initial route may be generated by an external command
  • the control device is on the drone
  • the external command may be a command sent by a control terminal connected to the drone.
  • the external command is the first command.
  • the control device may receive a first instruction sent by the control terminal, and the first instruction may include position information of a plurality of position points, and the position information includes coordinate positions and heights of the position points.
  • the control device may sequentially connect all of the multiple location points to obtain the initial route according to the location information of the multiple location points.
  • the external command is a second command
  • the control device may receive the second command sent by the control terminal.
  • the second instruction may include a flight route, and the flight route may be a historical flight route or a flight route set by the user on the control terminal.
  • the control device may determine the flight route included in the second instruction as the initial route.
  • the initial route may be acquired and generated through a database
  • the database includes one or more of a digital elevation model, a historical flight route, and a digital surface model.
  • the database can be stored in the control device. Or, it is stored in other equipment connected to the control device.
  • the database of the control device includes historical flight routes of multiple flight areas.
  • the control device may obtain the position information of the flight area, obtain the historical flight route of the flight area from the database according to the position information of the flight area, and use the historical flight route as the initial route.
  • the database of the control device includes a digital elevation model, which is generated based on multiple environmental images of the flight area. The top view of the digital elevation model of the flight area is shown in FIG.
  • the digital elevation model includes the coordinate position and height of the three-dimensional feature point corresponding to each pixel in the environment image.
  • the coordinate position of the three-dimensional feature point corresponding to pixel A in Figure 3 is (113.182032434 degrees east longitude, 39.5623094 degrees north latitude), and the height is 1132.84 meters.
  • the side view (ie, the height map) of the digital elevation model of the flight area is shown in Figure 4, and the side view can reflect the height changes of the three-dimensional feature points corresponding to each pixel.
  • the control device can generate the initial route according to the digital elevation model of the flight area.
  • the top view of the initial route is shown in Fig. 5, and the broken line in Fig. 5 represents the initial route.
  • the side view of the initial route is shown in Fig. 6, and it can be seen from Fig. 6 that each pixel point corresponds to the height change of the three-dimensional feature point.
  • the method before step S201, further includes: acquiring multiple environmental images taken during the drone's level flight to the flight area, and determining the digital elevation model based on the multiple environmental images, the digital elevation model including the The coordinate position and height of the three-dimensional feature point corresponding to each pixel in the environmental image.
  • the control device can obtain multiple environmental images taken during the drone's level flight to the flight area.
  • the shooting time interval of each adjacent two images in the multiple environmental images may be the same, and level flight means that the drone keeps flying in a straight horizontal line.
  • the digital elevation model can be determined based on multiple environmental images.
  • the control device determines multiple sampling points from the initial route.
  • the control device may sample the initial route at a fixed sampling interval or a non-fixed sampling interval to obtain multiple sampling points.
  • Non-fixed sampling interval means that the sampling interval is a value that changes randomly, that is, the distance between every two adjacent sampling points is different.
  • the non-fixed sampling interval is 3m and 4m, and so on.
  • the control device may obtain the first sampling point at the starting point of the initial route, and then obtain the second sampling point at an interval of 3 m, and obtain the third sampling point at an interval of 4 m, and so on. That is, the interval between the first sampling point and the second sampling point is 3m, and the interval between the second sampling point and the third sampling point is 4m.
  • Fixed sampling interval means that the sampling interval is a fixed value, so that the distance between every two adjacent sampling points is the same (that is, the horizontal distance).
  • the fixed sampling interval is 2m
  • the control device obtains a sampling point from the initial route every 2m at a horizontal distance, so that the horizontal distance between every two adjacent sampling points is 2m.
  • the control device may perform sampling processing on the initial route at a fixed sampling interval.
  • the fixed sampling interval is a preset sampling interval
  • the control device may use the preset sampling interval to perform sampling processing on the initial route to obtain multiple sampling points. If the acquired sampling points are too few, it will not be able to effectively reflect the changes of the route, lose the meaning of imitating the ground flight, and even cause safety hazards; if the acquired sampling points are too many, the number of up and down adjustments of the drone will increase, which requires more consumption. More power will affect the efficiency of the operation. In addition, frequent adjustments to the altitude of the route will also have a negative impact on the camera and the calculation of the camera position. Therefore, the control device can set a preset sampling interval according to the number of height adjustments, power consumption, shooting stability, etc.
  • the preset sampling interval may be a second preset distance
  • the control device may use the second preset distance to perform sampling processing on the initial route to obtain multiple sampling points, that is, every second preset distance The distance collects a point from the initial route as a sampling point, and then obtains multiple sampling points.
  • control device may sample the initial route at the second preset distance to obtain multiple sampling points.
  • the top view of the sampling points is shown in Figure 7.
  • the dots on the initial route are sampling points (only part of the sampling points are shown), and the distance between every two adjacent sampling points on the initial route is the same.
  • the side view of the sampling points is shown in Figure 8.
  • Figure 8 shows only part of the sampling points. From Figure 8 we can see the height changes of each sampling point.
  • the control device determines a buffer of each of the multiple sampling points.
  • the control device can determine the buffer of each of the multiple sampling points, and the buffer of each sampling point refers to the extended area where the corresponding sampling point is located.
  • the buffer area of the sampling point may refer to the area on the initial route with the sampling point as the center point.
  • the buffer area of the sampling point may refer to an area on the initial route that extends a first preset distance along the initial route with the sampling point as the center.
  • the first preset distance may be set by the user.
  • the first preset distance may be determined according to the terrain undulations of the current flight area. For example, if the terrain undulation changes relatively large, the first preset distance is set to a larger value; if the terrain undulation changes less, the first preset distance is set to a smaller value.
  • the initial route includes sampling point B.
  • the area between the two dashed lines in Figure 9 is the buffer area of sampling point B.
  • the buffer area of sampling point B is an area extending the same distance to both sides along the initial route with sampling point B as the center, that is, sampling point B is the center point of the buffer of sampling point B.
  • control The device can set the radius of the buffer zone to be greater than or equal to the preset sampling interval, which can effectively avoid omissions during sampling, thereby avoiding collisions between drones and ground objects during flight route planning.
  • the buffer area of the sampling point may refer to an area on the initial route centered on points other than the sampling point.
  • the buffer area of the sampling point is an area on the initial route that extends a first distance to the left along the initial route with the sampling point as the origin, and extends a second distance to the right along the initial route with the sampling point as the origin. The first distance is different from the second distance. If the first distance is greater than the second distance, the sampling point is located to the right of the center point of the buffer area of the sampling point; if the first distance is less than the second distance, the sampling point is located The sampling point is to the left of the center point of the buffer area.
  • the area between the two dotted lines in FIG. 10 is the buffer area of sampling point B.
  • the buffer area of sampling point B is extended to the left by 10m along the initial route with sampling point B as the origin, and to the right along the initial route with sampling point B as the origin Expand 3m to get the area.
  • the buffer of the sampling point may include the sampling point and other sampling points adjacent to the sampling point, and the number of sampling points included in each two buffers may be the same or different. Every two adjacent buffers can partially overlap or not overlap at all; the sizes of every two buffers can be the same or different. This application is not limited to this.
  • the control device determines the extended height of the sampling point according to the heights of the multiple points in the buffer of the sampling point.
  • the expanded height of the sampling point determined by the control device may be the same as the initial height of the sampling point.
  • the expanded height of the sampling point determined by the control device may be different from the initial height of the sampling point.
  • the multiple points in the buffer of the sampling point may include all points in the buffer, for example, the multiple points may include all the sampling points in the buffer and all the points on the initial route that are not sampled in the buffer.
  • the multiple points in the buffer of the sampling point may include part of the points in the buffer.
  • the multiple points may include part of the sampling points in the buffer or/and the points in the buffer on the initial route. Part of the sampling point.
  • the control device may determine the extended height of the sampling point according to the heights of all points in the buffer of the sampling point. For example, the control device may determine the expanded height of the sampling point through the coordinate positions and heights of the three-dimensional feature points corresponding to all pixels in the buffer of the sampling point. Specifically, the control device may obtain the heights of all points in the buffer of the sampling point, and determine the maximum height among the heights of all the points in the buffer of the sampling point as the extended height of the sampling point. At this time, if the initial height of the sampling point is the maximum height among the heights of all points in the buffer, the determined expanded height of the sampling point is the same as the initial height of the sampling point. Alternatively, the control device may calculate the average height according to the height of all points in the buffer of the sampling point or determine the height value through other suitable calculation methods, and determine the average height or the height value determined by other suitable calculation methods as the sampling point The expanded height of the point.
  • control device may obtain the height of the start feature point and the height of the end feature point of the buffer of the sampling point, and obtain the height of each sampling point in the buffer of the sampling point, according to the start The height of the feature point, the height of the end feature point, and the height of each sampling point in the buffer of the target sampling point determine the expanded height of the sampling point.
