WO2022247498A1 - 无人机监控 - Google Patents

无人机监控 Download PDF

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Publication number
WO2022247498A1
WO2022247498A1 PCT/CN2022/086171 CN2022086171W WO2022247498A1 WO 2022247498 A1 WO2022247498 A1 WO 2022247498A1 CN 2022086171 W CN2022086171 W CN 2022086171W WO 2022247498 A1 WO2022247498 A1 WO 2022247498A1
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WIPO (PCT)
Prior art keywords
uav
flight
terminal
drone
server
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PCT/CN2022/086171
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English (en)
French (fr)
Inventor
李腾腾
孙毅
张邦彦
景华
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北京三快在线科技有限公司
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Publication of WO2022247498A1 publication Critical patent/WO2022247498A1/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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw 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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle monitoring system, method, device and storage medium.
  • unmanned equipment such as drones are also widely used in various business fields.
  • UAV flight technology since the current UAV flight technology is not mature enough, in order to reduce the flight risk of UAVs, it is possible to manually monitor the flight trajectory of UAVs in real time to manually judge whether UAVs are flying according to the planned path.
  • a drone monitoring system includes a drone, a terminal, and a server, wherein: the drone is configured to send the drone to the server The current location information of the terminal; the terminal carries a pre-built three-dimensional environment model, and the three-dimensional environment model is constructed based on the environmental information in the flying area of the drone; the terminal is configured to send the route acquisition to the server Request, according to the route information of the drone received from the server, display the planned flight path of the drone in the three-dimensional environment model; when receiving the drone's route information from the server When the current position information is displayed, the current position of the drone is displayed in the three-dimensional environment model; the server is configured to forward the current position information of the drone received from the drone to the The terminal; and according to the route acquisition request received from the terminal, return the route information of the drone to the terminal.
  • the terminal is further configured to: according to the planned flight time contained in the received route information of the drone, display the expected flight time of the drone in the planned flight path. schedule.
  • the pre-built three-dimensional environment model takes the center of the earth as the origin; the terminal is further configured to: determine the reference point corresponding to the flight area according to the flight area where the UAV performs the current mission; Taking the reference point as an origin, update the position information of each position in the three-dimensional environment model.
  • the server is further configured to, when there are one or more of the drones, receive the drone location acquisition request sent by the terminal and carry the drone identifier, and according to the drone aircraft identification, and forward the current position information of the drone corresponding to the drone identification to the terminal; the server is also configured to: acquire the drone contained in the request according to the route received from the terminal ID, and return the route information of the UAV corresponding to the UAV ID to the terminal.
  • the UAV is further configured to: send the current status information of the UAV to the server, the current status information includes the flight parameters of the UAV; the server is also configured is: forwarding the current status information of the drone received from the drone to the terminal; the terminal is further configured to: according to the current status of the drone received from the server information, displaying the current flight parameters of the drone.
  • the terminal is further configured to: display the attitude of the drone in the three-dimensional environment model according to the flight parameters in the current state information of the drone received from the server ; Wherein, the flight parameters include at least the flight pose of the UAV.
  • the server is further configured to: according to one or more flight missions to be performed by the UAV, determine the flight area where the UAV performs the one or more flight missions; For each of the one or more flight missions to be performed by the UAV, obtain an environmental image in the flight area corresponding to the flight mission, and the server constructs a three-dimensional image of the flight area according to the obtained environmental image environment model.
  • the server is further configured to: receive an environment model acquisition request sent by one or more terminals, and send the constructed 3D environment model to corresponding terminal.
  • the terminal is further configured to: determine the flight area where the UAV performs the one or more flight missions according to the one or more flight missions to be performed by the UAV; For each of the one or more flight missions to be performed by the UAV, obtain the environmental image in the flight area corresponding to the flight mission, and the terminal constructs the flight area according to the acquired environmental image 3D environment model.
  • the terminal is further configured to: send the constructed 3D environment model to the server; the server is further configured to: store the received 3D environment model, and when received The three-dimensional environment model is sent to the other terminal when the environment model acquisition request is sent by the other terminal.
  • the present disclosure provides a method for monitoring drones, including: a terminal sends a route acquisition request to a server, and displays the planned flight path of the drone in a pre-built three-dimensional environment model according to the received route information, wherein the terminal Carrying a pre-built three-dimensional environment model, the three-dimensional environment model is constructed based on the environmental information of the flying area of the drone; when receiving the current position information of the drone, according to the current location information of the drone Position information, displaying the current position of the drone in the three-dimensional environment model.
  • the terminal displays the expected current flight progress of the UAV in the planned flight path.
  • the pre-built three-dimensional environment model takes the center of the earth as the origin; the terminal determines the reference point corresponding to the flight area according to the flight area where the UAV performs the current task; The point is the origin, and the position information of each position in the three-dimensional environment model is updated.
  • the terminal when there are one or more drones, sends to the server a request for obtaining the location of the drone carrying the identifier of the drone, and receives the drone from the server.
  • the current location information of the UAV corresponding to the UAV identification the terminal sends to the server a route acquisition request containing the UAV identification, and receives the route information of the UAV corresponding to the UAV identification from the server .
  • the terminal displays the current flight parameters of the drone according to the current status information of the drone received from the server.
  • the terminal displays the attitude of the drone in the three-dimensional environment model according to the flight parameters in the current state information of the drone received from the server; wherein, the The flight parameters include at least the flight posture of the UAV.
  • the terminal sends an environment model acquisition request carrying a terminal identifier to the server, and receives a three-dimensional environment model corresponding to the terminal identifier from the server.
  • the terminal determines the flight area where the UAV performs the one or more flight missions according to the one or more flight missions to be performed by the UAV; for the UAV For each of the one or more flight missions to be executed, the terminal acquires an environmental image in the flight area corresponding to the flight task; the terminal constructs the flight area according to the acquired environmental image 3D environment model.
  • the terminal sends the constructed three-dimensional environment model to the server.
  • the present disclosure provides a UAV monitoring device, the UAV monitoring device carries a pre-built three-dimensional environment model, the three-dimensional environment model is constructed based on the environmental information of the UAV flight area, including: a route request module, Send a route acquisition request to the server, and display the planned flight path of the drone in the three-dimensional environment model according to the received route information; the position display module, when receiving the current position information of the drone, According to the current position information of the drone, the current position of the drone is displayed in the three-dimensional environment model.
  • the present disclosure provides a computer-readable storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the above drone monitoring method is realized.
  • FIG. 1 is a schematic diagram of a screen for monitoring a drone
  • FIG. 2 is a schematic diagram of an unmanned aerial vehicle monitoring system provided by an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of a screen for monitoring a drone provided by an embodiment of the present disclosure
  • FIG. 4 is a schematic diagram of a planned flight path display provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of three-party interaction in an unmanned aerial vehicle monitoring system provided by an embodiment of the present disclosure
  • FIG. 6 is a schematic flow diagram of a drone monitoring method provided by an embodiment of the present disclosure.
  • Fig. 7 is a schematic structural diagram of a drone monitoring device provided by an embodiment of the present disclosure.
  • the position of the drone in the map is adjusted in real time to observe whether the drone deviates from the planned path.
