WO2021127941A1 - 航线规划方法、无人机、控制终端及计算机可读存储介质 - Google Patents

航线规划方法、无人机、控制终端及计算机可读存储介质 Download PDF

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Publication number
WO2021127941A1
WO2021127941A1 PCT/CN2019/127658 CN2019127658W WO2021127941A1 WO 2021127941 A1 WO2021127941 A1 WO 2021127941A1 CN 2019127658 W CN2019127658 W CN 2019127658W WO 2021127941 A1 WO2021127941 A1 WO 2021127941A1
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WIPO (PCT)
Prior art keywords
waypoint
drone
route
heading angle
target
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Application number
PCT/CN2019/127658
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English (en)
French (fr)
Inventor
刘清伟
谭玥明
唐明健
王璐
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/127658 priority Critical patent/WO2021127941A1/zh
Priority to CN201980061401.9A priority patent/CN112740135A/zh
Publication of WO2021127941A1 publication Critical patent/WO2021127941A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • This application relates to the technical field of route planning, and in particular to a route planning method, unmanned aerial vehicle, control terminal, and computer-readable storage medium.
  • the user can set the two waypoints of the drone in the plot through the control terminal, and control the drone through the joystick of the control terminal Traverse the set distance so that the UAV can automatically spray or spread the land based on the two waypoints and the traverse distance.
  • the drone can also automatically spray or spread the plots based on two waypoints and distances
  • the actual operating area of the drone is a rectangular or square area, and there is an actual operating area. The situation is much larger than the plot, making it impossible for drones to spray or spread the work area outside the plot to accurately perform spraying or spreading operations on irregularly shaped plots, resulting in waste of resources and poor user experience.
  • this application provides a route planning method, drone, control terminal, and computer-readable storage medium, aiming to accurately plan the drone's operating route in the plot, so that the drone can operate according to this The route is executed accurately.
  • this application provides a route planning method, including:
  • the target heading angle of the first waypoint, the second waypoint and the target heading angle of the second waypoint plan the drone to be in the target plot The said operating route.
  • this application also provides a route planning method, including:
  • the target heading angle of the first waypoint, the second waypoint and the target heading angle of the second waypoint plan the drone to be in the target plot The said operating route.
  • the present application also provides an unmanned aerial vehicle, the unmanned aerial vehicle including a memory and a processor; 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:
  • the target heading angle of the first waypoint, the second waypoint and the target heading angle of the second waypoint plan the drone to be in the target plot The said operating route.
  • the present application also provides a control terminal, the control terminal includes a memory and a processor; the memory is used to store a computer program;
  • the processor is used to execute the computer program and, when executing the computer program, realize the steps of the route planning method as described above.
  • this application also provides a computer-readable storage medium that stores a computer program that, when executed by a processor, enables the processor to implement the route planning described above Method steps.
  • the embodiments of the application provide a route planning method, a drone, a control terminal, and a computer-readable storage medium, by acquiring two waypoints of the drone and the plots obtained by the drone at the two waypoints respectively Based on the terrain image of the plot obtained by the drone at the two waypoints, the heading angle of the drone at the two waypoints can be determined respectively, and then the two waypoints of the drone can be based And the heading angle of the drone at the two waypoints, which can accurately plan the drone's operation route in the plot, so that the drone can accurately perform operations according to this operation route, which greatly improves the user experience .
  • 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
  • FIG. 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 the route planning page displayed by the display device of the control terminal of the present application.
  • Figure 4 is another schematic diagram of the route planning page in the implementation of this application.
  • FIG. 5 is another schematic diagram of the route planning page displayed by the display device of the control terminal of the present application.
  • FIG. 6 is another schematic diagram of the route planning page displayed by the display device of the control terminal of the present application.
  • FIG. 7 is another schematic diagram of the route planning page displayed by the display device of the control terminal of the present application.
  • FIG. 8 is a schematic flowchart of steps of another route planning method provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • FIG. 10 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • FIG. 11 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • FIG. 12 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • FIG. 13 is another schematic diagram of the route planning page displayed by the display device of the control terminal of the present application.
  • FIG. 14 is another schematic diagram of the route planning page displayed by the display device of the control terminal of the present application.
  • 15 is a schematic flow chart of the steps of 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 another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • 18 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • 19 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • 20 is a schematic block diagram of the structure of an unmanned aerial vehicle provided by an embodiment of the present application.
  • FIG. 21 is a schematic block diagram of the structure of a control terminal according to an embodiment of the present application.
  • 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.
  • 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 drone.
  • the communication connection can be established through wireless communication, for example, through WiFi; it can also be established through wired connection.
  • the control terminal 100 and the drone are provided with interfaces respectively, and the communication connection between the two is realized through this interface. .
  • the control terminal 100 includes a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a car computer, a PC computer, etc.
  • the drone includes a rotary-wing drone, such as a quadrotor drone, a hexarotor drone,
  • the eight-rotor UAV can also be a fixed-wing UAV, or a combination of a rotary-wing type and a fixed-wing UAV, which is not limited here.
  • the route planning method includes steps S101 to S103.
  • the target plot is a plot of a route to be planned
  • the first waypoint is used to indicate the boundary point of the operation route
  • the first terrain image is paired by the drone on the first waypoint.
  • the target plot is obtained by shooting, the first topographic image includes the topographic image of the target plot, and also includes topographic images corresponding to the remaining plots.
  • the topographic image may be a two-dimensional planar image of the plot, or it may be a plot This application does not specifically limit this three-dimensional image.
  • the user can control the drone to fly to a boundary point of the target plot through the control terminal, and set the first waypoint or the second waypoint of the drone with one key through the waypoint setting button on the control terminal And the target heading angle of the first waypoint or the second waypoint, specifically: when the user's trigger operation on the waypoint setting button is obtained, the waypoint setting instruction is sent to the drone, so that the drone is receiving the direction.
  • the point setting instruction the current waypoint is used as the first waypoint, and the first terrain image corresponding to the target plot is obtained; according to the first terrain image, the heading angle of the drone at the first waypoint is adjusted to obtain the first waypoint.
  • the target heading angle of the waypoint is
  • the user can set the waypoint and heading angle of the drone with one key, which greatly improves the convenience of setting waypoints.
  • it can be determined that the drone is in flight through the terrain image of the plot.
  • the heading angle of the point can be automatically and accurately set the heading angle of the waypoint.
  • the drone when the first waypoint is set, the drone sends feedback information to the control terminal, so that the user can know that the first waypoint has been set, and then the user can control the drone to fly to the target plot through the control terminal.
  • the user can set the second waypoint of the drone and the target heading angle of the second waypoint with one click in the same way as the first waypoint.
  • the first waypoint and the second waypoint can be formed The boundary line of the operating route, and the first waypoint and the second waypoint are located on the same boundary of the target plot. You can quickly and conveniently set the waypoints of the drone and the heading angle of the waypoints, which greatly improves the user experience.
  • the boundary line of the target plot is determined according to the first terrain image; the heading angle of the drone at the first waypoint is adjusted according to the boundary line of the target plot, To adjust the nose reference line of the drone until the boundary line overlaps the nose reference line.
  • the reference line of the nose changes with the heading angle of the UAV.
  • the nose reference line of the drone can be adjusted so that the nose reference line overlaps with the boundary line of the land parcel, passing through the boundary line of the land parcel and the nose reference line of the drone, You can quickly control the drone's nose to align with the boundary of the plot.
  • the first terrain image is grayscaled to obtain a grayscale image of the first terrain image; the grayscale image is sharpened, and the sharpened image
  • the gray scale image determines the boundary line of the target plot.
  • the boundary line of the target plot can be determined from the sharpened grayscale image through a preset straight line detection algorithm.
  • the preset straight line detection algorithm includes at least one of the following: Hough transform straight line detection algorithm, LSD fast straight line Detection algorithm, FLD line detection algorithm, EDlines line detection algorithm, LSWMS line detection algorithm, CannyLines line detection algorithm, MCMLSD line detection algorithm and LSM line detection algorithm.
  • the deviation angle between the boundary line of the target plot and the nose reference line of the drone is calculated; according to the deviation angle, the drone's position at the first waypoint is adjusted. Heading angle to adjust the nose reference line of the drone until the boundary line overlaps the nose reference line. After determining the boundary line of the target plot, the deviation angle between the boundary line and the drone's nose reference line can be calculated. Based on the deviation angle, the drone's heading angle can be quickly adjusted to adjust the nose reference line It can quickly overlap with the boundary line to improve the speed of determining the heading angle. Through the deviation angle between the boundary line and the nose reference line, the heading angle of the waypoint does not need to be adjusted multiple times, and the heading angle of the waypoint can be quickly determined.
  • the heading angle of the drone at the first waypoint is adjusted in a clockwise or counterclockwise direction with a preset adjustment value to adjust the drone's nose reference line; calculate the adjusted aircraft The deviation angle between the head reference line and the boundary line of the target plot, and determine whether the deviation angle is zero; if the deviation angle is not zero, compare the historical deviation angle with the deviation angle, where the historical deviation angle is upper The deviation angle between the nose reference line and the boundary line of the target plot at a time; if the historical deviation angle is greater than the deviation angle, continue to clockwise or counterclockwise, and use the preset adjustment value to adjust the drone on the first flight.
  • the heading angle of the point to adjust the nose reference line of the drone thereby adjusting the deviation angle between the nose reference line and the boundary line, until the deviation angle is zero;
  • the heading angle of the drone at the first waypoint using the preset adjustment value to adjust the nose reference line of the drone, thereby adjusting the nose reference line and boundary
  • the heading angle is adjusted clockwise at the beginning
  • the heading angle is adjusted counterclockwise
  • the heading angle is adjusted counterclockwise
  • the heading angle is initially adjusted counterclockwise
  • the heading angle is 0.5°.
  • the adjustment direction of the heading angle can be adjusted in time, so that the heading angle of the waypoint can be quickly determined .
  • the user controls the drone to fly to the boundary point of the target plot through the control terminal, and sets the waypoint setting button on the control terminal with one key
  • the second waypoint of the drone and the target heading angle of the second waypoint are specifically: when the user's trigger operation on the waypoint setting button is obtained, the waypoint setting instruction is sent to the drone so that the drone is at When receiving the waypoint setting instruction, the current waypoint is used as the second waypoint, and the second terrain image corresponding to the target plot is obtained; according to the second terrain image, the heading angle of the drone at the second waypoint is adjusted, thereby Get the target heading angle of the second waypoint.
  • the second waypoint is used to form a boundary line of the operation route with the first waypoint, the first waypoint is located at a boundary point of the target plot, and the second waypoint is located at another boundary of the target plot.
  • a boundary point, and the first waypoint and the second waypoint form a boundary line of the target plot, and the second terrain image is obtained by the drone shooting the target plot at the second waypoint.
  • the control terminal displays a route planning page, where the route planning page includes a waypoint setting control, and the first waypoint and the second waypoint of the drone can be set through the waypoint device control;
  • the user s triggering operation on the waypoint setting control determines the first waypoint of the drone, and sends the result of determining the first waypoint of the drone to the drone; and/or, on the route
  • the planning page displays the first waypoint; obtains the first terrain image of the target plot, and adjusts the heading angle of the drone at the first waypoint according to the first terrain image to obtain the first flight path The target heading angle of the point.
  • the direction extension line of the heading angle of the first waypoint can also be displayed on the route planning page, so that the user can know the heading of the drone at the first waypoint.
  • the waypoint setting controls it is convenient for users to set the first waypoint of the drone and the heading angle of the first waypoint with one click, which improves the user experience.
  • the heading angle adjustment control of the first waypoint is displayed on the route planning page; when the user's triggering operation on the heading angle adjustment control is obtained, according to the first waypoint A terrain image, adjusting the heading angle of the drone at the first waypoint to obtain the target heading angle of the first waypoint.
  • the trigger operation of the heading angle adjustment control includes at least one of the following: a click operation, a double-click operation, a sliding operation, and a long-press operation.
  • the user controls the drone to fly to the boundary point of the target plot through the control terminal, and the user can click the waypoint setting control again, Trigger operations such as double tap, slide, and long press to set the second waypoint and the heading angle of the second waypoint, specifically: determining the second waypoint of the drone according to the user's triggering operation on the waypoint setting control; Send the result of determining the second waypoint of the drone to the drone; and/or display the second waypoint on the route planning page; acquire the second terrain image of the target plot, and In the second terrain image, the heading angle of the drone at the second waypoint is adjusted to obtain the target heading angle of the second waypoint.
  • Trigger operations such as double tap, slide, and long press to set the second waypoint and the heading angle of the second waypoint, specifically: determining the second waypoint of the drone according to the user's triggering operation on the waypoint setting control; Send the result of determining the second waypoint of the drone to the drone; and/or display the second waypoint on the route planning page; acquire the second terrain
  • the heading angle adjustment control of the second waypoint is displayed on the route planning page; when the user's triggering operation on the heading angle adjustment control is obtained, according to the first 2. Terrain image, adjusting the heading angle of the drone at the second waypoint to obtain the target heading angle of the second waypoint.
  • the trigger operation of the heading angle adjustment control includes at least one of the following: a click operation, a double-click operation, a sliding operation, and a long-press operation.
  • the waypoint setting controls include a first waypoint setting control and a second waypoint setting control.
  • the first waypoint setting control is used to set the first waypoint of the drone.
  • the second waypoint setting control is used to set the second waypoint of the drone, specifically: determining the first waypoint of the drone and obtaining the first waypoint of the target plot according to the user's triggering operation on the first waypoint setting control A terrain image, and adjust the heading angle of the drone at the first waypoint according to the first terrain image to obtain the target heading angle of the first waypoint; After setting the heading angle of the point, determine the second waypoint of the drone and obtain the second terrain image of the target plot according to the user’s triggering operation on the second waypoint setting control, and adjust according to the second terrain image The heading angle of the drone at the second waypoint is used to obtain the target heading angle of the second waypoint.
  • Point setting controls set the UAV's second waypoint and the heading angle of the second waypoint.
  • Figure 3 is a schematic diagram of the route planning page displayed on the display device of the control terminal of this application.
  • the route planning page displays plots, first waypoint setting controls, The second waypoint setting control and the drone's logo, the drone's logo is located in the plot, and the first waypoint setting control is "A point", the second waypoint setting control is "B point", no one The machine is identified as
  • Figure 4 is another schematic diagram of the route planning page displayed on the display device of the control terminal of this application.
  • the route planning page displays the The first waypoint, the first waypoint setting control, the second waypoint setting control, the heading angle adjustment control of the first waypoint and the UAV logo
  • the first waypoint is The first waypoint setting control is "Point A”
  • the second waypoint setting control is "Point B”
  • the drone's logo is The display mode of the first waypoint setting control is different from that of the second waypoint setting control, so that the user knows that the waypoint being set is the first waypoint.
  • the route planning page further includes a heading angle confirmation control of the first waypoint, and if the adjusted nose reference line overlaps the boundary line, a preset reminder message is output, where ,
  • the preset reminder information is used to remind the user that the reference line of the nose and the boundary line have overlapped; and/or, when the user's triggering operation of the heading angle confirmation control is obtained, the drone is in the The current heading angle of the first waypoint is used as the target heading angle of the first waypoint.
  • the route planning page further includes a heading angle confirmation control of the second waypoint, and if the adjusted nose reference line overlaps the boundary line, a preset reminder message is output, where ,
  • the preset reminder information is used to remind the user that the reference line of the nose and the boundary line have overlapped; and/or, when the user's triggering operation of the heading angle confirmation control is obtained, the drone is in the The current heading angle of the second waypoint is used as the target heading angle of the second waypoint.
  • the route planning page further includes a display window, the display window being the first-person main viewing angle window of the drone.
  • the display window displays the nose reference line of the drone and the first terrain image of the target plot, and the nose reference line and the first terrain image in the display window follow the The heading angle of the drone at the first waypoint changes, and when the flight angle of the drone at the second waypoint is adjusted, the display window displays the drone's nose reference Line and the second terrain image of the target plot, the nose reference line and the second terrain image in the display window change with the heading angle of the drone at the second waypoint And change.
  • FIG. 5 is another schematic diagram of the route planning page displayed by the display device of the control terminal of the present application.
  • the route planning page also includes a display window a, which displays The drone's nose reference line a2 and the terrain image a1 of the target plot.
  • the route planning page also displays the direction extension line b of the heading angle of the first waypoint. At this time, the route planning page does not display the first flight. Point setting control and second waypoint setting control.
  • the user can also manually adjust the heading angle of the drone at the first waypoint or the second waypoint. Specifically, the heading angle adjustment command triggered by the user is obtained, and the heading angle adjustment command is sent to the drone.
  • the drone adjusts the heading angle based on the heading angle adjustment command to adjust the nose reference line displayed in the display window and the terrain image of the target plot, so that the user can read the nose reference line and the target plot It’s easy to know whether the nose reference line overlaps the boundary line; when the user knows that the nose reference line overlaps the boundary line, the user can determine the heading angle of the drone at the waypoint through the heading angle determination control of the waypoint
  • the preset reminder information can be output.
  • the preset reminder information is used to remind the user that the nose reference line and the boundary line have overlapped, thereby automatically checking the current drone
  • the heading angle is used as the heading angle of the waypoint, and the user can also determine the heading angle of the UAV at the waypoint through the heading angle determination control of the waypoint.
  • the user can manually set the drone's waypoint and the heading angle of the waypoint to improve the universality of the waypoint and heading angle setting , Improve user experience.
  • the heading angle adjustment command can be triggered by the joystick on the control terminal or the heading angle adjustment button on the control terminal.
  • the heading angle adjustment button is used to adjust the heading angle of the drone. Heading angle adjustment button, the UAV will adjust the heading angle in a clockwise or counterclockwise direction with a preset adjustment value.
  • the heading angle adjustment button can be slid. Slide the heading angle adjustment button to the left, then when the user operates the heading When the angle adjustment button is used, the drone will move counterclockwise and adjust the heading angle with the preset adjustment value. If the heading angle adjustment button slides to the right, when the user operates the heading angle adjustment button, the drone will move in the opposite direction. Clockwise direction, and adjust the heading angle with the preset adjustment value.
  • first waypoint and the second waypoint are determined in the same way, and the heading angle of the first waypoint is determined in the same way as the heading angle of the second waypoint.
  • the specific method for determining the heading angle may refer to the foregoing first waypoint and the specific method for determining the heading angle of the first waypoint, which will not be repeated here.
  • the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint plan the drone to be at the target location.
  • the operating route within the block
  • the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint After determining the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint, it can be based on the first waypoint, the target heading angle of the first waypoint, and the target heading angle of the second waypoint. Point and the target heading angle of the second waypoint to plan the UAV’s operating route in the target plot. Among them, based on the preset route planning algorithm, according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint, plan the operation of the drone in the target plot route. It is understandable that the foregoing preset route planning algorithm can be set based on actual conditions, which is not specifically limited in this application. Through the two waypoints and the heading angles of the two waypoints, the operation route of the drone within the plot can be accurately planned, so that the drone can accurately perform operations.
  • the first boundary line of the operation route is determined according to the first waypoint and the target heading angle of the first waypoint, that is, the first waypoint is taken as the starting point and the first waypoint is The direction of the target heading angle of is the ray direction, the first ray is obtained, and the first ray is used as the first boundary line of the operation route; according to the second waypoint and the target heading angle of the second waypoint, Determine the second boundary line of the operation route, that is, take the second waypoint as the starting point and take the direction of the target heading angle of the second waypoint as the ray direction to obtain the second ray, and use the second ray as the operation route According to the first waypoint and the second waypoint, determine the third boundary line of the operation route, that is, take the first waypoint as the starting point and the second waypoint as the end point to obtain Line segment, and use the line segment as the third boundary line of the operating route; according to the first boundary line, the second boundary line, and the third boundary line, the drone is planned to be in the target plot
  • the outer contour shape of the operation route includes a straight line contour and/or a curved contour
  • the straight line contour includes a triangle and/or a quadrilateral
  • the outer contour shape of the operation route is the shape of a figure formed by the boundary lines of the operation route.
  • the route planning area is determined according to the first boundary line, the second boundary line, and the third boundary line, and the third boundary line is used as the initial route of the operation route, and then starting from the initial route, the route is preset Distance, plan the UAV's operating route in the route planning area, so as to obtain the UAV's operating route in the target plot.
  • the outer contour shape of the operation route obtained by planning is a triangle.
  • the planned operation route is obtained.
  • the outer contour shape is quadrilateral, and the preset route spacing is determined according to the area of the target plot.
  • the route planning page further includes a job execution control
  • the job execution control is used to control the drone to operate on the target plot according to the operation route, and the drone is obtained in the planning After the operation route in the target plot, the operation route is displayed so that the user can read the operation route; when the user's trigger operation on the operation execution control is obtained, the drone is controlled to follow the operation The route operates on the target plot.
  • the operation execution control the user can control the terminal or the drone to plan the operation route, and it is convenient for the user to control the drone to perform the operation according to the operation route, which greatly improves the user experience.
  • the route planning page further includes a course switching control
  • the course switching control is used to switch the course of the work route, after the work route is displayed, when the user's trigger of the course switch control is obtained During operation, the course of the operation route is switched, and the course of the operation after the course is switched is displayed.
  • the course switching control it is convenient for the user to switch the course of the operation route and improve the user experience.
  • Figure 6 is another schematic diagram of the route planning page displayed on the display device of the control terminal of this application.
  • the route planning page displays the operating route, the first waypoint, and the first route.
  • the second waypoint, the job execution control, the course switching control, the cancel control, and the course angle adjustment control of the second waypoint, and the outline shape of the job route is a quadrilateral
  • the first waypoint is The second waypoint
  • Figure 7 is another schematic diagram of the route planning page displayed on the display device of the control terminal of the present application.
  • the route planning page displays the operating route, the first waypoint, and the first route.
  • the route planning method provided by the above embodiments obtains the two waypoints of the drone and the terrain images of the land parcels obtained by the drone at the two waypoints respectively, and obtains them at the two waypoints respectively based on the drone.
  • the terrain image of the land parcel can be used to determine the heading angle of the drone at the two waypoints, and then it can be based on the two waypoints of the drone and the heading angle of the drone at the two waypoints, which can be accurate
  • the planning of the UAV's operation route in the plot allows the UAV to accurately perform operations according to this operation route, which greatly improves the user experience.
