WO2021081953A1

WO2021081953A1 - Route planning method, control terminal and computer-readable storage medium

Info

Publication number: WO2021081953A1
Application number: PCT/CN2019/114881
Authority: WO
Inventors: 刘清伟; 李振初
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2021-05-06
Also published as: CN112154302A

Abstract

A route planning method, a control terminal and a computer-readable storage medium. The method comprises: displaying a route planning page (S101); according to a route dividing operation of a user, dividing a flight route to obtain a target route region (S102); according to the target route region, generating the flight route within the target route region (S103). Thus, the convenience with which an operation region and a flight route are planned is increased.

Description

Route planning method, control terminal and computer readable storage medium

Technical field

This application relates to the technical field of route planning, and in particular to a route planning method, a control terminal and a computer-readable storage medium.

Background technique

With the rapid development of my country’s UAV manufacturing industry, UAVs are rapidly growing in areas such as aerial surveys, agriculture, power line inspections, natural gas (oil) pipeline inspections, forest fire prevention, and disaster relief. UAVs can be as planned. The flight route performs tasks such as aerial survey, spraying and inspection. A complete operation process includes steps such as planning the operation area, planning the flight route in the operation area, generating operation tasks, and controlling the UAV to perform operation tasks. Each step requires the user to operate the control terminal. However, the current operation control method is not convenient enough for the user to operate, for example, it is not convenient for the user to plan the operation area and flight route, and the user experience is not good.

Summary of the invention

Based on this, this application provides a route planning method, a control terminal, and a computer-readable storage medium, aiming to improve the convenience of planning operation areas and flight routes.

In the first aspect, this application provides a route planning method, including:

Display the route planning page, where the route planning page displays the flight route of the drone in the operation area;

Segment the flight route according to the route segmentation operation of the operation area by the user to obtain the target route area corresponding to the route segmentation operation;

According to the target route area, a flight route in the target route area is generated.

In the second aspect, this application provides a route planning method, including:

Displaying a work area division page, wherein the work area division page displays a target work area, and the target work area is a work area to be divided;

Acquiring a user's segmentation operation on the target work area, and determining whether the segmentation operation is a valid segmentation operation, wherein the segmentation operation is used to segment the target work area;

If the dividing operation is an effective dividing operation, generating a dividing position line of the target work area, and obtaining the first sub-area and the second sub-area of the target working area according to the dividing position line;

Plan the flight path of the drone in the first sub-area and the second sub-area respectively.

In a third aspect, the present application also provides a control terminal, the control terminal including a memory, a processor, and a display device;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Displaying a route planning page through the display device, wherein the route planning page displays the flight route of the drone in the operation area;

In a fourth aspect, the present application also provides a control terminal, the control terminal including a memory, a processor, and a display device;

The memory is used to store a computer program;

Displaying a work area division page by the display device, wherein the work area division page displays a target work area, and the target work area is a work area to be divided;

In a fifth aspect, the present application also 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 realizes the route planning as described above. Method steps.

The embodiment of the application provides a route planning method, a control terminal, and a computer-readable storage medium. By displaying a route planning page containing the flight route of the drone in the operation area, the user can view the flight route on the route planning page. For route segmentation, the control terminal can divide the flight route according to the user's route segmentation operation of the operation area to obtain the target route area corresponding to the route segmentation operation, and then generate the flight of the target route area according to the target route area Routes, which greatly facilitate users to plan routes and improve user experience.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a control terminal that implements a route planning method provided by an embodiment of the present application;

2 is a schematic flowchart of steps of a route planning method provided by an embodiment of the present application;

Fig. 3 is a schematic diagram of a route planning page in an embodiment of the present application;

FIG. 4 is another schematic diagram of the route planning page in the embodiment of the present application;

FIG. 5 is another schematic diagram of the route planning page in the embodiment of the present application;

FIG. 6 is another schematic diagram of the route planning page in the embodiment of the present application;

FIG. 7 is a schematic flowchart of the steps of another route planning method provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of a work area segmentation page in an embodiment of the present application;

FIG. 9 is another schematic diagram of the work area division page in the embodiment of the present application;

FIG. 10 is another schematic diagram of the work area segmentation page in the embodiment of the present application;

FIG. 11 is another schematic diagram of the work area segmentation page in the embodiment of the present application;

FIG. 12 is a schematic flowchart of steps of yet another route planning method provided by an embodiment of the present application;

FIG. 13 is a schematic diagram of the route operation page in the embodiment of the present application;

FIG. 14 is a schematic diagram of a job task management page in an embodiment of the application;

15 is a schematic flow chart of the steps of yet another route planning method provided by an embodiment of the present application;

FIG. 16 is a schematic flowchart of steps of yet another route planning method provided by an embodiment of the present application;

FIG. 17 is a schematic block diagram of the structure of a control terminal according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

An embodiment of the present application provides a route planning method, which can be used to plan a flight route of a drone when it is applied in a control terminal. Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a control terminal that implements a route planning method provided by an embodiment of the present application. As shown in FIG. 1, the control terminal 100 includes an antenna 101, a remote rod 102, and a display device 103. The display device 103 is used to display a route planning page, and a communication connection can be established between the control terminal 100 and the drone, so that the control terminal 100 can control the movable platform. The communication connection can be established through wireless communication, for example, through WiFi; it can also be established through wired connection. For example, the control terminal 100 and the movable platform are provided with interfaces respectively, and the communication connection between the two can be realized through the interface. .

The control terminal 100 includes remote controls, ground control platforms, mobile phones, tablet computers, laptops, on-board computers, and PC computers. The movable platforms include unmanned aerial vehicles, handheld gimbals, and gimbals. Unmanned aerial vehicles include rotary wing UAVs, such as four-rotor UAVs, six-rotor UAVs, and eight-rotor UAVs, can also be fixed-wing UAVs, or a combination of rotary-wing and fixed-wing UAVs, which are not limited here. .

Please refer to FIG. 2, which is a schematic flowchart of steps of a route planning method provided by an embodiment of the present application.

Specifically, as shown in FIG. 2, the route planning method includes step S101 to step S103.

S101. Display the route planning page.

Among them, the route planning page shows the flight route of the drone in the operation area. Please refer to FIG. 3, which is a schematic diagram of the route planning page in the embodiment of the present application. As shown in FIG. 3, there are 20 flight routes in the operation area of the drone, and each vertex of the operation area is displayed. , Are vertex A, vertex B, vertex C and vertex D respectively. The user can divide the flight route in the operation area through the route planning page to obtain the route area that the user wants.

S102: According to the user's route segmentation operation of the operation area, segment the flight route to obtain a target route area corresponding to the route segmentation operation.

Obtain the user's route segmentation operation for the operation area, and divide the flight route according to the user's route segmentation operation of the operation area to obtain the target route area corresponding to the route segmentation operation. Wherein, the route segmentation operation includes the user's selection operation of any two flight routes, the user's movement operation of at least one route segmentation line, the user's sliding operation of at least one segmentation control, and the user's sliding operation of the work area. In specific implementation, after obtaining the target route area corresponding to the route segmentation operation, marking the flight route in the target route area can facilitate the user to know the target route area obtained by the segmentation.

In an embodiment, obtain the first flight route and the second flight route selected by the user in the operation area, and calculate the area percentage between the first flight route and the second flight route and the area of the operation area; determine the Whether the area percentage is greater than or equal to the preset percentage threshold; if the area percentage is greater than or equal to the preset percentage threshold, the area between the first flight route and the second flight route is taken as the target route area. Please refer to Figure 4. Figure 4 is another schematic diagram of the route planning page in the embodiment of this application. As shown in Figure 4, the flight route selected by the user is flight route 5 and flight route 15. The area between is the target route area. The user can determine the division of the flight route in the operation area by selecting two flight routes, which is convenient for the user to plan the route and improves the user experience.

In one embodiment, the route planning page displays a first route dividing line and a second route dividing line, the first route dividing line and the second route dividing line are parallel to the flight route in the operation area, and the first route dividing line And the second route dividing line is used to divide the flight route in the operation area, specifically, obtaining the user's movement operation on the first route dividing line and/or the second route dividing line, and according to the user's movement of the first route dividing line and/or Or the movement operation of the second route dividing line, move the first route dividing line and/or the second route dividing line; determine the area percentage of the operation area between the moved first and second route dividing lines ; Determine whether the area percentage is greater than or equal to the preset percentage threshold; if the area percentage is greater than or equal to the preset percentage threshold, the area between the moved first and second route dividing lines is taken as the target Route area. By setting the route dividing line, the user only needs to move the route dividing line to divide the flight route in the operation area, which is convenient for the user to plan the route and improves the user experience.

In an embodiment, the target route area may be a part of the operation area, and the user may customize this target route area according to his actual operation requirements. The shape of the target route area can be square, round, etc., which is not limited here. In this way, it greatly facilitates users to plan areas and routes, and improves user experience.

Please refer to FIG. 5. FIG. 5 is another schematic diagram of the route planning page in the embodiment of the present application. As shown in FIG. 5, the initial position of the first route dividing line in the route planning page is the dotted line passing through the vertex A. The initial position of the second route dividing line on the route planning page is the position of the dashed segment passing through vertices C and D. After moving, the first route dividing line is located at flight route 3, and the second route dividing line If it is located on flight route 13, the area between flight route 5 and flight route 15 is the target route area.