  • the planned path and the position of the UAV displayed on the map do not contain altitude information, and it is impossible to intuitively judge whether the UAV deviates from the planned path.
  • Figure 1 is a schematic diagram of the screen for monitoring the UAV.
  • the two-dimensional plan view in Figure 1 is a pre-built map, in which each building is represented by a planar graphic, and the location of each building is displayed.
  • the dotted line segment in Figure 1 Indicates the planned path for the UAV to perform the current mission.
  • the UAV can fly from the starting point to the end point along the planned path.
  • the location of the icon of the UAV in Figure 1 indicates the current location of the UAV. It can be seen from Figure 1 that the monitoring screen displays the information of the planned path in the horizontal direction, and the position changes of the drone in the horizontal direction can be observed.
  • the height information is also an important factor in judging whether the UAV is yaw.
  • the above screen does not observe the change of the flight height of the UAV, nor does it show the planned path. It is difficult to judge whether the UAV yaws in the vertical dimension because of the altitude information. Based on this, the present disclosure provides a UAV monitoring method, which can comprehensively observe the flight status of the UAV, and intuitively show whether the UAV is off course.
  • the system includes a drone 100, a server 102 and a terminal 104, the server 102 is a background server 102 for controlling the flight of the drone 100, and Information can be transmitted between the server 102 and the drone 100 by wireless communication technology.
  • the drone 100 can transmit information such as its real-time position and collected images to the server 102.
  • Information transmission can be carried out between the terminal 104 and the server 102 in a wired or wireless manner, and the terminal 104 can obtain the real-time flight position of the drone 100 and the route information of the drone 100 from the server 102 to display the 100's of real-time flight status.
  • the server 102 may include a single server, or may include a cluster composed of multiple servers, such as a distributed server system.
  • the server 102 may include a physical server device or a cloud server, which is not limited in the present disclosure and may be set as required.
  • the terminal 104 can include at least one of electronic devices such as smart phones, tablet computers, and desktop computers, and an application program that supports displaying the flight status of the drone 100 is installed and run in the terminal 104, and can display pre-planned Information such as the flight path and the real-time position change of the UAV 100 .
  • the number of the terminal 104 can be one or more, which is not limited in the present disclosure, and can be set as required.
  • the present disclosure provides a UAV monitoring system that displays the planned path of the UAV 100 and the real-time flight status of the UAV 100 in three-dimensional space.
  • the change in position shows the change of the UAV 100 in the direction of flight height, and shows the flight state of the UAV 100 in all directions.
  • the UAV 100 when the UAV 100 starts to perform a flight mission, the UAV 100 can periodically send the UAV to the server 102 according to a preset time interval.
  • the current location information is forwarded by the server 102 to the terminal 104 for display in the terminal 104.
  • the preset time interval can be set as required, for example, if it is set to 1s, the UAV 100 can send its own position to the server 102 once per second.
  • the drone 100 may send the current location information of the drone to the server 102 at any time.
  • the UAV 100 when the UAV 100 sends the current location information to the server 102, it may be sent by the UAV 100 after the server 102 inquires, that is, the server 102 sends a location information acquisition request to the UAV 100 Afterwards, the UAV 100 sends its own current location information to the server 102 .
  • the UAV 100 can also send the current location information autonomously, which is not limited in the present disclosure, and can be specifically set according to needs.
  • the server 102 After receiving the current location information sent by the UAV 100, the server 102 can forward the current location information of the UAV 100 to the terminal 104, so that the terminal 104 can, according to the current location information of the UAV 100, The current location of the UAV 100 is displayed in the pre-built three-dimensional environment model.
  • the server 102 may send the current location information of the drone 100 after receiving an inquiry from the terminal 104, for example, the terminal 104 sends the After the server 102 sends the location acquisition request of the drone 100 , the server 102 forwards the current location of the drone 100 to the terminal 104 according to the location acquisition request of the drone 100 .
  • the server 102 may also pre-store a response program for sending location information to the terminal 104, and when the program trigger condition is met, the server 102 may autonomously push the current location information of the drone 100 to the terminal 104.
  • the trigger condition includes but not limited to the server 102 receiving the current location information sent by the UAV 100 .
  • the terminal 104 is not only used to display the position change of the UAV 100 in real time, but also to display the route information of the UAV 100 performing this flight mission in advance.
  • the flight path planned by the man-machine 100 .
  • the degree of yaw of the UAV 100 in the horizontal direction and the vertical direction can be directly displayed through the terminal 104 .
  • the terminal 104 when the terminal 104 receives the current location information of the UAV 100 forwarded by the server 102 for the first time, it indicates that the UAV 100 starts to perform the flight mission, and the flight status of the UAV 100 can be monitored. Then the terminal 104 can send a route acquisition request to the server 102 to obtain the route information of the drone 100 performing this flight mission for subsequent route display.
  • the terminal 104 can display the current location of the UAV 100 in the pre-built three-dimensional environment model according to the current location information.
  • the terminal 104 can display the current location of the UAV 100 in the pre-built three-dimensional environment model according to the current location information.
  • the position of the UAV 100 relative to the three-dimensional environment model can be displayed, and on the other hand, the three-dimensional coordinates of the current position of the UAV 100 can also be displayed.
  • containing information such as longitude, latitude, altitude, and height above ground.
  • the three-dimensional background image containing environmental information in Figure 3 is the three-dimensional environment model of the flight area.
  • the figure shows an example of the drone model at the starting position, and "SIM-batch-048" As a UAV ID, it uniquely identifies the UAV.
  • the UAV 100 information in the lower right corner of the figure includes the longitude, latitude, altitude, and altitude of the UAV 100's current location information.
  • the above three-dimensional environment model can be constructed by the server 102 in advance according to the flight mission to be performed by the UAV 100, and there are many methods for constructing the three-dimensional environment model, which is not limited in the present disclosure.
  • the server 102 may determine the flight area where the UAV 100 performs the one or more flight missions according to the one or more flight missions to be performed by the UAV 100 . Afterwards, for each of the one or more flight missions to be executed, an environment image within the flight area of the flight task is acquired, and a three-dimensional environment model of the flight area is constructed according to the acquired environment image.
  • each terminal 104 can send an environment model acquisition request to the server 102, and the server 102 can obtain the terminal identification carried in the environment model acquisition request sent by each terminal 104, and send The corresponding terminal 104 delivers the constructed 3D environment model.
  • the terminal 104 may also obtain the environment image of the flight area where the UAV 100 flies, and build a three-dimensional environment model of the flight area according to the acquired environment image. Afterwards, the completed three-dimensional environment model is sent to the server 102 for storage, so that when the server 102 receives an environment model acquisition request sent by other terminals 104, according to the terminal identification carried in the environment model acquisition request, the completed three-dimensional environment model will be constructed. The environment model is delivered to other corresponding terminals 104 .
  • the aircraft equipped with multiple image sensors or flying equipment such as UAV 100 can collect the environment in the flight area from multiple angles by oblique photogrammetry. image.
  • mature modeling software can also be used directly for modeling, such as Smart 3D, PIX4D, etc. Since it is common to construct a 3D environment model based on oblique photogrammetry, this disclosure does not elaborate on the specific construction of a 3D environment model in a flight area, and reference may be made to specific implementations in related technologies.