  • FIG. 8 is a schematic flowchart of the steps of another route planning method provided by an embodiment of the present application.
  • the route planning method includes steps S201 to S205.
  • the user can control the drone to fly to a boundary point of the target plot through the control terminal, and set the first waypoint or the second waypoint and the first waypoint or the first waypoint or
  • the target heading angle of the second waypoint is specifically: when the user's trigger operation on the waypoint setting button is obtained, the waypoint setting instruction is sent to the drone, so that when the drone receives the waypoint setting instruction, it will The current waypoint is used as the first waypoint, and the first terrain image corresponding to the target plot is obtained; according to the first terrain image, the heading angle of the drone at the first waypoint is adjusted to obtain the target heading angle of the first waypoint .
  • the user can set the waypoint and heading angle of the drone with one click, which greatly improves the convenience of setting waypoints.
  • the drone is in flight through the terrain image of the plot.
  • the heading angle of the point can be automatically and accurately set the heading angle of the waypoint.
  • the drone After setting the first waypoint, the drone sends feedback information to the control terminal, so that the user can know that the first waypoint has been set, and then the user can control the drone to fly to another boundary of the target plot through the control terminal
  • the user can set the UAV’s second waypoint and the target heading angle of the second waypoint with one click in the same way as the first waypoint setting method.
  • the first waypoint and the second waypoint can form the operating route.
  • the boundary line, and the first waypoint and the second waypoint are located on the same boundary of the target plot. You can quickly and conveniently set the waypoints of the drone and the heading angle of the waypoints, which greatly improves the user experience.
  • the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint plan the drone to be at the target location.
  • the operating route within the block
  • the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint After determining the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint, it can be based on the first waypoint, the target heading angle of the first waypoint, and the target heading angle of the second waypoint. Point and the target heading angle of the second waypoint to plan the UAV’s operating route in the target plot. Among them, based on the preset route planning algorithm, according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint, plan the operation of the drone in the target plot route. It is understandable that the foregoing preset route planning algorithm can be set based on actual conditions, which is not specifically limited in this application.
  • S204 Display a route planning page including the operation route, so that the user can read the operation route;
  • the route planning page including the operation route is displayed, so that the user can view the operation route.
  • the route planning page further includes a job execution control, and the job execution control is used to control the drone to perform operations on the target plot according to the operation route;
  • the route planning page also includes a course switching control, When the user's triggering operation on the heading switching control is acquired, the heading of the work route is switched, and the work route after the switching of the heading is displayed.
  • the route planning page By displaying the operation route, it is convenient for the user to perform operations such as course switching and route division on the operation route.
  • the route planning page further includes a route segmentation control.
  • the route segmentation page When the user's trigger operation of the route segmentation control is obtained, the route segmentation page is displayed, wherein the route segmentation page displays the route area corresponding to the operation route. ; Obtain the user's route segmentation operation for the route area, and divide the route area according to the route segmentation operation to obtain the route area corresponding to the route segmentation operation, and display the operating route in the route area.
  • the route segmentation page the user can divide the operation route to obtain the operation route that the user wants, which greatly improves the user experience.
  • FIG. 9 is a schematic diagram of the route segmentation page displayed by the display device of the control terminal in an embodiment of the present application. As shown in FIG. 9, there are a total of 20 drone operating routes, and there are Each vertex of the route area is vertex A, vertex B, vertex C, and vertex D.
  • the route segmentation operation includes the user's selection operation of any two work 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 route area.
  • marking the operation route in the route area can facilitate the user to know the route area obtained by the segmentation.
  • the first operation route and the second operation route selected by the user in the route area are acquired, and the area between the first operation route and the second operation route and the area percentage of the route area are calculated; 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 operating route and the second operating route is regarded as the route area.
  • the user can divide the route area by selecting two operation routes, which is convenient for the user to divide the operation route in the route area.
  • FIG. 10 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • the operation route on the leftmost side of the route area is operation route 1, from left to right.
  • the number of the right operation route is incremented by 1
  • the operation route on the far right of the route area is operation route 20
  • the operation route selected by the user is operation route 5 and operation route 15, then the area between operation route 5 and operation route 15 is Route area.
  • the user can determine the division of the operation route in the route area by selecting two operation routes, which is convenient for the user to plan the route and improves the user experience.
  • the route segmentation page displays a first route segmentation line and a second route segmentation line.
  • the first route segmentation line and the second route segmentation line are parallel to the operating route in the route area, and the first route segmentation line And the second route dividing line is used to divide the operation route in the route area.
  • the user's movement operation on the first route dividing line and/or the second route dividing line is obtained, and 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 route area between the moved first route dividing line and the second route dividing line ; 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 route area.
  • the user By setting the route dividing line, the user only needs to move the route dividing line to divide the operation route in the route area, which is convenient for the user to plan the route and improves the user experience.
  • By displaying the dividing line of the first route and the dividing line of the second route it is convenient for the user to move the dividing line of the first route and the dividing line of the second route, so as to facilitate the user to divide the operation route in the route area, which greatly improves the route. Convenience of segmentation.
  • FIG. 11 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • the operation route on the leftmost side of the route area is operation route 1.
  • the number of the right operation route is increased by 1
  • the operation route on the far right of the route area is operation route 20
  • the initial position of the first route dividing line on the route division page is the position of the dotted segment passing through vertex A and vertex D
  • the initial position of the second route dividing line on the route dividing page is the position of the dashed segment passing through vertex B and vertex C.
  • the first route dividing line is located at work route 5
  • the second route dividing line is located at work
  • the area between operation route 5 and operation route 15 is the route area.
  • the route segmentation page also displays a route segmentation pop-up window, and the route segmentation pop-up window displays a route segmentation bar.
  • the route segmentation bar is used to control the control terminal to divide the operating route within the route area, and the route segmentation
  • 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 operation route in the route area, specifically, to obtain the user's first segmentation control in the route segmentation bar.
  • the route area is determined according to the position of the first and second division control on the route segmentation bar after sliding.
  • the operation route in the route area can be segmented, without the user's operation on the route area, which can reduce the impact of the user's misoperation on the route segmentation and facilitate the user's segmentation.
  • Operating route
  • the first route segmentation percentage and the second route segmentation percentage are determined; and the total number of operating routes in the route 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 operation routes between the first and second route numbers in the route area
  • the formed area is used as the route area.
  • 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.
  • 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.
  • 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 route area to restore the route area to its initial state.
  • the segmentation icon control Used to control the control terminal to display or hide the split control.
  • FIG. 12 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • the route segmentation pop-up window is located at the lower border of the route segmentation page, and the route The delete control is set on the left side of the route split bar, the split icon control is set on the right side of the route split bar, the route split bar is set between the route delete control and the split icon control, and the route split percentage corresponding to the two split controls is 20 % And 80%, the two route numbers are 4 and the route number 16, and the area between the operation route 4 and the operation route 16 is the route area.
  • the drone can perform spraying operations or spreading operations, which is not specifically limited in this application.
  • the drone is controlled to carry out the broadcast operation on the target plot according to the operation route.
  • the unmanned aerial vehicle is provided with a spreading device, the spreading device includes a spreading box, a spreading carousel, and a spreading bin mouth, the spreading box is used for placing spreading materials, and the spreading carousel is used for distributing the spreading materials in the spreading box. It is transported to the opening of the sowing bin to realize the sowing of the sowing material.
  • the sowing material includes at least one of the following: seeds, fertilizer, and feed. Of course, it can also be other materials, which is not specifically limited in this application.
  • the broadcasting parameter setting pop-up window is displayed, wherein the broadcasting parameter setting pop-up window includes a broadcasting parameter setting control and a broadcasting parameter confirmation control;
  • the trigger operation of the broadcasting parameter setting control is to set the broadcasting parameter of the broadcasting device;
  • the drone is controlled to follow the operating route and the setting The sowing parameters perform sowing operations on the target plot.
  • the rotation speed of the spreading carousel and the diameter of the spreading bin mouth are determined according to the area of the target plot, and the weight of the spreading material spread by the drone is determined according to the rotation speed of the spreading carousel and the spreading
  • the size of the aperture of the warehouse is determined, and the quality of the spreading material in the spreading box is determined according to the output power of the battery of the drone and the quality of the drone.
  • FIG. 13 is another schematic diagram of the route planning page displayed by the display device of the control terminal of the present application.
  • the route planning page displays the operating route and broadcast parameter setting pop-up window.
  • the broadcasting parameter setting pop-up window is located on the left side of the route planning page, and the operation route is located on the right side of the route planning page.
  • the broadcasting parameter setting pop-up window displays the rotation speed of the spreading carousel, the diameter of the spreading bin and the flying speed of the drone.
  • the control for confirming the broadcast parameters is also displayed.
  • the route planning page further includes a job suspension control, which is used to control the drone to suspend operations on the target plot or to control the drone to continue to perform operations on the target plot.
  • the target plot is operated, and when the user's trigger operation on the job suspension control is obtained, the drone is controlled to suspend the operation of the target plot, and the remaining route area of the target plot is acquired;
  • the user triggers the adjustment instruction of the first waypoint or the second waypoint, and adjusts the first waypoint or the second waypoint according to the adjustment instruction of the first waypoint or the second waypoint; according to the adjustment After the first waypoint and/or the second waypoint, update the operation route of the drone in the remaining route area; when the user's trigger operation on the operation pause control is obtained, control all
  • the UAV continues to operate on the remaining route area according to the updated operating route.
  • the adjustment methods of the first waypoint, the heading angle of the first waypoint, the second waypoint, and the heading angle of the second waypoint can refer to the relevant parts of the foregoing embodiment, and will not be described in detail here.
  • the user can reset only the position and/or heading angle of the first waypoint, or only the position and/or heading angle of the second waypoint, or reset the position and/or heading angle of the first waypoint. And reset the position and/or heading angle of the second waypoint, which is not specifically limited in this application.
  • the first waypoint reset control and the second waypoint reset control are displayed on the route planning page, and the first waypoint reset control is used for Reset the first waypoint, the second waypoint reset control is used to reset the second waypoint; get the user's trigger operation of the first waypoint reset control, and reset the control according to the user to the first waypoint
  • the first waypoint adjustment instruction is generated; the first waypoint and the first waypoint heading angle are adjusted according to the first waypoint adjustment instruction; the user's trigger operation on the second waypoint reset control is acquired, and the second waypoint reset control is triggered according to the user
  • the triggering operation of the second waypoint reset control generates a second waypoint adjustment instruction, and adjusts the second waypoint and the heading angle of the second waypoint according to the second waypoint adjustment instruction.
  • FIG. 14 is another schematic diagram of the route planning page displayed by the display device of the control terminal of the present application.
  • the route planning page displays the first waypoint reset control and the first waypoint reset control.
  • Two waypoint reset controls, the first waypoint and the second waypoint.
  • the current waypoint of the drone is the reset second waypoint. It also includes the operation route planned before resetting the second waypoint and resetting the first waypoint.
  • the operating route after the second waypoint, and the operating route after resetting the second waypoint is shorter than the operating route planned before resetting the second waypoint.
  • the route planning method provided by the above embodiments obtains the two waypoints of the drone and the terrain images of the land parcels obtained by the drone at the two waypoints respectively, and obtains them at the two waypoints respectively based on the drone.
  • the terrain image of the land parcel can be used to determine the heading angle of the drone at the two waypoints, and then it can be based on the two waypoints of the drone and the heading angle of the drone at the two waypoints, which can be accurate Plan the UAV’s operation route in the plot and display the operation route so that the user can preview the operation route. After confirming that it is correct, the UAV can automatically operate on the plot based on the operation route. Improved user experience.
  • FIG. 15 is a schematic flowchart of steps of yet another route planning method provided by an embodiment of the present application.
  • the route planning method includes step S301 to step S304.
  • the route planning page includes waypoint setting controls, which are used to set the waypoints of the drone.
  • the route planning page also displays the identifier of the drone.
  • the identifier is The symbol synchronization changes, so that the user can know the position of the drone through the displayed identifier of the drone, thus facilitating the user to set waypoints.
  • a job planning page is displayed, wherein the job planning page includes a job task selection control, and the job task selection control is used to select a job task; when the user's trigger operation on the job task selection control is obtained
  • the job task list is displayed, where the job task list includes multiple job tasks; the user's selection operation on the job task is acquired, and the target job task is determined according to the user's selection operation on the job task, and control
  • the drone executes the target operation task.
  • the target operation task is a task to be completed
  • the area of the unfinished operation in the target operation task and the position of the drone when the operation was last completed are displayed.
  • the UAV starts from the position of the UAV when the operation was completed last time, and continues to work on the area of the plot where the operation has not been completed.
  • the drone can start from the position where the job ended during the next job, and continue to work on the area of the plot that has not completed the job, which greatly improves the user experience.
  • the job planning page further includes a job mode selection control, the job mode selection control is used to select a job mode, and when the user's trigger operation on the job mode selection control is obtained, the job mode selection page is displayed ,
  • the operation mode selection page includes a plurality of operation mode options; the user's selection operation on the operation mode option is acquired, and the target operation mode is determined according to the user's selection operation on the operation mode option; if the target If the operation mode is the preset operation mode, the route planning page is displayed.
  • the operation mode options include the first operation mode, the second operation mode and the third operation mode.
  • the first operation mode is for the user to manually control the drone operation
  • the second operation mode is for the user to semi-automatically control the drone operation
  • the third operation mode is The mode is that after the user sets two waypoints and the heading angles of the two waypoints, the drone can operate automatically.
  • the preset operation mode is the third operation mode.
  • the user can control the drone to fly to a boundary point of the target plot through the control terminal.
  • the user can determine the drone's operation according to the trigger operation of the control setting for the waypoint by the user.
  • the first waypoint and adjust the heading angle of the drone at the first waypoint to get the target heading angle of the first waypoint.
  • the first waypoint is used to indicate the boundary point of the operation route.
  • the heading angle adjustment control of the first waypoint is displayed in the route planning page; when the heading angle of the user to the first waypoint is obtained
  • the heading angle of the drone at the first waypoint is adjusted to obtain the target heading angle of the first waypoint.
  • the route planning page further includes a display window that includes the terrain image of the target plot and the drone's nose reference line, and the nose reference line and terrain image in the display window follow
  • the heading angle of the drone at the first waypoint changes, which is convenient for the user to know the change of the nose reference line and the terrain image, and it is convenient for the user to set the heading angle of the drone at the first waypoint.
  • the currently displayed image of the display window is acquired, wherein the currently displayed image includes a topographic image of a target plot; according to the topographic image of the target plot, the drone is adjusted in the The heading angle of the first waypoint is used to obtain the target heading angle of the first waypoint.
  • the heading angle of the drone at the first waypoint can be automatically adjusted, without the user's manual adjustment, which greatly improves the user experience.
  • the drone is controlled to take a topographic image of the target plot, and the topographic image is displayed in the display window; the drone's nose reference line is displayed in the display window, and acquired The currently displayed image of the display window, wherein the currently displayed image includes the terrain image and the nose reference line.
  • the drone's nose reference line and the terrain image of the plot it is convenient for users to view the positional relationship between the nose reference line and the boundary line of the plot in real time. When the boundary lines overlap, determine the heading angle of the waypoint.
  • the boundary line of the target plot is determined according to the terrain image; the heading angle of the drone at the first waypoint is adjusted according to the boundary line of the target plot to adjust The nose reference line until the nose reference line overlaps the boundary line to obtain the target heading angle of the first waypoint.
  • the nose reference line of the drone can be adjusted so that the nose reference line overlaps the boundary line of the plot, so that the nose of the drone is aligned with the boundary of the plot.
  • gray-scale processing is performed on the terrain image to obtain a gray-scale image of the terrain image; the gray-scale image is sharpened, and the gray-scale image is determined according to the sharpened gray-scale image.
  • the boundary line of the target plot can be determined from the sharpened grayscale image through a preset straight line detection algorithm.
  • the preset straight line detection algorithm includes at least one of the following: Hough transform straight line detection algorithm, LSD fast straight line Detection algorithm, FLD line detection algorithm, EDlines line detection algorithm, LSWMS line detection algorithm, CannyLines line detection algorithm, MCMLSD line detection algorithm and LSM line detection algorithm.
  • calculating the deviation angle between the boundary line of the target plot and the nose reference line of the drone adjusting the heading angle of the drone at the first waypoint according to the deviation angle, To adjust the nose reference line until the boundary line overlaps with the nose reference line of the drone.
  • the deviation angle between the boundary line and the drone's nose reference line can be calculated. Based on the deviation angle, the drone's heading angle can be quickly adjusted to adjust the nose reference line It can quickly overlap with the boundary line to improve the speed of determining the heading angle.
  • the heading angle of the drone at the first waypoint is adjusted in a clockwise or counterclockwise direction with a preset adjustment value to adjust the drone's nose reference line; calculate the adjusted aircraft The deviation angle between the head reference line and the boundary line of the target plot, and determine whether the deviation angle is zero; if the deviation angle is not zero, compare the historical deviation angle with the deviation angle, if the historical deviation angle is greater than the deviation angle , Then continue to adjust the heading angle of the drone at the first waypoint in a clockwise or counterclockwise direction with a preset adjustment value to adjust the drone's nose reference line, thereby adjusting the nose reference line and boundary The deviation angle between the lines, until the deviation angle is zero;
  • the heading angle of the drone at the first waypoint using the preset adjustment value to adjust the nose reference line of the drone, thereby adjusting the nose reference line and boundary
  • the heading angle is adjusted clockwise at the beginning
  • the heading angle is adjusted counterclockwise
  • the heading angle is adjusted counterclockwise
  • the heading angle is initially adjusted counterclockwise
  • the heading angle is 0.5°.
  • the adjustment direction of the heading angle can be adjusted in time, so that the heading angle of the waypoint can be quickly determined .
  • the nose reference line in the display window is updated according to the adjusted heading angle; according to the update
  • the route planning page further includes a heading angle confirmation control of the first waypoint, and if the updated nose reference line overlaps the boundary line, a preset reminder message is output, where ,
  • the preset reminder information is used to remind the user that the nose reference line overlaps the boundary line; and/or, when the user's triggering operation of the heading angle confirmation control is obtained, the drone is placed on the first
  • the current heading angle of a waypoint is used as the target heading angle of the first waypoint.
  • the nose reference line of the drone and the boundary line of the target plot are displayed in the display window; acquiring The heading angle adjustment command triggered by the user, and the heading angle of the drone at the first waypoint is adjusted according to the heading angle adjustment command to obtain the target heading angle of the first waypoint.
  • the nose reference line in the display window changes with the heading angle of the drone at the first waypoint, so that the user can view the nose reference line and the The positional relationship of the boundary line is convenient for the user to manually set the heading angle of the waypoint.
  • the heading angle adjustment command can be triggered by the joystick on the control terminal or the heading angle adjustment button on the control terminal.
  • the heading angle adjustment button is used to adjust the heading angle of the drone. Heading angle adjustment button, the UAV will adjust the heading angle in a clockwise or counterclockwise direction with a preset adjustment value.
  • the heading angle adjustment button can be slid. Slide the heading angle adjustment button to the left, then when the user operates the heading When the angle adjustment button is used, the drone will move counterclockwise and adjust the heading angle with the preset adjustment value. If the heading angle adjustment button slides to the right, when the user operates the heading angle adjustment button, the drone will move in the opposite direction. Clockwise direction, and adjust the heading angle with the preset adjustment value.
  • the drone at the first waypoint after adjusting the heading angle of the drone at the first waypoint, update the position of the nose reference line in the display window according to the adjusted heading angle; If the reference line of the nosepiece after the updated position overlaps the boundary line, preset reminder information is output, where the preset reminder information is used to remind the user that the reference line of the nosepiece overlaps the boundary line.
  • preset reminder information is used to remind the user that the reference line of the nosepiece overlaps the boundary line.
  • the route planning page further includes a heading angle determination control of the first waypoint, and when the user's triggering operation on the heading angle confirmation control is obtained, the drone is placed in the The current heading angle of the first waypoint is used as the target heading angle of the first waypoint.
  • the current heading angle of the drone at the first waypoint may be automatically used as the target heading angle of the first waypoint.
  • S303 Determine the second waypoint of the drone according to the user's triggering operation on the waypoint setting control, and adjust the heading angle of the drone at the second waypoint to obtain the second waypoint.
  • the user controls the drone to fly to the boundary point of the target plot through the control terminal, and when the user triggers the waypoint setting control is obtained
  • the second waypoint of the drone is determined according to the user's triggering operation on the waypoint setting control, and the heading angle of the drone at the second waypoint is adjusted to obtain the target heading angle of the second waypoint.
  • the second waypoint is used to form a boundary line of the operation route with the first waypoint.
  • the waypoint setting controls include a first waypoint setting control and a second waypoint setting control.
  • the first waypoint setting control is used to set the first waypoint of the drone.
  • the second waypoint setting control is used to set the second waypoint of the drone, specifically: determining the first waypoint of the drone according to the user's triggering operation on the first waypoint setting control; when determining the first waypoint After that, the heading angle adjustment control of the first waypoint is displayed, and the heading angle of the drone at the first waypoint is adjusted according to the user's triggering operation of the heading angle adjustment control to obtain the target heading angle of the first waypoint.
  • Point setting controls set the UAV's second waypoint and the heading angle of the second waypoint.
  • the second waypoint of the drone is determined according to the user's triggering operation on the second waypoint setting control; after the second waypoint is determined, the first waypoint is displayed
  • the heading angle adjustment control of the second waypoint, and the heading angle of the drone at the second waypoint is adjusted according to the user's triggering operation of the heading angle adjustment control to obtain the target heading angle of the second waypoint.
  • first waypoint and the second waypoint are determined in the same way, and the heading angle of the first waypoint is determined in the same way as the heading angle of the second waypoint.
  • the specific method for determining the heading angle may refer to the foregoing first waypoint and the specific method for determining the heading angle of the first waypoint, which will not be repeated here.
  • the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint plan the drone to be at the target location.
  • the operating route within the block
  • the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint After determining the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint, it can be based on the first waypoint, the target heading angle of the first waypoint, and the target heading angle of the second waypoint. Point and the target heading angle of the second waypoint to plan the UAV’s operating route in the target plot. Among them, based on the preset route planning algorithm, according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint, plan the operation of the drone in the target plot route. It is understandable that the foregoing preset route planning algorithm can be set based on actual conditions, which is not specifically limited in this application. Through the two waypoints and the heading angles of the two waypoints, the operation route of the drone within the plot can be accurately planned, so that the drone can accurately perform operations.