  • the start feature point and the end feature point refer to the boundary points of the buffer zone, which can be sampling points or non-sampling points.
  • Non-sampling points refer to points that are not sampled on the buffer boundary on the initial route.
  • point C in Figure 11 is the starting feature point of the buffer of sample point B
  • point D is the end feature point of the buffer using point B
  • points A and B are the buffer of sample point B Sampling points in the area.
  • the control device can obtain the height of the characteristic point C, the height of the characteristic point D, and the heights of points B and A in the buffer of the sampling point B.
  • the expanded height of the sampling point is determined according to the height of the characteristic point C, the height of the characteristic point D, and the heights of points B and A.
  • the control device may determine the maximum height of the height of the starting feature point, the height of the ending feature point, and the height of each sampling point in the buffer of the sampling point as the extended height of the sampling point. .
  • the control device obtains the height of feature point C, the height of feature point D, and the heights of points B and A in the buffer of sampling point B, the height of feature point C, the height of feature point D, and the sampling point
  • the maximum height among the heights of point B and point A in the buffer area of B is determined as the expanded height of the sampling point.
  • the dots represent the sampling points at the initial height
  • the five-pointed star represents the expanded height sampling points. It can be seen from Fig. 13 that the coordinate positions of the sampling points of the initial height and the corresponding expanded height are the same, and the height is the same or the expanded height is greater than the initial height. For example, the initial height of sampling point B is smaller than the expanded height of sampling point B.
  • control device may calculate the average height of the height of the start feature point, the height of the end feature point, and the height of each sampling point in the sampling point buffer, and the average height is determined as the sampling point.
  • the expanded height of the point may be used to determine the expansion height of the buffer zone, which is not limited here.
  • the control device generates a flight route according to the expanded height of each sampling point and the coordinate position of each sampling point.
  • the control device can connect each sampling point after the expansion height according to the coordinate position of each sampling point to obtain the flight route, or the control device can increase the height of each sampling point according to the sampling point and The coordinate position of the sampling point generates the flight path.
  • step S205 includes: adding a preset height to the expanded height of the sampling point, and generating the flight route according to the sampling point after the preset height is increased and the coordinate position of the sampling point.
  • the control device can increase the expanded height of the sampling point by a preset height, and then sequentially connect the sampling points with the increased preset height according to the coordinate position of each sampling point to obtain the flight route.
  • the preset height may be set by the user, or the preset height may be set according to changes in the topography of the flight area. For example, if the terrain undulation changes relatively large, the preset height is set to a larger value; if the terrain undulation changes relatively small, the preset height is set to a smaller value.
  • the triangle represents the sampling point after increasing the preset altitude
  • the dashed line represents the flight path.
  • the sampling point after the expansion of the altitude is the same as the corresponding sampling point after the increase of the preset altitude. It is assumed that the height of the sampling point after the height is greater than the height of the sampling point after the corresponding expanded height.
  • control device may obtain the buffer of each sampling point, determine the expanded height of the sampling point according to the heights of multiple points in the buffer, and determine the flight route according to the expanded height and coordinate position of each sampling point,
  • the ground-like flight can be realized, and the problem of collision between the drone and the ground object when there are high objects or terrain between every two adjacent sampling points can be avoided, and the flight safety of the drone can be improved.
  • FIG. 15 is a schematic flowchart of another method for generating a flight route according to an embodiment of the present application. The method can be applied to the above-mentioned control device. As shown in FIG. 15, the method for generating a flight route may include the following steps .
  • the control device obtains the initial route.
  • the control device determines multiple sampling points from the initial route.
  • the control device determines the buffer of each of the multiple sampling points.
  • the control device determines the extended height of the sampling point according to the heights of multiple points in the buffer of the sampling point.
  • steps S151 to S154 please refer to the explanation of steps S201 to S204 in FIG. 1, and the repetitive parts will not be repeated.
  • the control device screens all the sampling points to obtain effective sampling points.
  • the control device can filter (ie simplify) all the sampling points to obtain effective sampling points.
  • the effective sampling point is a waypoint that can better reflect the ups and downs of the ground-like flight route.
  • control device sequentially connects the sampling points to obtain the connections of all the sampling points, and filters the sampling points according to the characteristic information of the connections to obtain the effective sampling points.
  • the characteristic information of the connection may include the slope of the connection.
  • the slope of the connection is the absolute value of the slope.
  • the control device can connect the sampling points in sequence from the start sampling point or the end sampling point to obtain the connection of all sampling points. If the slope of the connection is less than the preset slope value, the sampling point near the end of the sampling point is deleted; If the slope is greater than or equal to the preset slope value, the sampling point on the connection is retained.
  • the starting point sampling point refers to the sampling point closest to the take-off position of the drone, and the ending sampling point refers to the sampling point farthest from the take-off position of the drone.
  • the multiple sampling points include sampling points E, F, G, and M, and sampling point E is the starting point.
  • the control device can connect E and F to get line 1. If line 1 If the slope of is less than the preset slope value, the sampling point F will be deleted. Continue to connect sampling points E and G to obtain connection 2. If the slope of connection 2 is less than the preset slope value, sampling point G is deleted. Further, the sampling points E and M are connected to obtain the connection line 3. If the slope of the connection line 3 is greater than the preset slope value, the sampling points E and M are taken as effective sampling points. Then, repeat the above steps to connect the sampling point M and the points adjacent to the sampling point M until all valid sampling points are filtered out.
  • control device can filter all the sampling points according to the Lamer-Douglas-Puck algorithm to obtain effective sampling points.
  • the multiple sampling points include sampling points H, I, J...Z, where H is the starting sampling point and Z is the ending sampling point.
  • the control device can filter the sampling points through the following steps: s1, the control device can connect the sampling points H and Z to obtain the connection 4. s2. Obtain the sampling point corresponding to the farthest distance among the distances from each sampling point to the line 4 in the multiple sampling points. For example, assume that the distance from the sampling point J to the line 4 is the farthest. s3. If the farthest distance is less than the preset threshold, the sampling points H and Z are taken as effective sampling points, and the sampling points between the sampling points H and Z are determined as invalid sampling points.
  • sampling points H and J are connected to obtain line 5, and the sampling points Z and J are connected to obtain line 6.
  • s6 Calculate the distance from each sampling point between sampling point H to sampling point J to line 5, calculate the distance from each sampling point between sampling point J to sampling point Z to line 6, and further, execute s3 or s4 . Repeat the above steps to filter out all valid sampling points.
  • control device may also perform screening according to other characteristic information of the sampling points to obtain effective sampling points.
  • This embodiment is only an exemplary description, and is not limited herein.
  • the control device generates the flight route according to the expanded height of the effective sampling point and the coordinate position of the effective sampling point.
  • the control device can generate the flight route according to the expanded height of the effective sampling point and the coordinate position of the effective sampling point. Flying according to the flight route can reduce the number of times the drone shakes up and down, and further, can increase the drone flight and photographing stability.
  • the star at 18 in the figure represents effective sampling points, and the control device can sequentially connect each effective sampling point after the height is expanded to obtain the flight path. From the comparison between Figure 14 and Figure 18, it can be seen that the flight path in Figure 18 is relatively smoother and more stable.
  • the control device adds a preset height to the extended height of the effective sampling point, and generates the flight route according to the effective sampling point after the preset height is increased and the coordinate position of the effective sampling point.
  • the triangles in Fig. 19 indicate the sampling points after the preset height is increased, and the control device can sequentially connect the sampling points after the preset height is increased to obtain the flight route. From the comparison between Fig. 18 and Fig. 19, it can be seen that the flight route in Fig. 19 is higher than that in Fig. 18, so as to further ensure the flight safety of the drone when flying on the ground.
  • the control device may obtain the buffer of each sampling point, determine the expansion height of the sampling point according to the heights of multiple points in the buffer, and filter all the sampling points to obtain effective sampling points.
  • the extended height of the effective sampling point and the coordinate position of the effective sampling point generate the flight route, which can realize ground-like flight, and can avoid the existence of high objects or terrain between every two adjacent sampling points, causing the drone to interact with each other. The problem of collision of ground objects.
  • by screening all sampling points it can ensure that the waypoints on the flight route can match the waypoints on the ground-like flight route, and reduce the power consumption caused by speed changes and altitude adjustments.
  • flying in accordance with the flight route can reduce the number of times the drone shakes up and down, and further increases the stability of the drone flying and taking pictures.
  • FIG. 20 is a schematic structural diagram of a control apparatus of a communication device according to an embodiment of the present application.
  • the control device is a control device of a drone, and the control device of the drone is set in the fuselage of the drone, for example, the control device is set in a flight controller of the fuselage of the drone; or, The drone control device is installed in a control terminal for controlling the drone.