  • a three-dimensional environment model in the flight area in order to truly monitor the flight status of the UAV 100 in real space, when building a three-dimensional environment model in the flight area, for example, it can be based on the 1984 World Geodetic System (World Geodetic System-1984 Coordinate System, WGS-84), with the center of mass of the earth as the origin of coordinates, to construct a real 3D environment model.
  • WGS-84 World Geodetic System-1984 Coordinate System
  • the shape and size of each environmental object in the 3D environment model is the same as that of the real environment object
  • the position of each environment object in the 3D environment model is also the same as the position of each environment object in the real world.
  • the terminal 104 mainly displays the relative positional relationship between the current position of the UAV 100 and each environmental object in the flight area, it is also possible to scale down or enlarge each environmental object in the three-dimensional environment model. There is no restriction on publicity, which can be set as needed.
  • a UAV model of the real UAV 100 in order to show the flight state of the UAV 100 more realistically, a UAV model of the real UAV 100 can also be constructed in the present disclosure, and through the UAV model, the three-dimensional environment model The position change of the UAV 100 is shown in .
  • parameters such as shape and size of the UAV model are kept the same as those of the real UAV 100 .
  • the terminal 104 since the terminal 104 mainly displays the relative positional relationship between the UAV 100 and various environmental objects in the flight area, the size of the UAV model can also be reduced or enlarged in proportion to the above-mentioned environmental objects. There is no restriction on this, and it can be set as required.
  • the server 102 after the server 102 receives the route acquisition request sent by the terminal 104, it can determine the route information of the UAV 100 performing the current task from the pre-stored route information according to the route acquisition request, and The route information is returned to the terminal 104 .
  • the route acquisition request includes at least one of the following UAV identifiers of the UAV 100 , or the task identifier of the current mission performed by the UAV 100 .
  • the server 102 can determine the UAV from the pre-stored route information corresponding to one or more UAVs according to the UAV identification.
  • the flight route information of the UAV 100 corresponding to the UAV identifier to perform the current task.
  • the route acquisition request includes the task ID of the current task performed by the UAV 100
  • the route information of the current task corresponding to the task ID may be determined from pre-stored route information corresponding to one or more tasks.
  • the route information at least includes the planned flight path of the UAV 100 performing the current mission and the planned flight time of the UAV 100 performing the current mission, wherein the planned flight time may include the UAV 100 performing the current mission.
  • the total flight time of the mission may also include the time when the UAV 100 arrives at each location in the planned flight path, or include the flight progress of the UAV 100 at each flight time node.
  • the terminal 104 can display the overall planned flight path of the UAV 100 in the pre-built three-dimensional environment model according to the received route information.
  • the gray line segment in the figure indicates the current flight route of the UAV 100 , for example, the planned flight path, which visually shows the height information of the planned flight path.
  • the UAV 100 since the position of the UAV 100 changes in real time, the UAV 100 sends its own current location information to the server 102 in real time, and the server 102 forwards it to the terminal 104, and the terminal 104 can The current position information of the man-machine 100 adjusts the position of the drone model in the three-dimensional environment model.
  • the terminal 104 in order to track the flight trajectory of the UAV 100 in real time, can also display the expected flight time of the UAV 100 in different locations according to the planned flight time in the planned flight path.
  • the progress of the drone 100 currently flying For example, in the original planned flight path, it may be displayed in a prominent manner (for example, bolded or changed in color) the flight route that is expected to have been flown by the UAV 100 when flying according to the plan.
  • Fig. 4 exemplarily shows a planned flight path of a UAV 100 flying from the starting point to the end point, and only one building is used to exemplarily represent the pre-built three-dimensional environment model, then in this unmanned
  • the terminal 104 may display the expected current flight progress of the UAV 100 in bold in the planned flight path according to the received route information.
  • the bolded route in FIG. 4 indicates the current flight progress of the expected UAV, and the location A corresponding to the bolded route indicates the expected current arrival position of the UAV.
  • the position B where the drone icon is located in the figure is the current position of the drone during the actual flight.
  • the terminal 104 also adjusts the position of the drone model in the three-dimensional environment model in real time according to the current location information of the drone 100 forwarded by the server 102 .
  • the deviation between the current flight progress of the UAV 100 and the expected flight progress can also be visually displayed in FIG. 4 .
  • the UAV 100 may also send its own current status information to the server 102 at time intervals, the current status information includes the flight parameters of the UAV 100, such as flight speed, parameters such as flight state (flying or still), flight heading and flight attitude (pitch angle, yaw angle and roll angle), and the current state information of the UAV 100 is forwarded to the terminal 104 by the server 102, so that The terminal 104 displays the current flight status parameters of the drone 100 according to the current status information of the drone 100 . As shown in FIG. 3 , the UAV 100 information in the lower right corner of FIG. 3 also displays information such as the current flight speed and flight direction of the UAV 100 .
  • the UAV 100 information in the lower right corner of FIG. 3 also displays information such as the current flight speed and flight direction of the UAV 100 .
  • the terminal 104 can also display the attitude of the drone model corresponding to the drone 100 in the three-dimensional environment model, such as pitch angle, according to the flight parameters in the current state information of the drone 100 , yaw angle, and roll angle. Moreover, since the state information of the UAV 100 changes in real time during flight, the terminal 104 can also adjust the posture of the UAV model in the 3D environment model in real time according to the latest received flight parameters.
  • the terminal 104 can also determine whether the UAV 100 starts to fly according to the received flight state in the current state information of the UAV 100, and when the UAV 100 is in the flight state , and then send a route acquisition request to the server 102, so as to obtain the route information of the drone 100 performing the current task and display the route.
  • the server 102 may also pre-store a response program for sending location information to the terminal 104.
  • the program trigger condition is met, the server 102 may autonomously push the current location information of the drone 100 to the terminal 104.
  • the trigger condition includes, but is not limited to, that the drone starts to fly, for example, the flight status in the current status information of the drone 100 changes from stationary to flying.
  • the terminal 104 may also perform coordinate system transformation, for example, transform the three-dimensional environment model into a local coordinate system with higher precision.
  • the terminal 104 can determine a preset reference point in the flight area according to the flight area where the UAV 100 performs the current task, for example, the reference point corresponding to the flight area, and use the reference point
  • the origin of the local coordinate system is used to update the position information of each position in the 3D environment model, so that the 3D environment model is transformed into the local coordinate system for display.
  • the system includes drones, servers, and terminals.
  • the drone sends its current location information to the server at time intervals, and the server forwards it to the terminal.
  • the terminal obtains the route information of the UAV from the server, displays the planned flight path of the UAV in the pre-built 3D environment model, and according to the current position information of the UAV, in the 3D environment model Displays the current location of the drone.
  • the planned flight path and real-time position of the UAV in the pre-built 3D environment model it is more conducive to observing the yaw produced by the UAV in the altitude direction, making the display more comprehensive.
  • the UAV 100 can (for example, at time intervals or in real time) send its own current location information to the server 102 , and the server 102 forwards it to the terminal 104 .
  • the terminal 104 can send a route acquisition request to the server 102 to obtain route information from the server 102, and display the planned flight path of the UAV 100 in a pre-built three-dimensional environment model according to the route information, and the terminal 104 according to The received current position information of the UAV 100 is displayed in the three-dimensional environment model (for example, in real time).