  • the first boundary line of the operation route is determined according to the first waypoint and the target heading angle of the first waypoint, that is, the first waypoint is taken as the starting point and the first waypoint is The direction of the target heading angle of is the ray direction, the first ray is obtained, and the first ray is used as the first boundary line of the operation route; according to the second waypoint and the target heading angle of the second waypoint, Determine the second boundary line of the operation route, that is, take the second waypoint as the starting point and take the direction of the target heading angle of the second waypoint as the ray direction to obtain the second ray, and use the second ray as the operation route According to the first waypoint and the second waypoint, determine the third boundary line of the operation route, that is, take the first waypoint as the starting point and the second waypoint as the end point to obtain Line segment, and use the line segment as the third boundary line of the operating route; according to the first boundary line, the second boundary line, and the third boundary line, the drone is planned to be in the target plot
  • the outer contour shape of the operation route includes a straight line contour and/or a curved contour
  • the straight line contour includes a triangle and/or a quadrilateral
  • the outer contour shape of the operation route is the shape of a figure formed by the boundary lines of the operation route.
  • the route planning area is determined according to the first boundary line, the second boundary line, and the third boundary line, and the third boundary line is used as the initial route of the operation route, and then starting from the initial route, the route is preset Distance, plan the UAV's operating route in the route planning area, so as to obtain the UAV's operating route in the target plot.
  • the outer contour shape of the operation route obtained by planning is a triangle.
  • the planned operation route is obtained.
  • the outer contour shape is quadrilateral.
  • the route planning page further includes a job execution control
  • the job execution control is used to control the drone to operate on the target plot according to the operation route, and the drone is obtained in the planning After the operation route in the target plot, the operation route is displayed so that the user can read the operation route; when the user's trigger operation on the operation execution control is obtained, the drone is controlled to follow the operation The route operates on the target plot.
  • the operation execution control the user can control the terminal or the drone to plan the operation route, and it is convenient for the user to control the drone to perform the operation according to the operation route, which greatly improves the user experience.
  • the route planning page further includes a course switching control
  • the course switching control is used to switch the course of the work route, after the work route is displayed, when the user's trigger of the course switch control is obtained During operation, the course of the operation route is switched, and the course of the operation after the course is switched is displayed.
  • the course switching control it is convenient for the user to switch the course of the operation route and improve the user experience.
  • the route planning method provided by the foregoing embodiment displays the route planning page including the waypoint setting control, so that the control terminal can determine the two waypoints and the two waypoints of the drone based on the user's trigger operation of the waypoint setting control. Based on the two waypoints of the drone and the heading angle of the two waypoints, it can accurately plan the drone's operating route in the plot, so that the drone can accurately perform operations according to this operating route. , Which greatly improves the user experience.
  • FIG. 16 is a schematic flowchart of the steps of yet another route planning method provided by an embodiment of the present application.
  • the route planning method includes steps S401 to S406.
  • the route planning page includes waypoint setting controls, which are used to set the waypoints of the drone.
  • the route planning page also displays the identifier of the drone.
  • the identifier is The symbol synchronization changes, so that the user can know the position of the drone through the displayed identifier of the drone, thus facilitating the user to set waypoints.
  • S402. Determine the first waypoint of the drone according to the user's triggering operation on the waypoint setting control, and adjust the heading angle of the drone at the first waypoint to obtain the position of the first waypoint.
  • the target heading angle, wherein the first waypoint is used to represent the boundary point of the operation route.
  • the user can control the drone to fly to a boundary point of the target plot through the control terminal.
  • the user's trigger operation of the control setting for the waypoint is obtained, the user can determine the drone's operation according to the trigger operation of the control setting for the waypoint by the user.
  • the first waypoint and adjust the heading angle of the drone at the first waypoint to get the target heading angle of the first waypoint.
  • the first waypoint is used to indicate the boundary point of the operation route.
  • S403. Determine the second waypoint of the drone according to the user's triggering operation on the waypoint setting control, and adjust the heading angle of the drone at the second waypoint to obtain the second waypoint.
  • the user controls the drone to fly to the boundary point of the target plot through the control terminal, and when the user triggers the waypoint setting control is obtained
  • the second waypoint of the drone is determined according to the user's triggering operation on the waypoint setting control, and the heading angle of the drone at the second waypoint is adjusted to obtain the target heading angle of the second waypoint.
  • the second waypoint is used to form a boundary line of the operation route with the first waypoint.
  • the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint plan the drone to be at the target location.
  • the operating route within the block
  • the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint After determining the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint, it can be based on the first waypoint, the target heading angle of the first waypoint, and the target heading angle of the second waypoint. Point and the target heading angle of the second waypoint to plan the UAV’s operating route in the target plot. Among them, based on the preset route planning algorithm, according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint, plan the operation of the drone in the target plot route. It is understandable that the foregoing preset route planning algorithm can be set based on actual conditions, which is not specifically limited in this application.
  • the route planning page including the operation route is displayed, so that the user can view the operation route.
  • the route planning page further includes a job execution control, and the job execution control is used to control the drone to perform operations on the target plot according to the operation route;
  • the route planning page also includes a course switching control, When the user's triggering operation on the heading switching control is acquired, the heading of the work route is switched, and the work route after the switching of the heading is displayed.
  • the route planning page further includes a route segmentation control.
  • the route segmentation page displays the route area including the operation route ;
  • the route segmentation page displays the route area including the operation route ;
  • the segmentation operation is used to segment the route area
  • the method of determining whether the segmentation operation is a valid segmentation operation is specifically: acquiring the first segmentation point and the second segmentation point corresponding to the segmentation operation, and determining the first segmentation point And the second dividing point respectively relative to the position of the route area; according to the positions of the first dividing point and the second dividing point respectively relative to the route area, it is determined whether the first dividing point and the second dividing point are respectively located on the two sides of the route area.
  • the division operation is determined to be a valid division operation, if the first division point and the second division point are both located on one side of the route area, or If the first division point and/or the second division point are located in the route area, it is determined that the division operation is an invalid division operation.
  • the segmentation operation includes a user's sliding operation on the 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 touch on the route segmentation page 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 route dividing page.
  • the unpaired touch position points are points that do not belong to the dividing position line.
  • 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.
  • 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.
  • FIG. 17 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • the route segmentation page displays two line segments, one of which is a solid line
  • the displayed line segment 1 is the dividing position line of the route area
  • the other line segment is the line segment 2 displayed in dashed lines, which is the line segment corresponding to the invalid dividing operation, and the two dividing points of the dividing position line are located on both sides of the route area
  • One segmentation point of the line segment corresponding to the invalid segmentation operation is located on the right side of the route area, and the other segmentation point is located within the route area.
  • the route area is divided into two sub-areas, namely sub-region A and sub-region B, and Sub-area A shows the operating route.
  • 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 can 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 route area, or update the segment corresponding to the invalid segmentation operation to the segmentation position line, thereby realizing the alignment of the route area Segmentation.
  • FIG. 18 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • the two dividing points of are located on both sides of the route area, and become the line segment displayed as a solid line, that is, the dividing position line, while the line segment 1 remains unchanged.
  • the route area is divided into three sub-areas, namely sub-areas A.
  • Sub-area B1 and sub-area B2 are obtained by dividing sub-area B in FIG. 17, and sub-area A, sub-area B1 and sub-area B2 are displayed with operating routes.
  • 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 in the route division page.
  • 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 route segmentation page
  • the split point fine-tuning pop-up window also displays a split area.
  • the endpoint fine-tuning controls include the following At least one: move up control, move down control, move left control, move right control, and move 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 left move control is used to control the end point to move up
  • the move control is used to control the end point to move to the left
  • the right move control is used to control the end point to move to the right
  • the back control is used to control the end point to move back to the position before adjustment.
  • FIG. 19 is another schematic diagram of the route segmentation page displayed by the display device of the control terminal in the embodiment of the present application.
  • the segmentation point fine-tuning pop-up window is displayed in the left area of the route segmentation page.
  • the split point fine-tuning pop-up window displays the move up control, move down control, move left control, move right control and back control.
  • the right area of the route division page displays the route area and the dividing position line 1 and dividing position line 2.
  • the dividing point to be fine-tuned is the point at the left end of the dividing position line 1.
  • the 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 display Operating route.
  • the route 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 user's touch operation on the pop-up window adjustment control is acquired, and the pop-up window adjustment control is obtained according to the user's touch operation.
  • the touch operation of the window adjustment control controls the control terminal to display the split point fine-tuning pop-up window on the full screen.
  • the control terminal displays the split point fine-tuning pop-up window in full screen
  • 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.
  • the full-screen display of the pop-up window facilitates user operations and greatly improves user experience.
  • the drone can perform spraying operations or spreading operations, which is not specifically limited in this application.
  • the drone is controlled to carry out the broadcast operation on the target plot according to the operation route.
  • the unmanned aerial vehicle is provided with a spreading device, the spreading device includes a spreading box, a spreading carousel, and a spreading bin mouth, the spreading box is used for placing spreading materials, and the spreading carousel is used for distributing the spreading materials in the spreading box. It is transported to the opening of the sowing bin to realize the sowing of the sowing material.
  • the sowing material includes at least one of the following: seeds, fertilizer, and feed. Of course, it can also be other materials, which is not specifically limited in this application.
  • the broadcasting parameter setting pop-up window is displayed, wherein the broadcasting parameter setting pop-up window includes a broadcasting parameter setting control and a broadcasting parameter confirmation control;
  • the trigger operation of the broadcasting parameter setting control is to set the broadcasting parameter of the broadcasting device;
  • the drone is controlled to follow the operating route and the setting The sowing parameters perform sowing operations on the target plot.
  • the rotation speed of the spreading carousel and the diameter of the spreading bin mouth are determined according to the area of the target plot, and the weight of the spreading material spread by the drone is determined according to the rotation speed of the spreading carousel and the spreading
  • the size of the aperture of the warehouse is determined, and the quality of the spreading material in the spreading box is determined according to the output power of the battery of the drone and the quality of the drone.
  • FIG. 13 is another schematic diagram of the route planning page displayed by the display device of the control terminal of the present application.
  • the route planning page displays the operating route and broadcast parameter setting pop-up window.
  • the broadcasting parameter setting pop-up window is located on the left side of the route planning page, and the operation route is located on the right side of the route planning page.
  • the broadcasting parameter setting pop-up window displays the rotation speed of the spreading carousel, the diameter of the spreading bin and the flying speed of the drone.
  • the control for confirming the broadcast parameters is also displayed.
  • the route planning page further includes a job suspension control, which is used to control the drone to suspend operations on the target plot or to control the drone to continue to perform operations on the target plot.
  • the target plot is operated, and when the user's trigger operation on the job suspension control is obtained, the drone is controlled to suspend the operation of the target plot, and the remaining route area of the target plot is acquired;
  • the user triggers the adjustment instruction of the first waypoint or the second waypoint, and adjusts the first waypoint or the second waypoint according to the adjustment instruction of the first waypoint or the second waypoint; according to the adjustment After the first waypoint and/or the second waypoint, update the operation route of the drone in the remaining route area; when the user's trigger operation on the operation pause control is obtained, control all
  • the UAV continues to operate on the remaining route area according to the updated operating route.
  • the adjustment methods of the first waypoint, the heading angle of the first waypoint, the second waypoint, and the heading angle of the second waypoint can refer to the relevant parts of the foregoing embodiment, and will not be described in detail here.
  • the user can reset only the position and/or heading angle of the first waypoint, or only the position and/or heading angle of the second waypoint, or reset the position and/or heading angle of the first waypoint. And reset the position and/or heading angle of the second waypoint, which is not specifically limited in this application.
  • the first waypoint reset control and the second waypoint reset control are displayed on the route planning page, and the first waypoint reset control is used for Reset the first waypoint, the second waypoint reset control is used to reset the second waypoint; get the user's trigger operation of the first waypoint reset control, and reset the control according to the user to the first waypoint
  • the first waypoint adjustment instruction is generated; the first waypoint and the first waypoint heading angle are adjusted according to the first waypoint adjustment instruction; the user's trigger operation on the second waypoint reset control is acquired, and the second waypoint reset control is triggered according to the user
  • the triggering operation of the second waypoint reset control generates a second waypoint adjustment instruction, and adjusts the second waypoint and the heading angle of the second waypoint according to the second waypoint adjustment instruction.
  • FIG. 14 is another schematic diagram of the route planning page displayed on the display device of the control terminal of this application.
  • the route planning page displays the first waypoint reset control and the first waypoint reset control.
  • Two waypoint reset control, the first waypoint, the second waypoint and the second waypoint after reset also include the operation route planned before resetting the second waypoint and the operation route after resetting the second waypoint , And the operating route after resetting the second waypoint is shorter than the planned operating route before resetting the second waypoint.
  • the route planning method provided by the foregoing embodiment displays the route planning page including the waypoint setting control, so that the control terminal can determine the two waypoints and the two waypoints of the drone based on the user's trigger operation of the waypoint setting control. Based on the two waypoints of the drone and the heading angle of the two waypoints, it can accurately plan the drone's operating route in the plot, and then display the operating route so that the user can preview the operating route After the confirmation is correct, the drone can automatically operate on the plot based on the operation route, which greatly improves the user experience.
  • FIG. 20 is a schematic block diagram of the structure of an unmanned aerial vehicle according to an embodiment of the present application.
  • the unmanned aerial vehicle 500 includes a processor 501 and a memory 502, and the processor 501 and the memory 502 are connected by a bus 503.
  • the bus 503 is, for example, an I2C (Inter-integrated Circuit) bus.
  • the UAV can be a rotary-wing UAV, such as a quadrotor UAV, a six-rotor UAV, an eight-rotor UAV, a fixed-wing UAV, or a rotary-wing type and a fixed-wing UAV.
  • the combination of man and machine is not limited here.
  • the processor 501 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU central processing unit
  • DSP Digital Signal Processor
  • the memory 502 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 processor 501 is configured to run a computer program stored in the memory 502, and implement the following steps when the computer program is executed:
  • the target heading angle of the first waypoint, the second waypoint and the target heading angle of the second waypoint plan the drone to be in the target plot The said operating route.
  • the first terrain image is obtained by shooting the target plot by the drone at the first waypoint
  • the second terrain image is obtained by the drone at the second waypoint. Obtained by photographing the target plot.
  • the processor implements the adjustment of the heading angle of the drone at the first waypoint according to the first terrain image to obtain the target heading angle of the first waypoint, using To achieve:
  • the processor implements the determination of the boundary line of the target plot according to the first topographic image, it is used to implement:
  • a sharpening process is performed on the grayscale image, and the boundary line of the target plot is determined according to the grayscale image after the sharpening process.
  • the processor realizes that the heading angle of the drone at the first waypoint is adjusted according to the boundary line of the target plot to adjust the nose reference line of the drone Until the boundary line overlaps with the reference line of the nose, it is used to realize:
  • the heading angle of the drone at the first waypoint is adjusted to adjust the nose reference line of the drone until the boundary line overlaps the nose reference line.
  • the processor realizes the planning according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint.
  • the drone is on the operating route in the target plot, it is used to achieve:
  • the drone is planned according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint The operating route within the target plot.
  • the processor implements the planning algorithm based on a preset route, according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the second waypoint
  • the target heading angle of, when planning the operation route of the UAV in the target plot, is used to achieve:
  • the operation route of the drone in the target plot is planned.
  • the outer contour shape of the operation route includes a straight contour and/or a curved contour.
  • the linear profile includes a triangle and/or a quadrilateral.
  • the drone further includes a spreading device, the spreading device includes a spreading box, a spreading carousel, and a spreading bin mouth, the spreading box is used to place the spreading material, and the spreading carousel is used to transfer the spreading box.
  • the sowing material in the sap is conveyed to the opening of the sowing bin to realize the sowing of the sowing material, and the sowing material includes at least one of the following: seeds, fertilizer and feed.
  • the rotation speed of the spreading carousel and the diameter of the spreading bin mouth are determined according to the area of the target plot, and the weight of the spreading material spread by the drone is determined according to the rotation speed of the spreading carousel and the diameter of the spreading bunker.
  • the diameter of the opening of the spreading bin is determined, and the quality of the spreading material in the spreading box is determined according to the output power of the battery of the drone and the quality of the drone.
  • FIG. 21 is a schematic block diagram of a control terminal according to an embodiment of the present application.
  • 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 the like.
  • 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, such as an I2C (Inter-integrated Circuit) bus.
  • the display device 603 may be a display screen or an external display device, such as a smart phone.
  • the processor 601 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU central processing unit
  • DSP Digital Signal Processor
  • 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 processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when the computer program is executed:
  • the target heading angle of the first waypoint, the second waypoint and the target heading angle of the second waypoint plan the drone to be in the target plot The said operating route.
  • the waypoint setting controls include a first waypoint setting control and a second waypoint setting control; the processor implements the determination of the first waypoint setting control of the drone according to a user's trigger operation on the waypoint setting control When a waypoint is used, it is used to achieve:
  • the determining the second waypoint of the drone according to a user's triggering operation on the waypoint setting control includes:
  • the second waypoint of the drone is determined according to the user's triggering operation on the second waypoint setting control.
  • the processor implements the adjustment of the heading angle of the drone at the first waypoint to obtain the target heading angle of the first waypoint, it is used to achieve:
  • the heading angle of the drone at the first waypoint is adjusted to obtain the target heading angle of the first waypoint.
  • the route planning page implemented by the processor further includes a display window; when the heading angle of the drone at the first waypoint is adjusted to obtain the target heading angle of the first waypoint To achieve:
  • the processor when the processor implements the acquisition of the currently displayed image of the display window, it is configured to implement:
  • the nose reference line of the drone is displayed in the display window, and a current display image of the display window is acquired, wherein the current display image includes the terrain image and the nose reference line.
  • the nose reference line and the terrain image in the display window change as the heading angle of the drone at the first waypoint changes.
  • the processor implements the adjustment of the heading angle of the drone at the first waypoint according to the terrain image of the target plot to obtain the target heading angle of the first waypoint To achieve:
  • the processor realizes that the heading angle of the drone at the first waypoint is adjusted according to the boundary line of the target plot to adjust the nose reference line until the When the nose reference line overlaps the boundary line and the target heading angle of the first waypoint is obtained, it is used to achieve:
  • the heading angle of the drone at the first waypoint is adjusted to adjust the nose reference line until the boundary line overlaps with the nose reference line of the drone.
  • the processor realizes the determination of the boundary position of the target plot according to the topographic image, it is used to realize:
  • a sharpening process is performed on the grayscale image, and the boundary line of the target plot is determined according to the grayscale image after the sharpening process.
  • the processor is further configured to implement:
  • the processor realizes that after determining whether the updated reference line of the nosepiece overlaps the boundary line according to the updated current display image of the display window, it is further used to realize:
  • the current heading angle of the drone at the first waypoint is taken as the target heading angle of the first waypoint.
  • the route planning page further includes a heading angle confirmation control of the first waypoint; the processor is further configured to implement:
  • the current heading angle of the drone at the first waypoint is taken as the target heading angle of the first waypoint.
  • the route planning page further includes a display window and a heading angle adjustment control of the first waypoint; the processor implements the adjustment of the heading angle of the drone at the first waypoint, Before obtaining the target heading angle of the first waypoint, it is also used to achieve:
  • the adjusting the heading angle of the drone at the first waypoint to obtain the target heading angle of the first waypoint includes:
  • the nose reference line in the display window changes with the heading angle of the drone at the first waypoint, so that the user can read the nose reference line and The positional relationship of the boundary line.
  • the processor is further configured to implement:
  • preset reminder information is output, where the preset reminder information is used to remind the user that the reference line of the nosepiece overlaps the boundary line.
  • the route planning page further includes a heading angle determination control of the first waypoint; the processor implements the adjustment of the drone at the first waypoint according to the heading angle adjustment instruction After the heading angle, it is also used to achieve:
  • the current heading angle of the drone at the first waypoint is taken as the target heading angle of the first waypoint.
  • the processor realizes the planning according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint.
  • the drone is on the operating route in the target plot, it is used to achieve:
  • the drone is planned according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint The operating route within the target plot.
  • the processor implements the planning algorithm based on a preset route, according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the second waypoint
  • the target heading angle of, when planning the operation route of the UAV in the target plot, is used to achieve:
  • the operation route of the drone in the target plot is planned.
  • the outer contour shape of the operation route includes a straight contour and/or a curved contour.
  • the linear profile includes a triangle and/or a quadrilateral.
  • the processor realizes the planning according to the first waypoint, the target heading angle of the first waypoint, the second waypoint, and the target heading angle of the second waypoint.
  • the UAV is also used to realize the following operations after the operation route in the target plot:
  • the route planning page including the operation route is displayed by the display device, so that the user can read the operation route.
  • the route planning page further includes a job execution control, and the job execution control is used to control the unmanned operation.
  • the aircraft operates on the target plot according to the operating route;
  • the drone When the user's triggering operation of the operation execution control is obtained, the drone is controlled to perform operations on the target plot according to the operation route.
  • the route planning page further includes a course switching control, the course switching control is used to switch the course of the work route; after the processor realizes the display of the work route, it is also used to realize:
  • the processor is configured to control the drone to perform operations on the target plot according to the operation route when the user's trigger operation on the operation execution control is acquired, for achieving :
  • the drone When the user's triggering operation of the operation execution control is obtained, the drone is controlled to perform a broadcast operation on the target plot according to the operation route.
  • the drone is provided with a spreading device, the spreading device includes a spreading box, a spreading carousel, and a spreading bin mouth, the spreading box is used to place the spreading material, and the spreading carousel is used to transfer the spreading box.
  • the sowing material in the sap is conveyed to the opening of the sowing bin to realize the sowing of the sowing material, and the sowing material includes at least one of the following: seeds, fertilizer and feed.
  • the processor before the processor realizes the control of the drone to perform the sowing operation on the target plot according to the operation route, the processor is further used to realize:
  • a broadcasting parameter setting pop-up window is displayed, where the broadcasting parameter setting pop-up window includes a broadcasting parameter setting control and a broadcasting parameter confirmation control;
  • the drone When the user's triggering operation on the broadcasting parameter confirmation control is obtained, the drone is controlled to perform a broadcasting operation on the target plot according to the operation route and the set broadcasting parameter.
