WO2021097640A1

WO2021097640A1 - Flight control method and device and system

Info

Publication number: WO2021097640A1
Application number: PCT/CN2019/119327
Authority: WO
Inventors: 黄振昊; 石仁利; 何刚
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-19
Filing date: 2019-11-19
Publication date: 2021-05-27
Also published as: CN112292648A

Abstract

A flight control method and device and a system. The method comprises: displaying a first air route covering a first target region, wherein the first air route comprises multiple parallel air route segments, and each air route segment has at least three waypoints, wherein two of the waypoints are located at two ends of the air route segment (401); acquiring a second target region selected by a user in the first target region (402); and generating a second air route according to waypoints of the first air route not covered by the second target region or waypoints of the first air route covered by the second target region, and sending the second air route to an unmanned aerial vehicle such that the unmanned aerial vehicle performs a flight operation according to the second air route (403). The flight control method and device and the system reduce user operations, and have a high degree of intelligence.

Description

Flight control method, equipment and system

Technical field

This application relates to the technical field of flight control, and in particular to a flight control method, equipment and system.

Background technique

In recent years, with the development of science and technology, the application of unmanned aerial vehicles has become more and more extensive.

Usually, the unmanned aerial vehicle's route is set through the control equipment of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to fly according to the set route to complete the corresponding task. Specifically, the control device can automatically generate the route of the unmanned aerial vehicle according to the target area delineated by the user, and send the route to the unmanned aerial vehicle, and the unmanned aerial vehicle can automatically fly according to the route.

However, for some specific scenes in some areas of the target area, for example, there are obstacles in this part of the area that hinder the flight, or when the part of the area needs to be re-flighted, the user needs to re-plan the route, so the operation is complicated and more intelligent. Low problem.

Summary of the invention

The embodiments of the present application provide a flight control method, equipment, and system to solve the problems of complicated operation and low intelligence in the prior art.

In the first aspect, an embodiment of the present application provides a flight control method, which is applied to a control device, and the control device is used to control the flight of an unmanned aerial vehicle; including:

Display the first route covering the first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments has at least three waypoints, two of which are located on the flight segments Both ends of

Acquiring a second target area selected by the user in the first target area;

Generate a second route according to the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, and send the second route to The unmanned aerial vehicle, so that the unmanned aerial vehicle can perform a flight operation according to the second route.

In a second aspect, an embodiment of the present application provides a flight control method, which is applied to a control device, and the control device is used to control the flight of an unmanned aerial vehicle; including:

Display a first route covering the first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends;

Acquiring a second target area selected by the user in the first target area;

Determine the target flight segments that overlap with the second target area among the plurality of flight segments and that are adjacent to each other, and add waypoints between the two ends of the target flight segment;

According to the waypoints of the first route not covered by the second target area, generate a second route, and send the second route to the unmanned aerial vehicle so that the unmanned aerial vehicle can follow the Perform flight operations on the second route.

In a third aspect, an embodiment of the present application provides a control device. The control device is used to control the flight of an unmanned aerial vehicle and includes: a processor and a memory; the memory is used to store program codes; the processor calls The program code, when the program code is executed, is used to perform the following operations:

Acquiring a second target area selected by the user in the first target area;

In a fourth aspect, an embodiment of the present application provides an unmanned aerial system, including: a control device and an unmanned aerial vehicle;

The control device is used to display a first route covering a first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with at least three waypoints, two of which are Waypoints are located at both ends of the flight segment; obtain the second target area selected by the user in the first target area; and, according to the waypoints or the waypoints of the first route not covered by the second target area Generating a second route to the waypoints of the first route covered by the second target area, and sending the second route to the unmanned aerial vehicle;

The unmanned aerial vehicle is used to perform flight operations according to the second route.

In a fifth aspect, an embodiment of the present application provides an unmanned aerial vehicle, including: a control device and an unmanned aerial vehicle;

The control device is configured to display a first flight route covering a first target area; wherein the first flight route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends; obtaining The second target area selected by the user in the first target area; determining that the target flight segments overlapping and adjacent to the second target area among the plurality of flight segments are located on two of the target flight segments Adding waypoints between terminals; and, generating a second route based on the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, And sending the second route to the unmanned aerial vehicle, so that the unmanned aerial vehicle can perform flight operations according to the second route.

In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control the The computer executes the method according to any one of the first aspect.

In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control the The computer executes the method of any one of the second aspect.

In an eighth aspect, an embodiment of the present application provides a computer program, which is used to implement the method according to any one of the first aspect when the computer program is executed by a computer.

In a ninth aspect, a computer program is characterized in that, when the computer program is executed by a computer, it is used to implement the method according to any one of the second aspects.

The embodiments of the present application provide a flight control method, device, and system. By displaying a first route covering a first target area, a second target area selected by a user in the first target area is acquired, and the second target area is not covered by the second target area. The waypoints of the first route or the waypoints of the first route covered by the second target area are generated to generate the second route, which is based on the waypoints of the first route covering the first target area and the user’s position in the first target area. The selected second target area generates a second route for the second target area in a special scenario, so that the unmanned aerial vehicle can perform flight operations according to the second route. Compared with the traditional technology, it reduces user operations and improves intelligence.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Figures 1 to 2 are schematic diagrams of application scenarios of the flight control method provided by the embodiments of this application;

Figure 3 is a schematic diagram of a route in the prior art;

FIG. 4 is a schematic flowchart of a flight control method provided by an embodiment of the application;

5 to 8D are schematic diagrams of the route of the flight control method provided by the embodiments of this application;

FIG. 9 is a schematic flowchart of a flight control method provided by another embodiment of this application;

10-12B are schematic diagrams of the route of the flight control method provided by the embodiments of the application;

FIG. 13 is a schematic structural diagram of a control device provided by an embodiment of this application;

FIG. 14 is a schematic structural diagram of a control device provided by another embodiment of this application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, 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 It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

Fig. 1 is a schematic diagram of an application scenario of the flight control method provided by an embodiment of the application. As shown in Fig. 1, the application scenario includes a control device 11 and an unmanned aerial vehicle 12. The control terminal 11 is in communication connection with the unmanned aerial vehicle 12 and controls The device 11 is used to control the flight of the unmanned aerial vehicle 12. Specifically, the control terminal 11 can set up a route according to user requirements and send the route to the unmanned aerial vehicle 12, and the unmanned aerial vehicle 12 can perform flight operations according to the route sent by the control terminal 11. Exemplarily, the control terminal 11 includes a remote controller with a screen, a smart phone, a tablet computer, a palmtop computer, and the like.