  • the terminal 104 can send the ID of the drone carrying the drone 100 to the server 102 when acquiring the location information of the drone 100 UAV position acquisition request, so that the server 102 determines the current position information of the UAV 100 corresponding to the UAV identification according to the UAV identification contained in the UAV position acquisition request, and returns it to the terminal 104.
  • the terminal 104 acquires the route information of the UAV 100 performing the current task, it also needs to add the UAV identification of the UAV 100 in the route acquisition request, so that the server 102 can obtain the UAV 100 according to the route information carried in the route acquisition request.
  • UAV identification determine the route information of the UAV 100 corresponding to the UAV identification, and return to the terminal 104.
  • the flight tasks performed by the UAV 100 may be delivery tasks, observation tasks, and the like.
  • the planned flight path of the UAV 100 is the flight path of the UAV 100 from the delivery starting point to the delivery destination.
  • the flight status of the drone 100 during delivery missions can be monitored through the drone monitoring system in the present disclosure.
  • the route information of the UAV 100 and the current location information of the UAV 100 can also be obtained from different servers 102 respectively, and the server corresponding to the current location information of the UAV 100 is the first server, and the server corresponding to the route information of the UAV 100 is the second server as an example, then in this disclosure, the UAV 100 can send its own current location information to the first server at time intervals , and forwarded to the terminal 104 by the first server.
  • the terminal 104 may send a route obtaining request to the second server to obtain the route information of the UAV 100 performing the current task.
  • the present disclosure also provides a corresponding UAV monitoring method adopted in the UAV monitoring system, as shown in FIG. 6 .
  • Fig. 6 is a schematic flowchart of a drone monitoring method provided by an embodiment of the present disclosure, wherein the drone monitoring method may be used in a drone monitoring system, and may include steps S200 to S202.
  • S200 The terminal sends a route acquisition request to the server, and the terminal displays the planned flight path of the drone in the pre-built three-dimensional environment model according to the received route information.
  • the drone monitoring system includes a drone, a server and a terminal.
  • the server is used to control the flight of the drone and receive the location information of the drone.
  • the terminal is used to display the planned flight path and flight status of the UAV.
  • the UAV monitoring method provided in this disclosure can be executed by any device in the UAV monitoring system. For the convenience of description, this disclosure takes a terminal as an execution subject for illustration.
  • the terminal when monitoring the UAV, can send a route acquisition request to the server to obtain the flight route information of the UAV, and according to the obtained route information, in the pre-built three-dimensional environment
  • the model shows the planned flight path of the drone.
  • the terminal can also display the current flight progress of the expected UAV in the planned flight path according to the planned flight time (flight time to each location) contained in the route information.
  • S202 When the terminal receives the current location information of the drone, display the current location of the drone in the three-dimensional environment model according to the current location information of the drone.
  • the terminal can display it in the three-dimensional environment model according to the position change of the UAV, so as to visually observe whether the UAV is off course.
  • the terminal when the terminal receives the current location information of the drone forwarded by the server, it can display the current location of the drone in the three-dimensional environment model according to the current location information of the drone . Moreover, since the position of the drone changes during the flight, the terminal can adjust the position of the drone in the three-dimensional environment model according to the received latest position of the drone.
  • the terminal can obtain the flight route information of the UAV from the server, and display the planned flight path of the UAV in the pre-built 3D environment model according to the obtained route information , when the current position information of the drone is received, the current position of the drone is displayed in the three-dimensional environment model.
  • the terminal can obtain the flight route information of the UAV from the server, and display the planned flight path of the UAV in the pre-built 3D environment model according to the obtained route information , when the current position information of the drone is received, the current position of the drone is displayed in the three-dimensional environment model.
  • the UAV monitoring method provided in the present disclosure can also be applied to monitor the flight status of the UAV during the delivery task of the UAV.
  • the detailed process of monitoring the UAV please refer to the detailed description in the UAV monitoring system provided by this disclosure. Since the detailed process of UAV monitoring has been described above, you can refer to the above. This will not be repeated.
  • an embodiment of the present disclosure further provides a schematic structural diagram of a UAV monitoring device, as shown in FIG. 7 .
  • the UAV monitoring device can be applied to the terminal side.
  • the UAV monitoring device carries a pre-built 3D environment model.
  • the 3D environment The model is constructed based on the environment information of the flying area of the UAV, and the UAV monitoring device includes a route request module 300 and a position display module 302 .
  • the route request module 300 sends a route acquisition request to the server, and displays the planned flight path of the UAV in the three-dimensional environment model according to the received route information.
  • the position display module 302 when receiving the current position information of the drone, displays the current position of the drone in the three-dimensional environment model according to the current position information of the drone.
  • An embodiment of the present disclosure also provides a computer-readable storage medium, the storage medium stores a computer program, and the computer program can be used to execute the UAV monitoring method as shown in FIG. 6 .
  • this disclosure does not exclude other implementations, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, and can also be hardware or logic device.
  • the improvement of a technology can be clearly distinguished as an improvement in hardware (for example, improvements in circuit structures such as diodes, transistors, and switches) or improvements in software (improvement in method flow).
  • improvements in many current method flows can be regarded as the direct improvement of the hardware circuit structure.
  • Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by hardware physical modules.
  • a programmable logic device Programmable Logic Device, PLD
  • PLD field programmable gate array
  • FPGA Field Programmable Gate Array
  • HDL Hardware Description Language
  • the controller may be implemented in any suitable way, for example the controller may take the form of a microprocessor or processor and a computer readable medium storing computer readable program code (such as software or firmware) executable by the (micro)processor , logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers and embedded microcontrollers, examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory.
  • controller in addition to realizing the controller in a purely computer-readable program code mode, it is entirely possible to make the controller use logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded The same function can be realized in the form of a microcontroller or the like. Therefore, such a controller can be regarded as a hardware component, and the devices included in it for realizing various functions can also be regarded as structures within the hardware component. Or even, means for realizing various functions can be regarded as a structure within both a software module realizing a method and a hardware component.
  • the systems, devices, modules or units described in the above embodiments may be realized by computer chips or entities, or by products with certain functions.
  • a typical implementing device is a computer.
  • the computer may be, for example, a personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any of these devices. any combination of devices.
  • the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the means implement the functions specified in one or more procedures of the flowcharts and/or one or more blocks of the block diagrams.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash random access memory
  • Computer-readable media including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information.
  • Information may be computer readable instructions, data structures, modules of a program, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.
  • the embodiments of the present disclosure may be provided as methods, systems or computer program products. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
  • the present disclosure may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network.
  • program modules may be located in both local and remote computer storage media including storage devices.