  • the broadcasting parameter setting pop-up window displays the numerical value of the broadcasting parameter, and the numerical value of the broadcasting parameter changes according to a user's trigger operation of the broadcasting parameter setting control, and the broadcasting parameter includes at least one of the following: The rotation speed of the spreading turntable and the aperture of the spreading chamber.
  • the rotation speed of the spreading carousel and the diameter of the spreading bin mouth are determined according to the area of the target plot, and the weight of the spreading material spread by the drone is determined according to the rotation speed of the spreading carousel and the diameter of the spreading bunker.
  • the diameter of the opening of the spreading bin is determined, and the quality of the spreading material in the spreading box is determined according to the output power of the battery of the drone and the quality of the drone.
  • the route planning page further includes a job suspension control
  • the job suspension control is used to control the UAV to suspend operations on the target plot or to control the UAV to continue to work on the target plot.
  • the processor realizes the control of the drone to operate the target plot according to the operation route, it is also used to realize:
  • control the drone When the user's triggering operation on the operation pause control is obtained, control the drone to suspend operations on the target plot, and obtain the remaining route area of the target plot;
  • the drone is controlled to continue to operate the remaining route area according to the updated operation route.
  • the processor implements the adjustment instruction of the first waypoint and/or the second waypoint to adjust the first waypoint and/or the second waypoint, it is used to realize:
  • the processor realizes the display of the route planning page, it is also used to realize
  • the job planning page further includes a job mode selection control for the user to select a job mode; after the processor realizes the display of the job planning page, it is further used to realize:
  • the route planning page is displayed through the display device.
  • 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 or the drone described in any of the foregoing embodiments, for example, the hard disk or memory of the control terminal or the drone.
  • the computer-readable storage medium may also be an external storage device of the control terminal or the drone, for example, a plug-in hard disk or a smart memory card (Smart Media Card, SMC) equipped on the control terminal or the drone. Secure Digital (SD) card, flash card (Flash Card), etc.
  • SD Secure Digital
  • flash card Flash Card

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Abstract

一种航线规划方法、控制终端(600)、无人机(500)及计算机可读存储介质，方法包括：根据第一地形图像确定第一航点的航向角(S101)；根据第二地形图像确定第二航点的航向角(S102)；根据第一航点、第一航点的航向角、第二航点以及第二航点的目标航向角规划作业航线(S103)。本方法可以准确的规划作业航线。

Description

航线规划方法、无人机、控制终端及计算机可读存储介质 技术领域
本申请涉及航线规划技术领域，尤其涉及一种航线规划方法、无人机、控制终端及计算机可读存储介质。
背景技术
目前，无人机在对长方形或正方形地块进行喷洒或播撒等作业时，用户可以通过控制终端设置无人机在地块中的两个航点，并通过控制终端的摇杆控制无人机横移已设定的距离，从而使得无人机可以自动的基于两个航点和横移距离对地块进行喷洒或播撒等作业。对于其余形状的地块，无人机虽然也可以自动的基于两个航点和距离对地块进行喷洒或播撒等作业，但是无人机的实际作业区域为长方形或正方形区域，存在实际作业区域远大于地块的情况，使得无人机喷洒或者播撒地块之外的作业区域，无法准确的在形状不规则的地块上执行喷洒或播撒等作业，造成资源浪费，用户体验不好。
发明内容
基于此，本申请提供了一种航线规划方法、无人机、控制终端及计算机可读存储介质，旨在准确的规划无人机在地块内的作业航线，使得无人机可以根据此作业航线准确的执行作业。
第一方面，本申请提供了一种航线规划方法，包括：
获取无人机的第一航点、以及目标地块对应的第一地形图像，并根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点；
获取所述无人机的第二航点、以及目标地块对应的第二地形图像，并根据所述第二地形图像，调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线；
根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
第二方面，本申请还提供了一种航线规划方法，包括：
显示航线规划页面，其中，所述航线规划页面包括航点设置控件；
根据用户对所述航点设置控件的触发操作确定无人机的第一航点，并调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点；
根据用户对所述航点设置控件的触发操作确定所述无人机的第二航点，并调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线；
根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
第三方面，本申请还提供了一种无人机，所述无人机包括存储器和处理器；所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
获取无人机的第一航点、以及目标地块对应的第一地形图像，并根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点；
获取所述无人机的第二航点、以及目标地块对应的第二地形图像，并根据所述第二地形图像，调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线；
根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
第四方面，本申请还提供了一种控制终端，所述控制终端包括存储器和处理器；所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如上所述的航线规划方法的步骤。
第五方面，本申请还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上所述的航线规划方法的步骤。
本申请实施例提供了一种航线规划方法、无人机、控制终端及计算机可读存储介质，通过获取无人机的两个航点以及无人机分别在两个航点获取到的地块的地形图像，并基于无人机分别在两个航点获取到的地块的地形图像，可以 分别确定无人机在两个航点的航向角，然后可以基于无人机的两个航点以及无人机分别在两个航点的航向角，能够准确的规划无人机在地块内的作业航线，使得无人机可以根据此作业航线准确的执行作业，极大的提高了用户体验。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是实施本申请一实施例提供的航线规划方法的控制终端的结构示意图；
图2是本申请一实施例提供的一种航线规划方法的步骤示意流程图；
图3是本申请控制终端的显示装置显示的航线规划页面的一示意图；
图4是本申请实施了中航线规划页面的另一示意图；
图5是本申请控制终端的显示装置显示的航线规划页面的另一示意图；
图6是本申请控制终端的显示装置显示的航线规划页面的另一示意图；
图7是本申请控制终端的显示装置显示的航线规划页面的另一示意图；
图8是本申请一实施例提供的另一种航线规划方法的步骤示意流程图；
图9是本申请实施例中控制终端的显示装置显示的航线分割页面的一示意图；
图10是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图；
图11是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图；
图12是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图；
图13是本申请控制终端的显示装置显示的航线规划页面的另一示意图；
图14是本申请控制终端的显示装置显示的航线规划页面的另一示意图；
图15是本申请一实施例提供的又一种航线规划方法的步骤示意流程图；
图16是本申请一实施例提供的又一种航线规划方法的步骤示意流程图；
图17是本申请实施例中控制终端的显示装置显示的航线分割页面的另一 示意图；
图18是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图；
图19是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图；
图20是本申请一实施例提供的一种无人机的结构示意性框图；
图21是本申请一实施例提供的一种控制终端的结构示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本申请一实施例提供一种航线规划方法，该航线规划方法可以应用在控制终端中，也可以应用在无人机中，用于规划无人机在地块内的作业航线，本申请对此不作具体限定。请参照图1，图1是实施本申请一实施例提供的航线规划方法的控制终端的结构示意图，如图1所示，控制终端100包括天线101、遥杆102和显示装置103，该显示装置103用于显示航线规划页面，控制终端100与无人机之间可以建立通信连接，使得控制终端100可以控制无人机。可以通过无线通讯的方式建立通信连接，例如通过WiFi实现通信连接；还可以通过有线连接的方式建立通信连接，例如控制终端100与无人机分别设有接口，通过该接口实现两者的通信连接。
其中控制终端100包括遥控器、地面控制平台、手机、平板电脑、笔记本电脑、车载电脑和PC电脑等，无人机包括旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机，还可以是旋翼型与固定翼无人机的组合，在此不作限定。
具体地，如图2所示，该航线规划方法包括步骤S101至步骤S103。
S101、获取无人机的第一航点、以及目标地块对应的第一地形图像，并根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
其中，所述目标地块为待规划航线的地块，所述第一航点用于表示作业航线的边界点，所述第一地形图像由所述无人机在所述第一航点对目标地块进行拍摄得到，所述第一地形图像包括目标地块的地形图像，还包括其余地块对应的地形图像，所述地形图像可以是地块的二维平面图像，也可以是地块的三维立体图像，本申请对此不作具体限定。
在一实施例中，用户可以通过控制终端控制无人机飞行至目标地块的一边界点，通过控制终端上的航点设置按键一键设置无人机的第一航点或第二航点以及第一航点或第二航点的目标航向角，具体为：当获取到用户对航点设置按键的触发操作时，向无人机发送航点设置指令，使得无人机在接收该航点设置指令时，将当前航点作为第一航点，以及获取目标地块对应的第一地形图像；根据第一地形图像，调整无人机在第一航点的航向角，从而得到第一航点的目标航向角。通过控制终端上的航点设置按键，用户可以一键设置无人机的航点以及航向角，极大的提高了航点的设置便利性，同时通过地块的地形图像确定无人机在航点的航向角，可以自动且准确的设置航点的航向角。
同理，当设置完成第一航点之后，无人机向控制终端发送反馈信息，使得用户可以知道第一航点已设置完成，之后用户可以通过控制终端控制无人机飞行至目标地块的另一边界点，用户可以按照与第一航点设置方式相同的方式一键设置无人机的第二航点以及第二航点的目标航向角，第一航点与第二航点可以形成作业航线的边界线，且第一航点与第二航点位于目标地块的同一边界。可以快速便利的设置无人机的航点以及航点的航向角，极大的提高了用户体验。
在一实施例中，根据所述第一地形图像确定所述目标地块的边界线；根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠。其中，机头参考线随着无人机的航向角的改变而发生变化。通过调整无人机的航向角，可以调整无人机的机头参考线，从而使得机头参考线与地块的边界线重叠，通过地块的边界线和无人机的机头参考线，可以快速的控制无人机的机头对齐地块的边界。
在一实施例中，对所述第一地形图像进行灰度处理，得到所述第一地形图像的灰度图；对所述灰度图进行锐化处理，并根据经过锐化处理后的所述灰度 图确定所述目标地块的边界线。其中，可以通过预设直线检测算法，从经过锐化处理后的灰度图中确定目标地块的边界线，预设直线检测算法包括如下至少一种：霍夫变换直线检测算法、LSD快速直线检测算法、FLD直线检测算法、EDlines直线检测算法、LSWMS直线检测算法、CannyLines直线检测算法、MCMLSD直线检测算法和LSM直线检测算法。通过对地块的地形图像进行灰度以及锐化处理，可以快速准确的确定地块的边界线，便于后续准确调整无人机在航点的航向角。
在一实施例中，计算所述目标地块的边界线与所述无人机的机头参考线的偏离角度；根据所述偏离角度，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠。在确定目标地块的边界线之后，可以计算得到边界线与无人机的机头参考线的偏离角度，基于该偏离角度可以快速的调整无人机的航向角，以调整该机头参考线可以快速的与边界线重叠，提高航向角的确定速度。通过边界线与机头参考线的偏离角度，不需要多次调整航点的航向角，可以快速的确定航点的航向角。
在一实施例中，以顺时针或逆时针方向，且以预设调整值，调整无人机在第一航点的航向角，以调整无人机的机头参考线；计算调整后的机头参考线与目标地块的边界线的偏离角度，并确定该偏离角度是否为零；若该偏离角度不为零，则将历史偏离角度与该偏离角度进行比较，其中，历史偏离角度为上一时刻机头参考线与目标地块的边界线的偏离角度；如果历史偏离角度大于偏离角度，则继续以顺时针或逆时针方向，且以预设调整值，调整无人机在第一航点的航向角，以调整无人机的机头参考线，从而调整机头参考线与边界线之间的偏离角度，直到该偏离角度为零；
如果历史偏离角度小于该偏离角度，则以预设调整值，反向调整无人机在第一航点的航向角，以调整无人机的机头参考线，从而调整机头参考线与边界线之间的偏离角度，直到该偏离角度为零。其中，一开始以顺时针调整航向角，则当历史偏离角度小于该偏离角度时，以逆时针调整航向角，而一开始以逆时针调整航向角，则当历史偏离角度小于该偏离角度时，以顺时针调整航向角。可以理解的是，上述预设调整值可以基于实际情况进行设置，本申请对此不作具体限定。可选地，预设调整值为0.5°。在调整航点的航向角的过程中，通过比较前后两次机头参考线与目标地块的边界线的偏离角度，可以及时调整航向角的调整方向，从而可以快速的确定航点的航向角。
S102、获取所述无人机的第二航点、以及目标地块对应的第二地形图像， 并根据所述第二地形图像，调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角。
在确定无人机的第一航点以及第一航点的目标航向角之后，用户通过控制终端控制无人机飞行至目标地块的边界点，通过控制终端上的航点设置按键一键设置无人机的第二航点以及第二航点的目标航向角，具体为：当获取到用户对航点设置按键的触发操作时，向无人机发送航点设置指令，使得无人机在接收该航点设置指令时，将当前航点作为第二航点，以及获取目标地块对应的第二地形图像；根据第二地形图像，调整无人机在第二航点的航向角，从而得到第二航点的目标航向角。其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线，第一航点位于目标地块的一边界点，第二航点位于目标地块的另一边界点，且第一航点与第二航点形成目标地块的一边界线，第二地形图像由所述无人机在所述第二航点对目标地块进行拍摄得到。
在一实施例中，控制终端显示航线规划页面，其中，所述航线规划页面包括航点设置控件，通过所述航点设备控件可以设置无人机的第一航点以及第二航点；根据用户对所述航点设置控件的触发操作确定无人机的第一航点，并将确定无人机的第一航点的结果发送至所述无人机；和/或，在所述航线规划页面显示所述第一航点；获取目标地块的第一地形图像，并根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。其中，还可以在航线规划页面内显示第一航点的航向角的方向延长线，便于用户知晓无人机在第一航点的航向。通过航点设置控件，便于用户一键设置无人机的第一航点以及第一航点的航向角，提高用户体验。
在一实施例中，在确定第一航点后，在该航线规划页面显示第一航点的航向角调整控件；当获取到用户对所述航向角调整控件的触发操作时，根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。其中，所述航向角调整控件的触发操作包括如下至少一种：点击操作、双击操作、滑动操作和长按操作。通过航向角调整控件，可以将航点设置以及航点的航向角设置分离，便于用户设置航点以及航点的航向角，极大的提高了用户体验。
在一实施例中，在确定第一航点以及第一航点的航向角之后，用户通过控制终端控制无人机飞行至目标地块的边界点，用户可以再次对航点设置控件进行点击、双击、滑动和长按等触发操作，从而设置第二航点以及第二航点的航向角，具体为：根据用户对所述航点设置控件的触发操作确定无人机的第二航 点；将确定无人机的第二航点的结果发送至所述无人机；和/或，在所述航线规划页面显示所述第二航点；获取目标地块的第二地形图像，并根据所述第二地形图像，调整无人机在所述第二航点的航向角，得到所述第二航点的目标航向角。通过航点设置控件，便于用户一键设置无人机的第二航点以及第二航点的航向角，提高用户体验。
在一实施例中，在确定第二航点后，在该航线规划页面显示第二航点的航向角调整控件；当获取到用户对所述航向角调整控件的触发操作时，根据所述第二地形图像，调整无人机在所述第二航点的航向角，得到所述第二航点的目标航向角。其中，所述航向角调整控件的触发操作包括如下至少一种：点击操作、双击操作、滑动操作和长按操作。通过航向角调整控件，可以将航点设置以及航点的航向角设置分离，便于用户设置航点以及航点的航向角，极大的提高了用户体验。
在一实施例中，所述航点设置控件包括第一航点设置控件和第二航点设置控件，所述第一航点设置控件用于设置无人机的第一航点，所述第二航点设置控件用于设置无人机的第二航点，具体为：根据用户对所述第一航点设置控件的触发操作确定无人机的第一航点以及获取目标地块的第一地形图像，并根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角；在确定第一航点以及第一航点的航向角之后，根据用户对所述第二航点设置控件的触发操作确定无人机的第二航点以及获取目标地块的第二地形图像，并根据所述第二地形图像，调整无人机在所述第二航点的航向角，得到所述第二航点的目标航向角。通过设置第一航点设置控件和第二航点设置控件，便于用户通过第一航点设置控件设置无人机的第一航点以及第一航点的航向角，也便于用户通过第二航点设置控件设置无人机的第二航点以及第二航点的航向角。
示例性的，请参照图3，图3是本申请控制终端的显示装置显示的航线规划页面的一示意图，如图3所示，该航线规划页面显示有地块、第一航点设置控件、第二航点设置控件和无人机的标识，无人机的标识位于地块内，且第一航点设置控件为“A点”、第二航点设置控件为“B点”，无人机的标识为
Figure PCTCN2019127658-appb-000001
示例性的，请参照图4，图4是本申请控制终端的显示装置显示的航线规划页面的另一示意图，如图4所示，在确定第一航点之后，航线规划页面显示有确定的第一航点、第一航点设置控件、第二航点设置控件、第一航点的航向角调整控件和无人机的标识，第一航点为
Figure PCTCN2019127658-appb-000002
第一航点设置控件为“A点”、 第二航点设置控件为“B点”，无人机的标识为
Figure PCTCN2019127658-appb-000003
第一航点设置控件与第二航点设置控件的显示方式不同，以便用户知晓正在设置的航点为第一航点。
在一实施例中，所述航线规划页面还包括所述第一航点的航向角确认控件，若调整后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线已重叠；和/或，当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。通过输出提醒信息，可以便于用户知晓机头参考线与边界线已重叠，方便用户设置航点的航向角。
在一实施例中，所述航线规划页面还包括所述第二航点的航向角确认控件，若调整后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线已重叠；和/或，当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第二航点的当前航向角作为所述第二航点的目标航向角。通过输出提醒信息，可以便于用户知晓机头参考线与边界线已重叠，方便用户设置航点的航向角。
在一实施例中，所述航线规划页面还包括显示窗口，所述显示窗口为所述无人机的第一人称主视角窗口，在调整所述无人机在第一航点的航线角时，所述显示窗口显示所述无人机的机头参考线和所述目标地块的第一地形图像，所述显示窗口内的所述机头参考线和所述第一地形图像随着所述无人机在所述第一航点的航向角变化而发生变化，而在调整所述无人机在第二航点的航线角时，所述显示窗口显示所述无人机的机头参考线和所述目标地块的第二地形图像，所述显示窗口内的所述机头参考线和所述第二地形图像随着所述无人机在所述第二航点的航向角变化而发生变化。通过在显示窗口显示无人机的机头参考线以及地块的地形图像，方便用户实时的阅览机头参考线与地块的边界线之间的位置关系，可以在机头参考线与地块的边界线重叠时，确定航点的航向角。
示例性的，请参照图5，图5是本申请控制终端的显示装置显示的航线规划页面的另一示意图，如图5所示，该航线规划页面还包括显示窗口a，该显示窗口显示有无人机的机头参考线a2和目标地块的地形图像a1，该航线规划页面还显示有第一航点的航向角的方向延长线b，此时，该航线规划页面未显示第一航点设置控件与第二航点设置控件。
在一实施例中，用户还可以手动调整无人机在第一航点或第二航点的航向角，具体地，获取用户触发的航向角调整指令，并将该航向角调整指令发送至无人机，以使无人机基于该航向角调整指令，调整航向角，以调整显示窗口中 显示的机头参考线以及目标地块的地形图像，使得用户能够阅览机头参考线与目标地块的边界线，便于知晓机头参考线与边界线是否重叠；当用户知晓机头参考线与边界线重叠后，用户可以通过航点的航向角确定控件，确定无人机在航点的航向角，当然也可以在机头参考线与边界线重叠后，输出预设提醒信息，所述预设提醒信息用于提醒用户机头参考线与边界线已重叠，从而自动的将无人机的当前航向角作为航点的航向角，也可以由用户通过航点的航向角确定控件，确定无人机在航点的航向角。在一些情况下，无人机无法自动设置航点以及航点的航向角时，用户可以手动的设置无人机的航点以及航点的航向角，提高航点以及航向角设置的普适性，提高用户体验。