It should be noted that the specific manner of communication and connection between the control device 11 and the UAV 12 is not limited in this application. Optionally, the control device 11 may be directly communicatively connected with the UAV 12, or, as shown in FIG. 2, the control device 11 may be communicatively connected with the UAV 12 through a relay device. Taking the control device 11 as a smart phone as an example, the relay device may include a remote control. Taking the control device 11 as a remote controller with a screen as an example, the relay device may include other unmanned aerial vehicles.

Generally, the route of the coverage area 1 set by the control device 11 as shown in FIG. 3 may include a plurality of parallel flight segments, and by connecting these parallel flight segments, a bow-shaped route can be generated. It should be noted that the solid line in Figure 3 is used to illustrate a flight segment, and the points at both ends of the solid line are the waypoints.

Among them, there is a waypoint at both ends of each flight segment, and because the waypoints at both ends of a flight segment can uniquely determine the flight segment, the memory of the flight controller of the unmanned aerial vehicle is limited, so the two ends of the flight segment No waypoints are set between. However, for some special scenes for area 2 in area 1 shown in FIG. 3, there are problems that user operations are complicated and the intelligence is low.

Specifically, as shown in FIG. 3, when there are obstacles in area 2 in FIG. 3 that hinder flight, when the unmanned aerial vehicle flies to the vicinity of area 2 according to the route shown in FIG. 3, the user needs to manually operate the unmanned aircraft. The human aircraft bypasses the area 2, and after the user manually controls the unmanned aircraft to bypass the area 2, the unmanned aircraft can continue to fly according to the route shown in FIG. 3.

As shown in Fig. 3, in the case that the area 2 in Fig. 3 needs to be re-flyed, after the unmanned aerial vehicle ends the flight according to the route shown in Fig. 3, the user needs to manually operate the unmanned aerial vehicle to re-fly in the area 2. Or, after the unmanned aerial vehicle ends the flight according to the route shown in Figure 3, the user needs to use the control device to re-plan the route for the area 2. Specifically, the user not only needs to delimit the area 2, but also needs the user to set the area 2. Corresponding flight status and other parameters, so that the control terminal can re-plan the route according to user settings.

In the flight control method provided by the embodiments of the present application, waypoints are provided between the two ends of at least part of the flight segment in the first flight route covering the first target area, and the waypoints are set according to the first target area selected by the user. 2. The target area and the waypoints of the segments of the first route, generate the second route, which realizes the second target area selected by the user based on the waypoints of the first route covering the first target area and the user in the first target area, Generate a second route for the second target area in a special scenario.

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.

FIG. 4 is a schematic flowchart of a flight control method provided by an embodiment of this application. The execution subject of this embodiment may be the control device 11, and specifically may be the processor of the control device 11. As shown in Figure 4, the method of this embodiment may include:

Step 401: Display a first route covering a first target area; wherein, the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with at least three waypoints, two of which are located at all. The two ends of the flight segment are described.

In this step, the relationship among the first target area X, the first route, the flight segments of the first flight route, and the waypoints of the flight segments may be as shown in FIG. 5. Referring to Fig. 5, the first route covering the first target area X includes a plurality of parallel flight segments S, and the two ends of each flight segment are respectively provided with waypoints a, and there is also set between the two ends of each flight segment. Waypoint b.

It should be noted that the waypoints at both ends of each flight segment and the waypoints between the two ends can be the default waypoints; or, the waypoints at both ends of each flight segment can be the default waypoints, and the waypoints between the two ends can be the default waypoints. The waypoint of can be a newly added waypoint, and the step of adding a waypoint can be performed before step 401, step 402, or step 403. Among them, the default waypoint refers to the waypoint that exists by default on the first route, and the new waypoint refers to the waypoint added on the basis of the default waypoint of the first route.

It should be noted that the number of waypoints set between the two ends of the flight segment in FIG. 5 is only an example, and the shape of the first target area X is only an example. The solid line in Figure 5 is used to illustrate a flight segment, and the points at both ends of the solid line are the waypoints.

It should be noted that Figure 5 is only a schematic diagram of the relationship between the first target area, the first route, the flight segments of the first flight route, and the waypoints of the flight segments, and is not displayed as a display of the first flight route covering the first target area. Way restrictions. When displaying the first route covering the first target area, the waypoints of the flight segment may not be displayed according to actual needs, or only the waypoints at both ends of the flight segment may be displayed, or all the waypoints of the flight segment may be displayed.

Step 402: Obtain a second target area selected by the user in the first target area.

In this step, on the basis of FIG. 5, as shown in FIG. 6A, the user can select the second target area Y1 in the first target area X. The second target area Y1 is a part of the first target area X. Or, as shown in FIG. 6B, the user may select the second target area Y2 in the first target area X. The second target area Y2 is a part of the first target area X.

It should be noted that the shape of the second target area in FIGS. 6A and 6B is only an example, and the shape of the second target area Y can be flexibly realized according to requirements. Illustratively, the shape of the second target area can be square, rectangular, Round, oval, etc.

Wherein, the specific method for obtaining the second target area selected by the user in the first target area can be implemented flexibly according to requirements. For example, the center point coordinates of the second target area Y input by the user and the distance from the center point to the edge of the area may be obtained, and the second target area may be determined according to the center point coordinates and the distance.

Step 403: Generate a second route according to the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, and combine the second The route is sent to the unmanned aerial vehicle so that the unmanned aerial vehicle can perform flight operations according to the second route.

In this step, the second route is determined based on the waypoints of the first route, and is aimed at the route of the second target area. Since the first route covering the first target area includes multiple parallel flight segments, there are waypoints between the two ends of each flight segment, and the second target area is included in the first target area, so the second The target area can cover part of the waypoints of the first route. Moreover, for the waypoints of the first route covered by the second target area, there are two situations, that is, either the waypoints need to be focused on by the unmanned aerial vehicle, or the waypoints are not required for the unmanned aerial vehicle to fly. Therefore, no matter what kind of special scene, after the user selects the second target area, the user can pass through the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area. In this way, a second route for the second target area is generated.