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Abstract

一种无人机监控系统、方法、装置及存储介质，其中无人机监控系统中的无人机（100）向服务器（102）发送无人机（100）的当前位置信息，并由服务器（102）转发给终端（104），终端（104）从服务器（102）获取无人机（100）的航线信息，在预先构建的三维环境模型中显示无人机（100）的规划飞行路径和无人机（100）的当前位置。

Description

无人机监控 技术领域
本申请涉及无人机技术领域，尤其涉及一种无人机监控系统、方法、装置及存储介质。
背景技术
随着无人驾驶技术的发展，无人机等无人驾驶设备也广泛应用于各种业务领域。但由于目前无人机飞行技术还不够成熟，为了降低无人机的飞行风险，可通过人工实时监控无人机的飞行轨迹的方式，人工判断无人机是否按照规划路径飞行。
发明内容
根据本公开的第一方面，提供了一种无人机监控系统，所述系统包括无人机、终端以及服务器，其中：所述无人机，配置为向所述服务器发送所述无人机的当前位置信息；所述终端，承载有预先构建的三维环境模型，所述三维环境模型基于所述无人机飞行区域内的环境信息而构建；所述终端配置为向所述服务器发送航线获取请求，根据从所述服务器接收到的所述无人机的航线信息，在所述三维环境模型中显示所述无人机的规划飞行路径；当从所述服务器接收到所述无人机的当前位置信息时，在所述三维环境模型中显示所述无人机的当前位置；所述服务器，配置为将从所述无人机接收到的所述无人机的当前位置信息转发至所述终端；并根据从所述终端接收到的航线获取请求，向所述终端返回所述无人机的航线信息。
在一些实施例中，所述终端还配置为：根据接收到的所述无人机的航线信息中包含的规划飞行时间，在所述规划飞行路径中显示期望所述无人机当前已飞行的进度。
在一些实施例中，所述预先构建的三维环境模型以地心为原点；所述终端还配置为：根据所述无人机执行当前任务的飞行区域，确定所述飞行区域对应的参考点；以所述参考点为原点，更新所述三维环境模型中各位置的位置信息。
在一些实施例中，所述服务器还配置为，当存在一个或多个所述无人机时，接收所述终端发送的携带无人机标识的无人机位置获取请求，根据所述无人机标识，将所述无人机标识对应的无人机的当前位置信息转发至所述终端；所述服务器还被配置为：根据 从所述终端接收到的航线获取请求中包含的无人机标识，将该无人机标识对应的无人机的航线信息返回至所述终端。
在一些实施例中，所述无人机还配置为：向所述服务器发送所述无人机的当前状态信息，所述当前状态信息包含所述无人机的飞行参数；所述服务器还配置为：将从所述无人机接收到的所述无人机的当前状态信息转发至所述终端；所述终端还配置为：根据从所述服务器接收到的所述无人机的当前状态信息，显示所述无人机当前的飞行参数。
在一些实施例中，所述终端还配置为：根据从所述服务器接收到的所述无人机的当前状态信息中的飞行参数，在所述三维环境模型中显示所述无人机的姿态；其中，所述飞行参数至少包括所述无人机的飞行位姿。
在一些实施例中，所述服务器还配置为：根据所述无人机待执行的一个或多个飞行任务，确定所述无人机执行所述一个或多个飞行任务的飞行区域；针对所述无人机的待执行的一个或多个飞行任务中的每个，获取该飞行任务对应的飞行区域内的环境图像，所述服务器根据获取到的所述环境图像，构建该飞行区域的三维环境模型。
在一些实施例中，所述服务器还配置为：接收一个或多个终端发送的环境模型获取请求，并根据所述环境模型获取请求中携带的终端标识，将构建完成的三维环境模型下发至对应终端。
在一些实施例中，所述终端还配置为：根据所述无人机待执行的一个或多个飞行任务，确定所述无人机执行所述一个或多个飞行任务的飞行区域；针对所述无人机的待执行的一个或多个飞行任务中的每个，获取该飞行任务对应的飞行区域内的环境图像，所述终端根据获取到的所述环境图像，构建所述飞行区域的三维环境模型。
在一些实施例中，所述终端还被配置为：将构建完成的所述三维环境模型发送至所述服务器；所述服务器还被配置为：存储接收到的所述三维环境模型，当接收到其他终端发送的环境模型获取请求时，将所述三维环境模型下发至所述其他终端。
本公开提供一种无人机监控方法，包括：终端向服务器发送航线获取请求，根据接收到的航线信息，在预先构建的三维环境模型中显示无人机的规划飞行路径，其中，所述终端承载有预先构建的三维环境模型，所述三维环境模型基于所述无人机飞行区域的环境信息而构建；当接收到所述无人机的当前位置信息时，根据所述无人机的当前位置信息，在所述三维环境模型中显示所述无人机的当前位置。
在一些实施例中，所述终端根据接收到的所述无人机的航线信息中包含的规划飞行 时间，在所述规划飞行路径中显示期望所述无人机当前已飞行的进度。
在一些实施例中，所述预先构建的三维环境模型以地心为原点；所述终端根据所述无人机执行当前任务的飞行区域，确定所述飞行区域对应的参考点；以所述参考点为原点，更新所述三维环境模型中各位置的位置信息。
在一些实施例中，当存在一个或多个所述无人机时，所述终端向所述服务器发送携带无人机标识的无人机位置获取请求，以及从所述服务器接收所述无人机标识对应的无人机的当前位置信息；所述终端向所述服务器发送包含无人机标识的航线获取请求，以及从所述服务器接收所述无人机标识对应的无人机的航线信息。
在一些实施例中，所述终端根据从所述服务器接收到的所述无人机的当前状态信息，显示所述无人机当前的飞行参数。
在一些实施例中，所述终端根据从所述服务器接收到的所述无人机的当前状态信息中的飞行参数，在所述三维环境模型中显示所述无人机的姿态；其中，所述飞行参数至少包括所述无人机的飞行位姿。
在一些实施例中，所述终端向所述服务器发送携带终端标识的环境模型获取请求，以及从所述服务器接收所述终端标识对应的三维环境模型。
在一些实施例中，所述终端根据所述无人机待执行的一个或多个飞行任务，确定所述无人机执行所述一个或多个飞行任务的飞行区域；针对所述无人机的待执行的所述一个或多个飞行任务中的每个，所述终端获取该飞行任务对应的飞行区域内的环境图像；所述终端根据获取到的所述环境图像，构建所述飞行区域的三维环境模型。
在一些实施例中，所述终端将构建完成的所述三维环境模型发送至所述服务器。
本公开提供一种无人机监控装置，所述无人机监控装置承载有预先构建的三维环境模型，所述三维环境模型基于无人机飞行区域的环境信息而构建，包括：航线请求模块，向服务器发送航线获取请求，根据接收到的航线信息，在所述三维环境模型中显示所述无人机的规划飞行路径；位置显示模块，当接收到所述无人机的当前位置信息时，根据所述无人机的当前位置信息，在所述三维环境模型中显示所述无人机的当前位置。
本公开提供的一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述无人机监控方法。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为一种对无人机进行监控的画面示意图；
图2为本公开实施例提供的一种无人机监控系统示意图；
图3为本公开实施例提供的一种对无人机进行监控的画面示意图；
图4为本公开实施例提供的一种规划飞行路径显示的示意图；
