WO2021134687A1 - Procédé de planification de point de passage, terminal de commande, dispositif de positionnement, système et support d'enregistrement - Google Patents

Procédé de planification de point de passage, terminal de commande, dispositif de positionnement, système et support d'enregistrement Download PDF

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Publication number
WO2021134687A1
WO2021134687A1 PCT/CN2019/130925 CN2019130925W WO2021134687A1 WO 2021134687 A1 WO2021134687 A1 WO 2021134687A1 CN 2019130925 W CN2019130925 W CN 2019130925W WO 2021134687 A1 WO2021134687 A1 WO 2021134687A1
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WIPO (PCT)
Prior art keywords
waypoint
target
control terminal
positioning device
planning
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PCT/CN2019/130925
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English (en)
Chinese (zh)
Inventor
唐明健
刘清伟
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深圳市大疆创新科技有限公司
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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 CN201980059709.XA priority Critical patent/CN112753002B/zh
Priority to PCT/CN2019/130925 priority patent/WO2021134687A1/fr
Publication of WO2021134687A1 publication Critical patent/WO2021134687A1/fr

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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
    • 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

Definitions

  • This application relates to the technical field of waypoint planning, in particular to a waypoint planning method, control terminal, positioning device, system and storage medium.
  • waypoint planning methods mainly include the user holding the remote control to walk on the boundary of the plot, and determining the waypoint through the Global Positioning System (GPS) in the remote control, or automatically planning the waypoint by the drone using GPS.
  • GPS Global Positioning System
  • the GPS positioning accuracy is poor, and the planned waypoints are inaccurate, resulting in a large deviation between the operation area formed by multiple waypoints and the actual operation area, making the drone unable to perform accurate operations.
  • the experience is not good.
  • this application provides a waypoint planning method, control terminal, positioning device, system, and storage medium, aiming at accurately planning the waypoint of the UAV so that the UAV can perform operations accurately.
  • this application provides a waypoint planning method, which is applied to a control terminal, and the control terminal is configured to communicate with a positioning device, and the method includes:
  • Acquiring waypoint position data where the waypoint position data is used to determine target position information of a target waypoint, and the target waypoint is a waypoint to be planned;
  • the present application also provides a waypoint planning method, which is applied to a positioning device, and the positioning device is used to communicate with a control terminal, and the method includes:
  • the target location information is sent to the control terminal, so that the control terminal can display the target waypoint according to the target location information.
  • 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 configured to execute the computer program and, when executing the computer program, implement the following steps:
  • Acquiring waypoint position data where the waypoint position data is used to determine target position information of a target waypoint, and the target waypoint is a waypoint to be planned;
  • the present application also provides a positioning device, the positioning device includes 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 location information is sent to the control terminal, so that the control terminal displays the target waypoint according to the target location information of the target waypoint.
  • this application also provides a waypoint planning system, the waypoint planning system includes a control terminal and a positioning device, wherein:
  • the control terminal is used to obtain waypoint position data and send the waypoint position data to a positioning device, wherein the waypoint position data is used to determine the position information of a target waypoint, and the target waypoint is Waypoints to be planned;
  • the positioning device is configured to receive the waypoint position data sent by the control terminal, and correct the current position information of the target waypoint according to the waypoint position data to determine the target of the target waypoint Location information, and sending the target location information to the control terminal;
  • the control terminal is further configured to receive the target location information sent by the positioning device, and display the target waypoint according to the target location information.
  • this application also provides a waypoint planning system.
  • the waypoint planning system includes a control terminal, a positioning device, and a location server.
  • the control terminal is in communication connection with the location server, and the control terminal is in communication with the location server.
  • the communication connection of the positioning device where:
  • the control terminal is configured to send a waypoint location data acquisition request to the location server, where the waypoint location data is used to determine the location information of a target waypoint, and the target waypoint is a waypoint to be planned;
  • the location server is configured to acquire the waypoint location data of the target waypoint according to the acquisition request, and send the waypoint location data to the control terminal;
  • the control terminal is further configured to receive the waypoint location data sent by the location server, and send the waypoint location data to the positioning device;
  • the positioning device is configured to receive the waypoint position data sent by the control terminal, and correct the current position information of the target waypoint according to the waypoint position data to determine the target position information of the target waypoint, And send the target location information to the control terminal;
  • the control terminal is also used to receive target location information sent by the positioning device, and display the target waypoint according to the target location information.
  • the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the waypoint as described above. Planning the steps of the method.
  • the embodiment of the application provides a waypoint planning method, control terminal, positioning device, system and storage medium.
  • the positioning device can correct the target waypoint based on the waypoint position data.