  • the control device memory 111 and the processor 110 of the drone.
  • the memory 111 may include a volatile memory (volatile memory); the memory 111 may also include a non-volatile memory (non-volatile memory); the memory 111 may also include a combination of the foregoing types of memories.
  • the processor 110 may be a central processing unit (CPU).
  • the processor 801 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory is used to store a computer program
  • the processor is used to execute the computer program and when executing the computer program, perform the following steps:
  • the flight route is generated according to the expanded height of each sampling point and the coordinate position of each sampling point.
  • the buffer zone of the sampling point is an area on the initial route that extends a first preset distance to both sides along the initial route with the sampling point as a center.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the flight route is generated according to the sampling point and the coordinate position of the sampling point after the preset height is increased.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the expanded height of the sampling point is determined according to the heights of all points in the buffer of the sampling point.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the maximum height among the heights of all points in the buffer of the sampling point is determined as the extended height of the sampling point.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the maximum height among the height of the starting feature point, the height of the ending feature point, and the height of each sampling point in the buffer of the sampling point is determined as the extended height of the sampling point.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the flight route is generated according to the extended height of the effective sampling point and the coordinate position of the effective sampling point.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the sampling points are filtered to obtain effective sampling points.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • sampling points are screened according to the Lamer-Douglas-Puck algorithm to obtain effective sampling points.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the flight route is generated according to the effective sampling point and the coordinate position of the effective sampling point after the preset height is increased.
  • the initial route is generated by an external command.
  • the initial route is acquired and generated through a database.
  • the database includes at least one of a digital elevation model and a historical flight route.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the digital elevation model is determined according to a plurality of the environmental images, and the digital elevation model includes the coordinate position and height of a three-dimensional feature point corresponding to each pixel in the environmental image.
  • the processor is configured to execute the computer program, and when executing the computer program, execute the following steps:
  • the preset sampling interval is a second preset distance.
  • the radius of the buffer is greater than or equal to the preset sampling interval.
  • control device may obtain the buffer of each sampling point, determine the expanded height of the sampling point according to the heights of multiple points in the buffer, and determine the flight route according to the expanded height and coordinate position of each sampling point,
  • the ground-like flight can be realized, and the problem of collision between the drone and the ground object when there are high objects or terrain between every two adjacent sampling points can be avoided, and the flight safety of the drone can be improved.
  • a control terminal is also provided.
  • the control terminal is connected to the drone and is used to control the drone.
  • the control terminal includes a memory and a processor, wherein the memory is used to store a computer Program;
  • the processor is used to execute the computer program and, when the computer program is executed, implement the flight route generation method described in the embodiment of the embodiment of the present application corresponding to FIG. 2 and FIG. 15.
  • an unmanned aerial vehicle including a fuselage, a power device, and a control device, wherein the control device includes a memory and a processor, and the control device and the power device are respectively disposed in the In the fuselage of the drone, the control device is used to control the power device to drive the drone to move.
  • the control device is used to control the power device to drive the drone to move.
  • the power device is a rotor assembly, and the control device can control the rotor assembly to drive the drone to move.
  • the memory of the control device is used to store a computer program; the processor of the control device is used to execute the computer program and, when the computer program is executed, implement the embodiments of the present application shown in FIGS. 2 and 15 It corresponds to the flight route generation method described in the embodiment.