图5为本公开实施例提供的一种无人机监控系统中的三方交互示意图；
图6为本公开实施例提供的一种无人机监控方法的流程示意图；
图7为本公开实施例提供的一种无人机监控装置的结构示意图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，下面将结合本公开具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本公开一部分实施例，而不是全部的实施例。基于说明书中的实施例，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，都属于本公开保护的范围。
目前，在进行无人机监控时，通常先根据在预先构建的地图中显示该无人机执行当前任务的规划路径。之后，实时根据该无人机的位置信息，调整该无人机在该地图中的位置，以观测该无人机是否偏离规划路径。但是，目前在地图中显示的规划路径以及无人机的位置并不包含高度信息，无法直观判断该无人机是否偏离规划路径。
图1为对无人机进行监控的画面示意图，图1中二维平面图即为预先构建的地图，其中通过平面图形表示各建筑物，并显示有各建筑物的位置，图1中的虚线线段表示该无人机执行当前任务的规划路径，无人机可沿该规划路径从起点位置飞行到终点位置，图1中无人机的图标所在位置表示当前无人机所处位置。由图1可见，该监控画面中显示有规划路径在水平方向上的信息，可观察到无人机在水平方向发生的位置变化。
但考虑到无人机实际飞行处于立体空间中，高度信息也是判断无人机是否偏航的一个重要因素，而通过上述画面并未观察到无人机飞行高度的变化情况，也没有显示规划路径的高度信息，难以判断无人机在垂直维度上是否发生偏航。基于此，本公开提供一种无人机监控方法，可全面观察无人机的飞行状态，以及直观展现无人机是否出现偏航。
以下结合附图，详细说明本申请各实施例提供的技术方案。
图2为本公开实施例提供的一种无人机监控系统示意图，该系统包括无人机100、 服务器102以及终端104，该服务器102为用于控制无人机100飞行的后台服务器102，并且该服务器102与无人机100之间可通过无线通信技术传输信息，如，无人机100可以向服务器102传输自身实时位置以及采集的图像等信息，服务器102可根据无人机100的实时位置进行飞行路径规划，并向无人机100传输飞行控制指令。终端104与服务器102之间可通过有线或者无线的方式进行信息传输，该终端104可从该服务器102获取无人机100飞行的实时位置以及无人机100的航线信息，以显示该无人机100的实时飞行状态。
其中，该服务器102可以包括一个单独的服务器，也可以包括多个服务器组成的集群，如，分布式服务器系统等。该服务器102可以包括物理服务器设备，也可以包括云服务器，本公开对此不做限制，其可根据需要设置。该终端104可以包括智能手机、平板电脑以及台式计算机等电子设备中的至少一种，并且，在该终端104中安装和运行有支持显示无人机100飞行状态的应用程序，能够显示预先规划的飞行路径以及该无人机100的实时位置变化等信息。该终端104的数量可以有一台或者多台，本公开不做限制，其可根据需要设置。
为了更直观的观察无人机100在执行任务过程中的飞行状态，本公开提供一种无人机监控系统，通过在三维空间中显示无人机100的规划路径以及无人机100实时飞行的位置变化，增加显示了无人机100在飞行高度方向发生的变化，全方位地展示了无人机100的飞行状态。
在一些实施例中，在该无人机监控系统中，当无人机100开始执行飞行任务时，该无人机100可按照预设的时间间隔周期性地向服务器102发送所述无人机的当前位置信息，并由该服务器102转发给终端104，以在该终端104中进行展示。其中，该预设的时间间隔可以根据需要设置，如，设置为1s，则无人机100可每秒向服务器102发送一次自身位置。或者，该无人机100可以随时向服务器102发送所述无人机的当前位置信息。
需要说明的是，该无人机100在向服务器102发送当前位置信息时，可以是该无人机100在服务器102问询后发送的，即，服务器102向无人机100发送位置信息获取请求后，该无人机100向服务器102发送自身的当前位置信息。或者，也可以由该无人机100自主发送当前位置信息，本公开对此不做限制，具体可根据需要设置。
该服务器102在接收到无人机100发送的当前位置信息后，便可将该无人机100的当前位置信息转发给终端104，以使该终端104根据该无人机100的当前位置信息，在 预先构建的三维环境模型中展示该无人机100当前所处位置。其中，在向终端104发送该无人机100的当前位置信息时，该服务器102可以是在接收到该终端104的问询后发送无人机100的当前位置信息，例如，该终端104向该服务器102发送无人机100的位置获取请求后，该服务器102根据该无人机100的位置获取请求，将该无人机100的当前位置转发给该终端104。或者，该服务器102中也可预先存储有向终端104发送位置信息的响应程序，当满足程序触发条件时，该服务器102可自主将该无人机100的当前位置信息推送给该终端104。该触发条件包括但不限于该服务器102接收到无人机100发送的当前位置信息。
在本公开的无人机监控系统中，该终端104不仅用于实时展示该无人机100的位置变化，还可基于该无人机100执行本次飞行任务的航线信息，展示预先为该无人机100规划的飞行路径。并且，根据该无人机100实时位置与规划飞行路径之间的偏差，可通过终端104直接显示无人机100分别在水平方向以及竖直方向上的偏航程度。
因此，在本公开中，当终端104首次接收到服务器102转发的无人机100的当前位置信息时，表明该无人机100开始执行飞行任务，可以开始监控该无人机100的飞行状态。于是该终端104可以向该服务器102发送航线获取请求，以获取无人机100执行本次飞行任务的航线信息用于后续的路径显示。
并且，当该终端104接收到无人机100的当前位置信息后，便可根据该当前位置信息，在预先构建的三维环境模型中显示该无人机100的当前位置。其中，在显示该无人机100的当前位置时，一方面可以显示该无人机100相对于该三维环境模型中的位置，另一方面也可以显示该无人机100的当前位置的三维坐标，包含经度、维度、海拔高度以及对地高度等信息。如图3所示，图3中包含环境信息的三维背景图即为飞行区域的三维环境模型，图中示例性的在起始位置展示了无人机模型，并以“SIM-批量-048”作为无人机标识，唯一标识该无人机。图中右下角的无人机100信息中包含该无人机100当前位置信息的经度、维度、海拔高度以及对地高度等信息。
上述三维环境模型可以由服务器102预先根据无人机100待执行的飞行任务构建，且构建三维环境模型的方法有多种，本公开对此不做限制。在一种可实施方式中，该服务器102可根据该无人机100待执行的一个或多个飞行任务，确定该无人机100执行所述一个或多个飞行任务的飞行区域。之后，针对待执行的所述一个或多个飞行任务中的每个飞行任务，获取该飞行任务的飞行区域内的环境图像，并根据获取到的环境图像，构建该飞行区域的三维环境模型。
当采用多台终端104监控无人机的飞行状况时，各终端104可以向该服务器102发送环境模型获取请求，该服务器102可以根据各终端104发送的环境模型获取请求中携带的终端标识，向对应终端104下发构建完成的三维环境模型。