  • the current position information of the target waypoint can be used to determine the target position information of the target waypoint, so that the waypoint of the drone can be planned accurately and conveniently, so that the operation area formed by multiple waypoints has a small deviation from the actual operation area, which is convenient Subsequent drones can perform operations accurately and effectively improve user experience.
  • FIG. 1 is a schematic diagram of a scenario for implementing the waypoint planning method in an embodiment of the present application
  • FIG. 2 is a schematic flowchart of steps of a waypoint planning method provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a waypoint planning page displayed on the display device of the control terminal according to the embodiment of the present application;
  • FIG. 4 is another schematic diagram of a waypoint planning page displayed on the display device of the control terminal according to the embodiment of the present application;
  • FIG. 5 is another schematic diagram of the waypoint planning page displayed on the display device of the control terminal according to the embodiment of the present application.
  • FIG. 6 is another schematic diagram of the waypoint planning page displayed on the display device of the control terminal according to the embodiment of the present application.
  • FIG. 7 is a schematic diagram of a route segmentation page displayed on the display device of the control terminal according to the embodiment of the present application.
  • FIG. 8 is another schematic diagram of displaying the route segmentation page on the display device of the control terminal according to the embodiment of the present application.
  • FIG. 9 is another schematic diagram of displaying the route segmentation page on the display device of the control terminal according to the embodiment of the present application.
  • FIG. 10 is another schematic diagram showing the route segmentation page displayed on the display device of the control terminal according to the embodiment of the present application.
  • FIG. 11 is a schematic diagram of a route planning page displayed on a display device of a control terminal according to an embodiment of the present application.
  • FIG. 12 is another schematic diagram of displaying the route planning page on the display device of the control terminal according to the embodiment of the present application.
  • FIG. 13 is another schematic diagram of displaying the route planning page on the display device of the control terminal according to the embodiment of the present application.
  • FIG. 14 is a schematic flowchart of steps of another waypoint planning method provided by an embodiment of the present application.
  • 15 is a schematic block diagram of the structure of a control terminal provided by an embodiment of the present application.
  • FIG. 16 is a schematic block diagram of the structure of a positioning device provided by an embodiment of the present application.
  • FIG. 17 is a schematic block diagram of a waypoint planning system provided by an embodiment of the present application.
  • FIG. 18 is a schematic block diagram of another waypoint planning system provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of a scenario for implementing the waypoint planning method in the embodiment of the present application.
  • the control terminal 100 can communicate with the positioning device 200 through a Universal Serial Bus (USB) interface Connected, the control terminal 100 includes a joystick 101 and a display device 102.
  • USB Universal Serial Bus
  • the control terminal 100 sends waypoint position data used to determine the target position information of the waypoint to the positioning device 200 through the USB interface, so that the positioning device 200 can correct the current position information of the waypoint based on the waypoint position data, and send the corrected position information to the control terminal 100 through the USB interface, so that the control terminal 100 can obtain the waypoint of the drone with high positioning accuracy .
  • the control terminal 100 may also be wirelessly or wiredly connected to the positioning device 200.
  • the control terminal 100 communicates with the positioning device 200 via Bluetooth.
  • the positioning device 200 includes a real-time dynamic differential RTK device.
  • the control terminal 100 includes a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, etc.
  • the drone includes a rotary wing drone, such as a quadrotor drone, a hexarotor drone, and an eight rotor drone.
  • the man-machine 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.
  • FIG. 2 is a schematic flowchart of steps of a waypoint planning method provided by an embodiment of the present application. Specifically, as shown in FIG. 2, the waypoint planning method includes step S101 to step S103.
  • the waypoint position data is used to determine the target position information of the target waypoint, and the target waypoint is the waypoint to be planned.
  • the control terminal may request the location server for the waypoint location data of the target waypoint, where the control terminal may automatically request the location server for the location data of the target waypoint every preset time period, so as to realize automatic
  • the preset time length can be preset by the user according to the use demand.
  • the control terminal is in communication connection with the location server, and the location server can provide centimeter-level location services for the control terminal.
  • the control terminal may also obtain the waypoint position data of the target waypoint sent by the positioning base station, where the control terminal may automatically request the positioning base station for the waypoint position data of the target waypoint every preset time period, so as to realize the automatic update.
  • the effect, the preset duration can be preset by the user.
  • the waypoint position data obtained from the positioning base station can come from the position server, and the positioning base station only plays the role of data forwarding. In this way, the control terminal only needs to communicate with the positioning base station, reducing resource occupation due to multi-terminal communication.
  • the positioning base station includes a real-time kinematic (RTK) base station.