  • an unmanned aerial vehicle system which includes a control terminal and an unmanned aerial vehicle.
  • the unmanned aerial vehicle system further includes a control device arranged on the control terminal body or the unmanned aerial vehicle body.
  • the control device includes a memory and a processor, wherein the memory is used to store a computer program; the processor is used to execute the computer program and, when the computer program is executed, implement the embodiments of the present application. 15 corresponds to the flight route generation method described in the embodiment.
  • a computer-readable storage medium is also provided, and the computer-readable storage medium stores a computer program.
  • the computer program executes by a processor, the computer program implements what is shown in FIG. 2 and FIG.
  • the control device in the embodiment of the invention described in FIG. 20 can also be implemented, which will not be repeated here.
  • the computer-readable storage medium may be the internal storage unit of the test device described in any of the foregoing embodiments, such as the hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the vehicle control device, for example, a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), and a Secure Digital (SD) ) Card, Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the test device.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a computer readable storage medium.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

本申请实施例提供了一种飞行航线的生成方法、控制装置及无人机系统，其中，方法包括：获取初始航线（S201），从所述初始航线上确定多个采样点（S202），确定多个所述采样点中每个所述采样点的缓冲区（S203），根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度（S204），根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线（S205）。通过本申请实例有利于避免无人机与地面物体发生碰撞。

Description

飞行航线的生成方法、控制装置及无人机系统 技术领域
本申请涉及智能控制领域，尤其涉及飞行航线的生成方法、控制装置、及无人机系统。
背景技术
无人机以飞行速度快、操作灵活等特点被广泛应用于农业、无人机拍摄等领域。例如，无人机可用于对地形起伏地区进行地形拍摄，其中，在拍摄的过程中，为保证地面的采样间隔大小保持一致，且重叠率保持一致，无人机需要按照仿地飞行方式飞行。仿地飞行是指：无人机根据地形起伏地区的地形调整无人机的飞行高度，在飞行的过程中，无人机与地形起伏地区保持恒定高度差。
目前，仿地飞行的航线生成方式主要为：通过数字表面模型获取采样点的高度，根据这些采样点的高度确定仿地飞行的航线。然而在实践中发现，基于这种方式生成仿地飞行的航线，无人机在较大高度差的地形起伏地区进行飞行时，可能会与地面物体发生碰撞。
发明内容
本申请实施例提供了飞行航线的生成方法、控制装置及无人机系统，有利于避免无人机与地面物体发生碰撞。
第一方面，本申请实施例提供了一种飞行航线的生成方法，所述方法包括：
获取初始航线；
从所述初始航线上确定多个采样点；
确定多个所述采样点中每个所述采样点的缓冲区；
根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
第二方面，本申请实施例提供了一种无人机的控制装置，包括存储器和处理器，其中，所述存储器用于存储计算机程序；
所述处理器，用于调用所述计算机程序执行如下步骤：获取初始航线；
从所述初始航线上确定多个采样点；
确定多个所述采样点中每个所述采样点的缓冲区；
根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
第三方面，本申请实施例提供了一种控制终端，所述控制终端与无人机连接，用于控制无人机，所述控制终端包括存储器和处理器，其中，
所述存储器用于存储计算机程序；
所述处理器，用于调用所述计算机程序执行如下步骤：
获取初始航线；
从所述初始航线上确定多个采样点；
确定多个所述采样点中每个所述采样点的缓冲区；
根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
第四方面，本申请实施例提供了一种无人机，包括机身、动力装置和控制装置，所述控制装置和所述动力装置分别设置于所述无人机的机身，所述控制装置用于控制所述动力装置带动所述无人机移动，其中，所述控制装置包括存储器和处理器，其中，
所述存储器用于存储计算机程序；
所述处理器，用于调用所述计算机程序执行如下步骤：
获取初始航线；
从所述初始航线上确定多个采样点；
确定多个所述采样点中每个所述采样点的缓冲区；
根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
第五方面，本申请实施例提供了一种无人机系统，包括控制终端以及无人机，无人机系统还包括设置于所述控制终端本体或所述无人机机身的控制装置，所述控制装置包括存储器和处理器，其中，
所述存储器用于存储计算机程序；
所述处理器，用于调用所述计算机程序执行如下步骤：
获取初始航线；
从所述初始航线上确定多个采样点；
确定多个所述采样点中每个所述采样点的缓冲区；
根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
第六方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器执行如下步骤：
获取初始航线；
从所述初始航线上确定多个采样点；
确定多个所述采样点中每个所述采样点的缓冲区；
根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
本申请实施例中，控制装置可以通过获取采样点的缓冲区，根据缓冲区的多个点的高度确定采样点的扩充高度，根据每个采样点的扩充高度及坐标位置确定飞行航线，可实现仿地飞行，并且可避免每两个相邻采样点之间存在较高物体或地形时，导致无人机与地面物体发生碰撞的问题，提高无人机飞行的安全性。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种无人机系统的结构示意图；
图2是本申请实施例提供的一种飞行航线的生成方法的流程示意图；
图3是本申请实施例提供的一种数字高程模型的俯视图；
图4是本申请实施例提供的一种数字高程模型的侧视图；
图5是本申请实施例提供的一种初始航线的俯视图；
图6是本申请实施例提供的一种初始航线的侧视图；
图7是本申请实施例提供的一种采样点的俯视图；
图8是本申请实施例提供的一种采样点的侧视图；
图9是本申请实施例提供的一种采样点的缓冲区的示意图；
图10是本申请实施例提供的另一种采样点的缓冲区的示意图；
图11是本申请实施例提供的又一种采样点的缓冲区的示意图；
图12是本申请实施例提供的一种扩充高度后的采样点的示意图；
图13是本申请实施例提供的另一种扩充高度后的采样点的示意图；
图14是本申请实施例提供的一种飞行航线的示意图；
图15是本申请实施例提供的另一种飞行航线的生成方法的流程示意图；
图16是本申请实施例提供的一种筛选有效采样点的示意图；
图17是本申请实施例提供的另一种筛选有效采样点的示意图；
图18是本申请实施例提供的另一种飞行航线的示意图；
图19是本申请实施例提供的又一种飞行航线的示意图；
图20是本申请实施例提供的一种控制装置的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
请参见图1，图1为本申请实施例提供的一种无人机系统，该无人机系统包括无人机和控制终端。
无人机可以是指无人飞行器，该无人飞行器可以为旋翼型移动机器人，例如四旋翼移动机器人、六旋翼移动机器人、八旋翼移动机器人。其中，无人机可包括动力装置，动力装置设置于无人机的机身，用于为无人机提供移动动力，动力装置可包括发动机、螺旋桨、电机、电调中的一种或多种。无人机还可以 包括云台以及拍摄装置，拍摄装置通过云台搭载于无人机的主体上。拍摄装置用于在无人机的移动过程中进行图像或视频拍摄，包括但不限于多光谱成像仪、高光谱成像仪、可见光相机及红外相机等。云台为多轴传动及增稳系统，云台电机通过调整转动轴的转动角度来对成像设备的拍摄角度进行补偿，并通过设置适当的缓冲机构来防止或减小成像设备的抖动。
控制终端可以通过建立与无人机的无线通讯连接，以实现对无人机的控制。例如，控制终端可以控制无人机的移动状态(例如位置、速度或者加速度等)，和/或，控制无人机的云台的旋转方向，和/或，控制无人机拍摄图像和\或视频。该控制终端可以为遥控器、智能手机、平板电脑、计算机或智能手环等。
无人机系统还可包括设置于控制终端本体或无人机机身的控制装置，该控制装置用于生成无人机的飞行航线，该飞行航线可以为无人机仿地飞行的航线。控制装置生成飞行航线的具体实现方式可以参见图2和图15。
请参见图2，图2是本申请实施例提供的一种飞行航线的生成方法流程示意图，该方法可以应用于上述控制装置，如图2所示，该飞行航线的生成方法可以包括如下步骤。
S201、控制装置获取初始航线。
在无人机需要进行仿地飞行时，控制装置可以获取初始航线，该初始航线可以是指非标准的仿地飞行航线，该初始航线可以是由该控制装置生成的，或者，该初始航线可以是由该控制装置从其他设备中获取的。