In one embodiment, the route planning page also displays a route splitting pop-up window, and the route splitting pop-up window displays a route splitting bar. The route splitting bar is used to control the control terminal to divide the flight route within the operation area. The first segmentation control and the second segmentation control are displayed on the bar. The first segmentation control and the second segmentation control are used to segment the flight route in the operation area, specifically, to obtain the user's first segmentation control in the route segmentation bar. And/or the sliding operation of the second segmentation control, and according to the user's sliding operation of the first segmentation control and/or the second segmentation control in the route segmentation bar, slide the first segmentation control and/or the second segmentation control in the route segmentation bar Two-segment control; the target route area is determined according to the position of the first and second segmentation control after sliding on the route segmentation bar. By setting the segmentation control, the user only needs to slide the segmentation control to segment the flight route in the operation area, which is convenient for the user to plan the route and improves the user experience.

In an embodiment, according to the positions of the first segmentation control and the second segmentation control after sliding on the route segmentation bar, the first route segmentation percentage and the second route segmentation percentage are determined; and the total number of flight routes in the operation area is obtained , And determine the first route number and the second route number according to the total number, the percentage of division of the first route and the percentage of division of the second route; enclose the flight routes between the first route number and the second route number in the operation area The formed area is used as the target route area. Among them, the first route division percentage and the second route division percentage are displayed on the route division bar, and the area between the first route division percentage and the second route division percentage is marked on the route division bar. By displaying the segmentation percentage, it is convenient for users to fine-tune the segmentation control, so that the segmented target route area is more accurate.

The method for determining the percentage of route division is specifically: calculating the area percentage of the area between the position of the sliding first division control on the route division bar and the starting point of the route division bar to the preset total area, and The area percentage is used as the first route division percentage, and the second route division percentage can be obtained in the same way. Exemplarily, the total number of flight routes is 20, the first route division ratio is 15%, and the second route division ratio is 80%, then the first route number is 20*15%=4, and the second route number is 20* 80%=16.

In one embodiment, the route segmentation pop-up window also displays a route deletion control and a segmentation icon control. The route deletion control is used to control the control terminal to delete the target route area to restore the operation area to the initial state. The segmentation icon The control is used to control the control terminal to display or hide the split control.

Please refer to Figure 6. Figure 6 is another schematic diagram of the route planning page in the embodiment of this application. As shown in Figure 6, the route splitting pop-up window is located at the lower border of the route planning page, and the route delete control is set on the route splitting bar. On the left side of, the split icon control is set on the right side of the route split bar, and the route split bar is set between the route delete control and the split icon control, and the route split percentages corresponding to the two split controls are 20% and 80%, then two If the route number is 4 and route number 16, the area between flight route 4 and flight route 16 is the target route area.

In one embodiment, the route planning page also displays a route direction adjustment control, the route direction adjustment control is used to adjust the direction of the flight route in the operation area, specifically, to obtain the user's touch operation on the route direction adjustment control, And according to the user's touch operation on the route direction adjustment control, the direction of the flight route in the operation area is adjusted, and the adjusted flight route is displayed. The direction of the flight route can be adjusted through the route direction adjustment control, which is convenient for the user to plan the direction of the flight route, and greatly improves the user experience.

S103. Generate a flight route in the target route area according to the target route area.

According to the target route area, the display interface can generate and display the flight route in the target route area. The route confirmation operation triggered by the user on the route planning page can be obtained, and the route confirmation instruction corresponding to the route confirmation operation can be generated, and then the flight route of the target route area is generated according to the route confirmation instruction, that is, the flight route in the target route area is obtained. The flight route corresponding to the target route area, and the obtained flight route is used as the flight route displayed in the target route area. Wherein, the route confirmation operation is a touch operation of the user to the route confirmation control on the route planning page.

In one embodiment, the user can also set route parameters such as route spacing, waypoints, and number of routes in the target route area, and the control terminal generates the target route according to the route parameters such as route spacing, waypoints, and number of routes set by the user. Regional flight routes. Alternatively, the flight route of the target route area can be generated according to the preset route planning algorithm, that is, the area of the target route area is calculated, and the route parameters such as route spacing, waypoints and number of routes are determined according to the area, and then follow The route parameters such as the route distance, waypoints and route number are determined to generate the flight route of the target route area.

The route planning method provided in the above embodiment displays the route planning page containing the flight route of the drone in the operation area, so that the user can segment the flight route on the route planning page, and the control terminal can perform the route division according to the user's operation. The regional route segmentation operation is to divide the flight route to obtain the target route area corresponding to the route segmentation operation, and then generate the flight route of the target route area according to the target route area, which greatly facilitates the user to plan the route and improves the user Experience.

Please refer to FIG. 7, which is a schematic flowchart of steps of another route planning method provided by an embodiment of the present application.

Specifically, as shown in FIG. 7, the route planning method includes steps S201 to S206.

S201. Display the route planning page.

S202: According to the user's route segmentation operation of the operation area, segment the flight route to obtain a target route area corresponding to the route segmentation operation.

S203. Acquire a touch operation of the user on the target route area, and display a work area division page according to the touch operation.

After determining the target route area, the user can touch the target route area so that the control terminal displays the work area segmentation page. Specifically, the control terminal obtains the user's touch operation on the target route area, and according to the user's touch operation on the target route area Area touch operation, display the work area division page. Wherein, the work area segmentation page displays the target route area, and the user can segment the target route area through the work area segmentation page to obtain multiple sub-areas of the target route area, and the number of sub-areas is determined by the user's segmentation operation.

S204. Acquire a segmentation operation of the target route area by the user, and determine whether the segmentation operation is an effective segmentation operation, where the segmentation operation is used to segment the target route area.

The control terminal obtains the user's segmentation operation on the target route area, and determines whether the segmentation operation is a valid segmentation operation, where the segmentation operation is used to segment the target route area and determines whether the segmentation operation is a valid segmentation operation Specifically: acquiring the first segmentation point and the second segmentation point corresponding to the segmentation operation, and determining the respective positions of the first segmentation point and the second segmentation point relative to the target route area; according to the first segmentation point and the second segmentation point Respectively relative to the location of the target route area, determine whether the first segmentation point and the second segmentation point are located on both sides of the target route area respectively. If the first segmentation point and the second segmentation point are respectively located on both sides of the target route area, then Determine that the segmentation operation is a valid segmentation operation. If both the first segmentation point and the second segmentation point are located on one side of the target route area, or the first segmentation point and/or the second segmentation point are located within the target route area, then the The split operation is invalid.

S205: If the segmentation operation is an effective segmentation operation, generate a segmentation position line of the target route region, and obtain the first subregion and the second subregion of the target route region according to the segmentation position line.

If the segmentation operation is a valid segmentation operation, a segmentation position line of the target route area is generated, and the first sub-area and the second sub-area of the target route area are obtained according to the segmentation position line. Wherein, the segmentation operation includes a user's sliding operation on the target route area, and the segmentation position line includes a line segment formed by connecting the sliding start point and the sliding end point of the sliding operation; the segmentation operation includes the user's segmentation of the page in the work area In a touch operation, the dividing position line includes a line segment formed by connecting the touch position point of the touch operation and the unpaired touch position point in the divided page of the work area. It should be noted that the unpaired touch position points are points that do not belong to the dividing position line.

In one embodiment, if the segmentation operation is an invalid segmentation operation, the two segmentation points corresponding to the segmentation operation are acquired, and the line segment formed by connecting the two segmentation points corresponding to the segmentation operation is displayed according to a preset display mode. , To remind the user that the split operation is invalid. Optionally, the preset display mode is to display a line segment formed by connecting two division points corresponding to the division operation in a dotted manner. Displaying the line segment formed by the connection of two dividing points in a dotted manner can make the user know that the division operation is invalid, which greatly improves the user experience.

Please refer to FIG. 8. FIG. 8 is a schematic diagram of the work area division page in the embodiment of the present application. As shown in FIG. 8, the work area division page displays two line segments, and one line segment is line segment 1 displayed as a solid line, namely The segmentation position line of the target route area, and the other line segment is the line segment 2 shown as a dashed line, which is the line segment corresponding to the invalid segmentation operation, and the two segmentation points of the segmentation position line are located on both sides of the target route area, and the invalid segmentation operation One segmentation point of the corresponding line segment is located on the right side of the target route area, and the other segmentation point is located within the target route area. At this time, the target route area is divided into two sub-areas, namely sub-region A and sub-region B, and Area A shows the flight path.

In one embodiment, the user's drag operation on the dividing point is acquired, and the line segment to which the dividing point belongs is updated according to the drag operation. The dividing point may be an end point on the dividing position line, or an end point on the remaining line segments, which is not specifically limited in this application. The user can adjust the segmentation position line or the line segment corresponding to the invalid segmentation operation by dragging the segmentation point, thereby adjusting the segmentation of the target route area, and can also update the line segment corresponding to the invalid segmentation operation to the segmentation position line, thereby achieving the target Segmentation of the route area. Please refer to Figure 9. Figure 9 is another schematic diagram of the work area segmentation page in the embodiment of the present application. As shown in Figure 9, the user drags the segmentation point of the line segment 2 so that the two segmentation points of the line segment 2 are both Located on both sides of the target route area, it becomes the line segment displayed as a solid line, that is, the dividing position line, while the line segment 1 remains unchanged. At this time, the target route area is divided into three sub-areas, namely sub-area A and sub-area. B1 and subarea B2, subarea B1 and subarea B2 are obtained by dividing subarea B in FIG. 8, and subarea A, subarea B1, and subarea B2 show flight paths.