  • the RTK base station can also provide centimeter-level positioning services for the control terminal.
  • the RTK base station can measure the waypoint position data of the target waypoint, and then The point position data is sent to the control terminal.
  • the location server can determine the waypoint position data of the target waypoint based on the positioning data, which is convenient for subsequent analysis of the current position information of the target waypoint. Correction.
  • GPS Global Positioning System
  • the control terminal assembles GGA data based on the positioning data collected at the current system time, and sends the GGA data to the location server; the location server receives the GGA data sent by the control terminal, and based on the positioning data in the GGA data , Obtain the waypoint position data of the target waypoint; assemble the navigational radio technical committee RTCM (Radio Technical Commission for Maritime Services, RTCM) differential data based on the waypoint position data, and transmit the RTCM differential data back to the control terminal.
  • RTCM Radio Technical Commission for Maritime Services
  • the control terminal displays a waypoint planning page, where the waypoint planning page includes a waypoint adding control, and the waypoint adding control is used to add waypoints of the drone;
  • the position data of the waypoint is obtained.
  • the display device of the control terminal displays a waypoint planning page, and the waypoint planning page includes waypoint adding controls and description information of the positioning accuracy of the waypoint.
  • control terminal communicates with a positioning device, and the control terminal communicates with the positioning device in a wireless manner.
  • the control terminal communicates with the positioning device via Bluetooth, or the control terminal communicates with the positioning device via WiFi.
  • the control terminal can also communicate with the positioning device. It communicates with the positioning device through a wired connection.
  • the communication connection between the control terminal and the positioning device is established in a wireless manner, and there is no need to carry a communication line, which greatly improves the user experience.
  • control terminal may also be communicatively connected to the positioning device through a Universal Serial Bus (USB) interface, and the control terminal and the positioning device may be communicatively connected through a USB interface.
  • USB Universal Serial Bus
  • the control terminal includes at least one USB Interface
  • the positioning device includes at least one USB connector
  • a USB connector on the positioning device is inserted into a USB interface of the control terminal to establish a communication connection between the control terminal and the positioning device.
  • USB interface the communication connection between the control terminal and the positioning device can be quickly established. There is no need for frequency matching and no need to carry a communication cable. You only need to insert a USB connector on the positioning device into the USB interface of the control terminal to establish it.
  • the communication connection between the control terminal and the positioning device greatly improves the user experience.
  • the control terminal sends the received waypoint position data to the positioning device, and the positioning device receives the waypoint position data sent by the control terminal, and according to the waypoint position data, corrects the current position information of the target waypoint to determine the target of the target waypoint Position information, and send the target position information of the target waypoint to the control terminal.
  • the waypoint position data includes real-time dynamic differential RTK data of the target waypoint
  • the positioning device includes a real-time dynamic differential RTK device
  • the current position information is determined according to the RTK device.
  • the positioning device obtains the position deviation information of the target waypoint in the waypoint position data; according to the position deviation information, corrects the current position information of the target waypoint to determine the target of the target waypoint location information.
  • the position deviation information in the waypoint position data the current position information of the target waypoint can be corrected quickly, and the position correction speed can be improved.
  • the control terminal parses the RTCM differential data assembled based on the waypoint position data, and sends the parsed RTCM differential data to the positioning device;
  • the positioning device receives the RTCM differential data sent by the control terminal, and the positioning device is based on the RTCM Differential data, correct the position information of the target waypoint collected at the current system time point to obtain accurate position information; assemble the accurate position information into NMEA (National Marine Electronics Association, National Marine Electronics Association) data, and Send the NMEA data to the control terminal.
  • NMEA National Marine Electronics Association, National Marine Electronics Association
  • the control terminal After obtaining the target location information of the target waypoint sent by the positioning device, the control terminal can directly display the target location information, so that the user can intuitively know the target location information. It can be output through the display interface, voice broadcast, etc. Specifically, the control terminal obtains the NMEA data sent by the positioning device, and analyzes the NMEA data to obtain the target position information of the target waypoint, and based on the target position information, displays the target waypoint.
  • the waypoint planning page includes a map. After obtaining the target location information of the target waypoint, based on the target location information of the target waypoint, the location of the target waypoint on the map is determined, and Mark the target waypoint at the location.
  • the map is determined based on the data collected by the GPS in the control terminal, or it can be determined based on the data collected by the positioning device, which is not specifically limited in this application.
  • control terminal displays the connecting line segments between the target waypoints marked on the map, so that the connecting line segments between the target waypoints can be enclosed to form a work area.
  • the user can read the operation area formed by the planned waypoints, which facilitates the editing of the operation area, and greatly improves the user experience.