Wherein, the waypoints of the first route covered by the second target area include waypoints completely located in the second target area. In another preferred embodiment, the waypoints of the first route covered by the second target area further include waypoints located on the boundary of the second target area.

For a scenario where a key flight is performed to the second target area, the second route is a flight path for the key flight to the second target area. When the divided shape of the second target area is not suitable for generating a smoother flight path for other reasons, the flight that is actually outside the second target area and whose distance from the second target area is less than or equal to the preset threshold can be selected. Click to join the planning of the second route.

The waypoints of the first route not covered by the second target area include waypoints that are completely outside the second target area.

For the scenario of flying around the obstacle in the second target area, the second route is a route to fly around the second target area. When the waypoints outside the second target area are too close to the second target area, if these waypoints are also added to the planning of the second route, a collision problem may occur. Therefore, the waypoints that are actually outside the second target area and whose distance from the second target area are less than or equal to the preset threshold can be deleted first, and then route planning can be performed based on the remaining waypoints.

In another embodiment, when there is a waypoint whose distance from the boundary of the second target area is less than or equal to the distance threshold, the user may be prompted to reselect the second target area, which is more convenient for route planning, and no need for later Add or delete.

Exemplarily, the second route may be generated by default based on the waypoints of the first route not covered by the second target area; or, the second route may be generated by default based on the waypoints of the first route covered by the second target area; or , Based on user operations, it is possible to select whether to generate the second route based on the waypoints of the first route not covered by the second target area, or generate the second route based on the waypoints of the first route covered by the second target area.

In this embodiment, by displaying the first route that covers the first target area, the second target area selected by the user in the first target area is acquired, and the waypoints or second destinations of the first route not covered by the second target area are obtained. The waypoints of the first route covered by the target area generate the second route, which realizes the generation of special scenes based on the waypoints of the first route covering the first target area and the second target area selected by the user in the first target area Next, the second route for the second target area enables the unmanned aerial vehicle to perform flight operations according to the second route. Compared with the traditional technology, it reduces user operations and improves intelligence.

Based on the embodiment shown in FIG. 4, optionally, when the second target area is an obstacle area, generate a second route according to the waypoints of the first route not covered by the second target area The second route is used to instruct the unmanned aerial vehicle to bypass the second target area for flight operations. Here, for the obstacle circumvention scenario, the second target area selected by the user is the obstacle area that hinders the flight of the unmanned aerial vehicle. At this time, the waypoints of the first route not covered by the second target area can be generated to indicate the unmanned aircraft. The second route for the aircraft to bypass the second target area for flight operations.

Alternatively, for obstacle circumvention scenarios, the second target area selected by the user may be a non-obstacle area. In this case, the waypoints of the first route covered by the second target area may be generated to indicate the pair of unmanned aerial vehicles. The second route for flight operations in the second target area. Since the obstacle area is usually small and the operation area is usually larger in the flight area delineated by the user, in the obstacle avoidance scenario, passing the second target area as the obstacle area can facilitate the user's selection and improve the user experience.

Based on the embodiment shown in FIG. 4, optionally, when the second target area is a key area, generate a second route according to the waypoints of the first route covered by the second target area; The second route is used to instruct the unmanned aerial vehicle to perform flight operations on the second target area. Here, for the key flight scenario, the second target area selected by the user is the key area where the UAV needs to fly. At this time, the waypoints of the first route covered by the second target area can be generated to indicate the unmanned aircraft. The second route for the aircraft to perform flight operations on the second target area. In the flight area delineated by the user, the area that needs to be focused on flight is usually small, and the area that does not need to be focused on flight is usually larger. Therefore, in the key flight scenario, using the second target area as the key area can facilitate user selection. Improve user experience.

Exemplarily, the second route is composed of a plurality of straight line segments connected end to end, and no waypoint is set between the two ends of each straight line segment. By not setting waypoints between the two ends of each straight line segment, the number of waypoints in the second route generated can be reduced, which is beneficial to reduce the waypoints' occupation of the flight controller memory of the unmanned aerial vehicle and save flight control. The memory resources of the device.

Exemplarily, the two straight line segments connected end to end are not collinear. When the straight line segments connected end to end are collinear, it can indicate that there are redundant waypoints in the second route. The two straight line segments connected end to end are not collinear, which can further reduce the number of waypoints in the second route generated, which is beneficial Further reduce the waypoint's occupation of the flight controller memory of the unmanned aerial vehicle, thereby further saving the memory resources of the flight controller.

Exemplarily, the two straight line segments connected end to end are perpendicular to each other, and the two straight line segments connected end to end to the same straight line segment are parallel to each other. The two straight line segments connected end to end are perpendicular to each other and connected end to end with the same straight line segment to be parallel to each other, so that a bow-shaped second course can be formed.

On the basis of the embodiment shown in FIG. 4, optionally, generating the second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps A1 and B1 And step C1.

Step A1: Determine a target flight segment among the multiple flight segments according to the second target area, the target flight segment including flight segments that are not covered by the second target area and are not adjacent.

Wherein, the second route generated based on the waypoints of the first route not covered by the second target area is used to instruct the unmanned aerial vehicle to bypass the second target area to perform flight operations. The flight segment covered by the second target area and the waypoints between the two ends of the adjacent flight segments of the second target area need to be used for the second route to bypass the second target area, and the second target area is not covered and not adjacent The waypoints between the ends of the flight segment do not need to be used to achieve the second route bypassing the second target area, that is, the waypoints between the two ends of the target flight segment do not need to be used to achieve the second route bypassing the first 2. Target area. At this time, the waypoints between the two ends of the target flight segment can be considered as redundant waypoints.

Step B1: Delete the waypoints between the two ends of the target flight segment and the waypoints in the first route covered by the second target area to obtain the remaining waypoints of the first route.

Among them, since the second route generated from the waypoints of the first route not covered by the second target area is used to instruct the UAV to bypass the second target area for flight operations, the first route covered by the second target area The waypoints in are invalid waypoints that the UAV does not need to fly.

Therefore, by deleting the waypoints between the two ends of the target flight segment and the waypoints in the first route covered by the second target area, the remaining waypoints of the obtained first route can be generated to instruct the UAV to bypass The second route for flight operations in the second target area.