In one embodiment, the user's click operation on an endpoint of the segmented position line is acquired, and the split point fine-tuning pop-up window is displayed according to the click operation; according to the user's touch operation on the endpoint fine-tuning control, the endpoint is adjusted at the end The position within the divided page of the work area. Wherein, the split point fine-tuning pop-up window displays an endpoint fine-tuning control, the endpoint fine-tuning control is used to adjust the position of the endpoint in the work area split page, the split point fine-tuning pop-up window also displays a split area, and the endpoint fine-tuning control includes At least one of the following: move up control, move down control, move left control, move right control and back control, the move up control is used to control the end point to move up, the move down control is used to control the end point to move down, the The left move control is used to control the end point to move to the left, the right move control is used to control the right move of the end point, and the back control is used to control the end point to move back to the position before adjustment. The user can fine-tune the endpoints on the dividing position line through the endpoint fine-tuning control, so that fine-tuning the dividing position line can improve the accuracy of the segmentation and greatly improve the user experience.

Please refer to FIG. 10, which is another schematic diagram of the work area split page in the embodiment of the present application. As shown in FIG. 10, the left area of the work area split page displays a split point fine-tuning popup, and the split point fine-tuning popup The window displays the move up control, move down control, left move control, right move control and back control. The right area of the work area split page displays the target route area and the split position line 1 and the split position line 2, to be fine-tuned The dividing point of is the point at the left end of the dividing position line 1. The target route area is divided into three sub-areas, namely sub-area A, sub-area B and sub-area C, and sub-area A, sub-area B and sub-area C show the flight path .

In one embodiment, the work area division page displays a pop-up window adjustment control, and the pop-up window adjustment control is used to adjust the size of the pop-up window. Specifically, the user's touch operation on the pop-up window adjustment control is acquired, and the pop-up window adjustment control is acquired according to the user's The touch operation of the pop-up adjustment control controls the control terminal to display the split point fine-tuning pop-up window in full screen. In specific implementation, when the control terminal displays the split point fine-tuning pop-up window in full screen, the user clicks the pop-up window adjustment control again, and the split-point fine-tuning pop-up window returns to the initial state, that is, the split point fine-tuning pop-up is displayed according to the preset size and preset position window. It should be noted that the size of the remaining pop-up windows can also be adjusted through the pop-up window adjustment control, which is not specifically limited in this application. Through the full-screen display of the pop-up window, it is convenient for users to operate and greatly improves the user experience.

S206. Plan the flight route of the drone in the first sub-area and the second sub-area respectively.

After the first sub-area and the second sub-area of the target route area are obtained by segmentation, the flight path of the UAV in the first sub-area and the second sub-area is planned.

Specifically, based on the preset route planning algorithm, plan the flight route of the UAV in the first sub-region and the second sub-region respectively, that is, calculate the area of the first sub-region/second sub-region, and calculate the area according to the area. , Determine the route parameters such as route spacing, waypoints and number of routes, and then plan the flight route of the UAV in the first sub-area/second sub-area according to the determined route parameters such as the route distance, waypoints and number of routes.

Or, obtain the user's route planning operations for the first sub-area and the second sub-area, and plan the flight routes of the drone in the first sub-area and the second sub-area respectively according to the route planning operations. Among them, the route planning operation includes setting route parameters such as route spacing, waypoints and number of routes in the first sub-area/second sub-area, according to the route spacing, waypoints and waypoints of the first sub-area/second sub-area set by the user. Route parameters such as the number of routes to plan the flight route of the UAV in the first sub-area/second sub-area.

In one embodiment, the work area segmentation page also displays a starting point setting control, and the starting point setting control is used to control the control terminal to display the starting point setting pop-up window, specifically, according to the user's touch of the starting point setting control. Control operation, display the starting point setting pop-up window, where the starting point setting pop-up window displays the distance between the drone’s current flight starting point and the drone; obtaining the user’s selection operation on the vertex of the target route area, And according to the selection operation, update the flight starting point and the distance of the drone, and display the updated distance; obtain the starting point confirmation command triggered by the user in the starting point setting pop-up window, and confirm the command according to the starting point , Re-plan the flight route of the UAV in the first sub-area and the second sub-area. By setting the flight starting point of the drone, it is convenient to control the drone to take off at a nearby location for operation, which can reduce the flight operation time, increase the endurance, and greatly improve the user experience.

Please refer to FIG. 11. FIG. 11 is another schematic diagram of the work area division page in the embodiment of the present application. As shown in FIG. 11, the left area of the work area division page displays the start point setting popup, and the start point setting popup The distance between the starting point of the flight and the drone displayed in the window is 789.3 meters. The right area of the operation area segmentation page shows the target route area, and the target route area includes vertex a, vertex b, vertex c, and vertex d , The vertex d is selected as the starting point of the flight.

In the route planning method provided in the above embodiments, the user touches the target route area, so that the control terminal displays the work area segmentation page of the target route area, and divides the target route area according to the user's segmentation operation of the target route area , Get the sub-area of the target route area, and plan the flight route of the drone in the sub-area at the same time, which greatly improves the convenience of route planning and operation area segmentation, and improves the user experience.

Please refer to FIG. 12, which is a schematic flowchart of the steps of yet another route planning method provided by an embodiment of the present application.

Specifically, as shown in FIG. 12, the route planning method includes step S301 to step S306.

S301. Display the control main page.

Among them, the main control page displays route planning options, operation task management options, and route operation options. When the user selects the route planning option, the control terminal displays the route planning page, and when the user selects the operation task management option, the control terminal displays the operation task management Page, when the user selects the route operation option, the control terminal displays the route operation page.

In one embodiment, the main control page also displays route operation options. Specifically, the route operation page is displayed according to the user's touch operation on the route operation options, where the route operation page is used to display the drone's Route operation progress window; if the control terminal is connected to multiple drones, the route operation progress window of each drone will be arranged on the route operation page. Among them, the route operation progress window displays information such as the distance between the drone operation area and the control terminal and the remaining power of the drone. The arrangement of the route operation progress window includes according to the distance between the drone operation area and the control terminal. The distance is arranged and arranged according to the remaining power of the drone, which is not specifically limited in this application. By displaying the route operation progress window, the user can know the status of the drone during the operation, which is convenient for controlling the drone and improving the user experience.

In one embodiment, the user's click operation on the route operation progress window is acquired, and the target drone is determined according to the user's click operation on the route operation progress window, and the shooting picture of the target drone is displayed. Among them, the route operation progress window corresponds to the drone one-to-one. When the user clicks on the route operation progress window, the shooting picture of the drone image transmission corresponding to the clicked route operation progress window is obtained, so that the drone image transmission can be displayed. Shooting screen.

Please refer to FIG. 13, which is a schematic diagram of the route operation page in the embodiment of the present application. As shown in FIG. 13, the left area of the route operation page displays four route operation progress windows, which are respectively route operation progress window 1. , Route operation progress window 2, route operation progress window 3 and route operation progress window 4, and route operation progress window 3 is selected by the user, the middle area of the route operation page displays the operation area of route operation progress window 3 and the flight route. The right area of the flight line operation page displays a window corresponding to the drone's shooting screen.

S302. Obtain the user's selection operation of the route planning option, and display the route planning page according to the user's selection operation of the route planning option.

The control terminal displays the route planning page according to the user's selection of route planning options. Among them, the route planning page shows the flight route of the drone in the operation area. Please refer to FIG. 3, which is a schematic diagram of the route planning page in the embodiment of the present application. As shown in FIG. 3, there are 20 flight routes in the operation area of the drone, and each vertex of the operation area is displayed. , Are vertex A, vertex B, vertex C and vertex D respectively. The user can divide the flight route in the operation area through the route planning page to obtain the route area that the user wants.

S303: According to the user's route segmentation operation of the operation area, segment the flight route to obtain a target route area corresponding to the route segmentation operation.

S304. Generate a flight route in the target route area according to the target route area.

According to the target route area, the display interface can generate and display the flight route in the target route area. The route confirmation operation triggered by the user on the route planning page can be obtained, and the route confirmation instruction corresponding to the route confirmation operation can be generated, and then the flight route of the target route area is generated according to the route confirmation instruction, that is, the flight route in the target route area is obtained. The flight route corresponding to the target route area, and the obtained flight route is used as the flight route of the target route area. Wherein, the route confirmation operation is a touch operation of the user to the route confirmation control on the route planning page.

S305. Acquire a user's selection operation on the job task management option, and display a job task management page according to the user's selection operation on the job task management option, and the job task management page displays an upload control.

Obtain the user's selection operation of the job task management option, and display the job task management page according to the user's selection operation of the job task management option. Among them, the job task management page displays the upload control, the job task management page displays a job task list, and the job task pop-up window corresponding to the job task that is not uploaded to the cloud in the job task list displays a preset mark, and the job The job task pop-up windows corresponding to each job task in the task list are arranged according to the distance between the job area and the control terminal. It should be noted that the above-mentioned preset mark can be set based on actual conditions, which is not specifically limited in this application.

S306. Obtain the job task to be uploaded according to the user's touch operation on the upload control, and upload the job task to be uploaded to the cloud.

Get the user's touch operation on the upload control, and according to the user's touch operation on the upload control, get the job task to be uploaded, and upload the job task to be uploaded to the cloud, that is, when the user is detected on the upload control During the touch operation of, obtain the job tasks in the job task list that are not uploaded to the cloud, and use the job tasks in the job task list that are not uploaded to the cloud as the job tasks to be uploaded. The job task management page also displays a task search box and a download control. The task search box is used to search for the job task, and the download control is used to download the job task from the cloud.

Please refer to FIG. 14, which is a schematic diagram of the job task management page in the embodiment of the application. As shown in FIG. 14, the job task list is displayed in the left area of the job task management page, and the upper area of the job task management page is displayed There are task search box, download control and upload control, and the job task list includes 3 job task pop-up windows corresponding to job tasks, namely, job task pop-up window 1, job task pop-up window 2 and job task pop-up window 3, and job task The pop-up window 2 displays the unuploaded mark, and the right area of the job task management page displays the job area corresponding to the job task pop-up window.