  • the marked time point is the system time point recorded when the waypoint is marked on the map.
  • the waypoint planning page shows three waypoints, namely Waypoint A, Waypoint B and Waypoint C.
  • Waypoint A and Waypoint B are connected by connecting line segment 1
  • Waypoint B and Waypoint C Connected by connecting line segment 2
  • waypoint A and waypoint C are connected by connecting line segment 3.
  • Connecting line segment 1, connecting line segment 2 and connecting line segment 3 form a triangular work area P.
  • the flight route of the drone in the operation area is planned, and the flight route is displayed.
  • the user can preview the flight route, which is convenient for the user to adjust the flight route, which greatly improves the user experience.
  • the outer contour shape of the operation area is determined, wherein the outer contour shape is the shape of the figure formed by the joining line segments between the target waypoints; according to the outer contour shape and the preset route plan Algorithm to plan the flight route of the UAV in the operation area.
  • the flight route of the drone in the operation area can be accurately planned, so that the drone can accurately operate the operation area based on the flight route, which greatly improves the user Experience.
  • any waypoint is the starting waypoint of the flight route, and one of the waypoints opposite to the starting waypoint is the ending waypoint of the flight route.
  • the flight route of the drone in the operation area is planned based on the preset route spacing; if the outer contour shape of the operation area is a quadrilateral, any side of the operation area is the starting route of the flight route, and the starting route is The opposite side of is the ending route of the flight route, and the flight route of the UAV in the operation area is planned with the preset route spacing.
  • the preset route distance is determined according to the area of the operation area. As shown in Figure 5, the waypoint planning page shows four waypoints, namely waypoint A, waypoint B, waypoint C and waypoint D, and waypoint A, waypoint B, waypoint C and waypoint D
  • the enclosed operation area includes 20 routes.
  • the area of the operation area is calculated according to the target position information of each target waypoint, and the area of the operation area is displayed.
  • the waypoint planning page includes a display pop-up window, and the area of the operation area can be displayed in the display pop-up window.
  • the user can know the area of the work area, which is convenient for the user to plan the spraying amount of water or pesticides.
  • the left display area of the waypoint planning page includes a display pop-up window, which displays the area of the operation area, and the right display area of the waypoint planning page displays the operation area, which includes the planned operation area. Flight route.
  • the waypoint planning page further includes a route segmentation control.
  • the route segmentation page displays the operation area and the operation area. Shows the flight route; obtain the user's route segmentation operation for the operation area, and divide the operation area according to the route segmentation operation to obtain the route segmentation area corresponding to the route segmentation operation, and display the flight route in the segmentation area of the route .
  • there are a total of 20 flight routes of the drone and each vertex of the operating area is displayed, namely vertex A, vertex B, vertex C, and vertex D.
  • the route segmentation operation includes the user's selection operation of any two flight routes, the user's movement operation of at least one route segmentation line, the user's sliding operation of at least one segmentation control, and the user's sliding operation of the work area.
  • marking the flight route in the operation area can facilitate the user to know the operation area obtained by the segmentation.
  • obtain the first flight route and the second flight route selected by the user in the operation area and calculate the area percentage between the first flight route and the second flight route and the area of the operation area; determine the Whether the area percentage is greater than or equal to the preset percentage threshold; if the area percentage is greater than or equal to the preset percentage threshold, the area between the first flight route and the second flight route is used as the operation area.
  • the user can divide the operation area by selecting two flight routes, which is convenient for the user to divide the flight routes in the operation area.
  • the flight route on the far left of the operation area is flight route 1
  • the number of the flight route from left to right is increased by 1
  • the flight route on the far right of the operation area is flight route 20, and the flight route selected by the user If it is flight route 5 and flight route 15, the area between flight route 5 and flight route 15 is the operation area.
  • the user can determine the division of the flight route in the operation area by selecting two flight routes, which is convenient for the user to plan the route and improves the user experience.
  • 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 flight route in the operation area, and the first route segmentation line And the second route dividing line is used to divide the flight route in the operation area, specifically, obtaining the user's movement operation on the first route dividing line and/or the second route dividing line, and according to the user's movement of the first route dividing line and/or Or the movement operation of the second route dividing line, move the first route dividing line and/or the second route dividing line; determine the area percentage of the operation area between the moved first and second route dividing lines ; Determine whether the area percentage is greater than or equal to the preset percentage threshold; if the area percentage is greater than or equal to the preset percentage threshold, the area between the moved first route dividing line and the second route dividing line is taken as the operation area.
  • the route dividing line By setting the route dividing line, the user only needs to move the route dividing line to divide the flight route in the operation area, which is convenient for the user to plan the route and improves the user experience.