On the basis of FIG. 6A, after deleting the waypoints between the two ends of the target flight segment and the waypoints in the first route covered by the second target area, the remaining waypoints of the first route are shown in FIG. 7A. As shown in Figure 7A, on the basis of step B1, part of the waypoints between the two ends of the adjacent flight segments in the second target area can also be deleted. This part of the waypoints are also redundant waypoints, which can be implemented flexibly according to requirements. .

Step C1: Generate a second route according to the remaining waypoints of the first route.

By deleting some waypoints of the first route, the remaining waypoints of the first route are obtained, and the second route is generated based on the remaining waypoints of the first route, and the waypoints of the first route not covered by the second target area are directly extracted, and Compared with generating the second route, it can avoid the complicated implementation problems caused by the extraction of waypoints, which is conducive to simplifying the implementation. In addition, the number of waypoints involved in generating the second route can be reduced, which is conducive to reducing the amount of calculation and saving computing resources.

Exemplarily, step C1 may specifically include: deleting redundant waypoints among the remaining waypoints of the first route to obtain key waypoints, connecting the key waypoints in sequence to form multiple straight-line segments connected end to end, To generate a second route; wherein, the two straight line segments connected end to end are not collinear, and the key waypoints are the waypoints at both ends of each straight line segment. Among them, for obstacle circumvention scenarios, it is necessary to ensure that the connecting line does not cross or touch the second target area during the process of connecting the remaining waypoints in sequence.

For example, first delete waypoint b1, waypoint b2, waypoint b3, and waypoint b4 on the basis of Figure 7A, that is, waypoints b1, b2, b3, and b4 are redundant waypoints. The second route generated by the points is shown in Figure 7B. In Fig. 7B, taking waypoint 1 as the starting waypoint and waypoint 26 as the ending waypoint as an example, the order of the waypoints of the first route can be waypoint 1, waypoint 2,..., waypoint 26, so as to achieve a detour. Open the second target area.

Alternatively, on the basis of Fig. 7A, the remaining waypoints of the first route can be connected in sequence to form multiple end-to-end straight line segments, and the second route is generated based on the multiple end-to-end straight line segments. The two waypoints are shown in Figure 7C. Further, on the basis of Figure 7C, waypoint b1, waypoint b2, waypoint b3, and waypoint b4 can be deleted to obtain the second route as shown in Figure 7B.

By deleting redundant waypoints in the remaining waypoints of the first route, it is beneficial to reduce the waypoints' occupation of the memory of the flight controller of the unmanned aerial vehicle and save the memory resources of the flight controller.

Alternatively, generating the second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps A2 and B2.

Step A2: Delete redundant waypoints among the waypoints of the first route not covered by the second target area, and obtain key routes among the waypoints of the first route not covered by the second target area. point.

Among them, the waypoints of the first route not covered by the second target area can include redundant waypoints and key waypoints, where redundant waypoints can be understood as unnecessary waypoints used to generate the second route, key waypoints It can be understood as the necessary waypoints used to generate the second route, that is, the waypoints that define a straight line (points at both ends of the straight line)

For example, on the basis of Fig. 6A, the obtained key waypoints of the first route not covered by the second target area are shown in Fig. 7D.

Step B2: Connect the key waypoints in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein, the two straight line segments connected end to end are not collinear, and the key waypoints are each The waypoints at both ends of the straight line segment.

Among them, for obstacle circumvention scenarios, it is necessary to ensure that the connecting line does not cross or touch the second target area during the process of connecting key waypoints in sequence. For example, by sequentially connecting the key waypoints shown in FIG. 7D, the second route as shown in FIG. 7B is obtained.

Alternatively, generating the second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps A3 and B3.

Step A3, connecting the waypoints of the first route not covered by the second target area in sequence to generate a plurality of straight line segments connected end to end.

Among them, without distinguishing whether the waypoints of the first route not covered by the second target area are redundant waypoints or key waypoints, the waypoints of the first route not covered by the second target area can be directly connected in sequence to form multiple heads and tails. Connected straight segments. It can be understood that, when the waypoints of the first route not covered by the second target area include redundant waypoints, collinear straight line segments may exist among the generated multiple straight line segments connected end to end. For the obstacle circumvention scenario, it is necessary to ensure that the connecting line does not cross or touch the second target area during the sequential connection of the waypoints of the first route that are not covered by the second target area.

For example, on the basis of FIG. 6A, the waypoints of the first route not covered by the second target area are sequentially connected to generate a plurality of straight line segments connected end to end as shown in FIG. 7E.

Step B3: Delete redundant waypoints in the multiple straight-line segments connected end to end, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.

For example, by deleting the redundant waypoints in the straight line segment shown in FIG. 7E, the second route as shown in FIG. 7B is obtained.

On the basis of the embodiment shown in FIG. 4, optionally, generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps D1 and E1.

Step D1: Delete the waypoints in the first route that are not covered by the second target area, and obtain the remaining waypoints of the first route.

Wherein, the second route generated according to the waypoints of the first route covered by the second target area is used to instruct the unmanned aerial vehicle to perform flight operations on the second target area. The waypoints covered by the second target area need to be used to achieve the second target area of the second flight route, while the waypoints not covered by the second target area need not be used to achieve the second target area of the second flight route, that is, the second target The waypoints not covered by the area must be invalid waypoints that the UAV does not need to fly.

Therefore, by deleting the waypoints in the first route not covered by the second target area, the remaining waypoints of the obtained first route can be used to generate the second route for instructing the unmanned aerial vehicle to perform flight operations on the second target area. .

On the basis of FIG. 6B, after deleting the waypoints in the first route not covered by the second target area, the remaining waypoints of the first route are as shown in FIG. 8A.

Step E1: Generate a second route according to the remaining waypoints of the first route.

By deleting the waypoints in the first route not covered by the second target area, the remaining waypoints of the first route are obtained, and the second route is generated based on the remaining waypoints of the first route, and the first route covered by the second target area is directly extracted Compared with the waypoints of one route and generating the second route, it is possible to avoid the complicated implementation problems caused by extracting the waypoints, which is conducive to simplifying the implementation.

Similar to step C1, step E1 may specifically include: deleting redundant waypoints among the remaining waypoints of the first route to obtain key waypoints, connecting the key waypoints in sequence to form multiple straight-line segments connected end to end , To generate a second route; wherein, the key waypoints are the waypoints at both ends of each straight line segment.