在一个实施例中，该初始航线可以是通过外部指令生成的，该控制装置于无人机上，该外部指令可以为与无人机连接的控制终端发送的指令。例如，该外部指令为第一指令。该控制装置可以接收控制终端发送的第一指令，该第一指令可以包括多个位置点的位置信息，该位置信息包括位置点的坐标位置及高度。控制装置可以根据多个位置点的位置信息依次连接该多个位置点中的所有位置点得到该初始航线。再例如，该外部指令为第二指令，控制装置可以接收控制终端发送的第二指令。该第二指令可包括飞行航线，该飞行航线可以为历史飞行航线或者用户在控制终端设置的飞行航线。控制装置可以将该第二指令包括的飞行航线确定为初始航线。
在另一个实施例中，该初始航线可以是通过数据库获取生成的，该数据库 包括数字高程模型、历史飞行航线及数字表面模型中的一种或多种。该数据库可以被存储于控制装置中。或者，被存储在与控制装置连接的其他设备中。例如，控制装置的数据库中包括多个飞行区域的历史飞行航线。控制装置可以获取该飞行区域的位置信息，根据该飞行区域的位置信息从数据库中获取该飞行区域的历史飞行航线，将该历史飞行航线作为初始航线。再例如，控制装置的数据库中包括数字高程模型，该高程数字模型是根据飞行区域的多张环境图像生成的。飞行区域的数字高程模型的俯视图如图3所示，该数字高程模型中包括环境图像中每个像素点对应的三维特征点的坐标位置及高度。如图3中像素A点对应的三维特征点的坐标位置为(东经113.182032434度、北纬39.5623094度)，高度为1132.84米。该飞行区域的数字高程模型的侧视图(即高度图)如图4所示，从该侧视图可反映像各个像素点对应三维特征点的高度变化。控制装置可以根据飞行区域的数字高程模型生成初始航线。该初始航线的俯视图如图5所示，图5中的折线表示该初始航线。该初始航线的侧视图如图6所示，从图6可知各个像素点对应三维特征点的高度变化。
在一个实施例中，在步骤S201之前还包括：获取无人机向飞行区域平飞的过程中拍摄得到的多张环境图像，根据多张环境图像确定该数字高程模型，该数字高程模型包括该环境图像中的每个像素点对应的三维特征点的坐标位置及高度。
控制装置可以获取无人机向飞行区域平飞的过程中拍摄得到的多张环境图像。其中，该多张环境图像中每相邻两张图像的拍摄时间间隔可以是相同的，平飞是指无人机保持水平直线飞行。进一步，可根据多张环境图像确定该数字高程模型。
S202、控制装置从该初始航线上确定多个采样点。
控制装置可以以固定采样间隔或非固定采样间隔对该初始航线进行采样处理，得到多个采样点。非固定采样间隔是指采样间隔为随机变化的值，即每两个相邻的采样点的距离存在不相同的情况。例如，非固定采样间隔为3m和4m等等。控制装置可以在该初始航线上的起点处获取第一个采样点，然后，间隔3m获取第二个采样点，间隔4m获取第三个采样点等等。即第一个采样点与第二个采样点间隔3m，第二个采样点与第三个采样点间隔4m。固定采样间隔是指采样间隔为一个固定的值，这样使每两个相邻采样点的距离相同(即 水平距离)。例如，固定采样间隔为2m，控制装置以水平距离每隔2m从初始航线上获取一个采样点，这样每两个相邻采样点的水平距离均为2m。
在一个实施例中，控制装置可以以固定采样间隔对初始航线进行采样处理。例如，该固定采样间隔为预设采样间隔，控制装置可以采用预设采样间隔对该初始航线进行采样处理，得到多个该采样点。若获取的采样点过少，则不能有效反映航线的变化，失去仿地飞行的意义，甚至会引起安全隐患；若获取的采样点过多，则无人机上下调整的次数增多，需要消耗较多电量，影响作业效率，另外频繁调整航线高度也会给拍照和拍照位置计算带来负面影响。因此，控制装置可以根据高度调整次数、耗电量、拍摄稳定性等设置预设采样间隔。
在一个实施例中，该预设采样间隔可以为第二预设距离，控制装置可以采用第二预设距离对该初始航线进行采样处理，得到多个该采样点，即每隔第二预设距离从该初始航线上采集一个点作为一个采样点，进而得到多个采样点。
例如，控制装置可以以第二预设距离对初始航线进行采样，得到多个采样点。采样点的俯视图如图7所示，图7中，初始航线上的圆点为采样点(仅显示出了部分采样点)，初始航线上的每两个相邻采样点的距离均相同。采样点的侧视图如图8所示，图8中仅显示了部分采样点，从图8可知各个采样点的高度变化。
S203、控制装置确定多个该采样点中每个该采样点的缓冲区。
由于每两个相邻采样点之间可能存在比较高的物体，如建筑；或者，每两个相邻采样点之间存在较高地形，若直接根据采样点的高度生成飞行航线，则容易导致无人机与地面物体发生碰撞。因此，控制装置可以确定多个该采样点中每个该采样点的缓冲区，每个采样点的缓冲区是指对应采样点所在的扩充区域。
在一个实施例中，采样点的缓冲区域可以是指在初始航线上以该采样点为中心点的区域。例如，采样点的缓冲区域可以是指在初始航线上以该采样点为中心沿初始航线向两边扩展第一预设距离的区域。该第一预设距离可以是用户设置的。或者，该第一预设距离可以是根据当前飞行区域的地形起伏变化确定的。例如，若地形起伏变化比较大，则将该第一预设距离设置为一个较大值；若地形起伏变化较小，则将该第一预设距离设置为一个较小值。
例如，如9所示，该初始航线上包括采样点B。图9中两条虚线之间的区 域为采样点B的缓冲区。采样点B的缓冲区为以采样点B为中心沿该初始航线向两边扩展相同距离的区域，即采样点B为采样点B的缓冲区的中心点。
在一个实施例中，当采样点的缓冲区为初始航线上以该采样点为中心的区域时，为了使缓冲区域覆盖更多的采样点，且使相邻采样点的缓冲区部分重叠，控制装置可以设置该缓冲区的半径大于或等于该预设采样间隔，这样可以有效避免在采样时发生遗漏，从而在飞行路线规划时避免无人机与地面物体发生碰撞。
在另一个实施例中，采样点的缓冲区域可以是指在初始航线上以除该采样点以外的其他点为中心点的区域。例如，该采样点的缓冲区为该初始航线上以该采样点为原点沿该初始航线向左边扩展第一距离，且以该采样点为原点沿该初始航线向右边扩展第二距离的区域。第一距离与第二距离不相同，若第一距离大于第二距离，则该采样点位于该采样点的缓存区的中心点的右边；若第一距离小于第二距离，则该采样点位于该采样点的缓存区的中心点的左边。
例如，如图10所示，图10中两条虚线之间的区域为采样点B的缓冲区。假设第一距离为10m，第二距离为4m，采样点B的缓冲区是以采样点B为原点沿着初始航线向左侧扩展10m，并以采样点B为原点沿着初始航线向右侧扩展3m得到区域。
其中，采样点的缓冲区可以包括该采样点及与该采样点相邻的其他采样点，每两个缓冲区内包括的采样点的数量可以相同或不相同。每两个相邻缓冲区可以部分重叠或者完全不重叠；每两个缓冲区的大小可以相同或不相同。本申请对此不限定。
S204、控制装置根据该采样点的缓冲区中的多个点的高度确定该采样点的扩充高度。
其中，控制装置确定的该采样点的扩充高度可以与该采样点的初始高度相同。或者，控制装置确定的该采样点的扩充高度可以与该采样点的初始高度不相同。该采样点的缓冲区的多个点可以包括缓冲区的所有点，例如，该多个点可以包括该缓冲区内所有采样点和在初始航线上的该缓冲区内未被采样的所有点。或者，该采样点的缓冲区的多个点可以包括该缓冲区的部分点，例如，该多个点可以包括该缓冲区内部分采样点或/和在初始航线上的该缓冲区内未被采样的部分点。
在一个实施例中，控制装置可根据该采样点的缓冲区中的所有点的高度确定该采样点的扩充高度。例如，控制装置可以通过该采样点的缓冲区中所有像素点对应的三维特征点的坐标位置及高度确定该采样点的扩充高度。具体地，控制装置可以获取该采样点的缓冲区中的所有点的高度，将该采样点的缓冲区的所有点的高度中的最大高度确定为该采样点的扩充高度。这时若该采样点的初始高度为该缓冲区中的所有点的高度中的最大高度，则确定的该采样点的扩充高度与该采样点的初始高度相同。或者，控制装置可以根据该采样点的缓冲区中所有点的高度计算平均高度或通过其他合适的计算方法确定高度值，将平均高度或通过其他合适的计算方法所确定的高度值确定为该采样点的扩充高度。
在另一个实施例中，控制装置可获取该采样点的缓冲区的起始特征点的高度和结束特征点的高度，获取该采样点的缓冲区内的各个采样点的高度，根据该起始特征点的高度、该结束特征点的高度和该目标采样点的缓冲区内的各个采样点的高度，确定该采样点的扩充高度。
起始特征点、结束特征点是指该缓冲区的边界点，具体可以为采样点或非采样点，非采样点是指在初始航线上的该缓冲区边界上未被采样的点。例如，如图11所示，图11中C点为采样点B的缓冲区的起始特征点，D点为采用点B的缓冲区的结束特征点，A、B点为采样点B的缓冲区内的采样点。控制装置可以获取特征点C的高度、特征点D的高度，及该采样点B的缓冲区内B点和A点的高度。根据特征点C的高度、特征点D的高度，及B点和A点的高度来确定该采样点的扩充高度。
在一个实施例中，控制装置可以将该起始特征点的高度、该结束特征点的高度和该采样点的缓冲区内的各个采样点的高度中的最大高度确定为该采样点的扩充高度。例如，如图12所示。控制装置获取特征点C的高度、特征点D的高度，及该采样点B的缓冲区内B点和A点的高度之后，将特征点C的高度、特征点D的高度，及该采样点B的缓冲区内B点和A点的高度中最大高度确定为该采样点的扩充高度。B'表示扩充高度后的采样点。通过上述方法获取各个采样点的扩充高度后，扩充高度后的采样点如图13所示，图13中，圆点表示初始高度的采样点，五角星表示扩充高度后的采样点。由图13可知，初始高度的采样点与对应扩充高度后的采样点的坐标位置相同，其高度相同或 扩充高度大于初始高度。例如，采样点B的初始高度小于采样点B的扩充高度。
在另一个实施例中，控制装置可以计算该起始特征点的高度、该结束特征点的高度和该采样点的缓冲区内的各个采样点的高度的平均高度，该平均高度确定为该采样点的扩充高度。当然，也可以通过其他合适的计算方法确定缓冲区的扩充高度，在此不作限定。
S205、控制装置根据每个该采样点的扩充高度和每个该采样点的坐标位置生成飞行航线。
控制装置可以按照每个采样点的坐标位置依次连接各个扩充高度后的采样点，得到飞行航线，或者，控制装置可以对每个采样点的扩充高度进行增高处理，根据增高处理后的采样点及采样点的坐标位置生成飞行航线。
在一个实施例中，步骤S205包括：对该采样点的扩充高度增加预设高度，根据增加该预设高度后的所述采样点和该采样点的坐标位置，生成该飞行航线。
为了避免无人机与地面物体发生碰撞，控制装置可以对该采样点的扩充高度增加预设高度，然后根据各个采样点的坐标位置依次连接增加预设高度后的采样点，得到飞行航线。其中，该预设高度可以是用户设置的，或者该预设高度是根据飞行区域的地形起伏变化设置的。例如，若地形起伏变化比较大，则将预设高度设置为一个较大值；若地形起伏变化比较小，则将预设高度设置为一个较小值。
例如，图14所示，图14中，三角形表示增加预设高度后的采样点，虚线表示飞行航线，扩充高度后的采样点与对应增加预设高度后的采样点的坐标位置相同，增加预设高度后的采样点的高度均大于对应扩充高度后的采样点的高度。
本申请实施例中，控制装置可以通过获取每个采样点的缓冲区，根据缓冲区的多个点的高度确定采样点的扩充高度，根据每个采样点的扩充高度及坐标位置确定飞行航线，可实现仿地飞行，并且可避免每两个相邻采样点之间存在较高物体或地形时，导致无人机与地面物体发生碰撞的问题，提高无人机飞行的安全性。
请参见图15，图15是本申请实施例提供的又一种飞行航线的生成方法流 程示意图，该方法可以应用于上述控制装置，如图15所示，该飞行航线的生成方法可以包括如下步骤。
S151、控制装置获取初始航线。
S152、控制装置从该初始航线上确定多个采样点。
S153、控制装置确定多个该采样点中每个该采样点的缓冲区。
S154、控制装置根据该采样点的缓冲区中的多个点的高度确定该采样点的扩充高度。
对步骤S151～S154的解释说明可以参见图1中对步骤S201～S204的解释说明，重复之处，不再赘述。
S155、控制装置对所有该采样点进行筛选，得到有效采样点。
为了确保飞行航线上的航点能够匹配仿地飞行航线上航点，并减少速度改变及高度调整引起的电量消耗，控制装置可以对所有该采样点进行筛选(即简化)，得到有效采样点。该有效采样点为更能够体现仿地飞行航线高低起伏的航点。