  • 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 flight route in the operation area, which greatly improves the route. Convenience of segmentation.
  • the flight route on the far left of the operation area is flight route 1.
  • the number of the flight route from left to right is increased by 1, and the flight route on the far right of the operation area is flight route 20.
  • the initial position of a route dividing line is the position of the dashed segment passing through vertices A and D
  • the initial position of the second route dividing line in the route dividing page is the position of the dashed segment passing through vertices B and C.
  • the first route dividing line is located at the flight route 5
  • the second route dividing line is located at the flight route 15.
  • the area between the flight route 5 and the flight route 15 is the operation 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 flight route within the operation area.
  • the first segmentation control and the second segmentation control are displayed on the bar.
  • the first segmentation control and the second segmentation control are used to segment the flight route in the operation area, specifically, to obtain the user's first segmentation control in the route segmentation bar.
  • the operation area is determined according to the position of the sliding first and second division control on the route segmentation bar.
  • the flight route in the operating area can be segmented, without the user operating the operating area, which can reduce the impact of the user's misoperation on the segmentation of the route, and also facilitate the user to segment Flight route.
  • the first route segmentation percentage and the second route segmentation percentage are determined; and the total number of flight routes in the operation area is obtained , And determine the first route number and the second route number according to the total quantity, the percentage of division of the first route and the percentage of division of the second route; enclose the flight routes between the first route number and the second route number in the operation area
  • the formed area is used as the work 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 splitting pop-up window also displays a route delete control and a split icon control.
  • the route delete control is used to control the control terminal to delete the work area so that the work area can be restored to its initial state. Used to control the control terminal to display or hide the split control.
  • the route splitting pop-up window is located on the lower border of the route splitting page, and the route delete control is set to the left of the route splitting bar, the split icon control is set to the right of the route splitting bar, and the route splitting bar is set to the route Delete the area between the control and the division icon control, and the corresponding route division percentages of the two division controls are 20% and 80%, then the two route numbers are 4 and the route number 16, and the area between the flight route 4 and the flight route 16 It is the work area.
  • the waypoint planning page also displays a home icon, and when the user's trigger operation on the home icon is obtained, the operation planning page is displayed, wherein the operation planning page further includes a operation mode selection control, The operation mode selection control is used to select the operation mode; when the user's trigger operation on the operation mode selection control is obtained, the operation mode selection page is displayed, wherein the operation mode selection page includes multiple operation mode options; Select the operation mode option, and determine the target operation mode according to the user's selection operation of the operation mode option; if the target operation mode is the preset operation mode, the route planning page is displayed, where the The route planning page includes waypoint setting controls; the first waypoint of the drone is determined according to the user’s triggering operation on the waypoint setting controls, and the result of determining the first waypoint of the drone is sent to the unmanned And/or, display the first waypoint on the route planning page; obtain the first terrain image of the target plot, and adjust the drone to the first waypoint according to the first terrain image The heading angle of the first waypoint is obtained
  • 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.
  • the route planning page displays the parcel, the first waypoint setting control, the second waypoint setting control, and the drone's logo.
  • the drone's logo is located in the parcel and the first waypoint is Set the control to "Point A", the second waypoint setting control to "Point B", the drone's logo is
  • the route planning page displays the determined first waypoint, the first waypoint setting control, the second waypoint setting control, the heading angle adjustment control of the first waypoint and The logo of the drone, the first waypoint is The first waypoint setting control is "point A", the second waypoint setting control is "point B", and 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.
  • 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, and the route planning page also displays the first waypoint The direction extension line b of the heading angle. At this time, the route planning page does not display the first waypoint setting control and the second waypoint setting control.
  • the waypoint planning method provided in the above embodiments sends waypoint position data to the positioning device, so that the positioning device can correct the current position information of the target waypoint based on the waypoint position data to determine the target position information of the target waypoint , So that the waypoints of the drone can be planned accurately and conveniently, so that the operation area formed by multiple waypoints has a small deviation from the actual operation area, which is convenient for subsequent drones to perform accurate operations, and effectively improves users Experience.
  • FIG. 14 is a schematic flowchart of steps of another waypoint planning method provided by an embodiment of the present application.
  • the waypoint planning method is applied to a positioning device.
  • the waypoint planning method includes steps S201 to S203.
  • S201 Acquire waypoint location data sent by the control terminal.
  • the positioning device communicates with the control terminal, and the control terminal communicates with the positioning device in a wireless manner.
  • the control terminal communicates with the positioning device via Bluetooth, or the control terminal communicates with the positioning device via WiFi, and the control terminal can also communicate with the positioning device via WiFi. Wired communication connection with the positioning device.