For example, first delete waypoint b5, waypoint b6, and waypoint b7 on the basis of Figure 8A, that is, waypoints b5, b6, and b7 are redundant waypoints. After the key waypoint is obtained, the second waypoint is generated based on the key waypoint. The route is shown in Figure 8B. In Figure 8B, taking waypoint 1 as the starting waypoint and waypoint 6 as the ending waypoint as an example, the order of the waypoints of the first route can be waypoint 1, waypoint 2,..., waypoint 6, so as to realize the flight The second target area.

Alternatively, on the basis of Fig. 8A, the remaining waypoints of the first route can be connected in sequence to form multiple end-to-end straight line segments, and the second route generated based on the multiple end-to-end straight line segments is generated. The two waypoints are shown in Figure 8C. Further, on the basis of Figure 8C, waypoint b5, waypoint b6 and waypoint b7 can be deleted to obtain the second route as shown in Figure 8B.

Or, similar to step A2 and step B2, generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps D2 and E2.

Step D2: Delete redundant waypoints among the waypoints of the first route covered by the second target area, and obtain key waypoints among the waypoints of the first route covered by the second target area.

Step E2: Connect the key waypoints in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein, the two straight line segments connected end to end are not collinear, and the key waypoints are each The waypoints at both ends of the straight line segment.

For example, on the basis of FIG. 6B, the obtained key waypoints in the first route covered by the second target area are shown in FIG. 8D. On the basis of Fig. 8D, after connecting the key points in sequence, the second route obtained is shown in Fig. 8B.

Or, similar to step A3 and step B3, generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps D3 and E3.

Step D3, connecting the waypoints of the first route covered by the second target area in sequence to form a plurality of straight line segments connected end to end;

Step E3: Delete redundant waypoints in the multiple straight-line segments connected end to end, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.

For example, on the basis of FIG. 6B, the straight line segment formed by sequentially connecting the waypoints of the first route covered by the second target area is as shown in FIG. 8C. On the basis of Fig. 8C, after deleting the redundant waypoints, the second route obtained is shown in Fig. 8B.

Based on the embodiment shown in FIG. 4, optionally, the waypoints between the two ends of the flight segment can be distributed according to the manual setting of the user. The waypoints between the two ends of the flight segment are distributed according to the user's manual setting, so that the user can flexibly set the waypoints between the two ends of the flight segment, which is beneficial to improve flexibility. The specific method for obtaining the waypoints between the two ends of the flight segment manually can be flexibly implemented according to the needs. For example, the user's click operation between the two ends of the flight segment can be obtained, and the position of the flight segment corresponding to the click operation can be obtained Set waypoints.

Exemplarily, the waypoints between the two ends of the flight segment can be automatically set according to a preset target strategy. The waypoints between the two ends of the flight segment are automatically set according to the preset target strategy, which helps simplify user operations.

Exemplarily, the target strategy includes any one of the following: a strategy with a preset distance as an interval, a strategy with a preset number set at equal intervals, and a strategy with a set number that is positively related to a terrain undulation condition.

Among them, the preset distance can be flexibly realized according to requirements, and the preset distance can determine the number of waypoints set between the two ends of the flight segment. The larger the preset distance, the fewer the number of waypoints set between the two ends of the flight segment, the smaller the preset distance, the more the number of waypoints set between the two ends of the flight segment. The preset number can be flexibly implemented according to requirements, and the preset number is the number of waypoints set between the two ends of the flight segment.

Under normal circumstances, the smaller the terrain undulations, the better the flight environment conditions, and the smaller the probability of special consideration. The greater the terrain undulations, the worse the flight environment conditions, and the greater the probability that special considerations are required. Therefore, according to the number of settings and terrain The strategy that is positively correlated with the ups and downs automatically sets the waypoints between the two ends of the flight segment, and can flexibly control the granularity of setting waypoints between the two ends of the flight segment according to needs.

On the basis of the embodiment shown in FIG. 4, for example, the acquiring the second target area selected by the user in the first target area may specifically include: according to the user's position in the first target area The area selection operation determines that the user selects the second target area in the first target area. Therefore, the user can flexibly select the second target area in the first target area through the area selection operation, which is beneficial to simplify the user input and improve the user experience.

The above mainly describes the multiple parallel flight segments of the first route, and on the basis that there are waypoints between the two ends of each flight segment, according to the waypoints in the first route or the second target covered by the second target area The way points in the first route not covered by the area generate the second route. Alternatively, in the embodiment shown in 9 below, it is provided that on the basis of setting waypoints between the two ends of part of the flight segments in the plurality of flight segments, based on the flight path in the first route covered by the second target area Point or waypoint in the first route not covered by the second target area to generate the second route. In the embodiment shown in FIG. 9, the same content as in the foregoing embodiment will not be repeated.

FIG. 9 is a schematic flowchart of a flight control method provided by another embodiment of this application. The execution subject of this embodiment may be the control device 11, and specifically may be the processor of the control device 11. As shown in FIG. 9, the method of this embodiment may include:

Step 901: Display a first route covering the first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends.

In this step, the relationship among the first target area X, the first route, the flight segments of the first flight route, and the waypoints of the flight segments may be as shown in FIG. 10. Referring to FIG. 10, the first route covering the first target area X includes a plurality of parallel flight segments S, and two ends of each flight segment are respectively provided with waypoints a.

Step 902: Obtain a second target area selected by the user in the first target area.

In this step, on the basis of FIG. 10, as shown in FIG. 11A, the user can select the second target area Y1 in the first target area X, and the second target area Y1 is a part of the first target area X. Alternatively, as shown in FIG. 11B, the user can select the second target area Y2 in the first target area X, and the second target area Y2 is a part of the first target area X.

Step 903: Determine the target flight segments that overlap with the second target area among the plurality of flight segments and that are adjacent to each other, and add waypoints between the two ends of the target flight segment.

In this step, taking FIG. 11A as an example, the overlapping and adjacent target flight segments in the second target area are flight segments S1, S2, S3, and S4, respectively.

It should be noted that the specific method of adding waypoints between the two ends of the target flight segment can be implemented flexibly according to requirements. Exemplarily, the number of waypoints added between the two ends of each target flight segment may be the same, and the number of waypoints added between the two ends of each target flight segment is the same, which facilitates simplified implementation.