可以理解的是，航向角调整指令可以通过控制终端上的摇杆触发，也可以通过控制终端上的航向角调整按键触发，该航向角调整按键用于调整无人机的航向角，每操作一次航向角调整按键，无人机则以顺时针或逆时针方向，且以预设调整值调整航向角，该航向角调整按键可以滑动，将航向角调整按键滑动至左侧，则当用户操作航向角调整按键时，无人机则以逆时针方向，且以预设调整值调整航向角，而航向角调整按键滑动至右侧，则当用户操作航向角调整按键时，无人机则以逆时针方向，且以预设调整值调整航向角。
需要说明的是，第一航点与第二航点的确定方式相同，且第一航点的航向角与第二航点的航向角的确定方式相同，第二航点以及第二航点的航向角的具体确定方式可以参照前述第一航点以及第一航点的航向角的具体确定方式，此处不做赘述。
S103、根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
在确定第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角之后，可以基于第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角，规划无人机在目标地块内的作业航线。其中，可以基于预设航线规划算法，根据第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角，规划无人机在目标地块内的作业航线。可以理解的是，上述预设航线规划算法可基于实际情况进行设置，本申请对此不作具体限定。通过两个航点以及两个航点的航向角，可以准确的规划无人机在地块内的作业航线，使得无人机可以准确的执行作业。
在一实施例中，根据所述第一航点以及所述第一航点的目标航向角，确定 所述作业航线的第一边界线，即以第一航点为起点，以第一航点的目标航向角所在的方向为射线方向，得到第一射线，并将该第一射线作为作业航线的第一边界线；根据所述第二航点以及所述第二航点的目标航向角，确定所述作业航线的第二边界线，即以第二航点为起点，以第二航点的目标航向角所在的方向为射线方向，得到第二射线，并将该第二射线作为作业航线的第二边界线；根据所述第一航点以及所述第二航点，确定所述作业航线的第三边界线，即以第一航点为起点，且第二航点为终点，得到线段，并将该线段作为作业航线的第三边界线；根据所述第一边界线、所述第二边界线和所述第三边界线，规划所述无人机在所述目标地块内的所述作业航线。其中，所述作业航线的外轮廓形状包括直线轮廓和/或曲线轮廓，所述直线轮廓包括三角形和/或四边形，作业航线的外轮廓形状为作业航线的各边界线合围形成的图形的形状。通过规划外轮廓形状为直线轮廓和/或曲线轮廓的作业航线，使得规划得到的作业航线可以适应不同的地块，极大的提高了航线规划的普适性。
具体地，根据所述第一边界线、第二边界线、第三边界线确定航线规划区域，并将第三边界线作为所述作业航线的初始航线，然后从初始航线开始，以预设航线间距，在该航线规划区域内规划无人机的作业航线，从而得到无人机在目标地块内的作业航线。可以理解的是，当第一边界线与第二边界线存在交点时，规划得到作业航线的外轮廓形状为三角形，当第一边界线与第二边界线不存在交点时，规划得到作业航线的外轮廓形状为四边形，预设航线间距根据目标地块的面积确定。
在一实施例中，所述航线规划页面还包括作业执行控件，所述作业执行控件用于控制所述无人机按照所述作业航线对所述目标地块进行作业，在规划得到无人机在目标地块内的作业航线之后，显示所述作业航线，使得用户能够阅览所述作业航线；当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业。通过作业执行控件，用户可以在控制终端或无人机规划好作业航线之后，便于用户控制无人机按照该作业航线执行作业，极大的提高了用户体验。
在一实施例中，所述航线规划页面还包括航向切换控件，所述航向切换控件用于切换所述作业航线的航向，在显示作业航线后，当获取到用户对所述航向切换控件的触发操作时，切换所述作业航线的航向，并显示切换航向后的所述作业航线。通过航向切换控件，便于用户切换作业航线的航向，提高用户体验。
示例性的，请参照图6，图6是本申请控制终端的显示装置显示的航线规划页面的另一示意图，如图6所示，该航线规划页面显示有作业航线、第一航点、第二航点、作业执行控件、航向切换控件、取消控件和第二航点的航向角调整控件，且该作业航线的外轮廓形状为四边形，第一航点为
Figure PCTCN2019127658-appb-000004
第二航点为
Figure PCTCN2019127658-appb-000005
示例性的，请参照图7，图7是本申请控制终端的显示装置显示的航线规划页面的另一示意图，如图7所示，该航线规划页面显示有作业航线、第一航点、第二航点、作业执行控件、航向切换控件、取消控件和第二航点的航向角调整控件，且该作业航线的外轮廓形状为三角形，第一航点为
Figure PCTCN2019127658-appb-000006
第二航点为
Figure PCTCN2019127658-appb-000007
上述实施例提供的航线规划方法，通过获取无人机的两个航点以及无人机分别在两个航点获取到的地块的地形图像，并基于无人机分别在两个航点获取到的地块的地形图像，可以分别确定无人机在两个航点的航向角，然后可以基于无人机的两个航点以及无人机分别在两个航点的航向角，能够准确的规划无人机在地块内的作业航线，使得无人机可以根据此作业航线准确的执行作业，极大的提高了用户体验。
请参阅图8，图8是本申请一实施例提供的另一种航线规划方法的步骤示意流程图。
具体地，如图8所示，该航线规划方法包括步骤S201至S205。
S201、获取无人机的第一航点、以及目标地块对应的第一地形图像，并根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
用户可以通过控制终端控制无人机飞行至目标地块的一边界点，通过控制终端上的航点设置按键一键设置无人机的第一航点或第二航点以及第一航点或第二航点的目标航向角，具体为：当获取到用户对航点设置按键的触发操作时，向无人机发送航点设置指令，使得无人机在接收该航点设置指令时，将当前航点作为第一航点，以及获取目标地块对应的第一地形图像；根据第一地形图像，调整无人机在第一航点的航向角，从而得到第一航点的目标航向角。通过控制终端上的航点设置按键，用户可以一键设置无人机的航点以及航向角，极大的提高了航点的设置便利性，同时通过地块的地形图像确定无人机在航点的航向角，可以自动且准确的设置航点的航向角。
S202、获取所述无人机的第二航点、以及目标地块对应的第二地形图像， 并根据所述第二地形图像，调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角。
当设置完成第一航点之后，无人机向控制终端发送反馈信息，使得用户可以知道第一航点已设置完成，之后用户可以通过控制终端控制无人机飞行至目标地块的另一边界点，用户可以按照与第一航点设置方式相同的方式一键设置无人机的第二航点以及第二航点的目标航向角，第一航点与第二航点可以形成作业航线的边界线，且第一航点与第二航点位于目标地块的同一边界。可以快速便利的设置无人机的航点以及航点的航向角，极大的提高了用户体验。
S203、根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
在确定第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角之后，可以基于第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角，规划无人机在目标地块内的作业航线。其中，可以基于预设航线规划算法，根据第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角，规划无人机在目标地块内的作业航线。可以理解的是，上述预设航线规划算法可基于实际情况进行设置，本申请对此不作具体限定。
S204、显示包括所述作业航线的航线规划页面，使得用户能够阅览所述作业航线；
在规划得到作业航线之后，显示包括该作业航线的航线规划页面，使得用户能够阅览作业航线。其中，该航线规划页面还包括作业执行控件，所述作业执行控件用于控制所述无人机按照所述作业航线对所述目标地块进行作业；所述航线规划页面还包括航向切换控件，当获取到用户对所述航向切换控件的触发操作时，切换所述作业航线的航向，并显示切换航向后的所述作业航线。通过显示作业航线，便于用户对作业航线进行航向切换、航线分割等操作。
在一实施例中，所述航线规划页面还包括航线分割控件，当获取到用户对该航线分割控件的触发操作时，显示航线分割页面，其中，航线分割页面显示有该作业航线对应的航线区域；获取用户对该航线区域的航线分割操作，并根据该航线分割操作对该航线区域进行分割，得到该航线分割操作对应的航线区域，且显示该航线区域内的作业航线。通过显示航线分割页面，使得用户可以对作业航线进行分割，得到用户想要的作业航线，极大的提高了用户体验。
示例性的，请参照图9，图9是本申请实施例中控制终端的显示装置显示 的航线分割页面的一示意图，如图9所示，无人机作业航线一共有20条，且显示有航线区域的每个顶点，分别为顶点A、顶点B、顶点C和顶点D。
其中，该航线分割操作包括用户对任意两条作业航线的选择操作、用户对至少一条航线分割线的移动操作、用户对至少一个分割控件的滑动操作和用户对航线区域的滑动操作。具体实施中，在得到航线分割操作对应的航线区域后，标记该航线区域中的作业航线，可以便于用户知晓分割得到的航线区域。
在一实施例中，获取用户在该航线区域中选择的第一作业航线和第二作业航线，并计算该第一作业航线与第二作业航线之间的区域与航线区域的面积百分比；确定该面积百分比是否大于或等于预设的百分比阈值；若该面积百分比大于或等于预设的百分比阈值，则将该第一作业航线与第二作业航线之间的区域作为航线区域。用户可以通过选择两条作业航线实现航线区域的分割，便于用户对航线区域内的作业航线进行分割。
请参照图10，图10是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图，如图10所示，航线区域最左侧的作业航线为作业航线1，从左到右作业航线的编号依次加1，航线区域最右侧的作业航线为作业航线20，且用户选择的作业航线为作业航线5和作业航线15，则作业航线5与作业航线15之间的区域为航线区域。用户通过选择两条作业航线即可确定对航线区域内的作业航线进行分割，便于用户规划航线，提高了用户体验。
在一实施例中，该航线分割页面显示有第一航线分割线和第二航线分割线，第一航线分割线和第二航线分割线与航线区域内的作业航线平行，该第一航线分割线和第二航线分割线用于分割航线区域内的作业航线，具体地，获取用户对第一航线分割线和/或第二航线分割线的移动操作，并根据用户对第一航线分割线和/或第二航线分割线的移动操作，移动第一航线分割线和/或第二航线分割线；确定移动后的第一航线分割线与第二航线分割线之间的区域与航线区域的面积百分比；确定该面积百分比是否大于或等于预设的百分比阈值；若该面积百分比大于或等于预设的百分比阈值，则将移动后的第一航线分割线与第二航线分割线之间的区域作为航线区域。通过设置航线分割线，用户只需要移动该航线分割线即可对航线区域内的作业航线进行分割，便于用户规划航线，提高了用户体验。通过显示第一航线分割线和第二航线分割线，便于用户对第一航线分割线和第二航线分割线进行移动，从而方便用户对航线区域内的作业航线进行分割，极大的提高了航线分割的便利性。
请参照图11，图11是本申请实施例中控制终端的显示装置显示的航线分 割页面的另一示意图，如图11图所示，航线区域最左侧的作业航线为作业航线1，从左到右作业航线的编号依次加1，航线区域最右侧的作业航线为作业航线20，航线分割页面中的第一航线分割线的初始位置为经过顶点A和顶点D的虚线段所处的位置，航线分割页面中的第二航线分割线的初始位置为经过顶点B和顶点C的虚线段所处的位置，经过移动后，第一航线分割线位于作业航线5，第二航线分割线位于作业航线15，则作业航线5与作业航线15之间的区域为航线区域。
在一实施例中，该航线分割页面还显示有航线分割弹窗，该航线分割弹窗显示有航线分割条，该航线分割条用于控制该控制终端分割航线区域内的作业航线，该航线分割条上显示有第一分割控件和第二分割控件，第一分割控件和第二分割控件用于对航线区域内的作业航线进行分割，具体地，获取用户对航线分割条中的第一分割控件和/或第二分割控件的滑动操作，并根据用户对航线分割条中的第一分割控件和/或第二分割控件的滑动操作，在该航线分割条中滑动第一分割控件和/或第二分割控件；根据滑动后的第一分割控件和第二分割控件在该航线分割条上的位置，确定该航线区域。通过设置分割控件，用户只需要滑动该分割控件即可对航线区域内的作业航线进行分割，便于用户规划航线，提高了用户体验。通过用户对航线分割条上的分割控件的滑动操作，可以对航线区域内的作业航线进行分割，不需要用户对航线区域进行操作，可以减少用户的误操作对航线分割的影响，也便于用户分割作业航线。
在一实施例中，根据滑动后的第一分割控件和第二分割控件在航线分割条上的位置，确定第一航线分割百分比和第二航线分割百分比；获取航线区域内的作业航线的总数量，并根据总数量、第一航线分割百分比和第二航线分割百分比，确定第一航线编号和第二航线编号；将第一航线编号与第二航线编号之间的各作业航线在航线区域中合围形成的区域作为航线区域。其中，在航线分割条显示第一航线分割百分比和第二航线分割百分比，并在航线分割条上标记第一航线分割百分比与第二航线分割百分比之间的区域。通过显示分割百分比，便于用户对分割控件进行微调，使得分割得到的航线区域更准确。
其中，航线分割百分比的确定方式具体为：计算滑动后的第一分割控件在航线分割条上的位置与航线分割条的起始点位置之间的区域与预设的总区域的面积百分比，并将该面积百分比作为第一航线分割百分比，按照同样的方式可以得到第二航线分割百分比。示例性的，作业航线的总数量为20，第一航线分割比为15％，第二航线分割比为80％，则第一航线编号为20*15％＝4，第二航 线编号为20*80％＝16。
在一实施例中，该航线分割弹窗还显示有航线删除控件和分割图标控件，该航线删除控件用于控制该控制终端删除该航线区域，以使该航线区域恢复初始状态，该分割图标控件用于控制该控制终端显示或隐藏该分割控件。
请参照图12，图12是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图，如图12图所示，航线分割弹窗位于航线分割页面的下侧边界，且航线删除控件设置于航线分割条的左侧，分割图标控件设置于航线分割条的右侧，航线分割条设置于航线删除控件与分割图标控件之间，且两个分割控件对应的航线分割百分比为20％和80％，则两个航线编号为4和航线编号16，则作业航线4与作业航线16之间的区域为航线区域。
S205、当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业。
其中，无人机可以进行喷洒作业，也可以进行播撒作业，本申请对此不作具体限定。当获取到用户对作业执行控件的触发操作时，控制无人机按照作业航线对目标地块进行播撒作业。所述无人机设有播撒装置，所述播撒装置包括播撒箱、播撒转盘和播撒仓口，所述播撒箱用于放置播撒物质，所述播撒转盘用于将所述播撒箱中的播撒物质输送至所述播撒仓口，以实现播撒物质的播撒，所述播撒物质包括如下至少一种：种子、肥料和饲料，当然也可以为其余物质，本申请对此不作具体限定。
在一实施例中，当获取到用户对作业执行控件的触发操作时，显示播撒参数设置弹窗，其中，所述播撒参数设置弹窗包括播撒参数设置控件和播撒参数确认控件；根据用户对所述播撒参数设置控件的触发操作，设置所述播撒装置的播撒参数；当获取到用户对所述播撒参数确认控件的触发操作时，控制所述无人机按照所述作业航线和设置的所述播撒参数对所述目标地块进行播撒作业。其中，所述播撒转盘的转速和所述播撒仓口的口径大小根据所述目标地块的面积确定，所述无人机播撒出去的播撒物质的重量根据所述播撒转盘的转速和所述播撒仓口的口径大小确定，所述播撒箱中的播撒物质的质量根据所述无人机的电池的输出功率以及所述无人机的质量确定。通过播撒参数设置弹窗，用户可以快速编辑的设置无人机的播撒参数，极大的提高了用户体验。
示例性的，请参照图13，图13是本申请控制终端的显示装置显示的航线规划页面的另一示意图，如图13所示，该航线规划页面显示有作业航线和播撒参数设置弹窗，且播撒参数设置弹窗位于航线规划页面的左侧，而作业航线位 于航线规划页面的右侧，播撒参数设置弹窗显示有播撒转盘的转速、播撒仓口的口径和无人机的飞行速度，还显示有播撒参数确认控件。
在一实施例中，所述航线规划页面还包括作业暂停控件，所述作业暂停控件用于控制所述无人机暂停对所述目标地块进行作业或者控制所述无人机继续对所述目标地块进行作业，当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机暂停对所述目标地块进行作业，并获取所述目标地块的剩余航线区域；获取用户触发的所述第一航点或第二航点的调整指令，并根据所述第一航点或第二航点的调整指令，调整所述第一航点或第二航点；根据调整后的所述第一航点和/或第二航点，更新所述无人机在所述剩余航线区域内的作业航线；当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机按照更新后的作业航线继续对所述剩余航线区域进行作业。通过暂停无人机对地块的作业，使得用户可以随时调整无人机的航点以及航向角，从而调整无人机的作业航线，极大的提高了用户体验。
可以理解的是，第一航点、第一航点的航向角、第二航点以及第二航点的航向角的调整方式可以参照前述实施例的相关部分，此处不做具体赘述。用户可以仅重设第一航点的位置和/或航向角，也可以仅重设第二航点的位置和/或航向角，还可以重设第一航点的位置和/或航向角，并重设第二航点的位置和/或航向角，本申请对此不作具体限定。
在一实施例中，当获取到用户对作业暂停控件的触发操作时，在该航线规划页面显示第一航点重设控件和第二航点重设控件，第一航点重设控件用于重设第一航点，第二航点重设控件用于重设第二航点；获取用户对该第一航点重设控件的触发操作，并根据用户对该第一航点重设控件的触发操作，生成第一航点调整指令；根据该第一航点调整指令调整第一航点以及第一航点航向角；获取用户对第二航点重设控件的触发操作，并根据用户对该第二航点重设控件的触发操作，生成第二航点调整指令，根据该第二航点调整指令调整第二航点以及第二航点的航向角。通过显示航点重设控件，便于用户及时的通过航点重设控件重新设置航点以及航点的航向角，从而调整无人机的作业航线，极大的提高了用户体验。
示例性的，请参照图14，图14是本申请控制终端的显示装置显示的航线规划页面的另一示意图，如图14所示，该航线规划页面显示有第一航点重设控件、第二航点重设控件、第一航点和第二航点，无人机的当前航点为重设的第二航点，还包括重设第二航点之前规划的作业航线和重设第二航点之后的作业 航线，且重设第二航点之后的作业航线比重设第二航点之前规划的作业航线短。
上述实施例提供的航线规划方法，通过获取无人机的两个航点以及无人机分别在两个航点获取到的地块的地形图像，并基于无人机分别在两个航点获取到的地块的地形图像，可以分别确定无人机在两个航点的航向角，然后可以基于无人机的两个航点以及无人机分别在两个航点的航向角，能够准确的规划无人机在地块内的作业航线，并显示该作业航线，使得用户可以预览该作业航线，在确认无误之后，无人机可以基于该作业航线自动的对地块进行作业，极大的提高了用户体验。
请参阅图15，图15是本申请一实施例提供的又一种航线规划方法的步骤示意流程图。
具体地，如图15所示，该航线规划方法包括步骤S301至步骤S304。
S301、显示航线规划页面，其中，所述航线规划页面包括航点设置控件。
其中，该航线规划页面包括航点设置控件，该航点设置控件用于设置无人机的航点，该航线规划页面还显示有无人机的标识符，当无人机飞行时，该标识符同步发生变化，使得用户可以通过显示的无人机的标识符知晓无人机的位置变化情况，从而方便用户设置航点。
在一实施例中，显示作业规划页面，其中，所述作业规划页面包括作业任务选择控件，所述作业任务选择控件用于选择作业任务；当获取到用户对所述作业任务选择控件的触发操作时，显示作业任务列表，其中，所述作业任务列表包括多个作业任务；获取用户对所述作业任务的选择操作，并根据用户对所述作业任务的选择操作，确定目标作业任务，且控制所述无人机执行所述目标作业任务。通过显示作业规划页面，使得用户可以选择设定好的作业任务，从而控制无人机执行设定好的作业任务。
在一实施例中，在该目标作业任务为待继续完成的作业任务时，显示该目标作业任务中未完成作业的地块区域和上次结束作业时无人机的位置，当用户确定继续执行该目标作业任务时，该无人机以上次结束作业时无人机的位置开始，继续对未完成作业的地块区域进行作业。在用户中途结束作业时，可以在下次作业时，无人机以结束作业时的位置开始，继续对未完成作业的地块区域进行作业，极大的提高了用户体验。
在一实施例中，所述作业规划页面还包括作业模式选择控件，该作业模式选择控件用于选择作业模式，当获取到用户对所述作业模式选择控件的触发操作时，显示作业模式选择页面，其中，所述作业模式选择页面包括多个作业模 式选项；获取用户对所述作业模式选项的选择操作，并根据用户对所述作业模式选项的选择操作，确定目标作业模式；若所述目标作业模式为预设作业模式，则显示所述航线规划页面。其中，作业模式选项包括第一作业模式、第二作业模式和第三作业模式，第一作业模式为用户手动控制无人机作业，第二作业模式为用户半自动控制无人机作业，第三作业模式为用户在设置两个航点以及两个航点的航向角之后，无人机可以自动作业，该预设作业模式为第三作业模式。
S302、根据用户对所述航点设置控件的触发操作确定无人机的第一航点，并调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点。
用户可以通过控制终端控制无人机飞行至目标地块的一边界点，当获取到用户对该航点设置控件的触发操作时，根据用户对该航点设置控件的触发操作确定无人机的第一航点，并调整无人机在第一航点的航向角，得到第一航点的目标航向角。其中，所述第一航点用于表示作业航线的边界点。通过航点设置控件，便于用户设置无人机的航点以及航点的航向角。
在一实施例中，在得到所述第一航点后，在所述航线规划页面内显示所述第一航点的航向角调整控件；当获取到用户对所述第一航点的航向角调整控件的触发操作时，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。通过航向角调整控件，可以方便用户一键调整无人机在第一航点的航向角，极大的提高了航向角调整的便利性。
在一实施例中，该航线规划页面还包括显示窗口，该显示窗口包括目标地块的地形图像和该无人机的机头参考线，该显示窗口内的机头参考线和地形图像随着无人机在第一航点的航向角变化而发生变化，便于用户知晓机头参考线以及地形图像的变化情况，方便用户设置无人机在第一航点的航向角。
在一实施例中，获取所述显示窗口的当前显示图像，其中，所述当前显示图像包括目标地块的地形图像；根据所述目标地块的地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。通过显示窗口中的目标地块的地形图像，可以自动调整无人机在第一航点的航向角，不需要用户手动调整，极大的提高了用户体验。
具体地，控制所述无人机拍摄所述目标地块的地形图像，并在所述显示窗口显示所述地形图像；在所述显示窗口显示所述无人机的机头参考线，并获取所述显示窗口的当前显示图像，其中，所述当前显示图像包括所述地形图像和所述机头参考线。通过在显示窗口显示无人机的机头参考线以及地块的地形图 像，方便用户实时的阅览机头参考线与地块的边界线之间的位置关系，可以在机头参考线与地块的边界线重叠时，确定航点的航向角。
在一实施例中，根据所述地形图像确定所述目标地块的边界线；根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述机头参考线与所述边界线重叠，得到所述第一航点的目标航向角。通过调整无人机的航向角，可以调整无人机的机头参考线，从而使得机头参考线与地块的边界线重叠，以使无人机的机头对齐地块的边界。
具体地，对所述地形图像进行灰度处理，得到所述地形图像的灰度图；对所述灰度图进行锐化处理，并根据经过锐化处理后的所述灰度图确定所述目标地块的边界线。其中，可以通过预设直线检测算法，从经过锐化处理后的灰度图中确定目标地块的边界线，预设直线检测算法包括如下至少一种：霍夫变换直线检测算法、LSD快速直线检测算法、FLD直线检测算法、EDlines直线检测算法、LSWMS直线检测算法、CannyLines直线检测算法、MCMLSD直线检测算法和LSM直线检测算法。通过对地块的地形图像进行灰度以及锐化处理，可以快速准确的确定地块的边界线，便于后续准确调整无人机在航点的航向角。
具体地，计算所述目标地块的边界线与所述无人机的机头参考线的偏离角度；根据所述偏离角度，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述边界线与所述无人机的机头参考线重叠。在确定目标地块的边界线之后，可以计算得到边界线与无人机的机头参考线的偏离角度，基于该偏离角度可以快速的调整无人机的航向角，以调整该机头参考线可以快速的与边界线重叠，提高航向角的确定速度。
在一实施例中，以顺时针或逆时针方向，且以预设调整值，调整无人机在第一航点的航向角，以调整无人机的机头参考线；计算调整后的机头参考线与目标地块的边界线的偏离角度，并确定该偏离角度是否为零；若该偏离角度不为零，则将历史偏离角度与该偏离角度进行比较，如果历史偏离角度大于偏离角度，则继续以顺时针或逆时针方向，且以预设调整值，调整无人机在第一航点的航向角，以调整无人机的机头参考线，从而调整机头参考线与边界线之间的偏离角度，直到该偏离角度为零；
如果历史偏离角度小于该偏离角度，则以预设调整值，反向调整无人机在第一航点的航向角，以调整无人机的机头参考线，从而调整机头参考线与边界线之间的偏离角度，直到该偏离角度为零。其中，一开始以顺时针调整航向角，则当历史偏离角度小于该偏离角度时，以逆时针调整航向角，而一开始以逆时 针调整航向角，则当历史偏离角度小于该偏离角度时，以顺时针调整航向角。可以理解的是，上述预设调整值可以基于实际情况进行设置，本申请对此不作具体限定。可选地，预设调整值为0.5°。在调整航点的航向角的过程中，通过比较前后两次机头参考线与目标地块的边界线的偏离角度，可以及时调整航向角的调整方向，从而可以快速的确定航点的航向角。
在一实施例中，在调整所述无人机在所述第一航点的航向角后，根据调整后的所述航向角，更新所述显示窗口内的所述机头参考线；根据更新后的所述显示窗口的当前显示图像，确定更新后的所述机头参考线是否与所述边界线重叠；若更新后的所述机头参考线与所述边界线不重叠，则继续调整所述无人机在所述第一航点的航向角；若更新后的所述机头参考线与所述边界线重叠，则将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