In the route planning method provided by the above embodiments, by displaying the control main page, the user can select the options in the control main page, so that the control terminal displays different pages, which is convenient for the user to plan the route, divide the operation area, manage the operation task, and read unmanned Computer operations, etc., greatly improve the user experience.

Please refer to FIG. 15, which is a schematic flowchart of the steps of yet another route planning method provided by an embodiment of the present application.

Specifically, as shown in FIG. 15, the route planning method includes steps S401 to S404.

S401. Display a work area division page.

Wherein, the work area division page displays the target work area, and the target work area is the work area to be divided. The user can divide the target work area through the work area division page to obtain multiple sub-areas of the target work area. The number of sub-regions is determined by the user's segmentation operation.

S402: Acquire a user's segmentation operation on the target work area, and determine whether the segmentation operation is a valid segmentation operation.

The control terminal acquires the user's segmentation operation on the target work area and determines whether the segmentation operation is a valid segmentation operation, where the segmentation operation is used to segment the target work area and determines whether the segmentation operation is a valid segmentation operation Specifically: obtain the first and second division points corresponding to the division operation, and determine the respective positions of the first division point and the second division point relative to the target operation area; according to the first division point and the second division point Respectively relative to the location of the target work area, determine whether the first and second split points are located on both sides of the target work area respectively. If the first split point and the second split point are located on both sides of the target work area, then Determine that the segmentation operation is a valid segmentation operation. If both the first segmentation point and the second segmentation point are located on one side of the target work area, or the first segmentation point and/or the second segmentation point are located within the target work area, then the The split operation is invalid.

S403: If the dividing operation is an effective dividing operation, generate a dividing position line of the target work area, and obtain the first sub-area and the second sub-area of the target work area according to the dividing position line.

If the dividing operation is a valid dividing operation, a dividing position line of the target work area is generated, and the first sub-area and the second sub-area of the target work area are obtained according to the dividing position line. Wherein, the segmentation operation includes a user's sliding operation on the target work area, and the segmentation position line includes a line segment formed by connecting the sliding start point and the sliding end point of the sliding operation; the segmentation operation includes the user dividing the page of the work area In a touch operation, the dividing position line includes a line segment formed by connecting the touch position point of the touch operation and the unpaired touch position point in the divided page of the work area. It should be noted that the unpaired touch position points are points that do not belong to the dividing position line.

In one embodiment, the user's drag operation on the dividing point is acquired, and the line segment to which the dividing point belongs is updated according to the drag operation. The dividing point may be an end point on the dividing position line, or an end point on the remaining line segments, which is not specifically limited in this application. The user can adjust the segmentation position line or the line segment corresponding to the invalid segmentation operation by dragging the segmentation point, thereby adjusting the segmentation of the target work area, and can also update the line segment corresponding to the invalid segmentation operation to the segmentation position line, thereby achieving the target Division of the work area.

S404. Plan a flight route of the drone in the first sub-area and the second sub-area respectively.

After the first sub-area and the second sub-area of the target operating area are obtained by segmentation, the flight path of the UAV in the first sub-area and the second sub-area is planned.

In one embodiment, the work area segmentation page also displays a starting point setting control, and the starting point setting control is used to control the control terminal to display the starting point setting pop-up window, specifically, according to the user's touch of the starting point setting control. Control operation, display the starting point setting pop-up window, where the starting point setting pop-up window displays the distance between the drone’s current flight starting point and the drone; obtaining the user’s selection operation on the vertex of the target operating area, And according to the selection operation, update the flight starting point and the distance of the drone, and display the updated distance; obtain the starting point confirmation command triggered by the user in the starting point setting pop-up window, and confirm the command according to the starting point , Re-plan the flight route of the UAV in the first sub-area and the second sub-area. By setting the flight starting point of the drone, it is convenient to control the drone to take off at a nearby location for operation, which can reduce the flight operation time, increase the endurance, and greatly improve the user experience.

The route planning method provided by the above embodiment displays the work area segmentation page, and divides the target work area according to the user's segmentation operation of the target work area to obtain the sub-areas of the target work area, so that the user can arbitrarily follow the actual needs. Cutting the area and planning the flight route of the drone in the sub-area at the same time greatly improves the convenience of route planning and operation area segmentation, and improves the user experience.

Please refer to FIG. 16, which is a schematic flowchart of the steps of another route planning method provided by an embodiment of the present application.

Specifically, as shown in FIG. 16, the route planning method includes step S501 to step S504.

S501: Display a work area division page.

S502. Display a route planning page according to the user's touch operation on the route segmentation control, where the route planning page displays the flight route of the drone in the target operation area.

Wherein, the operation area segmentation page also displays a route segmentation control, and the route segmentation control is used to control the control terminal to display the route planning page. The control terminal obtains the user's touch operation on the route segmentation control, and displays the route planning page according to the user's touch operation on the route segmentation control. Among them, the route planning page displays the flight route of the drone in the target operating area.

S503: According to the user's route segmentation operation of the target operation area, segment the flight route to obtain the target route area corresponding to the route segmentation operation.

Obtain the user's route segmentation operation for the target operation area, and divide the flight route according to the user's route segmentation operation on the target operation area to obtain the target route area corresponding to the route segmentation operation. The route segmentation operation includes the user's selection operation of any two flight routes, the user's movement operation of at least one route segmentation line, the user's sliding operation of at least one segmentation control, and the user's sliding operation of the target operation area. In specific implementation, after obtaining the target route area corresponding to the route segmentation operation, marking the flight route in the target route area can facilitate the user to know the target route area obtained by the segmentation.

In an embodiment, obtain the first flight route and the second flight route selected by the user in the target operation area, and calculate the area percentage of the area between the first flight route and the second flight route and the target operation area; Determine whether the area percentage is greater than or equal to the preset percentage threshold; if the area percentage is greater than or equal to the preset percentage threshold, then the area between the first flight route and the second flight route is taken as the target route area. The user can determine the segmentation of the flight route in the target operation area by selecting two flight routes, which is convenient for the user to plan the route and improves the user experience.

In one embodiment, the route planning page displays a first route dividing line and a second route dividing line, the first route dividing line and the second route dividing line are parallel to the flight route in the target operation area, and the first route dividing line The line and the second route dividing line are used to divide the flight route in the target operation area. Specifically, the user's movement operation on the first route dividing line and/or the second route dividing line is acquired, and the first route dividing line is determined by the user And/or the movement operation of the second route dividing line, move the first route dividing line and/or the second route dividing line; determine the area between the moved first route dividing line and the second route dividing line and the target operation area The area percentage; determine whether the area percentage is greater than or equal to the preset percentage threshold; if the area percentage is greater than or equal to the preset percentage threshold, it will be moved between the first route dividing line and the second route dividing line The area is used as the target route area. By setting the route dividing line, the user only needs to move the route dividing line to divide the flight route in the target operation area, which is convenient for the user to plan the route and improves the user experience.

In one embodiment, the route planning page also displays a route split pop-up window, and the route split pop-up window displays a route split bar. The route split bar is used to control the control terminal to divide the flight route within the target operation area. The first segmentation control and the second segmentation control are displayed on the split bar. The first segmentation control and the second segmentation control are used to segment the flight route in the target operation area. Specifically, the first segmentation control in the route segmentation bar is obtained by the user. The sliding operation of the split control and/or the second split control, and according to the user's sliding operation on the first split control and/or the second split control in the route splitting bar, slide the first split control and/or the second split control in the route splitting bar Or the second segmentation control; according to the sliding position of the first segmentation control and the second segmentation control on the route segmentation bar, the target route area is determined. By setting the segmentation control, the user only needs to slide the segmentation control to segment the flight route in the target operation area, which is convenient for the user to plan the route and improves the user experience.

In an embodiment, according to the positions of the first segmentation control and the second segmentation control after sliding on the route segmentation bar, the first route segmentation percentage and the second route segmentation percentage are determined; and the total number of flight routes in the target operation area is obtained. According to the total number, the percentage of division of the first route and the percentage of division of the second route, determine the first route number and the second route number; place the flight routes between the first route number and the second route number in the target operation area The area formed by the Zhonghe Encirclement serves as the target route area. Among them, the first route division percentage and the second route division percentage are displayed on the route division bar, and the area between the first route division percentage and the second route division percentage is marked on the route division bar. By displaying the segmentation percentage, it is convenient for users to fine-tune the segmentation control, so that the segmented target route area is more accurate.

In one embodiment, the route segmentation pop-up window also displays a route deletion control and a segmentation icon control. The route deletion control is used to control the control terminal to delete the target route area so as to restore the target operation area to the initial state. The icon control is used to control the control terminal to display or hide the split control.

In one embodiment, the route planning page also displays a route direction adjustment control, the route direction adjustment control is used to adjust the direction of the flight route in the target operation area, specifically, to obtain the user's touch operation on the route direction adjustment control , And adjust the direction of the flight route in the target operation area according to the user's touch operation on the route direction adjustment control, and display the adjusted flight route. The direction of the flight route can be adjusted through the route direction adjustment control, which is convenient for the user to plan the direction of the flight route, and greatly improves the user experience.

S504. Generate a flight route in the target route area according to the target route area.

According to the target route area, the display interface can generate and display the flight route in the target route area. The route confirmation operation triggered by the user on the route planning page can be obtained, and the route confirmation instruction corresponding to the route confirmation operation can be generated, and then the flight route of the target route area is generated according to the route confirmation instruction, that is, the target operation area is obtained The flight route corresponding to the target route area, and the obtained flight route is used as the flight route of the target route area. Wherein, the route confirmation operation is a touch operation of the user to the route confirmation control on the route planning page.