在一个实施例中，控制装置依次连接该采样点，得到所有该采样点的连线，根据该连线的特征信息，对该采样点进行筛选，得到有效采样点。
例如，在一个实施例中，该连线的特征信息可以包括该连线的斜率，具体地，该连线的斜率为其斜率的绝对值。控制装置可以从起点采样点或结束采样点开始依次连接采样点，得到所有采样点的连线，若连线的斜率小于预设斜率值，则删除靠近结束采样点一端的采样点；若连线的斜率大于或等于预设斜率值，则保留连线上的采样点。起点采样点是指离无人机起飞位置点最近的采样点，结束采样点是指离无人机起飞位置点最远的采样点。
例如，如图16所示，该多个采样点中包括采样点E、F、G及M，采样点E为起点采样点，控制装置可以连接E、F，得到连线1，若连线1的斜率小于预设斜率值，则将采样点F删除。继续连接采样点E、G，得到连线2，若连线2的斜率小于预设斜率值，则将采样点G删除。进一步，连接采样点E、M，得到连线3，若连线3的斜率大于预设斜率值，则将采样点E、M作为有效采样点。然后，重复上述步骤，连接采样点M及与采样点M相邻的点，直至筛选出所有有效的采样点。
在另一个实施例中，控制装置可以根据拉默-道格拉斯-普克算法对所有该 采样点进行筛选，得到有效采样点。
例如，如图17所示，该多个采样点中包括采样点H、I、J……Z，H为起始采样点、Z为结束采样点。控制装置可通过以下步骤对采样点进行筛选：s1、控制装置可以连接采样点H、Z，得到连线4。s2、获取该多个采样点中各个采样点到连线4的距离中的最远距离对应的采样点，例如，假设采样点J到连线4的距离最远。s3、若该最远距离小于预设阈值，则将采样点H、Z作为有效采样点，将采样点H、Z之间的采样点确定为无效采样点。若该最远距离大于或等于预设阈值，则连接采样点H、J，得到连线5，并连接采样点Z、J，得到连线6。s6、计算采样点H到采样点J之间的各个采样点到连线5的距离，计算采样点J到采样点Z之间的各个采样点到连线6的距离，进一步，执行s3或s4。重复上述步骤筛选出所有的有效采样点。
当然，控制装置也可以根据采样点的其他特征信息进行筛选，得到有效采样点，本实施方式仅为示例性说明，在此不作限定。
S156、控制装置根据该有效采样点的扩充高度和该有效采样点的坐标位置生成该飞行航线。
控制装置可以根据有效采样点的扩充高度和该有效采样点的坐标位置生成所述飞行航线，按照该飞行航线飞行可以减少无人机上下抖动的次数，进一步，可增加无人机飞行和拍照的稳定性。例如，如图18所示，图中18的星形表示有效采样点，控制装置可以依次连接各个扩充高度后的有效采样点，得到飞行航线。由图14和图18对比可知，图18中的飞行航线相对更为平滑稳定。
在一个实施例中，控制装置对该有效采样点的扩充高度增加预设高度，根据增加所述预设高度后的所述有效采样点和该有效采样点的坐标位置，生成所述飞行航线。例如，如图19所示，图19中三角形表示增加预设高度后的采样点，控制设备可以依次连接增加预设高度后的采样点，得到飞行航线。由图18和图19对比可知，图19中的飞行航线高于图18中的飞行航线，以进一步确保无人机在仿地飞行时的飞行安全。
本申请实施例中，控制装置可以通过获取每个采样点的缓冲区，根据缓冲区的多个点的高度确定采样点的扩充高度，对所有该采样点进行筛选，得到有效采样点，根据该有效采样点的扩充高度和所述有效采样点的坐标位置生成该飞行航线，可实现仿地飞行，并且可避免每两个相邻采样点之间存在较高物体 或地形，导致无人机与地面物体发生碰撞的问题。并且，通过对所有采样点的筛选，能够确保飞行航线上的航点能够匹配仿地飞行航线上航点，并减少速度改变及高度调整引起的电量消耗。通过根据该有效采样点的扩充高度和该有效采样点的坐标位置生成该飞行航线，按照该飞行航线飞行可以减少无人机上下抖动的次数，进一步，增加无人机飞行和拍照的稳定性。
请参见图20，图20是本申请实施例提供的通信设备的控制装置结构示意图。该控制装置为无人机的控制装置，该无人机的控制装置被设置于无人机的机身，例如，该控制装置被设置于无人机的机身的飞行控制器中；或者，该无人机控制装置被设置于用于控制无人机的控制终端中。无人机的控制装置存储器111和处理器110。
所述存储器111可以包括易失性存储器(volatile memory)；存储器111也可以包括非易失性存储器(non-volatile memory)；存储器111还可以包括上述种类的存储器的组合。所述处理器110可以是中央处理器(central processing unit，CPU)。所述处理器801还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。
在一个实施例中，所述存储器用于存储计算机程序，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
获取初始航线；
从所述初始航线上确定多个采样点；
确定多个所述采样点中每个所述采样点的缓冲区；
根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
可选的，所述采样点的缓冲区为所述初始航线上以所述采样点为中心沿所述初始航线向两边扩展第一预设距离的区域。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序 时，执行以下步骤：
对所述采样点的扩充高度增加预设高度；
根据增加所述预设高度后的所述采样点和所述采样点的坐标位置，生成所述飞行航线。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
根据所述采样点的缓冲区中的所有点的高度确定所述采样点的扩充高度。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
将所述采样点的缓冲区的所有点的高度中的最大高度确定为所述采样点的扩充高度。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
获取所述采样点的缓冲区的起始特征点的高度和结束特征点的高度；
获取所述采样点的缓冲区内的各个采样点的高度；
根据所述起始特征点的高度、所述结束特征点的高度和所述目标采样点的缓冲区内的各个采样点的高度，确定所述采样点的扩充高度。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
将所述起始特征点的高度、所述结束特征点的高度和所述采样点的缓冲区内的各个采样点的高度中的最大高度确定为所述采样点的扩充高度。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
对所有所述采样点进行筛选，得到有效采样点；
根据所述有效采样点的扩充高度和所述有效采样点的坐标位置生成所述飞行航线。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
依次连接所述采样点，得到所有所述采样点的连线；
根据所述连线的特征信息，对所述采样点进行筛选，得到有效采样点。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
根据拉默-道格拉斯-普克算法对所有所述采样点进行筛选，得到有效采样点。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
对所述有效采样点的扩充高度增加预设高度；
根据增加所述预设高度后的所述有效采样点和所述有效采样点的坐标位置，生成所述飞行航线。
可选的，所述初始航线是通过外部指令生成的。
可选的，所述初始航线是通过数据库获取生成的。
可选的，所述数据库包括数字高程模型和历史飞行航线中的至少一种。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
获取无人机向飞行区域平飞的过程中拍摄得到的多张环境图像；
根据多张所述环境图像确定所述数字高程模型，所述数字高程模型包括所述环境图像中的每个像素点对应的三维特征点的坐标位置及高度。
可选的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，执行以下步骤：
采用预设采样间隔对所述初始航线进行采样处理，得到多个所述采样点。
可选的，所述预设采样间隔为第二预设距离。
可选的，当所述采样点的缓冲区为所述初始航线上以所述采样点为中心的区域时，所述缓冲区的半径大于或等于所述预设采样间隔。
本申请实施例中，控制装置可以通过获取每个采样点的缓冲区，根据缓冲区的多个点的高度确定采样点的扩充高度，根据每个采样点的扩充高度及坐标位置确定飞行航线，可实现仿地飞行，并且可避免每两个相邻采样点之间存在较高物体或地形时，导致无人机与地面物体发生碰撞的问题，提高无人机飞行的安全性。
在本申请实施例中还提供了一种控制终端，所述控制终端与无人机连接，用于控制无人机，所述控制终端包括存储器和处理器，其中，所述存储器用于 存储计算机程序；所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现本申请实施例图2和图15所对应实施例中描述的飞行航线生成方法。
在本申请实施例中还提供了一种无人机，包括机身、动力装置和控制装置，其中，所述控制装置包括存储器和处理器，所述控制装置和所述动力装置分别设置于所述无人机的机身，所述控制装置用于控制所述动力装置带动所述无人机移动。例如，当无人机为旋翼无人机时，动力装置为旋翼组件，控制装置可以控制旋翼组件，从而带动无人机移动。进一步地，所述控制装置的存储器用于存储计算机程序；所述控制装置的处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现本申请实施例图2和图15所对应实施例中描述的飞行航线生成方法。
在本申请实施例中还提供了一种无人机系统，包括控制终端以及无人机，无人机系统还包括设置于所述控制终端本体或所述无人机机身的控制装置，所述控制装置包括存储器和处理器，其中，所述存储器用于存储计算机程序；所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现本申请实施例图2和图15所对应实施例中描述的飞行航线生成方法。
在本申请实施例中还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时，实现本申请实施例图2和图15所对应实施例中描述的飞行航线生成方法，也可实现图20所述发明实施例的控制装置，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的测试设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述车辆控制装置的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述测试设备所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算 机可读取存储介质中，所述程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。以上所揭露的仅为本申请较佳实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。

Claims (92)

  1. 一种飞行航线生成方法，其特征在于，所述方法包括：
    获取初始航线；
    从所述初始航线上确定多个采样点；
    确定多个所述采样点中每个所述采样点的缓冲区；
    根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
    根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
  2. 根据权利要求1所述的方法，其特征在于，所述采样点的缓冲区为所述初始航线上以所述采样点为中心沿所述初始航线向两边扩展第一预设距离的区域。