在一实施例中，所述航线规划页面还包括所述第一航点的航向角确认控件，若更新后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线重叠；和/或，当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。通过输出提醒信息，可以便于用户知晓机头参考线与边界线已重叠，方便用户设置航点的航向角。
在一实施例中，当获取到用户对所述航向角调整控件的触发指令时，在所述显示窗口内显示所述无人机的机头参考线和所述目标地块的边界线；获取用户触发的航向角调整指令，并根据所述航向角调整指令调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。其中，所述显示窗口内的所述机头参考线随着所述无人机在所述第一航点的航向角的变化而发生变化，使得用户能够阅览所述机头参考线与所述边界线的位置关系，便于用户手动设置航点的航向角。
可以理解的是，航向角调整指令可以通过控制终端上的摇杆触发，也可以通过控制终端上的航向角调整按键触发，该航向角调整按键用于调整无人机的航向角，每操作一次航向角调整按键，无人机则以顺时针或逆时针方向，且以预设调整值调整航向角，该航向角调整按键可以滑动，将航向角调整按键滑动至左侧，则当用户操作航向角调整按键时，无人机则以逆时针方向，且以预设调整值调整航向角，而航向角调整按键滑动至右侧，则当用户操作航向角调整按键时，无人机则以逆时针方向，且以预设调整值调整航向角。
在一实施例中，在调整所述无人机在所述第一航点的航向角后，根据调整 后的所述航向角，更新所述显示窗口内的所述机头参考线的位置；若更新位置后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线已重叠。通过输出提醒信息，能够提醒用户机头参考线与边界线已重叠，避免用户手动调整航点的航向角时，无法准确的设置航向角，极大的提高了用户体验。
在一实施例中，所述航线规划页面还包括所述第一航点的航向角确定控件，当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。具体实施中，也可以在输出预设提醒信息后，自动的将无人机在第一航点的当前航向角作为第一航点的目标航向角。
S303、根据用户对所述航点设置控件的触发操作确定所述无人机的第二航点，并调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线。
在确定无人机的第一航点以及第一航点的目标航向角之后，用户通过控制终端控制无人机飞行至目标地块的边界点，当获取到用户对航点设置控件的触发操作时，根据用户对航点设置控件的触发操作确定无人机的第二航点，并调整无人机在第二航点的航向角，得到第二航点的目标航向角。其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线。通过航点设置控件，便于用户一键设置无人机的第二航点以及第二航点的航向角，提高用户体验。
在一实施例中，所述航点设置控件包括第一航点设置控件和第二航点设置控件，所述第一航点设置控件用于设置无人机的第一航点，所述第二航点设置控件用于设置无人机的第二航点，具体为：根据用户对所述第一航点设置控件的触发操作确定无人机的第一航点；在确定第一航点之后，显示第一航点的航向角调整控件，并根据用户对该航向角调整控件的触发操作，调整无人机在第一航点的航向角，得到第一航点的目标航向角。通过设置第一航点设置控件和第二航点设置控件，便于用户通过第一航点设置控件设置无人机的第一航点以及第一航点的航向角，也便于用户通过第二航点设置控件设置无人机的第二航点以及第二航点的航向角。
在确定第一航点以及第一航点的航向角之后，根据用户对所述第二航点设置控件的触发操作确定无人机的第二航点；在确定第二航点之后，显示第二航点的航向角调整控件，并根据用户对该航向角调整控件的触发操作，调整无人机在第二航点的航向角，得到第二航点的目标航向角。
需要说明的是，第一航点与第二航点的确定方式相同，且第一航点的航向角与第二航点的航向角的确定方式相同，第二航点以及第二航点的航向角的具体确定方式可以参照前述第一航点以及第一航点的航向角的具体确定方式，此处不做赘述。
S304、根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
在确定第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角之后，可以基于第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角，规划无人机在目标地块内的作业航线。其中，可以基于预设航线规划算法，根据第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角，规划无人机在目标地块内的作业航线。可以理解的是，上述预设航线规划算法可基于实际情况进行设置，本申请对此不作具体限定。通过两个航点以及两个航点的航向角，可以准确的规划无人机在地块内的作业航线，使得无人机可以准确的执行作业。
在一实施例中，根据所述第一航点以及所述第一航点的目标航向角，确定所述作业航线的第一边界线，即以第一航点为起点，以第一航点的目标航向角所在的方向为射线方向，得到第一射线，并将该第一射线作为作业航线的第一边界线；根据所述第二航点以及所述第二航点的目标航向角，确定所述作业航线的第二边界线，即以第二航点为起点，以第二航点的目标航向角所在的方向为射线方向，得到第二射线，并将该第二射线作为作业航线的第二边界线；根据所述第一航点以及所述第二航点，确定所述作业航线的第三边界线，即以第一航点为起点，且第二航点为终点，得到线段，并将该线段作为作业航线的第三边界线；根据所述第一边界线、所述第二边界线和所述第三边界线，规划所述无人机在所述目标地块内的所述作业航线。其中，所述作业航线的外轮廓形状包括直线轮廓和/或曲线轮廓，所述直线轮廓包括三角形和/或四边形，作业航线的外轮廓形状为作业航线的各边界线合围形成的图形的形状。通过规划外轮廓形状为直线轮廓和/或曲线轮廓的作业航线，使得规划得到的作业航线可以适应不同的地块，极大的提高了航线规划的普适性。
具体地，根据所述第一边界线、第二边界线、第三边界线确定航线规划区域，并将第三边界线作为所述作业航线的初始航线，然后从初始航线开始，以预设航线间距，在该航线规划区域内规划无人机的作业航线，从而得到无人机 在目标地块内的作业航线。可以理解的是，当第一边界线与第二边界线存在交点时，规划得到作业航线的外轮廓形状为三角形，当第一边界线与第二边界线不存在交点时，规划得到作业航线的外轮廓形状为四边形。
在一实施例中，所述航线规划页面还包括作业执行控件，所述作业执行控件用于控制所述无人机按照所述作业航线对所述目标地块进行作业，在规划得到无人机在目标地块内的作业航线之后，显示所述作业航线，使得用户能够阅览所述作业航线；当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业。通过作业执行控件，用户可以在控制终端或无人机规划好作业航线之后，便于用户控制无人机按照该作业航线执行作业，极大的提高了用户体验。
在一实施例中，所述航线规划页面还包括航向切换控件，所述航向切换控件用于切换所述作业航线的航向，在显示作业航线后，当获取到用户对所述航向切换控件的触发操作时，切换所述作业航线的航向，并显示切换航向后的所述作业航线。通过航向切换控件，便于用户切换作业航线的航向，提高用户体验。
上述实施例提供的航线规划方法，通过显示包括航点设置控件的航线规划页面，使得控制终端可以基于用户对该航点设置控件的触发操作确定无人机的两个航点以及两个航点的航向角，并基于无人机的两个航点以及两个航点的航向角能够准确的规划无人机在地块内的作业航线，使得无人机可以根据此作业航线准确的执行作业，极大的提高了用户体验。
请参阅图16，图16是本申请一实施例提供的又一种航线规划方法的步骤示意流程图。
具体地，如图16所示，该航线规划方法包括步骤S401至步骤S406。
S401、显示航线规划页面，其中，所述航线规划页面包括航点设置控件。
其中，该航线规划页面包括航点设置控件，该航点设置控件用于设置无人机的航点，该航线规划页面还显示有无人机的标识符，当无人机飞行时，该标识符同步发生变化，使得用户可以通过显示的无人机的标识符知晓无人机的位置变化情况，从而方便用户设置航点。
S402、根据用户对所述航点设置控件的触发操作确定无人机的第一航点，并调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点。
用户可以通过控制终端控制无人机飞行至目标地块的一边界点，当获取到 用户对该航点设置控件的触发操作时，根据用户对该航点设置控件的触发操作确定无人机的第一航点，并调整无人机在第一航点的航向角，得到第一航点的目标航向角。其中，所述第一航点用于表示作业航线的边界点。
S403、根据用户对所述航点设置控件的触发操作确定所述无人机的第二航点，并调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线。
在确定无人机的第一航点以及第一航点的目标航向角之后，用户通过控制终端控制无人机飞行至目标地块的边界点，当获取到用户对航点设置控件的触发操作时，根据用户对航点设置控件的触发操作确定无人机的第二航点，并调整无人机在第二航点的航向角，得到第二航点的目标航向角。其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线。
S404、根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
在确定第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角之后，可以基于第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角，规划无人机在目标地块内的作业航线。其中，可以基于预设航线规划算法，根据第一航点、第一航点的目标航向角、第二航点以及第二航点的目标航向角，规划无人机在目标地块内的作业航线。可以理解的是，上述预设航线规划算法可基于实际情况进行设置，本申请对此不作具体限定。
S405、显示包括所述作业航线的航线规划页面，使得用户能够阅览所述作业航线。
在规划得到作业航线之后，显示包括该作业航线的航线规划页面，使得用户能够阅览作业航线。其中，该航线规划页面还包括作业执行控件，所述作业执行控件用于控制所述无人机按照所述作业航线对所述目标地块进行作业；所述航线规划页面还包括航向切换控件，当获取到用户对所述航向切换控件的触发操作时，切换所述作业航线的航向，并显示切换航向后的所述作业航线。
在一实施例中，该航线规划页面还包括航线分割控件，当获取到用户对该航线分割控件的触发操作时，显示航线分割页面，其中，该航线分割页面显示有包括该作业航线的航线区域；获取用户对该航线区域的分割操作，并确定该分割操作是否为有效的分割操作；若分割操作为有效的分割操作，则生成所述航线区域的分割位置线，并根据所述分割位置线得到所述航线区域的第一子区 域和第二子区域；规划无人机分别在所述第一子区域和第二子区域内的作业航线。通过显示航线分割页面，使得用户可以对作业航线进行分割，得到用户想要的作业航线，极大的提高了用户体验。
其中，该分割操作用于对航线区域进行分割，确定该分割操作是否为有效的分割操作的方式具体为：获取该分割操作对应的第一分割点和第二分割点，并确定第一分割点和第二分割点分别相对于该航线区域的位置；根据第一分割点和第二分割点分别相对于该航线区域的位置，确定第一分割点和第二分割点是否分别位于航线区域的两侧，若第一分割点和第二分割点分别位于航线区域的两侧，则确定该分割操作为有效的分割操作，若第一分割点和第二分割点均位于航线区域的一侧，或者第一分割点和/或第二分割点位于航线区域内，则确定该分割操作为无效的分割操作。通过确定分割操作是否为有效的分割操作，可以避免用户的误操作对作业航线的分割，提高用户体验。
其中，该分割操作包括用户在该航线区域上的滑动操作，该分割位置线包括该滑动操作的滑动起始点与滑动结束点连接形成的线段；该分割操作包括用户对该航线分割页面的触控操作，该分割位置线包括触控操作的触控位置点与航线分割页面内的未配对的触控位置点连接形成的线段。需要说明的是，未配对的触控位置点为不属于分割位置线上的点。
在一实施例中，若该分割操作为无效的分割操作，则获取该分割操作对应的两个分割点，并按照预设的显示方式，显示该分割操作对应的两个分割点连接形成的线段，以提醒用户该分割操作为无效的分割操作。可选地，预设的显示方式为以虚线的方式显示分割操作对应的两个分割点连接形成的线段。以虚线的方式显示两个分割点连接形成的线段，可以使得用户知晓分割操作无效，极大的提高了用户体验。
请参照图17，图17是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图，如图17所示，该航线分割页面显示有两条线段，一条线段为以实心线显示的线段1，即航线区域的分割位置线，另一条线段为以虚线显示的线段2，即无效的分割操作对应的线段，且分割位置线的两个分割点位于航线区域的两侧，而无效的分割操作对应的线段的一个分割点位于航线区域的右侧，而另一个分割点位于航线区域内，此时，航线区域被分割为两个子区域，分别为子区域A和子区域B，且子区域A显示有作业航线。
在一实施例中，获取用户对分割点的拖拽操作，并根据该拖拽操作，更新分割点所属的线段。该分割点可以是分割位置线上的端点，也可以其余线段上 的端点，本申请对此不作具体限定。用户通过拖拽分割点，可以调整分割位置线或者无效的分割操作对应的线段，从而调整航线区域的分割情况，也可以使得无效的分割操作对应的线段更新为分割位置线，从而实现对航线区域的分割。
请参照图18，图18是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图，如图18所示，通过用户对线段2的分割点的拖拽操作，使得线段2的两个分割点均位于航线区域的两侧，变为以实心线显示的线段，即分割位置线，而线段1保持不变，此时，航线区域被分割为三个子区域，分别为子区域A、子区域B1和子区域B2，子区域B1和子区域B2由对图17中的子区域B分割得到，且子区域A、子区域B1和子区域B2显示有作业航线。
在一实施例中，获取用户对该分割位置线的一个端点的点击操作，并根据该点击操作，显示分割点微调弹窗；根据用户对该端点微调控件的触控操作，调整该端点在该航线分割页面内的位置。其中，该分割点微调弹窗显示有端点微调控件，该端点微调控件用于调整该端点在该航线分割页面内的位置，该分割点微调弹窗还显示有分割面积，该端点微调控件包括如下至少一种：上移控件、下移控件、左移控件、右移控件和回退控件，该上移控件用于控制该端点上移，该下移控件用于控制该端点下移，该左移控件用于控制该端点左移，该右移控件用于控制所述端点右移，该回退控件用于控制该端点回退至调整前的位置。用户通过端点微调控件，可以对该分割位置线上的端点进行微调，从而对该分割位置线进行微调，可以提高分割的准确性，极大的提高了用户体验。
请参照图19，图19是本申请实施例中控制终端的显示装置显示的航线分割页面的另一示意图，如图19所示，该航线分割页面的左侧区域显示有分割点微调弹窗，该分割点微调弹窗显示有上移控件、下移控件、左移控件、右移控件和回退控件，该航线分割页面的右侧区域显示有航线区域以及分割位置线1和分割位置线2，待微调的分割点为分割位置线1左端的点，航线区域被分割为三个子区域，分别为子区域A、子区域B和子区域C，且子区域A、子区域B和子区域C显示有作业航线。
在一实施例中，该航线分割页面显示有弹窗调整控件，该弹窗调整控件用于调整弹窗的尺寸，具体地，获取用户对弹窗调整控件的触控操作，并根据用户对弹窗调整控件的触控操作，控制该控制终端全屏显示该分割点微调弹窗。具体实施中，当控制终端全屏显示该分割点微调弹窗后，用户再次点击该弹窗调整控件，该分割点微调弹窗恢复初始状态，即按照预设尺寸和预设位置显示分割点微调弹窗。需要说明的是，也可以通过该弹窗调整控件调整其余弹窗的 尺寸，本申请对此不作具体限定。通过全屏显示弹窗，便于用户操作，极大的提高了用户体验。
S406、当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业。
其中，无人机可以进行喷洒作业，也可以进行播撒作业，本申请对此不作具体限定。当获取到用户对作业执行控件的触发操作时，控制无人机按照作业航线对目标地块进行播撒作业。所述无人机设有播撒装置，所述播撒装置包括播撒箱、播撒转盘和播撒仓口，所述播撒箱用于放置播撒物质，所述播撒转盘用于将所述播撒箱中的播撒物质输送至所述播撒仓口，以实现播撒物质的播撒，所述播撒物质包括如下至少一种：种子、肥料和饲料，当然也可以为其余物质，本申请对此不作具体限定。
在一实施例中，当获取到用户对作业执行控件的触发操作时，显示播撒参数设置弹窗，其中，所述播撒参数设置弹窗包括播撒参数设置控件和播撒参数确认控件；根据用户对所述播撒参数设置控件的触发操作，设置所述播撒装置的播撒参数；当获取到用户对所述播撒参数确认控件的触发操作时，控制所述无人机按照所述作业航线和设置的所述播撒参数对所述目标地块进行播撒作业。其中，所述播撒转盘的转速和所述播撒仓口的口径大小根据所述目标地块的面积确定，所述无人机播撒出去的播撒物质的重量根据所述播撒转盘的转速和所述播撒仓口的口径大小确定，所述播撒箱中的播撒物质的质量根据所述无人机的电池的输出功率以及所述无人机的质量确定。通过播撒参数设置弹窗，用户可以快速编辑的设置无人机的播撒参数，极大的提高了用户体验。
示例性的，请参照图13，图13是本申请控制终端的显示装置显示的航线规划页面的另一示意图，如图13所示，该航线规划页面显示有作业航线和播撒参数设置弹窗，且播撒参数设置弹窗位于航线规划页面的左侧，而作业航线位于航线规划页面的右侧，播撒参数设置弹窗显示有播撒转盘的转速、播撒仓口的口径和无人机的飞行速度，还显示有播撒参数确认控件。
在一实施例中，所述航线规划页面还包括作业暂停控件，所述作业暂停控件用于控制所述无人机暂停对所述目标地块进行作业或者控制所述无人机继续对所述目标地块进行作业，当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机暂停对所述目标地块进行作业，并获取所述目标地块的剩余航线区域；获取用户触发的所述第一航点或第二航点的调整指令，并根据所述第一航点或第二航点的调整指令，调整所述第一航点或第二航点；根据调整后的 所述第一航点和/或第二航点，更新所述无人机在所述剩余航线区域内的作业航线；当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机按照更新后的作业航线继续对所述剩余航线区域进行作业。通过暂停无人机对地块的作业，使得用户可以随时调整无人机的航点以及航向角，从而调整无人机的作业航线，极大的提高了用户体验。
可以理解的是，第一航点、第一航点的航向角、第二航点以及第二航点的航向角的调整方式可以参照前述实施例的相关部分，此处不做具体赘述。用户可以仅重设第一航点的位置和/或航向角，也可以仅重设第二航点的位置和/或航向角，还可以重设第一航点的位置和/或航向角，并重设第二航点的位置和/或航向角，本申请对此不作具体限定。
在一实施例中，当获取到用户对作业暂停控件的触发操作时，在该航线规划页面显示第一航点重设控件和第二航点重设控件，第一航点重设控件用于重设第一航点，第二航点重设控件用于重设第二航点；获取用户对该第一航点重设控件的触发操作，并根据用户对该第一航点重设控件的触发操作，生成第一航点调整指令；根据该第一航点调整指令调整第一航点以及第一航点航向角；获取用户对第二航点重设控件的触发操作，并根据用户对该第二航点重设控件的触发操作，生成第二航点调整指令，根据该第二航点调整指令调整第二航点以及第二航点的航向角。通过显示航点重设控件，便于用户及时的通过航点重设控件重新设置航点以及航点的航向角，从而调整无人机的作业航线，极大的提高了用户体验。
示例性的，请参照图14，图14是本申请控制终端的显示装置显示的航线规划页面的另一示意图，如图14所示，该航线规划页面显示有第一航点重设控件、第二航点重设控件、第一航点、第二航点和重设后的第二航点，还包括重设第二航点之前规划的作业航线和重设第二航点之后的作业航线，且重设第二航点之后的作业航线比重设第二航点之前规划的作业航线短。
上述实施例提供的航线规划方法，通过显示包括航点设置控件的航线规划页面，使得控制终端可以基于用户对该航点设置控件的触发操作确定无人机的两个航点以及两个航点的航向角，并基于无人机的两个航点以及两个航点的航向角能够准确的规划无人机在地块内的作业航线，然后显示该作业航线，使得用户可以预览该作业航线，在确认无误之后，无人机可以基于该作业航线自动的对地块进行作业，极大的提高了用户体验。
请参阅图20，图20是本申请一实施例提供的一种无人机的结构示意性框 图。该无人机500包括处理器501和存储器502，处理器501和存储器502通过总线503连接，该总线503比如为I2C(Inter-integrated Circuit)总线。其中，无人机可以为旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机，还可以是旋翼型与固定翼无人机的组合，在此不作限定。
具体地，处理器501可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器502可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器501用于运行存储在存储器502中的计算机程序，并在执行所述计算机程序时实现如下步骤：
获取无人机的第一航点、以及目标地块对应的第一地形图像，并根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点；
获取所述无人机的第二航点、以及目标地块对应的第二地形图像，并根据所述第二地形图像，调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线；
根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
可选地，所述第一地形图像由所述无人机在所述第一航点对目标地块进行拍摄得到，所述第二地形图像由所述无人机在所述第二航点对目标地块进行拍摄得到。
可选地，所述处理器实现所述根据所述第一地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角时，用于实现：
根据所述第一地形图像确定所述目标地块的边界线；
根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠。
可选地，所述处理器实现所述根据所述第一地形图像确定所述目标地块的边界线时，用于实现：
对所述第一地形图像进行灰度处理，得到所述第一地形图像的灰度图；
对所述灰度图进行锐化处理，并根据经过锐化处理后的所述灰度图确定所述目标地块的边界线。
可选地，所述处理器实现所述根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠时，用于实现：
计算所述目标地块的边界线与所述无人机的机头参考线的偏离角度；
根据所述偏离角度，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠。
可选地，所述处理器实现所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线时，用于实现：
基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
可选地，所述处理器实现所述基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线时，用于实现：
根据所述第一航点以及所述第一航点的目标航向角，确定所述作业航线的第一边界线；
根据所述第二航点以及所述第二航点的目标航向角，确定所述作业航线的第二边界线；
根据所述第一航点以及所述第二航点，确定所述作业航线的第三边界线；
根据所述第一边界线、所述第二边界线和所述第三边界线，规划所述无人机在所述目标地块内的所述作业航线。
可选地，所述作业航线的外轮廓形状包括直线轮廓和/或曲线轮廓。
可选地，所述直线轮廓包括三角形和/或四边形。
可选地，所述无人机还包括播撒装置，所述播撒装置包括播撒箱、播撒转盘和播撒仓口，所述播撒箱用于放置播撒物质，所述播撒转盘用于将所述播撒箱中的播撒物质输送至所述播撒仓口，以实现播撒物质的播撒，所述播撒物质包括如下至少一种：种子、肥料和饲料。
可选地，所述播撒转盘的转速和所述播撒仓口的口径大小根据所述目标地块的面积确定，所述无人机播撒出去的播撒物质的重量根据所述播撒转盘的转 速和所述播撒仓口的口径大小确定，所述播撒箱中的播撒物质的质量根据所述无人机的电池的输出功率以及所述无人机的质量确定。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的无人机的具体工作过程，可以参考前述航线规划方法实施例中的对应过程，在此不再赘述。
请参阅图21，图21是本申请一实施例提供的一种控制终端的示意性框图。在一种实施方式中，该控制终端包括但不限于遥控器、地面控制平台、手机、平板电脑、笔记本电脑和PC电脑等。进一步地，该控制终端600包括处理器601、存储器602和显示装置603，处理器601、存储器602和显示装置603通过总线604连接，该总线604比如为I2C(Inter-integrated Circuit)总线。显示装置603可以是显示屏，也可以是外接显示装置，如智能手机。
具体地，处理器601可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器602可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器601用于运行存储在存储器602中的计算机程序，并在执行所述计算机程序时实现如下步骤：
通过所述显示装置显示航线规划页面，其中，所述航线规划页面包括航点设置控件；
根据用户对所述航点设置控件的触发操作确定无人机的第一航点，并调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点；
根据用户对所述航点设置控件的触发操作确定所述无人机的第二航点，并调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线；
根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
可选地，所述航点设置控件包括第一航点设置控件和第二航点设置控件；所述处理器实现所述根据用户对所述航点设置控件的触发操作确定无人机的第一航点时，用于实现：