The route planning method provided in the above embodiment displays the route planning page containing the flight route of the drone in the target operation area, so that the user can divide the flight route on the route planning page, and the control terminal can perform the route segmentation according to the user’s The route segmentation operation of the operation area is to divide the flight route to obtain the target route area corresponding to the route segmentation operation. Then, according to the target route area, the flight route of the target route area is generated, which greatly facilitates the user to plan the route and improve user experience.

Please refer to FIG. 17, which is a schematic block diagram of a control terminal according to an embodiment of the present application. In one embodiment, the control terminal includes, but is not limited to, a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, and a vehicle-mounted computer. Further, the control terminal 600 includes a processor 601, a memory 602, and a display device 603. The processor 601, the memory 602, and the display device 603 are connected by a bus 604, which is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 601 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk. The display device 603 may be a touch display screen, a liquid crystal display screen, a mobile phone, and the like.

Wherein, the processor 601 is configured to run a computer program stored in the memory 602, and implement the steps of the route planning method as described above when the computer program is executed.

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the control terminal described above can refer to the corresponding process in the above-mentioned route planning method embodiment, which will not be repeated here. Go into details.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the route planning method provided in the example.

The computer-readable storage medium may be the internal storage unit of the control terminal described in any of the foregoing embodiments, such as the hard disk or memory of the control terminal. The computer-readable storage medium may also be an external storage device of the control terminal, such as a plug-in hard disk equipped on the control terminal, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital, SD) ) Card, Flash Card, etc.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A route planning method, characterized in that it is applied to a control terminal, and includes:

Display the route planning page, where the route planning page displays the flight route of the drone in the operation area;

Segment the flight route according to the route segmentation operation of the operation area by the user to obtain the target route area corresponding to the route segmentation operation;

According to the target route area, a flight route in the target route area is generated.
The route planning method according to claim 1, wherein the segmentation of the flight route according to the route segmentation operation of the operation area by the user to obtain the target route area corresponding to the route segmentation operation comprises :

Acquiring the first flight route and the second flight route selected by the user in the operation area, and calculating the area percentage of the area between the first flight route and the second flight route and the operation area;

Determining whether the area percentage is greater than or equal to a preset percentage threshold;

If the area percentage is greater than or equal to a preset percentage threshold, the area between the first flight route and the second flight route is taken as the target route area.
The route planning method according to claim 1, wherein the route planning page displays a first route dividing line and a second route dividing line, and the first route dividing line and the second route dividing line are used for dividing The flight route in the operation area; the segmentation of the flight route according to the route segmentation operation of the operation area by the user to obtain the target route area corresponding to the route segmentation operation includes:

Acquiring a user's movement operation on the first route dividing line and/or the second route dividing line, and moving the first route dividing line and/or the second route dividing line according to the moving operation;

Determining the area percentage of the area between the first route dividing line and the second route dividing line after the movement and the operation area;

Determining whether the area percentage is greater than or equal to a preset percentage threshold;

If the area percentage is greater than or equal to the preset percentage threshold, the area between the moved first and second route dividing lines is taken as the target route area.
The route planning method according to claim 3, wherein the first route dividing line and the second route dividing line are parallel to the flight route in the operation area.
The route planning method according to claim 1, wherein the route planning page further displays a route split pop-up window, the route split pop-up window displays a route split bar, and the route split bar is used to control the The control terminal divides the flight route in the operation area; the dividing the flight route according to the user's route segmentation operation on the operation area to obtain the target route area corresponding to the route segmentation operation includes:

Acquire the user's sliding operation on the first segmentation control and/or the second segmentation control in the route segmentation bar, and slide the first segmentation control and/or the second segmentation control in the route segmentation bar according to the sliding operation Two split control;

Determine the target route area according to the sliding positions of the first segmentation control and the second segmentation control on the route segmentation bar.
The route planning method according to claim 5, wherein the determining the target route area according to the sliding positions of the first segmentation control and the second segmentation control on the route segmentation bar includes :

Determine the first route segmentation percentage and the second route segmentation percentage according to the positions of the first segmentation control and the second segmentation control on the route segmentation bar after sliding;

Acquire the total number of flight routes in the operation area, and determine the first route number and the second route number according to the total number, the first route division percentage, and the second route division percentage;

The area formed by each flight route between the first route number and the second route number in the operation area is taken as the target route area.
The route planning method according to claim 6, wherein the route segmentation bar displays the first route segmentation percentage and the second route segmentation percentage, and the first route segmentation is marked on the route segmentation bar The area between the percentage and the division percentage of the second route.
The route planning method according to claim 5, wherein the route segmentation pop-up window also displays a route deletion control and a segmentation icon control, and the route deletion control is used to control the control terminal to delete the target route area To restore the work area to an initial state, and the split icon control is used to control the control terminal to display or hide the split control.
The route planning method according to claim 1, wherein the route planning page further displays a route direction adjustment control, and the route direction adjustment control is used to adjust the direction of the flight route in the operation area; Methods also include:

Acquire the user's touch operation on the route direction adjustment control, and adjust the direction of the flight route in the operation area according to the user's touch operation on the route direction adjustment control.
The route planning method according to claim 1, wherein after the flight route is divided according to the route division operation of the operation area by the user, and the target route area corresponding to the route division operation is obtained, Also includes:

Mark the flight route within the target route area.
The route planning method according to any one of claims 1 to 10, wherein the flight route is segmented according to the route segmentation operation of the operation area by the user to obtain the corresponding route segmentation operation After the target route area, it also includes:

Acquire the user's touch operation on the target route area, and display a work area division page according to the touch operation, wherein the work area division page displays the target route area;

Acquiring a user's segmentation operation on the target route area, and determining whether the segmentation operation is an effective segmentation operation, where the segmentation operation is used to segment the target route area;

If the segmentation operation is an effective segmentation operation, generating a segmentation position line of the target route region, and obtaining the first subregion and the second subregion of the target route region according to the segmentation position line;

Plan the flight path of the drone in the first sub-area and the second sub-area respectively.
The route planning method according to claim 11, wherein the segmentation operation includes a user's sliding operation on the target route area, and the segmentation position line includes a sliding start point and a sliding end point of the sliding operation The line segment formed by the connection.
The route planning method according to claim 11, wherein the segmentation operation includes acquiring a user's touch operation on a segmented page of the work area, and the segmentation position line includes a touch position point of the touch operation A line segment formed by connecting the unpaired touch position points in the dividing page of the work area.
The route planning method according to claim 11, wherein the planning the flight route of the drone in the first sub-area and the second sub-area, respectively, comprises:

Based on a preset route planning algorithm, plan the flight routes of the UAV in the first sub-area and the second sub-area respectively; or,

Obtain the route planning operations of the user for the first sub-area and the second sub-area, and plan the flight routes of the drone in the first sub-area and the second sub-area respectively according to the route planning operation.
The route planning method according to claim 11, wherein after determining whether the segmentation operation is a valid segmentation operation, the method further comprises:

If the segmentation operation is an invalid segmentation operation, the two segmentation points corresponding to the segmentation operation are acquired, and the line segment formed by the connection of the two segmentation points corresponding to the segmentation operation is displayed according to a preset display mode to remind The division operation described by the user is an invalid division operation.
The route planning method according to claim 15, wherein the line segment formed by connecting two touch position points corresponding to the division operation is displayed according to a preset display mode to remind the user that the division operation is After the invalid split operation, it also includes:

Obtain the user's drag operation on the division point, and update the line segment to which the division point belongs according to the drag operation.
The route planning method according to claim 11, wherein the route planning method further comprises:

Acquire a user's click operation on an end point of the segmentation position line, and display a split point fine-tuning pop-up window according to the click operation, wherein the split point fine-tuning pop-up window displays an end point fine-tuning control, and the end-point fine-tuning control is used Adjusting the position of the end point in the divided page of the work area;

According to the user's touch operation on the endpoint fine-tuning control, the position of the endpoint in the divided page of the work area is adjusted.
The route planning method according to claim 17, wherein the end point fine-tuning controls comprise at least one of the following: a move up control, a move down control, a move left control, a move right control, and a back move control. The control is used to control the end point to move up, the move down control is used to control the end point to move down, the left move control is used to control the end point to move left, and the right move control is used to control the end point to right. The retreat control is used to control the end point to retreat to the position before adjustment.
The route planning method according to claim 17, wherein the operation area segmentation page displays a pop-up window adjustment control, the pop-up window adjustment control is used to adjust the size of the pop-up window; the display split point fine-tuning the pop-up window After that, it also includes:

Acquire the user's touch operation on the pop-up window adjustment control, and control the control terminal to display the split point fine-tuning pop-up window in full screen according to the user's touch operation on the pop-up window adjustment control.
The route planning method according to claim 11, wherein the work area segmentation page further displays a starting point setting control, and the starting point setting control is used to control the control terminal to display a starting point setting pop-up window; After the planning of the flight route of the UAV in the first sub-area and the second sub-area, the planning further includes:

According to the user's touch operation on the starting point setting control, a starting point setting pop-up window is displayed, wherein the starting point setting pop-up window displays the distance between the current flight starting point of the drone and the drone ；

Acquire the user's selection operation on the vertex of the target route area, and update the flight starting point and the distance of the drone according to the selection operation, and display the updated distance;

Acquire the starting point confirmation instruction triggered by the user in the starting point setting pop-up window, and according to the starting point confirmation instruction, re-plan the flight route of the drone in the first sub-area and the second sub-area respectively.
The route planning method according to any one of claims 1 to 10, wherein:

Before displaying the route planning page, it also includes:

Display a control main page, wherein the control main page displays route planning options and operation task management options;

Acquire the user's selection operation of the route planning option, and display the route planning page according to the user's selection operation of the route planning option;