  3. 根据权利要求1所述的方法，其特征在于，所述根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线，包括：
    对所述采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述采样点和所述采样点的坐标位置，生成所述飞行航线。
  4. 根据权利要求1所述的方法，其特征在于，所述根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度，包括：
    根据所述采样点的缓冲区中的所有点的高度确定所述采样点的扩充高度。
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述采样点的缓冲区中的所有点的高度确定所述采样点的扩充高度，包括：
    将所述采样点的缓冲区的所有点的高度中的最大高度确定为所述采样点的扩充高度。
  6. 根据权利要求1所述的方法，其特征在于，所述根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度，包括：
    获取所述采样点的缓冲区的起始特征点的高度和结束特征点的高度；
    获取所述采样点的缓冲区内的各个采样点的高度；
    根据所述起始特征点的高度、所述结束特征点的高度和所述目标采样点的缓冲区内的各个采样点的高度，确定所述采样点的扩充高度。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述起始特征点的高度、所述结束特征点的高度和所述目标采样点的缓冲区内的各个采样点的高度，确定所述采样点的扩充高度，包括：
    将所述起始特征点的高度、所述结束特征点的高度和所述采样点的缓冲区内的各个采样点的高度中的最大高度确定为所述采样点的扩充高度。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线，包括：
    对所有所述采样点进行筛选，得到有效采样点；
    根据所述有效采样点的扩充高度和所述有效采样点的坐标位置生成所述飞行航线。
  9. 根据权利要求8所述的方法，其特征在于，所述对所有所述采样点进行筛选，得到有效采样点，包括：
    依次连接所述采样点，得到所有所述采样点的连线；
    根据所述连线的特征信息，对所述采样点进行筛选，得到有效采样点。
  10. 根据权利要求8所述的方法，其特征在于，所述对所有所述采样点进行筛选，得到有效采样点，包括：
    根据拉默-道格拉斯-普克算法对所有所述采样点进行筛选，得到有效采样点。
  11. 根据权利要求8所述的方法，其特征在于，所述根据所述有效采样点的扩充高度和所述有效采样点的坐标位置生成所述飞行航线，包括：
    对所述有效采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述有效采样点和所述有效采样点的坐标位置，生成所述飞行航线。
  12. 根据权利要求1所述的方法，其特征在于，所述初始航线是通过外部指令生成的。
  13. 根据权利要求1所述的方法，其特征在于，所述初始航线是通过数据库获取生成的。
  14. 根据权利要求13所述的方法，其特征在于，所述数据库包括数字高程模型和历史飞行航线中的至少一种。
  15. 根据权利要求13所述的方法，其特征在于，所述获取初始航线之前，所述方法还包括：
    获取无人机向飞行区域平飞的过程中拍摄得到的多张环境图像；
    根据多张所述环境图像确定所述数字高程模型，所述数字高程模型包括所述环境图像中的每个像素点对应的三维特征点的坐标位置及高度。
  16. 根据权利要求1所述的方法，其特征在于，所述从所述初始航线上获取多个采样点，包括：
    采用预设采样间隔对所述初始航线进行采样处理，得到多个所述采样点。
  17. 根据权利要求16所述的方法，其特征在于，所述预设采样间隔为第二预设距离。
  18. 根据权利要求17所述的方法，其特征在于，当所述采样点的缓冲区为所述初始航线上以所述采样点为中心的区域时，所述缓冲区的半径大于或等于所述预设采样间隔。
  19. 一种无人机的控制装置，其特征在于，所述无人机的控制装置包括存 储器和处理器，其中，
    所述存储器用于存储计算机程序；
    所述处理器，用于调用所述计算机程序执行如下步骤：
    获取初始航线；
    从所述初始航线上确定多个采样点；
    确定多个所述采样点中每个所述采样点的缓冲区；
    根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
    根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
  20. 根据权利要求19所述的控制装置，其特征在于，所述无人机的控制装置被设置于所述无人机的机身。
  21. 根据权利要求19所述的控制装置，其特征在于，所述采样点的缓冲区为所述初始航线上以所述采样点为中心沿所述初始航线向两边扩展第一预设距离的区域。
  22. 根据权利要求19所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所述采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述采样点和所述采样点的坐标位置，生成所述飞行航线。
  23. 根据权利要求19所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    根据所述采样点的缓冲区中的所有点的高度确定所述采样点的扩充高度。
  24. 根据权利要求23所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    将所述采样点的缓冲区的所有点的高度中的最大高度确定为所述采样点 的扩充高度。
  25. 根据权利要求19所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    获取所述采样点的缓冲区的起始特征点的高度和结束特征点的高度；
    获取所述采样点的缓冲区内的各个采样点的高度；
    根据所述起始特征点的高度、所述结束特征点的高度和所述目标采样点的缓冲区内的各个采样点的高度，确定所述采样点的扩充高度。
  26. 根据权利要求25所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    将所述起始特征点的高度、所述结束特征点的高度和所述采样点的缓冲区内的各个采样点的高度中的最大高度确定为所述采样点的扩充高度。
  27. 根据权利要求19-26任一项所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所有所述采样点进行筛选，得到有效采样点；
    根据所述有效采样点的扩充高度和所述有效采样点的坐标位置生成所述飞行航线。
  28. 根据权利要求27所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    依次连接所述采样点，得到所有所述采样点的连线；
    根据所述连线的特征信息，对所述采样点进行筛选，得到有效采样点。
  29. 根据权利要求27所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    根据拉默-道格拉斯-普克算法对所有所述采样点进行筛选，得到有效采样点。
  30. 根据权利要求27所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所述有效采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述有效采样点和所述有效采样点的坐标位置，生成所述飞行航线。
  31. 根据权利要求19所述的控制装置，其特征在于，所述初始航线是通过外部指令生成的。
  32. 根据权利要求19所述的控制装置，其特征在于，所述初始航线是通过数据库获取生成的。
  33. 根据权利要求32所述的控制装置，其特征在于，所述数据库包括数字高程模型和历史飞行航线中的至少一种。
  34. 根据权利要求32所述的控制装置，其特征在于，所述处理器，还用于调执行如下步骤：
    获取无人机向飞行区域平飞的过程中拍摄得到的多张环境图像；
    根据多张所述环境图像确定所述数字高程模型，所述数字高程模型包括所述环境图像中的每个像素点对应的三维特征点的坐标位置及高度。
  35. 根据权利要求19所述的控制装置，其特征在于，所述处理器，具体用于调执行如下步骤：
    采用预设采样间隔对所述初始航线进行采样处理，得到多个所述采样点。
  36. 根据权利要求35所述的控制装置，其特征在于，所述预设采样间隔为第二预设距离。
  37. 根据权利要求36所述的控制装置，其特征在于，当所述采样点的缓冲区为所述初始航线上以所述采样点为中心的区域时，所述缓冲区的半径大于 或等于所述预设采样间隔。
  38. 一种控制终端，其特征在于，所述控制终端与无人机连接，用于控制无人机，所述控制终端包括存储器和处理器，其中，
    所述存储器用于存储计算机程序；
    所述处理器，用于调用所述计算机程序执行如下步骤：
    获取初始航线；
    从所述初始航线上确定多个采样点；
    确定多个所述采样点中每个所述采样点的缓冲区；
    根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
    根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
  39. 根据权利要求38所述的控制终端，其特征在于，所述采样点的缓冲区为所述初始航线上以所述采样点为中心沿所述初始航线向两边扩展第一预设距离的区域。
  40. 根据权利要求38所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所述采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述采样点和所述采样点的坐标位置，生成所述飞行航线。
  41. 根据权利要求38所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    根据所述采样点的缓冲区中的所有点的高度确定所述采样点的扩充高度。
  42. 根据权利要求41所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    将所述采样点的缓冲区的所有点的高度中的最大高度确定为所述采样点 的扩充高度。
  43. 根据权利要求38所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    获取所述采样点的缓冲区的起始特征点的高度和结束特征点的高度；
    获取所述采样点的缓冲区内的各个采样点的高度；
    根据所述起始特征点的高度、所述结束特征点的高度和所述目标采样点的缓冲区内的各个采样点的高度，确定所述采样点的扩充高度。
  44. 根据权利要求43所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    将所述起始特征点的高度、所述结束特征点的高度和所述采样点的缓冲区内的各个采样点的高度中的最大高度确定为所述采样点的扩充高度。
  45. 根据权利要求38-44任一项所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所有所述采样点进行筛选，得到有效采样点；
    根据所述有效采样点的扩充高度和所述有效采样点的坐标位置生成所述飞行航线。