在另一些实施例中，也可由终端104获取无人机100飞行的飞行区域的环境图像，并根据获取到的环境图像构建飞行区域的三维环境模型。之后，将构建完成的三维环境模型发送至服务器102中存储，以当服务器102接收到其他终端104发送的环境模型获取请求时，根据该环境模型获取请求中携带的终端标识，将构建完成的三维环境模型下发至对应的其他终端104。
其中，在获取该飞行区域内的环境图像时，可以由搭载多个图像传感器的飞机或者无人机100等飞行设备，通过倾斜摄影测量的方式分别从多个角度方向采集该飞行区域内的环境图像。并且，在构建该飞行区域的三维环境模型时，也可直接采用成熟的建模软件进行建模，如，Smart 3D、PIX4D等。由于基于倾斜摄影测量构建三维环境模型较为常见，因此本公开对具体构建飞行区域的三维环境模型不再详细阐述，可参考相关技术中的具体实施方式。
在一些实施例中，为了真实地监控无人机100在现实空间中的飞行状况，在构建飞行区域内的三维环境模型时，例如，可以基于1984年世界大地坐标系(World Geodetic System-1984 Coordinate System，WGS-84)，以地球质心作为坐标原点，构建真实的三维环境模型。其中，该三维环境模型中各环境物体的形状大小与真实的环境物体的形状大小相同，并且，各环境物体在该三维环境模型中的位置与各环境物体在现实世界中的位置也相同。当然，由于终端104中主要展示的是无人机100的当前位置与飞行区域中各环境物体之间的相对位置关系，因此也可以对该三维环境模型中各环境物体等比缩小或放大，本公开对此不做限制，可根据需要设置。
在一些实施例中，为了更加真实地展现无人机100的飞行状态，在本公开中还可以构建真实无人机100的无人机模型，并通过该无人机模型，在该三维环境模型中展示该无人机100的位置变化。其中，该无人机模型的形状大小等参数与真实的无人机100保持相同。当然，由于终端104中主要展示的是无人机100与飞行区域中各环境物体之间的相对位置关系，因此该无人机模型的大小也可以与上述环境物体等比缩小或者放大，本公开对此不做限制，可以根据需要设置。
在本公开另一些实施例中，为了减少模型构建所需的计算量，也可以不对该无人机100或者飞行区域中的各环境物体进行建模，而采用与该无人机100以及各环境物体形 状相近的图形或者多种组合图形替代，如，对于环境中的高楼大厦，可以直接在三维环境模型中以立方体展示。
在本公开中，当服务器102接收到终端104发送的航线获取请求后，便可根据该航线获取请求，从预先存储的航线信息中，确定该无人机100执行当前任务的航线信息，并将该航线信息返回给该终端104。其中，该航线获取请求中包括以下至少一种该无人机100的无人机标识，或该无人机100执行的当前任务的任务标识。当该航线获取请求中包括该无人机100的无人机标识时，该服务器102可以根据该无人机标识，从预先存储的对应于一个或多个无人机的航线信息中，确定该无人机标识对应的无人机100执行当前任务的航线信息。当该航线获取请求中包括该无人机100执行当前任务的任务标识时，可从预先存储的对应于一个或多个任务的航线信息中，确定该任务标识对应的当前任务的航线信息。
并且，该航线信息中至少包含该无人机100执行当前任务的规划飞行路径以及该无人机100执行当前任务的规划飞行时间，其中，该规划飞行时间中可以包括该无人机100执行当前飞行任务的飞行总时间，还可以包括该无人机100抵达该规划飞行路径中各位置的时间，或者包括该无人机100在各飞行时间节点的飞行进度。
之后，该终端104可以根据接收到的航线信息，在预先构建的三维环境模型中显示该无人机100整体的规划飞行路径。如图3所示，图中灰色线段表示该无人机100本次飞行的航线，例如，规划飞行路径，直观展示了该规划飞行路径的高度信息。
最后，由于无人机100的位置实时发生变化，该无人机100实时向服务器102发送自身的当前位置信息，并由服务器102转发给终端104，该终端104便可根据最新接收到的该无人机100的当前位置信息，调整该无人机模型在该三维环境模型中的位置。
在一些实施例中，为了实时追踪无人机100的飞行轨迹，该终端104还可以根据该航线信息中包含的无人机100抵达不同位置的规划飞行时间，在该规划飞行路径中显示期望该无人机100当前已飞行的进度。如，可通过在原始的规划飞行路径中以突出的方式(如，加粗或者更换颜色)显示按照规划飞行时期望该无人机100当前已飞行过的航线。
如图4所示，图4中示例性地展示了一条无人机100从起点飞向终点的规划飞行路径，并且仅以一座大厦示例性地表示预先构建的三维环境模型，则在该无人机100飞行过程中，该终端104可以根据接收到的航线信息，在该规划飞行路径中以加粗的方式显 示期望该无人机100当前已飞行的进度。图4中加粗的路线表示期望无人机当前已飞行的进度，且加粗路线对应的位置A表示期望该无人机当前到达的位置。图中无人机图标所在的位置B即为无人机实际飞行过程中当前所处的位置。并且，该终端104还实时根据服务器102转发的无人机100的当前位置信息，调整该无人机模型在该三维环境模型中的位置。在该图4中还可直观显示出该无人机100当前飞行进度与期望飞行进度之间的偏差。
在本公开另一种实施例中，该无人机100还可以按照时间间隔向该服务器102发送自身的当前状态信息，该当前状态信息包含该无人机100的飞行参数，如，飞行速度、飞行状态(飞行还是静止)、飞行航向以及飞行姿态(俯仰角、偏航角以及滚动角)等参数，并由该服务器102将该无人机100的当前状态信息转发至该终端104，以使该终端104根据该无人机100的当前状态信息，显示该无人机100当前的飞行状态参数。如图3所示，在图3右下角的无人机100信息中还显示该无人机100当前飞行速度、飞行航向等信息。
在一些实施例中，该终端104还可以根据该无人机100当前状态信息中的飞行参数，在该三维环境模型中显示该无人机100对应的无人机模型的姿态，如，俯仰角、偏航角以及滚动角等。并且，由于该无人机100在飞行过程中的状态信息实时发生变化，因此该终端104还可以根据最新接收到的飞行参数，实时调整该无人机模型在该三维环境模型中的姿态。
在另一些实施例中，该终端104也可以根据接收到的无人机100的当前状态信息中的飞行状态，确定该无人机100是否开始飞行，并当该无人机100处于飞行状态时，再向服务器102发送航线获取请求，以获取该无人机100执行当前任务的航线信息并进行路径显示。或者，该服务器102中也可以预先存储有向终端104发送位置信息的响应程序，当满足程序触发条件时，该服务器102可以自主将该无人机100的当前位置信息推送给该终端104。该触发条件包括但不限于是该无人机开始飞行，例如，无人机100的当前状态信息中的飞行状态由静止变为飞行。
另外，在本公开中，由于在预先构建飞行区域的三维环境模型时采用的是WGS-84坐标系，各环境物体在该坐标系中显示的精度较低，因此为了便于直观进行显示，该终端104还可以进行坐标系转换，例如，将该三维环境模型转换到精度更高的局部坐标系中。
在一些实施例中，该终端104可以根据该无人机100执行当前任务的飞行区域，确 定在该飞行区域中预设的参考点，例如，该飞行区域对应的参考点，并以该参考点为局部坐标系原点，更新该三维环境模型中各位置的位置信息，从而将该三维环境模型转换到该局部坐标系中显示。