On the basis of Fig. 11A, the result after adding waypoints between the two ends of the target flight segment can be as shown in Fig. 12A. On the basis of Fig. 11B, the result after adding waypoints between the two ends of the target flight segment can be as shown in Fig. 12B. It should be noted that the way of adding waypoints in Fig. 12A and Fig. 12B is only an example.

Step 904: Generate a second route according to the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, and combine the second route The route is sent to the unmanned aerial vehicle so that the unmanned aerial vehicle can perform flight operations according to the second route.

In this embodiment, by displaying the first route covering the first target area, the second target area selected by the user in the first target area is acquired, and the multiple flight segments that overlap with and adjacent to the second target area are determined For the target flight segment, add waypoints between the two ends of the target flight segment, and generate a second route based on the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, Reduce user operations and improve intelligence. In addition, by adding waypoints between the two ends of the target segment of the multiple flight segments of the first route according to the second target area, the number of added waypoints can be reduced, which is beneficial to save the memory of the control device.

Similar to the embodiment shown in FIG. 4, step 904 may specifically include: when the second target area is an obstacle area, generating a second route according to the waypoints of the first route not covered by the second target area The second route is used to instruct the unmanned aerial vehicle to bypass the second target area for flight operations; when the second target area is a key area, according to the second target area covered by the first The waypoints of a route generate a second route; the second route is used to instruct the unmanned aerial vehicle to perform flight operations on the second target area.

On the basis of the embodiment shown in FIG. 9, optionally, the generating a second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps F1 and G1 .

Step F1: Delete the waypoints in the first route covered by the second target area, and obtain the remaining waypoints of the first route.

Among them, since the second route generated from the waypoints of the first route not covered by the second target area is used to instruct the UAV to bypass the second target area for flight operations, the first route covered by the second target area The waypoints in are invalid waypoints that the UAV does not need to fly. Therefore, by deleting the waypoints in the first route covered by the second target area, the obtained remaining waypoints of the first route can generate a second route for instructing the unmanned aerial vehicle to bypass the second target area for flight operations. .

On the basis of Fig. 12A, after deleting the waypoints in the first route covered by the second target area, the remaining waypoints of the first route are as shown in Fig. 7A. As shown in Figure 7A, based on step F, part of the waypoints between the two ends of the adjacent flight segments in the second target area can also be deleted. This part of the waypoints are also redundant waypoints, which can be implemented flexibly according to requirements. .

Step G1: Generate a second route according to the remaining waypoints of the first route.

It should be noted that the specific implementation of step G1 is similar to step C1 in the foregoing embodiment, and will not be repeated here.

On the basis of the embodiment in FIG. 9, optionally, the generating a second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps F2 and G2 .

Step F2: Delete redundant waypoints among the waypoints of the first route not covered by the second target area, and obtain key routes among the waypoints of the first route not covered by the second target area. point.

Step G2: Connect the key waypoints in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein the two straight line segments connected end to end are not collinear, and the key waypoints are each The waypoints at both ends of the straight line segment.

It should be noted that the specific implementation of step F2 is similar to step A2 in the foregoing embodiment, and the specific implementation of step G2 is similar to step B2 in the foregoing embodiment, and will not be repeated here.

On the basis of the embodiment in FIG. 9, optionally, the generating a second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps F3 and G3 .

Step F3, connecting the waypoints of the first route not covered by the second target area in sequence to generate a plurality of straight line segments connected end to end.

Step G3: Delete redundant waypoints in the multiple straight-line segments connected end to end, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.

It should be noted that the specific implementation of step F3 is similar to step A3 in the foregoing embodiment, and the specific implementation of step G3 is similar to step B3 in the foregoing embodiment, and will not be repeated here.

On the basis of the embodiment in FIG. 9, optionally, generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps H1 and I1.

Step H1: Delete the waypoints in the first route that are not covered by the second target area, and obtain the remaining waypoints of the first route.

On the basis of FIG. 12B, after deleting the waypoints in the first route not covered by the second target area, the remaining waypoints of the first route are as shown in FIG. 8A. With reference to Figures 12A and 8A, it can be seen that when the second route is generated from the waypoints of the second route covered by the second target area, the waypoints of the first route not covered by the second target area must be unmanned aerial vehicles. Invalid waypoints that need to be flown. Therefore, in step 904, if the second route needs to be generated based on the waypoints of the first route covered by the second target area, step 903 can be replaced by determining the number of flight segments. For the target flight segment that overlaps the second target area, a waypoint is added between the two ends of the target flight segment.

Step I1: Generate a second route according to the remaining waypoints of the first route.

It should be noted that the specific implementation of step I1 is similar to step E1 in the foregoing embodiment, and will not be repeated here.

On the basis of the embodiment in FIG. 9, optionally, generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps H2 and I2.

Step H2: Delete redundant waypoints among the waypoints of the first route covered by the second target area to obtain key waypoints among the waypoints of the first route not covered by the second target area .

Step I2: Connect the key waypoints in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein, the two straight line segments connected end to end are not collinear, and the key waypoints are each The waypoints at both ends of the straight line segment.

It should be noted that the specific implementation of step H2 is similar to step D2 in the foregoing embodiment, and the specific implementation of step I2 is similar to step E2 in the foregoing embodiment, and will not be repeated here.

On the basis of the embodiment in FIG. 9, optionally, generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps H3 and I3.

Step H3, connecting the waypoints of the first route covered by the second target area in sequence to generate a plurality of straight line segments connected end to end.

Step I3: Delete redundant waypoints in the multiple straight-line segments connected end to end, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.

It should be noted that the specific implementation of step H3 is similar to step D3 in the foregoing embodiment, and the specific implementation of step I3 is similar to step E3 in the foregoing embodiment, and will not be repeated here.

Similar to the embodiment shown in FIG. 4, adding waypoints between the two ends of the target flight segment in step 903 may specifically include: between the two ends of the target flight segment according to a preset target strategy Increase waypoints. Exemplarily, the target strategy includes any one of the following: a strategy with a preset distance as an interval or a strategy with a preset number set at equal intervals.

Similar to the embodiment shown in FIG. 4, adding waypoints between the two ends of the target flight segment in step 903 may specifically include: adding waypoints between the two ends of the target flight segment according to the manual setting of the user. Waypoint.

Similar to the embodiment shown in FIG. 4, step 902 may specifically include: determining that the user selects the second target area in the first target area according to an area selection operation of the user in the first target area.