And/or, the generating a flight route in the target route area according to the target route area includes:

Acquire the route confirmation operation triggered by the user on the route planning page, and generate the flight route in the target route area according to the route confirmation operation and the target route area.
The route planning method according to claim 21, wherein after the display of the control main page, the method further comprises:

Acquire the user's selection operation on the job task management option, and display a job task management page according to the user's selection operation on the job task management option, where the job task management page displays an upload control;

According to the user's touch operation on the upload control, the job task to be uploaded is obtained, and the job task to be uploaded is uploaded to the cloud.
The route planning method according to claim 22, wherein the job task management page displays a job task list, and the job task pop-up window corresponding to the job task that has not been uploaded to the cloud is displayed in the job task management page. With a preset mark, the job task pop-up window corresponding to each job task in the job task list is arranged according to the distance between the job area and the control terminal.
The route planning method according to claim 22, wherein the job task management page further displays a task search box and a download control, the task search box is used to search for a job task, and the download control is used to download from the cloud Download job tasks.
The route planning method according to claim 21, wherein the main control page further displays route operation options; after the main control page is displayed, the method further comprises:

According to the user's touch operation on the route operation option, display the route operation page, where the route operation page is used to display the route operation progress window of the drone;

If the control terminal is connected to multiple drones, the route operation progress windows of each drone are arranged and displayed on the route operation page.
The route planning method according to claim 25, wherein after the route operation progress window of each drone is arranged and displayed on the route operation page, the method further comprises:

Acquire the user's click operation on the route operation progress window, and according to the user's click operation on the route operation progress window, determine the target drone, and display the shooting picture of the target drone.
The route planning method according to claim 25, wherein the control terminal is provided with a route operation progress window selection control key, and the selection control key is used to select the route operation progress window; After the page arrangement shows the route operation progress window of each drone, it also includes:

Acquire the user's trigger operation on the selection control key, and according to the trigger operation, determine the target drone, and display the shooting picture of the target drone.
A route planning method, characterized in that it includes:

Displaying a work area division page, wherein the work area division page displays a target work area, and the target work area is a work area to be divided;

Acquiring a user's segmentation operation on the target work area, and determining whether the segmentation operation is a valid segmentation operation, wherein the segmentation operation is used to segment the target work area;

If the dividing operation is an effective dividing operation, generating a dividing position line of the target work area, and obtaining the first sub-area and the second sub-area of the target working area according to the dividing position line;

Plan the flight path of the drone in the first sub-area and the second sub-area respectively.
The route planning method according to claim 28, wherein the segmentation operation includes a user's sliding operation on the target work area, and the segmentation position line includes a sliding start point and a sliding end point of the sliding operation The line segment formed by the connection.
The route planning method according to claim 28, wherein the segmentation operation includes acquiring a user's touch operation on a segmented page of the work area, and the segmentation position line includes a touch position point of the touch operation A line segment formed by connecting the unpaired touch position points in the dividing page of the work area.
The route planning method according to claim 28, wherein the planning the flight route of the drone in the first sub-area and the second sub-area, respectively, comprises:

Based on a preset route planning algorithm, plan the flight routes of the UAV in the first sub-area and the second sub-area respectively; or,

Obtain the route planning operations of the user for the first sub-area and the second sub-area, and plan the flight routes of the drone in the first sub-area and the second sub-area respectively according to the route planning operation.
The route planning method according to claim 28, wherein after determining whether the segmentation operation is a valid segmentation operation, the method further comprises:

If the segmentation operation is an invalid segmentation operation, the two segmentation points corresponding to the segmentation operation are acquired, and the line segment formed by the connection of the two segmentation points corresponding to the segmentation operation is displayed according to a preset display mode to remind The division operation described by the user is an invalid division operation.
The route planning method according to claim 32, wherein the line segment formed by connecting two touch position points corresponding to the division operation is displayed according to a preset display mode to remind the user that the division operation is After the invalid split operation, it also includes:

Obtain the user's drag operation on the division point, and update the line segment to which the division point belongs according to the drag operation.
The route planning method according to claim 28, wherein the route planning method further comprises:

Acquire a user's click operation on an end point of the dividing position line, and display a split point fine-tuning pop-up window according to the click operation, wherein the split-point fine-tuning pop-up window displays an endpoint fine-tuning control, and the end-point fine-tuning control is Adjusting the position of the end point in the divided page of the work area;

According to the user's touch operation on the endpoint fine-tuning control, adjust the position of the endpoint in the divided page of the work area.
The route planning method according to claim 34, wherein the end point fine-tuning control comprises at least one of the following: a move up control, a move down control, a move left control, a move right control, and a back move control. The control is used to control the end point to move up, the move down control is used to control the end point to move down, the left move control is used to control the end point to move left, and the right move control is used to control the end point to right. The retreat control is used to control the end point to retreat to the position before adjustment.
The route planning method according to claim 34, wherein the operation area segmentation page displays a pop-up window adjustment control, and the pop-up window adjustment control is used to adjust the size of the pop-up window; and the display split point fine-tuning the pop-up window After that, it also includes:

Acquire the user's touch operation on the pop-up window adjustment control, and control the control terminal to display the split point fine-tuning pop-up window in full screen according to the user's touch operation on the pop-up window adjustment control.
The route planning method according to claim 28, wherein the work area segmentation page further displays a starting point setting control, and the starting point setting control is used to control the control terminal to display a starting point setting pop-up window; After the planning of the flight route of the UAV in the first sub-area and the second sub-area, the planning further includes:

According to the user's touch operation on the starting point setting control, a starting point setting pop-up window is displayed, wherein the starting point setting pop-up window displays the distance between the current flight starting point of the drone and the drone ；

Acquire the user's selection operation on the vertex of the target route area, and update the flight starting point and the distance of the drone according to the selection operation, and display the updated distance;

Acquire the starting point confirmation instruction triggered by the user in the starting point setting pop-up window, and according to the starting point confirmation instruction, re-plan the flight route of the drone in the first sub-area and the second sub-area respectively.
The route planning method according to any one of claims 28 to 37, wherein the work area segmentation page further displays a route segmentation control, and the route segmentation control is used to control the control terminal to display the route planning page ; The route planning method also includes:

According to the user's touch operation on the route segmentation control, display a route planning page, where the route planning page displays the flight route of the drone in the target operation area;

Segment the flight route according to the user's route segmentation operation on the target operation area to obtain the target route area corresponding to the route segmentation operation;

The target route area generates a flight route in the target route area.
The route planning method according to claim 38, wherein the flight route is segmented according to the route segmentation operation of the target operation area by the user to obtain the target route area corresponding to the route segmentation operation, include:

Acquiring the first flight route and the second flight route selected by the user in the target operation area, and calculating the area percentage of the area between the first flight route and the second flight route and the target operation area;

Determining whether the area percentage is greater than or equal to a preset percentage threshold;

If the area percentage is greater than or equal to a preset percentage threshold, the area between the first flight route and the second flight route is taken as the target route area.
The route planning method according to claim 38, wherein the route planning page displays a first route dividing line and a second route dividing line, and the first route dividing line and the second route dividing line are used for dividing The flight route within the target operation area; the segmentation of the flight route according to the route segmentation operation of the target operation area by the user to obtain the target route area corresponding to the route segmentation operation includes:

Acquiring a user's movement operation on the first route dividing line and/or the second route dividing line, and moving the first route dividing line and/or the second route dividing line according to the moving operation;

Determining the area percentage of the area between the first route dividing line and the second route dividing line after the movement and the target operation area;

Determining whether the area percentage is greater than or equal to a preset percentage threshold;

If the area percentage is greater than or equal to the preset percentage threshold, the area between the moved first and second route dividing lines is taken as the target route area.
The route planning method according to claim 40, wherein the first route dividing line and the second route dividing line are parallel to the flight route in the target operation area.
The route planning method according to claim 38, wherein the route planning page further displays a route split pop-up window, the route split pop-up window displays a route split bar, and the route split bar is used to control the The control terminal divides the flight route in the target operation area; the dividing the flight route according to the user's route segmentation operation on the target operation area to obtain the target route area corresponding to the route segmentation operation includes:

Acquire the user's sliding operation on the first segmentation control and/or the second segmentation control in the route segmentation bar, and slide the first segmentation control and/or the second segmentation control in the route segmentation bar according to the sliding operation Two split control;

Determine the target route area according to the sliding positions of the first segmentation control and the second segmentation control on the route segmentation bar.
The route planning method according to claim 42, wherein the determining the target route area according to the sliding positions of the first segmentation control and the second segmentation control on the route segmentation bar comprises :

Determine the first route segmentation percentage and the second route segmentation percentage according to the positions of the first segmentation control and the second segmentation control on the route segmentation bar after sliding;

Acquire the total number of flight routes in the target operation area, and determine the first route number and the second route number according to the total number, the first route division percentage, and the second route division percentage;

The area formed by each flight route between the first route number and the second route number in the target operation area is taken as the target route area.
The route planning method according to claim 43, wherein the route segmentation bar displays the first route segmentation percentage and the second route segmentation percentage, and the first route segmentation is marked on the route segmentation bar The area between the percentage and the division percentage of the second route.
The route planning method according to claim 42, wherein the route segmentation pop-up window also displays route deletion controls and segmentation icon controls, and the route deletion controls are used to control the control terminal to delete the target route area To restore the target work area to an initial state, and the split icon control is used to control the control terminal to display or hide the split control.
The route planning method according to claim 38, wherein the route planning page further displays a route direction adjustment control, and the route direction adjustment control is used to adjust the direction of the flight route in the target operation area; The method also includes:

Acquire the user's touch operation on the route direction adjustment control, and adjust the direction of the flight route in the target operation area according to the user's touch operation on the route direction adjustment control.
The route planning method according to claim 38, wherein the flight route is segmented according to the route segmentation operation of the target operation area by the user to obtain the target route area corresponding to the route segmentation operation. ,Also includes:

Mark the flight route within the target route area.
A control terminal, characterized in that the control terminal includes a memory, a processor, and a display device;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Displaying a route planning page through the display device, wherein the route planning page displays the flight route of the drone in the operation area;

Segment the flight route according to the route segmentation operation of the operation area by the user to obtain the target route area corresponding to the route segmentation operation;

According to the target route area, a flight route in the target route area is generated.
The control terminal according to claim 48, wherein the processor realizes segmentation of the flight route according to the route segmentation operation of the operation area by the user to obtain the target route area corresponding to the route segmentation operation When used to achieve:

Acquiring the first flight route and the second flight route selected by the user in the operation area, and calculating the area percentage of the area between the first flight route and the second flight route and the operation area;

Determining whether the area percentage is greater than or equal to a preset percentage threshold;

If the area percentage is greater than or equal to a preset percentage threshold, the area between the first flight route and the second flight route is taken as the target route area.
The control terminal according to claim 48, wherein the route planning page displays a first route dividing line and a second route dividing line, and the first route dividing line and the second route dividing line are used to divide the route. The flight route in the operation area; when the processor realizes the segmentation of the flight route according to the route segmentation operation of the operation area by the user, and obtains the target route area corresponding to the route segmentation operation, it is used to realize:

Acquiring a user's movement operation on the first route dividing line and/or the second route dividing line, and moving the first route dividing line and/or the second route dividing line according to the moving operation;

Determining the area percentage of the area between the first route dividing line and the second route dividing line after the movement and the operation area;

Determining whether the area percentage is greater than or equal to a preset percentage threshold;

If the area percentage is greater than or equal to the preset percentage threshold, the area between the moved first and second route dividing lines is taken as the target route area.
The control terminal according to claim 50, wherein the first route dividing line and the second route dividing line are parallel to the flight route in the operation area.
The control terminal according to claim 48, wherein the route planning page also displays a route split pop-up window, the route split pop-up window displays a route split bar, and the route split bar is used to control the control The terminal divides the flight route in the operation area; the processor realizes the division of the flight route according to the user's route division operation on the operation area, and when the target route area corresponding to the route division operation is obtained, use To achieve:

Acquire the user's sliding operation on the first segmentation control and/or the second segmentation control in the route segmentation bar, and slide the first segmentation control and/or the second segmentation control in the route segmentation bar according to the sliding operation Two split control;

Determine the target route area according to the sliding positions of the first segmentation control and the second segmentation control on the route segmentation bar.
The control terminal according to claim 52, wherein the processor realizes that the target route area is determined according to the sliding positions of the first segmentation control and the second segmentation control on the route segmentation bar. When used to achieve:

Determine the first route segmentation percentage and the second route segmentation percentage according to the positions of the first segmentation control and the second segmentation control on the route segmentation bar after sliding;

Acquire the total number of flight routes in the operation area, and determine the first route number and the second route number according to the total number, the first route division percentage, and the second route division percentage;

The area formed by each flight route between the first route number and the second route number in the operation area is taken as the target route area.
The control terminal according to claim 53, wherein the route segmentation bar displays the first route segmentation percentage and the second route segmentation percentage, and the first route segmentation percentage is marked on the route segmentation bar The area between the percentage of division of the second route.
The control terminal according to claim 52, wherein the route segmentation pop-up window further displays a route deletion control and a segmentation icon control, and the route deletion control is used to control the control terminal to delete the target route area, In order to restore the work area to an initial state, the split icon control is used to control the control terminal to display or hide the split control.
The control terminal according to claim 48, wherein the route planning page further displays a route direction adjustment control, and the route direction adjustment control is used to adjust the direction of the flight route in the operation area; the processing The implementation is also used to achieve:

Acquire the user's touch operation on the route direction adjustment control, and adjust the direction of the flight route in the operation area according to the user's touch operation on the route direction adjustment control.
The control terminal according to claim 48, wherein the processor realizes segmentation of the flight route according to the route segmentation operation of the operation area by the user to obtain the target route area corresponding to the route segmentation operation After that, it is also used to achieve:

Mark the flight route within the target route area.
The control terminal according to any one of claims 48 to 57, wherein the processor implements segmentation of the flight route according to the route segmentation operation of the operation area by the user to obtain the route segmentation operation After the corresponding target route area, it is also used to achieve:

Acquire the user's touch operation on the target route area, and display a work area division page according to the touch operation, wherein the work area division page displays the target route area;

Acquiring a user's segmentation operation on the target route area, and determining whether the segmentation operation is an effective segmentation operation, where the segmentation operation is used to segment the target route area;

If the segmentation operation is an effective segmentation operation, generating a segmentation position line of the target route region, and obtaining the first subregion and the second subregion of the target route region according to the segmentation position line;

Plan the flight path of the drone in the first sub-area and the second sub-area respectively.
The control terminal according to claim 58, wherein the segmentation operation includes a user's sliding operation on the target route area, and the segmentation position line includes a sliding start point and a sliding end point of the sliding operation connected The formed line segment.
The control terminal according to claim 58, wherein the division operation includes acquiring a user's touch operation on a divided page of the work area, and the division position line includes a touch position point of the touch operation and The work area is divided into a line segment formed by connecting unpaired touch position points in the page.
The control terminal according to claim 58, characterized in that, when the processor realizes the planning of the flight route of the drone in the first sub-area and the second sub-area, respectively, it is used to realize:

Based on a preset route planning algorithm, plan the flight routes of the UAV in the first sub-area and the second sub-area respectively; or,

Obtain the route planning operations of the user for the first sub-area and the second sub-area, and plan the flight routes of the drone in the first sub-area and the second sub-area respectively according to the route planning operation.
The control terminal according to claim 58, wherein after the processor realizes the determination of whether the division operation is a valid division operation, it is further configured to realize:

If the segmentation operation is an invalid segmentation operation, the two segmentation points corresponding to the segmentation operation are acquired, and the line segment formed by the connection of the two segmentation points corresponding to the segmentation operation is displayed according to a preset display mode to remind The division operation described by the user is an invalid division operation.
The control terminal according to claim 62, wherein the processor realizes that according to a preset display mode, a line segment formed by connecting two touch position points corresponding to the division operation is displayed to remind the user of the division After the operation is an invalid split operation, it is also used to achieve:

Obtain the user's drag operation on the division point, and update the line segment to which the division point belongs according to the drag operation.
The control terminal according to claim 48, wherein the processor is further configured to implement:

Acquire a user's click operation on an end point of the segmentation position line, and display a split point fine-tuning pop-up window according to the click operation, wherein the split point fine-tuning pop-up window displays an end point fine-tuning control, and the end-point fine-tuning control is used Adjusting the position of the end point in the divided page of the work area;

According to the user's touch operation on the endpoint fine-tuning control, adjust the position of the endpoint in the divided page of the work area.
The control terminal according to claim 64, wherein the endpoint fine-tuning control comprises at least one of the following: a move up control, a move down control, a move left control, a move right control, and a back control, the move up control Used to control the end point to move up, the move down control is used to control the end point to move down, the left move control is used to control the end point to move left, and the right move control is used to control the end point to move right , The retreat control is used to control the endpoint to retreat to the position before adjustment.
The control terminal according to claim 64, wherein a pop-up window adjustment control is displayed on the work area segmentation page, and the pop-up window adjustment control is used to adjust the size of the pop-up window; and the processor implements fine adjustment of the display split point After the pop-up window, it is also used to achieve:

Acquire the user's touch operation on the pop-up window adjustment control, and control the control terminal to display the split point fine-tuning pop-up window in full screen according to the user's touch operation on the pop-up window adjustment control.
The control terminal according to claim 58, wherein the work area division page further displays a starting point setting control, and the starting point setting control is used to control the control terminal to display a starting point setting pop-up window; After the processor realizes the planning of the flight route of the UAV in the first sub-area and the second sub-area respectively, it is also used to realize:

According to the user's touch operation on the starting point setting control, a starting point setting pop-up window is displayed, wherein the starting point setting pop-up window displays the distance between the current flight starting point of the drone and the drone ；

Acquire the user's selection operation on the vertex of the target route area, and update the flight starting point and the distance of the drone according to the selection operation, and display the updated distance;

Acquire the starting point confirmation instruction triggered by the user in the starting point setting pop-up window, and according to the starting point confirmation instruction, re-plan the flight route of the drone in the first sub-area and the second sub-area respectively.
The control terminal according to any one of claims 48 to 57, wherein:

Before the processor realizes the display of the route planning page, it is also used to realize:

Display a control main page, wherein the control main page displays route planning options and operation task management options;

Acquire the user's selection operation of the route planning option, and display the route planning page according to the user's selection operation of the route planning option;

And/or, the generating a flight route in the target route area according to the target route area includes:

Acquire the route confirmation operation triggered by the user on the route planning page, and generate the flight route in the target route area according to the route confirmation operation and the target route area.
The control terminal according to claim 68, wherein after the processor realizes the display control main page, it is further configured to realize:

Acquire the user's selection operation on the job task management option, and display a job task management page according to the user's selection operation on the job task management option, where the job task management page displays an upload control;