  • the communication connection between the control terminal and the positioning device is established in a wireless manner, and there is no need to carry a communication line, which greatly improves the user experience.
  • control terminal may also be communicatively connected to the positioning device through a Universal Serial Bus (USB) interface, and the control terminal and the positioning device may be communicatively connected through a USB interface.
  • USB Universal Serial Bus
  • the control terminal includes at least one USB Interface
  • the positioning device includes at least one USB connector
  • a USB connector on the positioning device is inserted into a USB interface of the control terminal to establish a communication connection between the control terminal and the positioning device.
  • USB interface the communication connection between the control terminal and the positioning device can be quickly established. There is no need for frequency matching and no need to carry a communication cable. You only need to insert the positioning device into the USB interface of the control terminal to establish the control terminal and the positioning device. The communication connection between the two greatly improves the user experience.
  • the control terminal can request the waypoint position data of the target waypoint from the location server, or it can obtain the waypoint position data of the target waypoint sent by the positioning base station, and then send the waypoint position data to the positioning device, and the positioning device obtains control The waypoint position data sent by the terminal.
  • the control terminal communicates with the location server.
  • the location server can provide centimeter-level positioning services for the control terminal.
  • the positioning base station includes a real-time kinematic (RTK) base station.
  • the RTK base station can also provide centimeter-level positioning services for the control terminal. In the positioning service, the RTK base station can measure the waypoint position data of the target waypoint, and send the waypoint position data to the control terminal.
  • the location server can return the location data of the target waypoint based on the positioning data, which is convenient for subsequent analysis of the current location information of the target waypoint. Correction.
  • GPS Global Positioning System
  • the control terminal assembles GGA data based on the positioning data collected at the current system time, and sends the GGA data to the location server; the location server receives the GGA data sent by the control terminal, and based on the positioning data in the GGA data , Obtain the waypoint position data of the target waypoint; assemble the navigational radio technical committee RTCM (Radio Technical Commission for Maritime Services, RTCM) differential data based on the waypoint position data, and transmit the RTCM differential data back to the control terminal.
  • RTCM Radio Technical Commission for Maritime Services
  • the waypoint position data includes real-time dynamic differential RTK data of the target waypoint
  • the positioning device includes a real-time dynamic differential RTK device
  • the current position information is determined according to the RTK device.
  • the positioning device obtains the position deviation information of the target waypoint in the waypoint position data; according to the position deviation information, corrects the current position information of the target waypoint to determine the target of the target waypoint location information.
  • the position deviation information in the waypoint position data the current position information of the target waypoint can be corrected quickly, and the position correction speed can be improved.
  • S203 Send the target location information to the control terminal, so that the control terminal can display the target waypoint according to the target location information.
  • the positioning device sends the target location information to the control terminal, so that the control can display the target waypoint based on the target location information.
  • the waypoint planning page includes a map. After obtaining the target location information of the target waypoint, based on the target location information of the target waypoint, the location of the target waypoint on the map is determined, and Mark the target waypoint at the location.
  • the map is determined based on the data collected by the GPS in the control terminal, or it can be determined based on the data collected by the positioning device, which is not specifically limited in this application.
  • control terminal displays the connecting line segments between the target waypoints marked on the map, so that the connecting line segments between the target waypoints can be enclosed to form a work area.
  • the user can read the operation area formed by the planned waypoints, which facilitates the editing of the operation area, and greatly improves the user experience.
  • the waypoint planning method provided in the above embodiment obtains the waypoint position data sent by the control terminal, so that the positioning device can correct the current position information of the target waypoint based on the waypoint position data to determine the target position information of the target waypoint , So that the waypoints of the drone can be planned accurately and conveniently, so that the operation area enclosed by multiple waypoints has a small deviation from the actual operation area, which is convenient for subsequent drones to perform accurate operations and effectively improves users Experience.
  • FIG. 15 is a schematic block diagram of the structure 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 300 includes a processor 301 and a memory 302, and the processor 301 and the memory 302 are connected by a bus 303, which is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 301 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 302 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 301 is configured to run a computer program stored in the memory 302, and implement the following steps when the computer program is executed:
  • Acquiring waypoint position data where the waypoint position data is used to determine target position information of a target waypoint, and the target waypoint is a waypoint to be planned;
  • the processor implements the acquisition of waypoint position data, it is used to implement:
  • the processor when the processor implements the request for the waypoint location data from a location server, it is used to implement:
  • control terminal further includes a display device
  • processor is further configured to implement:
  • the obtaining waypoint location data includes:
  • the waypoint position data is acquired.