FIG. 13 is a schematic structural diagram of a control device provided by an embodiment of the application, and the control device is used to control the flight of an unmanned aerial vehicle. As shown in FIG. 13, the control device 1300 may include: a memory 1301 and a processor 1302.

The memory 1301 is used to store program codes;

The processor 1302 calls the program code, and when the program code is executed, is configured to perform the following operations:

Acquiring a second target area selected by the user in the first target area;

The control device 1300 provided in this embodiment may be used to implement the technical solution of the method embodiment in FIG. 5, and its implementation principle and technical effect are similar to the method embodiment, and will not be repeated here.

FIG. 14 is a schematic structural diagram of a control device provided by another embodiment of the application, and the control device is used to control the flight of an unmanned aerial vehicle. As shown in FIG. 14, the control device 1400 may include: a memory 1401 and a processor 1402.

The memory 1401 is used to store program codes;

The processor 1402 calls the program code, and when the program code is executed, is configured to perform the following operations:

Acquiring a second target area selected by the user in the first target area;

The control device 1400 provided in this embodiment can be used to execute the technical solution of the method embodiment in FIG. 9, and its implementation principle and technical effect are similar to the method embodiment, and will not be repeated here.

As shown in FIG. 1 and FIG. 2, the embodiment of the present application also provides an unmanned aerial system including: a control device 11 and an unmanned aerial vehicle 12. Wherein, the control device 11 is used to display a first route covering a first target area; wherein, the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with at least three waypoints, Two waypoints are located at both ends of the flight segment; obtain the second target area selected by the user in the first target area; and, according to the first route not covered by the second target area A waypoint or a waypoint of the first route covered by the second target area, generating a second route, and sending the second route to the unmanned aerial vehicle;

The unmanned aerial vehicle 12 is used to perform flight operations according to the second route.

As shown in FIG. 1 and FIG. 2, the embodiment of the present application also provides an unmanned aerial system including: a control device 11 and an unmanned aerial vehicle 12. Wherein, the control device 11 is used to display a first flight route covering a first target area; wherein, the first flight route includes a plurality of parallel flight segments, each of which is provided with a flight segment at both ends. Point; obtain the second target area selected by the user in the first target area; determine the overlapping and adjacent target flight segments among the plurality of flight segments that overlap with the second target area, in the target flight Waypoints are added between the two ends of the segment; and, based on the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, generate a second Second route, and sending the second route to the unmanned aerial vehicle, so that the unmanned aerial vehicle can perform flight operations according to the second route.

A person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware. The aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. range.

Claims

A flight control method is applied to a control device, the control device is used to control the flight of an unmanned aerial vehicle, and is characterized in that it includes:

Display the first route covering the first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments has at least three waypoints, two of which are located on the flight segments Both ends of

Acquiring a second target area selected by the user in the first target area;

Generate a second route according to the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, and send the second route to The unmanned aerial vehicle, so that the unmanned aerial vehicle can perform a flight operation according to the second route.
The method according to claim 1, wherein the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area are , Generating the second route includes:

When the second target area is an obstacle area, a second route is generated according to the waypoints of the first route not covered by the second target area; the second route is used to instruct the unmanned aerial vehicle to go around Open the second target area for flight operations;

When the second target area is a key area, generate a second route according to the waypoints of the first route covered by the second target area; Perform flight operations in the second target area.
The method according to claim 1 or 2, wherein the second route is composed of a plurality of straight line segments connected end to end, and no waypoint is provided between the two ends of each straight line segment.
The method according to claim 3, wherein the two straight line segments connected end to end are not collinear.
The method according to claim 3, wherein the two straight line segments connected end to end are perpendicular to each other, and the two straight line segments connected end to end to the same straight line segment are parallel to each other.
The method according to claim 1 or 2, wherein the generating a second route according to the waypoints of the first route not covered by the second target area comprises:

Deleting redundant waypoints among the waypoints of the first route not covered by the second target area to obtain key waypoints among the waypoints of the first route not covered by the second target area;

The key waypoints are connected in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein the two straight line segments connected end to end are not collinear, and the key waypoints are each straight line The waypoints at both ends of the segment.
The method according to claim 1 or 2, wherein the generating a second route according to the waypoints of the first route not covered by the second target area comprises:

Connecting the waypoints of the first route not covered by the second target area in sequence to generate a plurality of straight line segments connected end to end;

The redundant waypoints in the multiple straight-line segments connected end to end are deleted, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.
The method according to claim 1 or 2, wherein the generating a second route according to the waypoints of the first route covered by the second target area comprises:

Deleting redundant waypoints among the waypoints of the first route covered by the second target area to obtain key waypoints;

The key waypoints are connected in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein the two straight line segments connected end to end are not collinear, and the key waypoints are each straight line The waypoints at both ends of the segment.
The method according to claim 1 or 2, wherein the generating a second route according to the waypoints of the first route covered by the second target area comprises:

Connecting the waypoints of the first route covered by the second target area in sequence to form a plurality of straight line segments connected end to end;

The redundant waypoints in the multiple straight-line segments connected end to end are deleted, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.
The method according to claim 1 or 2, wherein the generating a second route according to the waypoints of the first route not covered by the second target area comprises:

Determine a target flight segment of the plurality of flight segments according to the second target area, the target flight segment including flight segments that are not covered by the second target area and are not adjacent;

Delete the waypoints between the two ends of the target flight segment and the waypoints in the first route covered by the second target area to obtain the remaining waypoints of the first route;

According to the remaining waypoints of the first route, a second route is generated.
The method according to claim 1 or 2, wherein the generating a second route according to the waypoints of the first route covered by the second target area comprises:

Delete the waypoints in the first route that are not covered by the second target area to obtain the remaining waypoints of the first route;

According to the remaining waypoints of the first route, a second route is generated.
The method according to claim 10 or 11, wherein the generating a second route according to the remaining waypoints of the first route comprises:

Delete redundant waypoints among the remaining waypoints of the first route to obtain key waypoints, and connect the key waypoints in sequence to form multiple straight-line segments connected end to end to generate the second route; among them, two The straight line segments connected end to end are not collinear, and the key waypoints are the waypoints at both ends of each straight line segment.
The method according to claim 1, wherein the waypoints between the two ends of each flight segment are automatically set according to a preset target strategy.
The method according to claim 13, wherein the target strategy comprises any one of the following: a strategy with a preset distance as an interval, a preset number of strategies set at equal intervals, or a set number and terrain undulations. Positively related strategies.
The method according to claim 1, wherein the waypoints between the two ends of each flight segment are distributed according to the manual setting of the user.
The method according to claim 1, wherein said acquiring the second target area selected by the user in the first target area comprises: according to the area selection operation of the user in the first target area, It is determined that the user selects the second target area in the first target area.
A flight control method is applied to a control device, the control device is used to control the flight of an unmanned aerial vehicle, and is characterized in that it includes:

Display a first route covering the first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends;

Acquiring a second target area selected by the user in the first target area;

Determine the target flight segments that overlap with the second target area among the plurality of flight segments and that are adjacent to each other, and add waypoints between the two ends of the target flight segment;

According to the waypoints of the first route not covered by the second target area, generate a second route, and send the second route to the unmanned aerial vehicle so that the unmanned aerial vehicle can follow the Perform flight operations on the second route.
The method according to claim 17, wherein the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area are based on , Generating the second route includes:

When the second target area is an obstacle area, a second route is generated according to the waypoints of the first route not covered by the second target area; the second route is used to instruct the unmanned aerial vehicle to go around Open the second target area for flight operations;

When the second target area is a key area, generate a second route according to the waypoints of the first route covered by the second target area; Perform flight operations in the second target area.
The method according to claim 17 or 18, wherein the second route is composed of a plurality of straight line segments connected end to end, and no waypoint is provided between the two ends of each straight line segment.
The method according to claim 19, wherein the two straight line segments connected end to end are not collinear.
The method according to claim 19, wherein the two straight line segments connected end to end are perpendicular to each other, and the two straight line segments connected end to end to the same straight line segment are parallel to each other.
The method according to claim 17 or 18, wherein the generating a second route according to the waypoints of the first route not covered by the second target area comprises:

Delete redundant waypoints among the waypoints of the first route that are not covered by the second target area to obtain key waypoints;

The key waypoints are connected in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein the two straight line segments connected end to end are not collinear, and the key waypoints are each straight line The waypoints at both ends of the segment.
The method according to claim 17 or 18, wherein the generating a second route according to the waypoints of the first route not covered by the second target area comprises:

Connecting the waypoints of the first route not covered by the second target area in sequence to form a plurality of straight line segments connected end to end;

The redundant waypoints in the multiple straight-line segments connected end to end are deleted, so that the two straight-line segments connected end to end are not collinear to generate a second route.
The method according to claim 17 or 18, wherein the generating a second route according to the waypoints of the first route covered by the second target area comprises:

Deleting redundant waypoints among the waypoints of the first route covered by the second target area to obtain key waypoints;

The key waypoints are connected in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein the two straight line segments connected end to end are not collinear, and the key waypoints are each straight line The waypoints at both ends of the segment.
The method according to claim 17 or 18, wherein the generating a second route according to the waypoints of the first route covered by the second target area comprises:

Connecting the waypoints of the first route covered by the second target area in sequence to form a plurality of straight line segments connected end to end;

The redundant waypoints in the multiple straight-line segments connected end to end are deleted, so that the two straight-line segments connected end to end are not collinear to generate a second route.
The method according to claim 17 or 18, wherein the generating a second route according to the waypoints of the first route not covered by the second target area comprises:

Delete the waypoints in the first route covered by the second target area to obtain the remaining waypoints of the first route;

According to the remaining waypoints of the first route, a second route is generated.
The method according to claim 17 or 18, wherein the generating a second route according to the waypoints of the first route covered by the second target area comprises:

Delete the waypoints in the first route that are not covered by the second target area to obtain the remaining waypoints of the first route;

According to the remaining waypoints of the first route, a second route is generated.
The method according to claim 26 or 27, wherein the generating a second route according to the remaining waypoints of the first route comprises:

Delete the redundant waypoints among the remaining waypoints of the first route to obtain key waypoints, and connect the key waypoints in sequence to form a plurality of straight line segments connected end to end; wherein, two straight lines connected end to end The segments are not collinear, and the key waypoints are the waypoints at both ends of each straight line segment;

Based on multiple straight line segments connected end to end, a second route is generated.
The method according to claim 17, wherein the adding waypoints between the two ends of the target flight segment comprises: adding waypoints between the two ends of the target flight segment according to a preset target strategy. Waypoint.
The method according to claim 29, wherein the target strategy comprises any one of the following: a strategy with a preset distance as an interval or a strategy with a preset number of equal intervals.
The method according to claim 17, wherein the adding waypoints between the two ends of the target flight segment comprises: adding flight points between the two ends of the target flight segment according to the manual setting of the user. point.
The method according to claim 17, wherein said acquiring the second target area selected by the user in the first target area comprises: according to an area selection operation of the user in the first target area, It is determined that the user selects the second target area in the first target area.
A control device, which is used to control the flight of an unmanned aerial vehicle, and is characterized in that it comprises: a processor and a memory; the memory is used to store program code; the processor calls the program code, When the program code is executed, it is used to execute the method according to any one of claims 1-32.
An unmanned aerial vehicle, characterized in that it includes: control equipment and an unmanned aerial vehicle;

The control device is configured to display a first route covering a first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with at least three waypoints, two of which are Waypoints are located at both ends of the flight segment; obtain the second target area selected by the user in the first target area; and, according to the waypoints or the waypoints of the first route not covered by the second target area Generating a second route to the waypoints of the first route covered by the second target area, and sending the second route to the unmanned aerial vehicle;

The unmanned aerial vehicle is used to perform flight operations according to the second route.
An unmanned aerial vehicle, characterized in that it includes: control equipment and an unmanned aerial vehicle;

The control device is configured to display a first flight route covering a first target area; wherein the first flight route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends; obtaining The second target area selected by the user in the first target area; determining that the target flight segments overlapping and adjacent to the second target area among the plurality of flight segments are located on two of the target flight segments Adding waypoints between terminals; and, generating a second route based on the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, And sending the second route to the unmanned aerial vehicle, so that the unmanned aerial vehicle can perform flight operations according to the second route.

The unmanned aerial vehicle is used to perform flight operations according to the second route.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, the computer program contains at least one piece of code, and the at least one piece of code can be executed by a computer to control the computer to execute The method of any one of 1-32 is required.