根据用户对所述第一航点设置控件的触发操作确定无人机的第一航点；
所述根据用户对所述航点设置控件的触发操作确定无人机的第二航点，包括：
根据用户对所述第二航点设置控件的触发操作确定无人机的第二航点。
可选地，所述处理器实现所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角时，用于实现：
在得到所述第一航点后，在所述航线规划页面内显示所述第一航点的航向角调整控件；
当获取到用户对所述第一航点的航向角调整控件的触发操作时，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
可选地，所述处理器实现所述航线规划页面还包括显示窗口；所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角时，用于实现：
获取所述显示窗口的当前显示图像，其中，所述当前显示图像包括目标地块的地形图像；
根据所述目标地块的地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
可选地，所述处理器实现所述获取所述显示窗口的当前显示图像时，用于实现：
控制所述无人机拍摄所述目标地块的地形图像，并在所述显示窗口显示所述地形图像；
在所述显示窗口显示所述无人机的机头参考线，并获取所述显示窗口的当前显示图像，其中，所述当前显示图像包括所述地形图像和所述机头参考线。
可选地，所述显示窗口内的所述机头参考线和所述地形图像随着所述无人机在所述第一航点的航向角变化而发生变化。
可选地，所述处理器实现所述根据所述目标地块的地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角时，用于实现：
根据所述地形图像确定所述目标地块的边界线；
根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述机头参考线与所述边界线重叠，得到所述第一航点的目标航向角。
可选地，所述处理器实现所述根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述机头参考线与 所述边界线重叠，得到所述第一航点的目标航向角时，用于实现：
计算所述目标地块的边界线与所述无人机的机头参考线的偏离角度；
根据所述偏离角度，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述边界线与所述无人机的机头参考线重叠。
可选地，所述处理器实现所述根据所述地形图像确定所述目标地块的边界位置时，用于实现：
对所述地形图像进行灰度处理，得到所述地形图像的灰度图；
对所述灰度图进行锐化处理，并根据经过锐化处理后的所述灰度图确定所述目标地块的边界线。
可选地，所述处理器还用于实现：
在调整所述无人机在所述第一航点的航向角后，根据调整后的所述航向角，更新所述显示窗口内的所述机头参考线；
根据更新后的所述显示窗口的当前显示图像，确定更新后的所述机头参考线是否与所述边界线重叠；
若更新后的所述机头参考线与所述边界线不重叠，则继续调整所述无人机在所述第一航点的航向角。
可选地，所述处理器实现所述根据更新后的所述显示窗口的当前显示图像，确定更新后的所述机头参考线是否与所述边界线重叠之后，还用于实现：
若更新后的所述机头参考线与所述边界线重叠，则将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
可选地，所述航线规划页面还包括所述第一航点的航向角确认控件；所述处理器还用于实现：
若更新后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线重叠；和/或，
当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
可选地，所述航线规划页面还包括显示窗口和所述第一航点的航向角调整控件；所述处理器实现所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角之前，还用于实现：
当获取到用户对所述航向角调整控件的触发指令时，在所述显示窗口内显示所述无人机的机头参考线和所述目标地块的边界线；
所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标 航向角，包括：
获取用户触发的航向角调整指令，并根据所述航向角调整指令调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
可选地，所述显示窗口内的所述机头参考线随着所述无人机在所述第一航点的航向角的变化而发生变化，使得用户能够阅览所述机头参考线与所述边界线的位置关系。
可选地，所述处理器还用于实现：
在调整所述无人机在所述第一航点的航向角后，根据调整后的所述航向角，更新所述显示窗口内的所述机头参考线的位置；
若更新位置后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线已重叠。
可选地，所述航线规划页面还包括所述第一航点的航向角确定控件；所述处理器实现所述根据所述航向角调整指令调整所述无人机在所述第一航点的航向角之后，还用于实现：
当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
可选地，所述处理器实现所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线时，用于实现：
基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
可选地，所述处理器实现所述基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线时，用于实现：
根据所述第一航点以及所述第一航点的目标航向角，确定所述作业航线的第一边界线；
根据所述第二航点以及所述第二航点的目标航向角，确定所述作业航线的第二边界线；
根据所述第一航点以及所述第二航点，确定所述作业航线的第三边界线；
根据所述第一边界线、所述第二边界线和所述第三边界线，规划所述无人机在所述目标地块内的所述作业航线。
可选地，所述作业航线的外轮廓形状包括直线轮廓和/或曲线轮廓。
可选地，所述直线轮廓包括三角形和/或四边形。
可选地，所述处理器实现所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线之后，还用于实现：
通过所述显示装置显示包括所述作业航线的航线规划页面，使得用户能够阅览所述作业航线，其中，所述航线规划页面还包括作业执行控件，所述作业执行控件用于控制所述无人机按照所述作业航线对所述目标地块进行作业；
当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业。
可选地，所述航线规划页面还包括航向切换控件，所述航向切换控件用于切换所述作业航线的航向；所述处理器实现所述显示所述作业航线之后，还用于实现：
当获取到用户对所述航向切换控件的触发操作时，切换所述作业航线的航向，并显示切换航向后的所述作业航线。
可选地，所述处理器实现所述当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业时，用于实现：
当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行播撒作业。
可选地，所述无人机设有播撒装置，所述播撒装置包括播撒箱、播撒转盘和播撒仓口，所述播撒箱用于放置播撒物质，所述播撒转盘用于将所述播撒箱中的播撒物质输送至所述播撒仓口，以实现播撒物质的播撒，所述播撒物质包括如下至少一种：种子、肥料和饲料。
可选地，所述处理器实现所述控制所述无人机按照所述作业航线对所述目标地块进行播撒作业之前，还用于实现：
当获取到用户对所述作业执行控件的触发操作时，显示播撒参数设置弹窗，其中，所述播撒参数设置弹窗包括播撒参数设置控件和播撒参数确认控件；
根据用户对所述播撒参数设置控件的触发操作，设置所述播撒装置的播撒参数；
当获取到用户对所述播撒参数确认控件的触发操作时，控制所述无人机按照所述作业航线和设置的所述播撒参数对所述目标地块进行播撒作业。
可选地，所述播撒参数设置弹窗显示有播撒参数的数值，所述播撒参数的数值根据用户对所述播撒参数设置控件的触发操作而发生改变，所述播撒参数包括如下至少一种：播撒转盘的转速和所述播撒仓口的口径。
可选地，所述播撒转盘的转速和所述播撒仓口的口径大小根据所述目标地块的面积确定，所述无人机播撒出去的播撒物质的重量根据所述播撒转盘的转速和所述播撒仓口的口径大小确定，所述播撒箱中的播撒物质的质量根据所述无人机的电池的输出功率以及所述无人机的质量确定。
可选地，所述航线规划页面还包括作业暂停控件，所述作业暂停控件用于控制所述无人机暂停对所述目标地块进行作业或者控制所述无人机继续对所述目标地块进行作业；所述处理器实现所述控制所述无人机按照所述作业航线对所述目标地块进行作业之后，还用于实现：
当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机暂停对所述目标地块进行作业，并获取所述目标地块的剩余航线区域；
获取用户触发的所述第一航点或第二航点的调整指令，并根据所述第一航点或第二航点的调整指令，调整所述第一航点或第二航点；
根据调整后的所述第一航点和/或第二航点，更新所述无人机在所述剩余航线区域内的作业航线；
当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机按照更新后的作业航线继续对所述剩余航线区域进行作业。
可选地，所述处理器实现所述根据所述第一航点和/或第二航点的调整指令，调整所述第一航点和/或第二航点时，用于实现：
根据所述第一航点和/或第二航点的调整指令，调整所述第一航点或第二航点的位置和/或航向角。
可选地，所述处理器实现所述显示航线规划页面之前，还用于实现
通过所述显示装置显示作业规划页面，其中，所述作业规划页面包括作业任务选择控件，所述作业任务选择控件用于选择作业任务；
当获取到用户对所述作业任务选择控件的触发操作时，显示作业任务列表，其中，所述作业任务列表包括多个作业任务；
获取用户对所述作业任务的选择操作，并根据用户对所述作业任务的选择操作，确定目标作业任务，且控制所述无人机执行所述目标作业任务。
可选地，所述作业规划页面还包括作业模式选择控件，所述作业模式选择控件用于用户选择作业模式；所述处理器实现所述显示作业规划页面之后，还 用于实现：
当获取到用户对所述作业模式选择控件的触发操作时，显示作业模式选择页面，其中，所述作业模式选择页面包括多个作业模式选项；
获取用户对所述作业模式选项的选择操作，并根据用户对所述作业模式选项的选择操作，确定目标作业模式；
若所述目标作业模式为预设作业模式，则通过所述显示装置显示所述航线规划页面。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的控制终端的具体工作过程，可以参考前述航线规划方法实施例中的对应过程，在此不再赘述。
本申请的实施例中还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的航线规划方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的控制终端或无人机的内部存储单元，例如所述控制终端或无人机的硬盘或内存。所述计算机可读存储介质也可以是所述控制终端或无人机的外部存储设备，例如所述控制终端或无人机上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (100)

  1. 一种航线规划方法，其特征在于，包括：
    获取无人机的第一航点、以及目标地块对应的第一地形图像，并根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点；
    获取所述无人机的第二航点、以及目标地块对应的第二地形图像，并根据所述第二地形图像，调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线；
    根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
  2. 根据权利要求1所述的航线规划方法，其特征在于，包括：
    显示航线规划页面，其中，所述航线规划页面包括航点设置控件；
    所述获取无人机的第一航点，包括：
    根据用户对所述航点设置控件的触发操作确定无人机的第一航点；
    将确定无人机的第一航点的结果发送至所述无人机；和/或，在所述航线规划页面显示所述第一航点。
  3. 根据权利要求2所述的航线规划方法，其特征在于，所述获取无人机的第二航点，包括：
    根据用户对所述航点设置控件的触发操作确定无人机的第二航点；
    将确定无人机的第二航点的结果发送至所述无人机；和/或，在所述航线规划页面显示所述第二航点。
  4. 根据权利要求1所述的航线规划方法，其特征在于，所述第一地形图像由所述无人机在所述第一航点对目标地块进行拍摄得到，所述第二地形图像由所述无人机在所述第二航点对目标地块进行拍摄得到。
  5. 根据权利要求2所述的航线规划方法，其特征在于，所述航点设置控件包括第一航点设置控件和第二航点设置控件；所述根据用户对所述航点设置控件的触发操作确定无人机的第一航点，包括：
    根据用户对所述第一航点设置控件的触发操作确定无人机的第一航点。
  6. 根据权利要求5所述的航线规划方法，其特征在于，所述根据用户对所 述航点设置控件的触发操作确定无人机的第二航点，包括：
    根据用户对所述第二航点设置控件的触发操作确定无人机的第二航点。
  7. 根据权利要求2至6中任一项所述的航线规划方法，其特征在于，所述根据所述第一地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，包括：
    根据所述第一地形图像确定所述目标地块的边界线；
    根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠。
  8. 根据权利要求7所述的航线规划方法，其特征在于，所述根据所述第一地形图像确定所述目标地块的边界线，包括：
    对所述第一地形图像进行灰度处理，得到所述第一地形图像的灰度图；
    对所述灰度图进行锐化处理，并根据经过锐化处理后的所述灰度图确定所述目标地块的边界线。
  9. 根据权利要求7所述的航线规划方法，其特征在于，所述根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠，包括：
    计算所述目标地块的边界线与所述无人机的机头参考线的偏离角度；
    根据所述偏离角度，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠。
  10. 根据权利要求7所述的航线规划方法，其特征在于，所述航线规划页面还包括所述第一航点的航向角确认控件；所述方法还包括：
    若调整后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线已重叠；和/或，
    当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
  11. 根据权利要求2所述的航线规划方法，其特征在于，所述航线规划页面还包括显示窗口，所述显示窗口显示所述无人机的机头参考线和所述目标地块的第一地形图像。
  12. 根据权利要求11所述的航线规划方法，其特征在于，所述显示窗口内的所述机头参考线和所述第一地形图像随着所述无人机在所述第一航点的航向角变化而发生变化。
  13. 根据权利要求11所述的航线规划方法，其特征在于，所述航线规划页 面还包括航向角调整控件；所述根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角之前，还包括：
    当获取到用户对所述航向角调整控件的触发操作时，根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
  14. 根据权利要求1至6中任一项所述的航线规划方法，其特征在于，所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线，包括：
    基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
  15. 根据权利要求14所述的航线规划方法，其特征在于，所述基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线，包括：
    根据所述第一航点以及所述第一航点的目标航向角，确定所述作业航线的第一边界线；
    根据所述第二航点以及所述第二航点的目标航向角，确定所述作业航线的第二边界线；
    根据所述第一航点以及所述第二航点，确定所述作业航线的第三边界线；
    根据所述第一边界线、所述第二边界线和所述第三边界线，规划所述无人机在所述目标地块内的所述作业航线。
  16. 根据权利要求15所述的航线规划方法，其特征在于，所述作业航线的外轮廓形状包括直线轮廓和/或曲线轮廓。
  17. 根据权利要求16所述的航线规划方法，其特征在于，所述直线轮廓包括三角形和/或四边形。
  18. 根据权利要求1至6中任一项所述的航线规划方法，其特征在于，所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线之后，还包括：
    显示包括所述作业航线的航线规划页面，使得用户能够阅览所述作业航线，其中，所述航线规划页面还包括作业执行控件，所述作业执行控件用于控制所 述无人机按照所述作业航线对所述目标地块进行作业；
    当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业。
  19. 根据权利要求18所述的航线规划方法，其特征在于，所述航线规划页面还包括航向切换控件，所述航向切换控件用于切换所述作业航线的航向；所述显示所述作业航线之后，还包括：
    当获取到用户对所述航向切换控件的触发操作时，切换所述作业航线的航向，并显示切换航向后的所述作业航线。
  20. 根据权利要求18所述的航线规划方法，其特征在于，所述当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业，包括：
    当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行播撒作业。
  21. 根据权利要求20所述的航线规划方法，其特征在于，所述无人机设有播撒装置，所述播撒装置包括播撒箱、播撒转盘和播撒仓口，所述播撒箱用于放置播撒物质，所述播撒转盘用于将所述播撒箱中的播撒物质输送至所述播撒仓口，以实现播撒物质的播撒，所述播撒物质包括如下至少一种：种子、肥料和饲料。
  22. 根据权利要求21所述的航线规划方法，其特征在于，所述控制所述无人机按照所述作业航线对所述目标地块进行播撒作业之前，还包括：
    当获取到用户对所述作业执行控件的触发操作时，显示播撒参数设置弹窗，其中，所述播撒参数设置弹窗包括播撒参数设置控件和播撒参数确认控件；
    根据用户对所述播撒参数设置控件的触发操作，设置所述播撒装置的播撒参数；
    当获取到用户对所述播撒参数确认控件的触发操作时，控制所述无人机按照所述作业航线和设置的所述播撒参数对所述目标地块进行播撒作业。
  23. 根据权利要求22所述的航线规划方法，其特征在于，所述播撒参数设置弹窗显示有播撒参数的数值，所述播撒参数的数值根据用户对所述播撒参数设置控件的触发操作而发生改变，所述播撒参数包括如下至少一种：播撒转盘的转速和所述播撒仓口的口径。
  24. 根据权利要求23所述的航线规划方法，其特征在于，所述播撒转盘的转速和所述播撒仓口的口径大小根据所述目标地块的面积确定，所述无人机播 撒出去的播撒物质的重量根据所述播撒转盘的转速和所述播撒仓口的口径大小确定，所述播撒箱中的播撒物质的质量根据所述无人机的电池的输出功率以及所述无人机的质量确定。
  25. 根据权利要求18所述的航线规划方法，其特征在于，所述航线规划页面还包括作业暂停控件，所述作业暂停控件用于控制所述无人机暂停对所述目标地块进行作业或者控制所述无人机继续对所述目标地块进行作业；所述控制所述无人机按照所述作业航线对所述目标地块进行作业之后，还包括：
    当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机暂停对所述目标地块进行作业，并获取所述目标地块的剩余航线区域；
    获取用户触发的所述第一航点或第二航点的调整指令，并根据所述第一航点或第二航点的调整指令，调整所述第一航点或第二航点；
    根据调整后的所述第一航点和/或第二航点，更新所述无人机在所述剩余航线区域内的作业航线；
    当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机按照更新后的作业航线继续对所述剩余航线区域进行作业。
  26. 根据权利要求25所述的航线规划方法，其特征在于，所述根据所述第一航点和/或第二航点的调整指令，调整所述第一航点和/或第二航点，包括：
    根据所述第一航点或第二航点的调整指令，调整所述第一航点或第二航点的位置和/或航向角。
  27. 一种航线规划方法，其特征在于，包括：
    显示航线规划页面，其中，所述航线规划页面包括航点设置控件；
    根据用户对所述航点设置控件的触发操作确定无人机的第一航点，并调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点；
    根据用户对所述航点设置控件的触发操作确定所述无人机的第二航点，并调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线；
    根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
  28. 根据权利要求27所述的航线规划方法，其特征在于，所述航点设置控件包括第一航点设置控件和第二航点设置控件；所述根据用户对所述航点设置控件的触发操作确定无人机的第一航点，包括：
    根据用户对所述第一航点设置控件的触发操作确定无人机的第一航点；
    所述根据用户对所述航点设置控件的触发操作确定无人机的第二航点，包括：
    根据用户对所述第二航点设置控件的触发操作确定无人机的第二航点。
  29. 根据权利要求27所述的航线规划方法，其特征在于，所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，包括：
    在得到所述第一航点后，在所述航线规划页面内显示所述第一航点的航向角调整控件；
    当获取到用户对所述第一航点的航向角调整控件的触发操作时，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
  30. 根据权利要求27所述的航线规划方法，其特征在于，所述航线规划页面还包括显示窗口；所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，包括：
    获取所述显示窗口的当前显示图像，其中，所述当前显示图像包括目标地块的地形图像；
    根据所述目标地块的地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
  31. 根据权利要求30所述的航线规划方法，其特征在于，所述获取所述显示窗口的当前显示图像，包括：
    控制所述无人机拍摄所述目标地块的地形图像，并在所述显示窗口显示所述地形图像；
    在所述显示窗口显示所述无人机的机头参考线，并获取所述显示窗口的当前显示图像，其中，所述当前显示图像包括所述地形图像和所述机头参考线。
  32. 根据权利要求31所述的航线规划方法，其特征在于，所述显示窗口内的所述机头参考线和所述地形图像随着所述无人机在所述第一航点的航向角变化而发生变化。
  33. 根据权利要求31所述的航线规划方法，其特征在于，所述根据所述目标地块的地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，包括：
    根据所述地形图像确定所述目标地块的边界线；
    根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述机头参考线与所述边界线重叠，得到所述第 一航点的目标航向角。
  34. 根据权利要求33所述的航线规划方法，其特征在于，所述根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，直到所述机头参考线与所述边界线重叠，得到所述第一航点的目标航向角，包括：
    计算所述目标地块的边界线与所述无人机的机头参考线的偏离角度；
    根据所述偏离角度，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述边界线与所述无人机的机头参考线重叠。
  35. 根据权利要求33所述的航线规划方法，其特征在于，所述根据所述地形图像确定所述目标地块的边界位置，包括：
    对所述地形图像进行灰度处理，得到所述地形图像的灰度图；
    对所述灰度图进行锐化处理，并根据经过锐化处理后的所述灰度图确定所述目标地块的边界线。
  36. 根据权利要求33所述的航线规划方法，其特征在于，所述方法还包括：
    在调整所述无人机在所述第一航点的航向角后，根据调整后的所述航向角，更新所述显示窗口内的所述机头参考线；
    根据更新后的所述显示窗口的当前显示图像，确定更新后的所述机头参考线是否与所述边界线重叠；
    若更新后的所述机头参考线与所述边界线不重叠，则继续调整所述无人机在所述第一航点的航向角。
  37. 根据权利要求36所述的航线规划方法，其特征在于，所述根据更新后的所述显示窗口的当前显示图像，确定更新后的所述机头参考线是否与所述边界线重叠之后，还包括：
    若更新后的所述机头参考线与所述边界线重叠，则将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
  38. 根据权利要求36所述的航线规划方法，其特征在于，所述航线规划页面还包括所述第一航点的航向角确认控件；所述方法还包括：
    若更新后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线重叠；和/或，
    当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