  • control terminal further includes a display device
  • processor is further configured to implement the following steps:
  • the processor implements the acquisition of the target location information of the target waypoint sent by the positioning device, it is further used to implement:
  • the target location information of the target waypoint determine the location of the target waypoint on the map, and mark the target waypoint at the location.
  • the processor is further configured to implement:
  • the connecting line segments between the target waypoints marked on the map are displayed, so that the connecting line segments between the target waypoints can be enclosed to form a work area.
  • the connecting line segments between the target waypoints are displayed, so that the connecting line segments between the target waypoints can be enclosed to form a work area.
  • the processor is further configured to implement:
  • Plan the flight route of the drone in the operation area and display the flight route on the waypoint planning page.
  • the processor implements the planning of the flight route of the drone in the operation area, it is used to implement:
  • the outer contour shape of the operation area is a shape of a figure formed by a joining line segment between each target waypoint;
  • the flight route of the UAV in the operation area is planned.
  • the processor is further configured to implement:
  • the area of the operation area is calculated, and the area of the operation area is displayed.
  • the waypoint planning page includes a display pop-up window; when the processor realizes the display of the area of the work area, it is used to realize:
  • the area of the work area is displayed in the display pop-up window.
  • control terminal communicates with the positioning device through wireless or wired connection; and/or, the control terminal communicates with the positioning device through a universal serial bus interface.
  • the waypoint location data includes real-time dynamic differential RTK data of the target waypoint
  • the positioning device includes a real-time dynamic differential RTK device
  • the current location information is determined according to the RTK device.
  • FIG. 16 is a schematic block diagram of the structure of a positioning device according to an embodiment of the present application.
  • the positioning device 400 includes a processor 401 and a memory 402, and the processor 401 and the memory 402 are connected by a bus 403.
  • the bus 403 is, for example, an I2C (Inter-integrated Circuit) bus.
  • the processor 401 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 402 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 401 is configured to run a computer program stored in the memory 402, and implement the following steps when the computer program is executed:
  • the target location information is sent to the control terminal, so that the control terminal can display the target waypoint according to the target location information.
  • the processor when the processor realizes that the current position information of the target waypoint is corrected according to the waypoint position data to determine the target position information of the target waypoint, the processor is used to realize:
  • the position deviation information correct the current position information of the target waypoint to determine the target position information of the target waypoint.
  • the waypoint location data includes real-time dynamic differential RTK data of the target waypoint
  • the positioning device includes a real-time dynamic differential RTK device
  • the current location information is determined according to the RTK device.
  • control terminal communicates with the positioning device through wireless or wired connection; and/or, the control terminal communicates with the positioning device through a universal serial bus interface.
  • control terminal displays the target position information after acquiring the target position information of the target waypoint sent by the positioning device.
  • FIG. 17 is a schematic block diagram of a waypoint planning system according to an embodiment of the present application.
  • the waypoint planning system includes a control terminal 10 and a positioning device 20, wherein:
  • the control terminal 10 is used to obtain waypoint position data and send the waypoint position data to a positioning device, where the waypoint position data is used to determine the target position information of the target waypoint, and the target route Point is the waypoint to be planned;
  • the positioning device 20 is configured to receive the waypoint position data sent by the control terminal 10, and correct the current position information of the target waypoint according to the waypoint position data to determine the target waypoint And send the target location information to the control terminal 10;
  • the control terminal 10 is also configured to receive the target location information sent by the positioning device 20, and display the target waypoint according to the target location information.
  • control terminal 10 is in communication connection with the positioning device 20.
  • control terminal 10 is in a wireless or wired communication connection with the positioning device 20; and/or, the control terminal 10 is in a communication connection with the positioning device 20 via a universal serial bus interface.
  • the positioning device 20 is further configured to:
  • the position deviation information correct the current position information of the target waypoint to determine the target position information of the target waypoint.
  • control terminal 10 is also used to:
  • the waypoint position data is acquired.
  • control terminal 10 is also used to:
  • the method further includes:
  • the target location information of the target waypoint determine the location of the target waypoint on the map, and mark the target waypoint at the location.
  • control terminal 10 is also used to:
  • the connecting line segments between the target waypoints marked on the map are displayed, so that the connecting line segments between the target waypoints can be enclosed to form a work area.
  • control terminal 10 is also used to:
  • the connecting line segments between the target waypoints are displayed, so that the connecting line segments between the target waypoints can be enclosed to form a work area.
  • control terminal 10 is also used to:
  • control terminal 10 is also used to:
  • the outer contour shape of the operation area is a shape of a figure formed by a joining line segment between each target waypoint;
  • the flight route of the UAV in the operation area is planned.