  46. 根据权利要求45所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    依次连接所述采样点，得到所有所述采样点的连线；
    根据所述连线的特征信息，对所述采样点进行筛选，得到有效采样点。
  47. 根据权利要求45所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    根据拉默-道格拉斯-普克算法对所有所述采样点进行筛选，得到有效采样点。
  48. 根据权利要求45所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所述有效采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述有效采样点和所述有效采样点的坐标位置，生成所述飞行航线。
  49. 根据权利要求38所述的控制终端，其特征在于，所述初始航线是通过外部指令生成的。
  50. 根据权利要求38所述的控制终端，其特征在于，所述初始航线是通过数据库获取生成的。
  51. 根据权利要求50所述的控制终端，其特征在于，所述数据库包括数字高程模型和历史飞行航线中的至少一种。
  52. 根据权利要求50所述的控制终端，其特征在于，所述处理器，还用于调执行如下步骤：
    获取无人机向飞行区域平飞的过程中拍摄得到的多张环境图像；
    根据多张所述环境图像确定所述数字高程模型，所述数字高程模型包括所述环境图像中的每个像素点对应的三维特征点的坐标位置及高度。
  53. 根据权利要求38所述的控制终端，其特征在于，所述处理器，具体用于调执行如下步骤：
    采用预设采样间隔对所述初始航线进行采样处理，得到多个所述采样点。
  54. 根据权利要求53所述的控制终端，其特征在于，所述预设采样间隔为第二预设距离。
  55. 根据权利要求54所述的控制终端，其特征在于，当所述采样点的缓冲区为所述初始航线上以所述采样点为中心的区域时，所述缓冲区的半径大于 或等于所述预设采样间隔。
  56. 一种无人机，包括机身、动力装置和控制装置，其特征在于，所述控制装置和所述动力装置分别设置于所述无人机的机身，所述控制装置用于控制所述动力装置带动所述无人机移动，其中，所述控制装置包括存储器和处理器，其中，
    所述存储器用于存储计算机程序；
    所述处理器，用于调用所述计算机程序执行如下步骤：
    获取初始航线；
    从所述初始航线上确定多个采样点；
    确定多个所述采样点中每个所述采样点的缓冲区；
    根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
    根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
  57. 根据权利要求56所述的无人机，其特征在于，所述采样点的缓冲区为所述初始航线上以所述采样点为中心沿所述初始航线向两边扩展第一预设距离的区域。
  58. 根据权利要求56所述的无人机，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所述采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述采样点和所述采样点的坐标位置，生成所述飞行航线。
  59. 根据权利要求56所述的无人机，其特征在于，所述处理器，具体用于调执行如下步骤：
    根据所述采样点的缓冲区中的所有点的高度确定所述采样点的扩充高度。
  60. 根据权利要求59所述的无人机，其特征在于，所述处理器，具体用 于调执行如下步骤：
    将所述采样点的缓冲区的所有点的高度中的最大高度确定为所述采样点的扩充高度。
  61. 根据权利要求56所述的无人机，其特征在于，所述处理器，具体用于调执行如下步骤：
    获取所述采样点的缓冲区的起始特征点的高度和结束特征点的高度；
    获取所述采样点的缓冲区内的各个采样点的高度；
    根据所述起始特征点的高度、所述结束特征点的高度和所述目标采样点的缓冲区内的各个采样点的高度，确定所述采样点的扩充高度。
  62. 根据权利要求61所述的无人机，其特征在于，所述处理器，具体用于调执行如下步骤：
    将所述起始特征点的高度、所述结束特征点的高度和所述采样点的缓冲区内的各个采样点的高度中的最大高度确定为所述采样点的扩充高度。
  63. 根据权利要求56-62任一项所述的无人机，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所有所述采样点进行筛选，得到有效采样点；
    根据所述有效采样点的扩充高度和所述有效采样点的坐标位置生成所述飞行航线。
  64. 根据权利要求63所述的无人机，其特征在于，所述处理器，具体用于调执行如下步骤：
    依次连接所述采样点，得到所有所述采样点的连线；
    根据所述连线的特征信息，对所述采样点进行筛选，得到有效采样点。
  65. 根据权利要求63所述的无人机，其特征在于，所述处理器，具体用于调执行如下步骤：
    根据拉默-道格拉斯-普克算法对所有所述采样点进行筛选，得到有效采样 点。
  66. 根据权利要求63所述的无人机，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所述有效采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述有效采样点和所述有效采样点的坐标位置，生成所述飞行航线。
  67. 根据权利要求56所述的无人机，其特征在于，所述初始航线是通过外部指令生成的。
  68. 根据权利要求56所述的无人机，其特征在于，所述初始航线是通过数据库获取生成的。
  69. 根据权利要求68所述的无人机，其特征在于，所述数据库包括数字高程模型和历史飞行航线中的至少一种。
  70. 根据权利要求68所述的无人机，其特征在于，所述处理器，还用于调执行如下步骤：
    获取所述无人机向飞行区域平飞的过程中拍摄得到的多张环境图像；
    根据多张所述环境图像确定所述数字高程模型，所述数字高程模型包括所述环境图像中的每个像素点对应的三维特征点的坐标位置及高度。
  71. 根据权利要求56所述的无人机，其特征在于，所述处理器，具体用于调执行如下步骤：
    采用预设采样间隔对所述初始航线进行采样处理，得到多个所述采样点。
  72. 根据权利要求71所述的无人机，其特征在于，所述预设采样间隔为第二预设距离。
  73. 根据权利要求72所述的无人机，其特征在于，当所述采样点的缓冲区为所述初始航线上以所述采样点为中心的区域时，所述缓冲区的半径大于或等于所述预设采样间隔。
  74. 一种无人机系统，包括控制终端以及无人机，其特征在于，所述无人机系统还包括设置于所述控制终端本体或所述无人机机身的控制装置，所述控制装置包括存储器和处理器，其中，
    所述存储器用于存储计算机程序；
    所述处理器，用于调用所述计算机程序执行如下步骤：
    获取初始航线；
    从所述初始航线上确定多个采样点；
    确定多个所述采样点中每个所述采样点的缓冲区；
    根据所述采样点的缓冲区中的多个点的高度确定所述采样点的扩充高度；
    根据每个所述采样点的扩充高度和每个所述采样点的坐标位置生成飞行航线。
  75. 根据权利要求74所述的无人机系统，其特征在于，所述采样点的缓冲区为所述初始航线上以所述采样点为中心沿所述初始航线向两边扩展第一预设距离的区域。
  76. 根据权利要求74所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所述采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述采样点和所述采样点的坐标位置，生成所述飞行航线。
  77. 根据权利要求74所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    根据所述采样点的缓冲区中的所有点的高度确定所述采样点的扩充高度。
  78. 根据权利要求77所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    将所述采样点的缓冲区的所有点的高度中的最大高度确定为所述采样点的扩充高度。
  79. 根据权利要求74所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    获取所述采样点的缓冲区的起始特征点的高度和结束特征点的高度；
    获取所述采样点的缓冲区内的各个采样点的高度；
    根据所述起始特征点的高度、所述结束特征点的高度和所述目标采样点的缓冲区内的各个采样点的高度，确定所述采样点的扩充高度。
  80. 根据权利要求79所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    将所述起始特征点的高度、所述结束特征点的高度和所述采样点的缓冲区内的各个采样点的高度中的最大高度确定为所述采样点的扩充高度。
  81. 根据权利要求74-80任一项所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所有所述采样点进行筛选，得到有效采样点；
    根据所述有效采样点的扩充高度和所述有效采样点的坐标位置生成所述飞行航线。
  82. 根据权利要求81所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    依次连接所述采样点，得到所有所述采样点的连线；
    根据所述连线的特征信息，对所述采样点进行筛选，得到有效采样点。
  83. 根据权利要求81所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    根据拉默-道格拉斯-普克算法对所有所述采样点进行筛选，得到有效采样点。
  84. 根据权利要求81所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    对所述有效采样点的扩充高度增加预设高度；
    根据增加所述预设高度后的所述有效采样点和所述有效采样点的坐标位置，生成所述飞行航线。
  85. 根据权利要求74所述的无人机系统，其特征在于，所述初始航线是通过外部指令生成的。
  86. 根据权利要求74所述的无人机系统，其特征在于，所述初始航线是通过数据库获取生成的。
  87. 根据权利要求86所述的无人机系统，其特征在于，所述数据库包括数字高程模型和历史飞行航线中的至少一种。
  88. 根据权利要求86所述的无人机系统，其特征在于，所述处理器，还用于调执行如下步骤：
    获取所述无人机向飞行区域平飞的过程中拍摄得到的多张环境图像；
    根据多张所述环境图像确定所述数字高程模型，所述数字高程模型包括所述环境图像中的每个像素点对应的三维特征点的坐标位置及高度。
  89. 根据权利要求74所述的无人机系统，其特征在于，所述处理器，具体用于调执行如下步骤：
    采用预设采样间隔对所述初始航线进行采样处理，得到多个所述采样点。
  90. 根据权利要求89所述的无人机系统，其特征在于，所述预设采样间隔为第二预设距离。
  91. 根据权利要求90所述的无人机系统，其特征在于，当所述采样点的缓冲区为所述初始航线上以所述采样点为中心的区域时，所述缓冲区的半径大于或等于所述预设采样间隔。
  92. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现权利要求1-18所述的飞行航线生成方法。
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