According to the user's touch operation on the upload control, the job task to be uploaded is obtained, and the job task to be uploaded is uploaded to the cloud.
The control terminal according to claim 69, wherein the job task management page displays a job task list, and the job task pop-up window corresponding to the job task that has not been uploaded to the cloud is displayed in the job task pop-up window. With a mark, the job task pop-up window corresponding to each job task in the job task list is arranged according to the distance between the job area and the control terminal.
The control terminal according to claim 69, wherein the job task management page further displays a task search box and a download control, the task search box is used to search for a job task, and the download control is used to download from the cloud Homework tasks.
The control terminal according to claim 68, wherein the main control page also displays route operation options; after the processor realizes the display of the main control page, it is further used to realize:

According to the user's touch operation on the route operation option, display the route operation page, where the route operation page is used to display the route operation progress window of the drone;

If the control terminal is connected to multiple drones, the route operation progress window of each drone will be arranged and displayed on the route operation page.
The control terminal according to claim 72, wherein the processor realizes that after the route operation progress window of each drone is arranged and displayed on the route operation page, it is further used to realize:

Acquire the user's click operation on the route operation progress window, and according to the user's click operation on the route operation progress window, determine the target drone, and display the shooting picture of the target drone.
The control terminal according to claim 72, characterized in that the control terminal is provided with a selection control key for the flight line operation progress window, and the selection control key is used to select the flight line operation progress window; the processor is implemented in the After the route operation page is arranged to display the route operation progress window of each drone, it is also used to achieve:

Acquire the user's trigger operation on the selection control key, and according to the trigger operation, determine the target drone, and display the shooting picture of the target drone.
A control terminal, characterized in that the control terminal includes a memory, a processor, and a display device;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Displaying a work area division page by the display device, wherein the work area division page displays a target work area, and the target work area is a work area to be divided;

Acquiring a user's segmentation operation on the target work area, and determining whether the segmentation operation is a valid segmentation operation, wherein the segmentation operation is used to segment the target work area;

If the dividing operation is an effective dividing operation, generating a dividing position line of the target work area, and obtaining the first sub-area and the second sub-area of the target working area according to the dividing position line;

Plan the flight path of the drone in the first sub-area and the second sub-area respectively.
The control terminal according to claim 75, wherein the segmentation operation includes a user's sliding operation on the target work area, and the segmentation position line includes a sliding start point and a sliding end point of the sliding operation connected The formed line segment.
The control terminal according to claim 75, wherein the dividing operation comprises acquiring a user's touch operation on a divided page of the work area, and the dividing position line comprises a touch position point of the touch operation and The work area is divided into a line segment formed by connecting unpaired touch position points in the page.
The control terminal according to claim 75, wherein when the processor realizes the planning of the flight route of the drone in the first sub-area and the second sub-area, respectively, it is used to realize:

Based on a preset route planning algorithm, plan the flight routes of the UAV in the first sub-area and the second sub-area respectively; or,

Obtain the route planning operations of the user for the first sub-area and the second sub-area, and plan the flight routes of the drone in the first sub-area and the second sub-area respectively according to the route planning operation.
The control terminal according to claim 75, wherein after the processor realizes the determination of whether the division operation is a valid division operation, it is further configured to realize:

If the segmentation operation is an invalid segmentation operation, the two segmentation points corresponding to the segmentation operation are acquired, and the line segment formed by the connection of the two segmentation points corresponding to the segmentation operation is displayed according to a preset display mode to remind The division operation described by the user is an invalid division operation.
The control terminal according to claim 79, wherein the processor realizes that according to a preset display mode, a line segment formed by connecting two touch position points corresponding to the division operation is displayed to remind the user of the division After the operation is an invalid split operation, it is also used to achieve:

Obtain the user's drag operation on the division point, and update the line segment to which the division point belongs according to the drag operation.
The control terminal according to claim 75, wherein the processor further comprises:

Acquire a user's click operation on an end point of the segmentation position line, and display a split point fine-tuning pop-up window according to the click operation, wherein the split point fine-tuning pop-up window displays an end point fine-tuning control, and the end-point fine-tuning control is used Adjusting the position of the end point in the divided page of the work area;

According to the user's touch operation on the endpoint fine-tuning control, adjust the position of the endpoint in the divided page of the work area.
The control terminal according to claim 81, wherein the endpoint fine-tuning control comprises at least one of the following: a move up control, a move down control, a move left control, a move right control, and a back control, the move up control Used to control the end point to move up, the move down control is used to control the end point to move down, the left move control is used to control the end point to move left, and the right move control is used to control the end point to move right , The retreat control is used to control the end point to retreat to the position before adjustment.
The control terminal according to claim 81, wherein a pop-up window adjustment control is displayed on the work area segmentation page, and the pop-up window adjustment control is used to adjust the size of the pop-up window; and the processor implements fine adjustment of the display split point After the pop-up window, it is also used to achieve:

Acquire the user's touch operation on the pop-up window adjustment control, and control the control terminal to display the split point fine-tuning pop-up window in full screen according to the user's touch operation on the pop-up window adjustment control.
The control terminal according to claim 75, wherein the work area division page further displays a starting point setting control, and the starting point setting control is used to control the control terminal to display a starting point setting pop-up window; After the processor realizes the planning of the flight route of the UAV in the first sub-area and the second sub-area respectively, it is also used to realize:

According to the user's touch operation on the starting point setting control, a starting point setting pop-up window is displayed, wherein the starting point setting pop-up window displays the distance between the current flight starting point of the drone and the drone ；

Acquire the user's selection operation on the vertex of the target route area, and update the flight starting point and the distance of the drone according to the selection operation, and display the updated distance;

Acquire the starting point confirmation instruction triggered by the user in the starting point setting pop-up window, and according to the starting point confirmation instruction, re-plan the flight route of the drone in the first sub-area and the second sub-area respectively.
The control terminal according to any one of claims 75 to 84, wherein the work area segmentation page further displays a route segmentation control, and the route segmentation control is used to control the control terminal to display a route planning page; The processor is also used to implement:

According to the user's touch operation on the route segmentation control, display a route planning page, where the route planning page displays the flight route of the drone in the target operation area;

Segment the flight route according to the user's route segmentation operation on the target operation area to obtain the target route area corresponding to the route segmentation operation;

According to the target route area, a flight route in the target route area is generated.
The control terminal according to claim 85, wherein the processor implements segmentation of the flight route according to the route segmentation operation of the target operation area by the user to obtain the target route corresponding to the route segmentation operation Area, used to achieve:

Acquiring the first flight route and the second flight route selected by the user in the target operation area, and calculating the area percentage of the area between the first flight route and the second flight route and the target operation area;

Determining whether the area percentage is greater than or equal to a preset percentage threshold;

If the area percentage is greater than or equal to a preset percentage threshold, the area between the first flight route and the second flight route is taken as the target route area.
The control terminal according to claim 85, wherein the route planning page displays a first route dividing line and a second route dividing line, and the first route dividing line and the second route dividing line are used to divide the route. The flight route in the target operation area; when the processor realizes the segmentation of the flight route according to the route segmentation operation of the target operation area by the user to obtain the target route area corresponding to the route segmentation operation, it is used for achieve:

Acquiring the user's movement operation on the first route dividing line and/or the second route dividing line, and moving the first route dividing line and/or the second route dividing line according to the moving operation;

Determining the area percentage of the area between the first route dividing line and the second route dividing line after the movement and the target operation area;

Determining whether the area percentage is greater than or equal to a preset percentage threshold;

If the area percentage is greater than or equal to the preset percentage threshold, the area between the moved first and second route dividing lines is taken as the target route area.
The control terminal according to claim 87, wherein the first route dividing line and the second route dividing line are parallel to the flight route in the target operation area.
The control terminal according to claim 85, wherein the route planning page also displays a route split pop-up window, the route split pop-up window displays a route split bar, and the route split bar is used to control the control When the terminal divides the flight route in the target operation area; the processor realizes the division of the flight route according to the route division operation of the target operation area by the user to obtain the target route area corresponding to the route division operation To achieve:

Acquire the user's sliding operation on the first segmentation control and/or the second segmentation control in the route segmentation bar, and slide the first segmentation control and/or the second segmentation control in the route segmentation bar according to the sliding operation Two split control;

Determine the target route area according to the sliding positions of the first segmentation control and the second segmentation control on the route segmentation bar.
The control terminal according to claim 89, wherein the processor realizes that the target route area is determined according to the sliding positions of the first segmentation control and the second segmentation control on the route segmentation bar. When used to achieve:

Determine the first route segmentation percentage and the second route segmentation percentage according to the positions of the first segmentation control and the second segmentation control on the route segmentation bar after sliding;

Acquire the total number of flight routes in the target operation area, and determine the first route number and the second route number according to the total number, the first route division percentage, and the second route division percentage;

The area formed by each flight route between the first route number and the second route number in the target operation area is taken as the target route area.
The control terminal according to claim 90, wherein the route segmentation bar displays the first route segmentation percentage and the second route segmentation percentage, and the first route segmentation percentage is marked on the route segmentation bar The area between the percentage of division of the second route.
The control terminal according to claim 89, wherein the route segmentation pop-up window further displays a route deletion control and a segmentation icon control, and the route deletion control is used to control the control terminal to delete the target route area, In order to restore the target work area to an initial state, the split icon control is used to control the control terminal to display or hide the split control.
The control terminal according to claim 85, wherein the route planning page further displays a route direction adjustment control, and the route direction adjustment control is used to adjust the direction of the flight route in the target operation area; The processor is also used to achieve:

Acquire the user's touch operation on the route direction adjustment control, and adjust the direction of the flight route in the target operation area according to the user's touch operation on the route direction adjustment control.
The control terminal according to claim 85, wherein the processor implements segmentation of the flight route according to the route segmentation operation of the target operation area by the user to obtain the target route corresponding to the route segmentation operation After the area, it is also used to achieve:

Mark the flight route within the target route area.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes as described in any one of claims 1 to 47. The route planning method described.