  39. 根据权利要求27至38中任一项所述的航线规划方法，其特征在于，所述航线规划页面还包括显示窗口和所述第一航点的航向角调整控件；所述调 整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角之前，还包括：
    当获取到用户对所述航向角调整控件的触发指令时，在所述显示窗口内显示所述无人机的机头参考线和所述目标地块的边界线；
    所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，包括：
    获取用户触发的航向角调整指令，并根据所述航向角调整指令调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
  40. 根据权利要求39所述的航线规划方法，其特征在于，所述显示窗口内的所述机头参考线随着所述无人机在所述第一航点的航向角的变化而发生变化，使得用户能够阅览所述机头参考线与所述边界线的位置关系。
  41. 根据权利要求40所述的航线规划方法，其特征在于，所述方法还包括：
    在调整所述无人机在所述第一航点的航向角后，根据调整后的所述航向角，更新所述显示窗口内的所述机头参考线的位置；
    若更新位置后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线已重叠。
  42. 根据权利要求39所述的航线规划方法，其特征在于，所述航线规划页面还包括所述第一航点的航向角确定控件；所述根据所述航向角调整指令调整所述无人机在所述第一航点的航向角之后，还包括：
    当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
  43. 根据权利要求27至38任一项所述的航线规划方法，其特征在于，所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线，包括：
    基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
  44. 根据权利要求43所述的航线规划方法，其特征在于，所述基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线，包括：
    根据所述第一航点以及所述第一航点的目标航向角，确定所述作业航线的第一边界线；
    根据所述第二航点以及所述第二航点的目标航向角，确定所述作业航线的第二边界线；
    根据所述第一航点以及所述第二航点，确定所述作业航线的第三边界线；
    根据所述第一边界线、所述第二边界线和所述第三边界线，规划所述无人机在所述目标地块内的所述作业航线。
  45. 根据权利要求43所述的航线规划方法，其特征在于，所述作业航线的外轮廓形状包括直线轮廓和/或曲线轮廓。
  46. 根据权利要求45所述的航线规划方法，其特征在于，所述直线轮廓包括三角形和/或四边形。
  47. 根据权利要求27至38任一所述的航线规划方法，其特征在于，所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线之后，还包括：
    显示包括所述作业航线的航线规划页面，使得用户能够阅览所述作业航线，其中，所述航线规划页面还包括作业执行控件，所述作业执行控件用于控制所述无人机按照所述作业航线对所述目标地块进行作业；
    当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业。
  48. 根据权利要求47所述的航线规划方法，其特征在于，所述航线规划页面还包括航向切换控件，所述航向切换控件用于切换所述作业航线的航向；所述显示所述作业航线之后，还包括：
    当获取到用户对所述航向切换控件的触发操作时，切换所述作业航线的航向，并显示切换航向后的所述作业航线。
  49. 根据权利要求47所述的航线规划方法，其特征在于，所述当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业，包括：
    当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行播撒作业。
  50. 根据权利要求27或49任一项所述的航线规划方法，其特征在于，所述无人机设有播撒装置，所述播撒装置包括播撒箱、播撒转盘和播撒仓口，所 述播撒箱用于放置播撒物质，所述播撒转盘用于将所述播撒箱中的播撒物质输送至所述播撒仓口，以实现播撒物质的播撒，所述播撒物质包括如下至少一种：种子、肥料和饲料。
  51. 根据权利要求49所述的航线规划方法，其特征在于，所述控制所述无人机按照所述作业航线对所述目标地块进行播撒作业之前，还包括：
    当获取到用户对所述作业执行控件的触发操作时，显示播撒参数设置弹窗，其中，所述播撒参数设置弹窗包括播撒参数设置控件和播撒参数确认控件；
    根据用户对所述播撒参数设置控件的触发操作，设置所述播撒装置的播撒参数；
    当获取到用户对所述播撒参数确认控件的触发操作时，控制所述无人机按照所述作业航线和设置的所述播撒参数对所述目标地块进行播撒作业。
  52. 根据权利要求51所述的航线规划方法，其特征在于，所述播撒参数设置弹窗显示有播撒参数的数值，所述播撒参数的数值根据用户对所述播撒参数设置控件的触发操作而发生改变，所述播撒参数包括如下至少一种：播撒转盘的转速和所述播撒仓口的口径。
  53. 根据权利要求52所述的航线规划方法，其特征在于，所述播撒转盘的转速和所述播撒仓口的口径大小根据所述目标地块的面积确定，所述无人机播撒出去的播撒物质的重量根据所述播撒转盘的转速和所述播撒仓口的口径大小确定，所述播撒箱中的播撒物质的质量根据所述无人机的电池的输出功率以及所述无人机的质量确定。
  54. 根据权利要求47所述的航线规划方法，其特征在于，所述航线规划页面还包括作业暂停控件，所述作业暂停控件用于控制所述无人机暂停对所述目标地块进行作业或者控制所述无人机继续对所述目标地块进行作业；所述控制所述无人机按照所述作业航线对所述目标地块进行作业之后，还包括：
    当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机暂停对所述目标地块进行作业，并获取所述目标地块的剩余航线区域；
    获取用户触发的所述第一航点或第二航点的调整指令，并根据所述第一航点或第二航点的调整指令，调整所述第一航点或第二航点；
    根据调整后的所述第一航点和/或第二航点，更新所述无人机在所述剩余航线区域内的作业航线；
    当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机按照更新后的作业航线继续对所述剩余航线区域进行作业。
  55. 根据权利要求54所述的航线规划方法，其特征在于，所述根据所述第一航点和/或第二航点的调整指令，调整所述第一航点和/或第二航点，包括：
    根据所述第一航点和/或第二航点的调整指令，调整所述第一航点或第二航点的位置和/或航向角。
  56. 根据权利要求27至38任一项所述的航线规划方法，其特征在于，所述显示航线规划页面之前，还包括
    显示作业规划页面，其中，所述作业规划页面包括作业任务选择控件，所述作业任务选择控件用于选择作业任务；
    当获取到用户对所述作业任务选择控件的触发操作时，显示作业任务列表，其中，所述作业任务列表包括多个作业任务；
    获取用户对所述作业任务的选择操作，并根据用户对所述作业任务的选择操作，确定目标作业任务，且控制所述无人机执行所述目标作业任务。
  57. 根据权利要求56所述的航线规划方法，其特征在于，所述作业规划页面还包括作业模式选择控件，所述作业模式选择控件用于用户选择作业模式；所述显示作业规划页面之后，还包括：
    当获取到用户对所述作业模式选择控件的触发操作时，显示作业模式选择页面，其中，所述作业模式选择页面包括多个作业模式选项；
    获取用户对所述作业模式选项的选择操作，并根据用户对所述作业模式选项的选择操作，确定目标作业模式；
    若所述目标作业模式为预设作业模式，则显示所述航线规划页面。
  58. 一种无人机，其特征在于，所述无人机包括存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    获取无人机的第一航点、以及目标地块对应的第一地形图像，并根据所述第一地形图像，调整无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点；
    获取所述无人机的第二航点、以及目标地块对应的第二地形图像，并根据所述第二地形图像，调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线；
    根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述 第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
  59. 根据权利要求58所述的无人机，其特征在于，所述第一地形图像由所述无人机在所述第一航点对目标地块进行拍摄得到，所述第二地形图像由所述无人机在所述第二航点对目标地块进行拍摄得到。
  60. 根据权利要求58所述的无人机，其特征在于，所述处理器实现所述根据所述第一地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角时，用于实现：
    根据所述第一地形图像确定所述目标地块的边界线；
    根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠。
  61. 根据权利要求60所述的无人机，其特征在于，所述处理器实现所述根据所述第一地形图像确定所述目标地块的边界线时，用于实现：
    对所述第一地形图像进行灰度处理，得到所述第一地形图像的灰度图；
    对所述灰度图进行锐化处理，并根据经过锐化处理后的所述灰度图确定所述目标地块的边界线。
  62. 根据权利要求60所述的无人机，其特征在于，所述处理器实现所述根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠时，用于实现：
    计算所述目标地块的边界线与所述无人机的机头参考线的偏离角度；
    根据所述偏离角度，调整所述无人机在所述第一航点的航向角，以调整所述无人机的机头参考线，直到所述边界线与所述机头参考线重叠。
  63. 根据权利要求58至62中任一项所述的无人机，其特征在于，所述处理器实现所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线时，用于实现：
    基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
  64. 根据权利要求63所述的无人机，其特征在于，所述处理器实现所述基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内 的所述作业航线时，用于实现：
    根据所述第一航点以及所述第一航点的目标航向角，确定所述作业航线的第一边界线；
    根据所述第二航点以及所述第二航点的目标航向角，确定所述作业航线的第二边界线；
    根据所述第一航点以及所述第二航点，确定所述作业航线的第三边界线；
    根据所述第一边界线、所述第二边界线和所述第三边界线，规划所述无人机在所述目标地块内的所述作业航线。
  65. 根据权利要求63所述的无人机，其特征在于，所述作业航线的外轮廓形状包括直线轮廓和/或曲线轮廓。
  66. 根据权利要求65所述的无人机，其特征在于，所述直线轮廓包括三角形和/或四边形。
  67. 根据权利要求58至62中任一项所述的无人机，其特征在于，所述无人机还包括播撒装置，所述播撒装置包括播撒箱、播撒转盘和播撒仓口，所述播撒箱用于放置播撒物质，所述播撒转盘用于将所述播撒箱中的播撒物质输送至所述播撒仓口，以实现播撒物质的播撒，所述播撒物质包括如下至少一种：种子、肥料和饲料。
  68. 根据权利要求67所述的无人机，其特征在于，所述播撒转盘的转速和所述播撒仓口的口径大小根据所述目标地块的面积确定，所述无人机播撒出去的播撒物质的重量根据所述播撒转盘的转速和所述播撒仓口的口径大小确定，所述播撒箱中的播撒物质的质量根据所述无人机的电池的输出功率以及所述无人机的质量确定。
  69. 一种控制终端，其特征在于，所述控制终端包括显示装置、存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    通过所述显示装置显示航线规划页面，其中，所述航线规划页面包括航点设置控件；
    根据用户对所述航点设置控件的触发操作确定无人机的第一航点，并调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，其中，所述第一航点用于表示作业航线的边界点；
    根据用户对所述航点设置控件的触发操作确定所述无人机的第二航点，并调整所述无人机在所述第二航点的航向角，得到所述第二航点的目标航向角，其中，所述第二航点用于与所述第一航点形成所述作业航线的边界线；
    根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
  70. 根据权利要求69所述的控制终端，其特征在于，所述航点设置控件包括第一航点设置控件和第二航点设置控件；所述处理器实现所述根据用户对所述航点设置控件的触发操作确定无人机的第一航点时，用于实现：
    根据用户对所述第一航点设置控件的触发操作确定无人机的第一航点；
    所述根据用户对所述航点设置控件的触发操作确定无人机的第二航点，包括：
    根据用户对所述第二航点设置控件的触发操作确定无人机的第二航点。
  71. 根据权利要求69所述的控制终端，其特征在于，所述处理器实现所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角时，用于实现：
    在得到所述第一航点后，在所述航线规划页面内显示所述第一航点的航向角调整控件；
    当获取到用户对所述第一航点的航向角调整控件的触发操作时，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
  72. 根据权利要求69所述的控制终端，其特征在于，所述处理器实现所述航线规划页面还包括显示窗口；所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角时，用于实现：
    获取所述显示窗口的当前显示图像，其中，所述当前显示图像包括目标地块的地形图像；
    根据所述目标地块的地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
  73. 根据权利要求72所述的控制终端，其特征在于，所述处理器实现所述获取所述显示窗口的当前显示图像时，用于实现：
    控制所述无人机拍摄所述目标地块的地形图像，并在所述显示窗口显示所述地形图像；
    在所述显示窗口显示所述无人机的机头参考线，并获取所述显示窗口的当前显示图像，其中，所述当前显示图像包括所述地形图像和所述机头参考线。
  74. 根据权利要求73所述的控制终端，其特征在于，所述显示窗口内的所述机头参考线和所述地形图像随着所述无人机在所述第一航点的航向角变化而发生变化。
  75. 根据权利要求73所述的控制终端，其特征在于，所述处理器实现所述根据所述目标地块的地形图像，调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角时，用于实现：
    根据所述地形图像确定所述目标地块的边界线；
    根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述机头参考线与所述边界线重叠，得到所述第一航点的目标航向角。
  76. 根据权利要求75所述的控制终端，其特征在于，所述处理器实现所述根据所述目标地块的边界线，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述机头参考线与所述边界线重叠，得到所述第一航点的目标航向角时，用于实现：
    计算所述目标地块的边界线与所述无人机的机头参考线的偏离角度；
    根据所述偏离角度，调整所述无人机在所述第一航点的航向角，以调整所述机头参考线，直到所述边界线与所述无人机的机头参考线重叠。
  77. 根据权利要求75所述的控制终端，其特征在于，所述处理器实现所述根据所述地形图像确定所述目标地块的边界位置时，用于实现：
    对所述地形图像进行灰度处理，得到所述地形图像的灰度图；
    对所述灰度图进行锐化处理，并根据经过锐化处理后的所述灰度图确定所述目标地块的边界线。
  78. 根据权利要求75所述的控制终端，其特征在于，所述处理器还用于实现：
    在调整所述无人机在所述第一航点的航向角后，根据调整后的所述航向角，更新所述显示窗口内的所述机头参考线；
    根据更新后的所述显示窗口的当前显示图像，确定更新后的所述机头参考线是否与所述边界线重叠；
    若更新后的所述机头参考线与所述边界线不重叠，则继续调整所述无人机在所述第一航点的航向角。
  79. 根据权利要求78所述的控制终端，其特征在于，所述处理器实现所述根据更新后的所述显示窗口的当前显示图像，确定更新后的所述机头参考线是 否与所述边界线重叠之后，还用于实现：
    若更新后的所述机头参考线与所述边界线重叠，则将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
  80. 根据权利要求78所述的控制终端，其特征在于，所述航线规划页面还包括所述第一航点的航向角确认控件；所述处理器还用于实现：
    若更新后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线重叠；和/或，
    当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述第一航点的当前航向角作为所述第一航点的目标航向角。
  81. 根据权利要求69至80中任一项所述的控制终端，其特征在于，所述航线规划页面还包括显示窗口和所述第一航点的航向角调整控件；所述处理器实现所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角之前，还用于实现：
    当获取到用户对所述航向角调整控件的触发指令时，在所述显示窗口内显示所述无人机的机头参考线和所述目标地块的边界线；
    所述调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角，包括：
    获取用户触发的航向角调整指令，并根据所述航向角调整指令调整所述无人机在所述第一航点的航向角，得到所述第一航点的目标航向角。
  82. 根据权利要求81所述的控制终端，其特征在于，所述显示窗口内的所述机头参考线随着所述无人机在所述第一航点的航向角的变化而发生变化，使得用户能够阅览所述机头参考线与所述边界线的位置关系。
  83. 根据权利要求82所述的控制终端，其特征在于，所述处理器还用于实现：
    在调整所述无人机在所述第一航点的航向角后，根据调整后的所述航向角，更新所述显示窗口内的所述机头参考线的位置；
    若更新位置后的所述机头参考线与所述边界线重叠，则输出预设提醒信息，其中，所述预设提醒信息用于提醒用户机头参考线与边界线已重叠。
  84. 根据权利要求81所述的控制终端，其特征在于，所述航线规划页面还包括所述第一航点的航向角确定控件；所述处理器实现所述根据所述航向角调整指令调整所述无人机在所述第一航点的航向角之后，还用于实现：
    当获取到用户对所述航向角确认控件的触发操作时，将所述无人机在所述 第一航点的当前航向角作为所述第一航点的目标航向角。
  85. 根据权利要求69至80中任一项所述的控制终端，其特征在于，所述处理器实现所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线时，用于实现：
    基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线。
  86. 根据权利要求85所述的控制终端，其特征在于，所述处理器实现所述基于预设航线规划算法，根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线时，用于实现：
    根据所述第一航点以及所述第一航点的目标航向角，确定所述作业航线的第一边界线；
    根据所述第二航点以及所述第二航点的目标航向角，确定所述作业航线的第二边界线；
    根据所述第一航点以及所述第二航点，确定所述作业航线的第三边界线；
    根据所述第一边界线、所述第二边界线和所述第三边界线，规划所述无人机在所述目标地块内的所述作业航线。
  87. 根据权利要求85所述的控制终端，其特征在于，所述作业航线的外轮廓形状包括直线轮廓和/或曲线轮廓。
  88. 根据权利要求87所述的控制终端，其特征在于，所述直线轮廓包括三角形和/或四边形。
  89. 根据权利要求69至80任一所述的控制终端，其特征在于，所述处理器实现所述根据所述第一航点、所述第一航点的目标航向角、所述第二航点以及所述第二航点的目标航向角，规划所述无人机在所述目标地块内的所述作业航线之后，还用于实现：
    通过所述显示装置显示包括所述作业航线的航线规划页面，使得用户能够阅览所述作业航线，其中，所述航线规划页面还包括作业执行控件，所述作业执行控件用于控制所述无人机按照所述作业航线对所述目标地块进行作业；
    当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业。
  90. 根据权利要求89所述的控制终端，其特征在于，所述航线规划页面还包括航向切换控件，所述航向切换控件用于切换所述作业航线的航向；所述处理器实现所述显示所述作业航线之后，还用于实现：
    当获取到用户对所述航向切换控件的触发操作时，切换所述作业航线的航向，并显示切换航向后的所述作业航线。
  91. 根据权利要求89所述的控制终端，其特征在于，所述处理器实现所述当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行作业时，用于实现：
    当获取到用户对所述作业执行控件的触发操作时，控制所述无人机按照所述作业航线对所述目标地块进行播撒作业。
  92. 根据权利要求69或91任一项所述的控制终端，其特征在于，所述无人机设有播撒装置，所述播撒装置包括播撒箱、播撒转盘和播撒仓口，所述播撒箱用于放置播撒物质，所述播撒转盘用于将所述播撒箱中的播撒物质输送至所述播撒仓口，以实现播撒物质的播撒，所述播撒物质包括如下至少一种：种子、肥料和饲料。
  93. 根据权利要求91所述的控制终端，其特征在于，所述处理器实现所述控制所述无人机按照所述作业航线对所述目标地块进行播撒作业之前，还用于实现：
    当获取到用户对所述作业执行控件的触发操作时，显示播撒参数设置弹窗，其中，所述播撒参数设置弹窗包括播撒参数设置控件和播撒参数确认控件；
    根据用户对所述播撒参数设置控件的触发操作，设置所述播撒装置的播撒参数；
    当获取到用户对所述播撒参数确认控件的触发操作时，控制所述无人机按照所述作业航线和设置的所述播撒参数对所述目标地块进行播撒作业。
  94. 根据权利要求92所述的控制终端，其特征在于，所述播撒参数设置弹窗显示有播撒参数的数值，所述播撒参数的数值根据用户对所述播撒参数设置控件的触发操作而发生改变，所述播撒参数包括如下至少一种：播撒转盘的转速和所述播撒仓口的口径。
  95. 根据权利要求94所述的控制终端，其特征在于，所述播撒转盘的转速和所述播撒仓口的口径大小根据所述目标地块的面积确定，所述无人机播撒出去的播撒物质的重量根据所述播撒转盘的转速和所述播撒仓口的口径大小确定，所述播撒箱中的播撒物质的质量根据所述无人机的电池的输出功率以及所述无 人机的质量确定。
  96. 根据权利要求89所述的控制终端，其特征在于，所述航线规划页面还包括作业暂停控件，所述作业暂停控件用于控制所述无人机暂停对所述目标地块进行作业或者控制所述无人机继续对所述目标地块进行作业；所述处理器实现所述控制所述无人机按照所述作业航线对所述目标地块进行作业之后，还用于实现：
    当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机暂停对所述目标地块进行作业，并获取所述目标地块的剩余航线区域；
    获取用户触发的所述第一航点或第二航点的调整指令，并根据所述第一航点或第二航点的调整指令，调整所述第一航点或第二航点；
    根据调整后的所述第一航点和/或第二航点，更新所述无人机在所述剩余航线区域内的作业航线；
    当获取到用户对所述作业暂停控件的触发操作时，控制所述无人机按照更新后的作业航线继续对所述剩余航线区域进行作业。
  97. 根据权利要求96所述的控制终端，其特征在于，所述处理器实现所述根据所述第一航点和/或第二航点的调整指令，调整所述第一航点和/或第二航点时，用于实现：
    根据所述第一航点和/或第二航点的调整指令，调整所述第一航点或第二航点的位置和/或航向角。
  98. 根据权利要求69至80任一项所述的控制终端，其特征在于，所述处理器实现所述显示航线规划页面之前，还用于实现
    通过所述显示装置显示作业规划页面，其中，所述作业规划页面包括作业任务选择控件，所述作业任务选择控件用于选择作业任务；
    当获取到用户对所述作业任务选择控件的触发操作时，显示作业任务列表，其中，所述作业任务列表包括多个作业任务；
    获取用户对所述作业任务的选择操作，并根据用户对所述作业任务的选择操作，确定目标作业任务，且控制所述无人机执行所述目标作业任务。
  99. 根据权利要求98所述的控制终端，其特征在于，所述作业规划页面还包括作业模式选择控件，所述作业模式选择控件用于用户选择作业模式；所述处理器实现所述显示作业规划页面之后，还用于实现：
    当获取到用户对所述作业模式选择控件的触发操作时，显示作业模式选择页面，其中，所述作业模式选择页面包括多个作业模式选项；
    获取用户对所述作业模式选项的选择操作，并根据用户对所述作业模式选项的选择操作，确定目标作业模式；
    若所述目标作业模式为预设作业模式，则通过所述显示装置显示所述航线规划页面。
  100. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1-57中任一项所述的航线规划方法。
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