  • control terminal 10 is also used to:
  • the area of the operation area is calculated, and the area of the operation area is displayed.
  • the waypoint planning page includes a display pop-up window; the control terminal 10 is also used for:
  • the area of the work area is displayed in the display pop-up window.
  • FIG. 18 is a schematic block diagram of another waypoint planning system provided by an embodiment of the present application.
  • the waypoint planning system includes a control terminal 10, a positioning device 20, and a location server 30.
  • the control terminal 10 is in communication connection with the location server 30, and the control terminal 10 communicates with the positioning device.
  • 20 connections of which:
  • the control terminal 10 is configured to send a waypoint location data acquisition request to the location server 30, where the waypoint location data is used to determine target location information of a target waypoint, and the target waypoint is a route to be planned. point;
  • the location server 30 is configured to acquire the waypoint location data of the target waypoint according to the acquisition request, and send the waypoint location data to the control terminal;
  • the control terminal 10 is further configured to receive the waypoint location data sent by the location server, and send the waypoint location data to the positioning device 20;
  • the positioning device 20 is configured to receive the waypoint position data sent by the control terminal 10, and correct the current position information of the target waypoint according to the waypoint position data to determine the target of the target waypoint Location information, and sending the target location information to the control terminal 10;
  • the control terminal 10 is also configured to receive target location information sent by the positioning device 20, and display the target waypoint according to the target location information.
  • control terminal 10 is in a wireless or wired communication connection with the positioning device 20; and/or, the control terminal 10 is in a communication connection with the positioning device 20 via a universal serial bus interface.
  • the positioning device 20 is also used for:
  • the position deviation information correct the current position information of the target waypoint to determine the target position information of the target waypoint.
  • control terminal 10 is also used to:
  • the location server 30 is further configured to obtain waypoint location data according to the positioning data, and send the waypoint location data to the control terminal 10;
  • the control terminal 10 is also used to receive the waypoint location data sent by the location server 30.
  • control terminal 10 is also used to:
  • the waypoint position data is acquired.
  • control terminal 10 is also used to:
  • the method further includes:
  • the target location information of the target waypoint determine the location of the target waypoint on the map, and mark the target waypoint at the location.
  • control terminal 10 is also used to:
  • the connecting line segments between the target waypoints marked on the map are displayed, so that the connecting line segments between the target waypoints can be enclosed to form a work area.
  • control terminal 10 is also used to:
  • the connecting line segments between the target waypoints are displayed, so that the connecting line segments between the target waypoints can be enclosed to form a work area.
  • control terminal 10 is also used to:
  • control terminal 10 is also used to:
  • the outer contour shape of the operation area is a shape of a figure formed by a joining line segment between each target waypoint;
  • the flight route of the UAV in the operation area is planned.
  • control terminal 10 is also used to:
  • the area of the operation area is calculated, and the area of the operation area is displayed.
  • the waypoint planning page includes a display pop-up window; the control terminal 10 is also used for:
  • the area of the work area is displayed in the display pop-up window.
  • 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 waypoint planning method provided in the example.
  • the computer-readable storage medium may be the internal storage unit of the control terminal or the positioning device described in any of the foregoing embodiments, for example, the hard disk or memory of the control terminal or the positioning device.
  • the computer-readable storage medium may also be an external storage device of the control terminal or the positioning device, such as a plug-in hard disk equipped on the control terminal or the positioning device, a smart memory card (Smart Media Card, SMC), and a safe Digital (Secure Digital, SD) card, Flash Card (Flash Card), etc.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

Un procédé de planification de point de passage, un terminal de commande (10, 300), un dispositif de positionnement (20), un système et un support d'enregistrement sont divulgués. Le procédé consiste à : acquérir des données de position de point de passage (S101) ; sur la base des données de position de point de passage, correction, par le biais du dispositif de positionnement (20), d'informations de position actuelle d'un point de passage cible, de façon à déterminer des informations de position cible du point de passage cible (S102) ; et acquérir les informations de position cible, envoyées par le dispositif de positionnement, du point de passage cible (S103). Par conséquent, la précision de la planification de point de passage est améliorée.
PCT/CN2019/130925 2019-12-31 2019-12-31 Procédé de planification de point de passage, terminal de commande, dispositif de positionnement, système et support d'enregistrement WO2021134687A1 (fr)

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CN201980059709.XA CN112753002B (zh) 2019-12-31 2019-12-31 航点规划方法、控制终端、定位装置、系统及存储介质
PCT/CN2019/130925 WO2021134687A1 (fr) 2019-12-31 2019-12-31 Procédé de planification de point de passage, terminal de commande, dispositif de positionnement, système et support d'enregistrement

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