基于图2所示的无人机监控系统，该系统中包含无人机、服务器以及终端，在该系统中无人机按照时间间隔向服务器发送自身的当前位置信息，并由该服务器转发给终端，该终端从该服务器获取该无人机的航线信息，在预先构建的三维环境模型中显示该无人机的规划飞行路径，并根据该无人机的当前位置信息，在该三维环境模型中显示该无人机的当前位置。通过在预先构建的三维环境模型中显示该无人机的规划飞行路径以及实时位置，更有利于观察无人机在高度方向产生的偏航，使显示更全面。
综上，为了更直观体现该无人机监控系统中各设备之间的交互情况，本公开还提供了该无人机监控系统中的三方交互示意图，如图5所示。该无人机100可以(例如，按照时间间隔或实时地)向服务器102发送自身的当前位置信息，并由该服务器102转发给终端104。该终端104可以向服务器102发送航线获取请求，以从该服务器102获取航线信息，并根据该航线信息在预先构建的三维环境模型中显示该无人机100的规划飞行路径，以及该终端104根据接收到的该无人机100的当前位置信息，在该三维环境模型中(例如，实时地)显示该无人机100的当前位置。
在本公开中，也可以同时监控多台无人机100的飞行状态，则该终端104在获取无人机100的位置信息时，可以向服务器102发送携带无人机100的无人机标识的无人机位置获取请求，以使该服务器102根据该无人机位置获取请求中包含的无人机标识，确定该无人机标识对应的无人机100的当前位置信息，并返回给该终端104。
并且，该终端104在获取无人机100执行当前任务的航线信息时，也需要在航线获取请求中添加无人机100的无人机标识，以使该服务器102根据该航线获取请求中携带的无人机标识，确定该无人机标识对应的无人机100的航线信息，并返回至终端104。
需要说明的是，该无人机100执行的飞行任务可以是配送任务以及观测任务等。当该无人机100执行配送任务时，则该无人机100的规划飞行路径即为该无人机100从配送起点抵达配送终点的飞行路径。通过本公开中的无人机监控系统可监控到该无人机100在执行配送任务过程中的飞行状态。
在本公开一种或多种实施例中，无人机100的航线信息以及无人机100的当前位置信息也可以分别从不同的服务器102获取，以无人机100的当前位置信息对应的服务器 为第一服务器，无人机100的航线信息对应的服务器为第二服务器为例进行说明，则在本公开中，该无人机100可以按照时间间隔将自身的当前位置信息发送给第一服务器，并由该第一服务器转发给终端104。当终端104首次接收到来自第一服务器转发的无人机100的当前位置信息时，可以向第二服务器发送航线获取请求，以获取该无人机100执行当前任务的航线信息。
针对上述图2所示的无人机监控系统，本公开还对应提供了无人机监控系统中所采用的无人机监控方法，如图6所示。
图6为本公开实施例提供的无人机监控方法的流程示意图，其中，该无人机监控方法可用于无人机监控系统中，可包括步骤S200至S202。
S200：终端向服务器发送航线获取请求，所述终端根据接收到的航线信息，在预先构建的三维环境模型中显示无人机的规划飞行路径。
在本公开中，该无人机监控系统包括无人机、服务器以及终端。其中，该服务器用于控制无人机的飞行，并接收该无人机的位置信息。该终端用于显示该无人机的规划飞行路径以及飞行状态。本公开提供的无人机监控方法，可以由该无人机监控系统中任一设备执行，为方便描述，本公开以终端作为执行主体为例进行说明。
在一些实施例中，在对无人机进行监控时，该终端可以向服务器发送航线获取请求，以获取该无人机飞行的航线信息，并根据获取到的航线信息，在预先构建的三维环境模型中显示该无人机的规划飞行路径。并且，该终端还可以根据航线信息中包含的规划飞行时间(抵达各位置的飞行时间)，在该规划飞行路径中显示期望无人机当前已飞行的进度。
其中，三维环境模型的构建方法在上述系统侧进行了阐述，本公开在此不再赘述。
S202：当所述终端接收到所述无人机的当前位置信息时，根据所述无人机的当前位置信息，在所述三维环境模型中显示所述无人机的当前位置。
在本公开中对无人机的飞行状态进行监控时，该终端可以根据该无人机的位置变化，在该三维环境模型中进行显示，以便于直观观察该无人机是否出现偏航。
在一些实施例中，当该终端接收到服务器转发的该无人机的当前位置信息时，便可以根据该无人机的当前位置信息，在该三维环境模型中显示该无人机的当前位置。并且，由于在该无人机飞行过程中位置发生变化，因此该终端可以根据接收到的该无人机的最新位置，调整该无人机在该三维环境模型中的位置。
基于图6所示的无人机监控方法，终端可以从服务器获取该无人机飞行的航线信息，并根据获取到的航线信息在预先构建的三维环境模型中显示该无人机的规划飞行路径，当接收到该无人机的当前位置信息时，在该三维环境模型中显示该无人机的当前位置。通过在三维环境模型中显示该无人机的规划飞行路径以及实时位置变化，更有利于观察无人机在高度方向产生的偏航，使显示更全面。
此外，本公开提供的无人机监控方法也可以应用于无人机在执行配送任务的过程中，对该无人机的飞行状态进行监控。其余对该无人机进行监控的详细过程可以参考本公开提供的无人机监控系统中的详细描述，由于无人机监控的详细过程已经在前文进行过描述，因此可参考前文，本公开对此不再重复说明。
基于图6所示的无人机监控方法，本公开实施例还提供一种无人机监控装置的结构示意图，如图7所示。
图7为本公开实施例提供的一种无人机监控装置的结构示意图，该无人机监控装置可以应用于终端侧，该无人机监控装置承载有预先构建的三维环境模型，该三维环境模型基于该无人机飞行区域的环境信息构建，该无人机监控装置包括航线请求模块300和位置显示模块302。
航线请求模块300，向服务器发送航线获取请求，根据接收到的航线信息，在所述三维环境模型中显示所述无人机的规划飞行路径。
位置显示模块302，当接收到所述无人机的当前位置信息时，根据所述无人机的当前位置信息，在所述三维环境模型中显示所述无人机的当前位置。
本公开实施例还提供了一种计算机可读存储介质，该存储介质存储有计算机程序，计算机程序可用于执行如图6提供的无人机监控方法。
除了软件实现方式之外，本公开并不排除其他实现方式，比如逻辑器件或软硬件结合的方式等等，也就是说以下处理流程的执行主体并不限定于各个逻辑单元，也可以是硬件或逻辑器件。
在20世纪90年代，对于一个技术的改进可以很明显地区分是硬件上的改进(例如，对二极管、晶体管、开关等电路结构的改进)还是软件上的改进(对于方法流程的改进)。然而，随着技术的发展，当今的很多方法流程的改进已经可以视为硬件电路结构的直接改进。设计人员几乎都通过将改进的方法流程编程到硬件电路中来得到相应的硬件电路结构。因此，不能说一个方法流程的改进就不能用硬件实体模块来实现。例如，可编程 逻辑器件(Programmable Logic Device，PLD)(例如现场可编程门阵列(Field Programmable Gate Array，FPGA))就是这样一种集成电路，其逻辑功能由用户对器件编程来确定。由设计人员自行编程来把一个数字系统“集成”在一片PLD上，而不需要请芯片制造厂商来设计和制作专用的集成电路芯片。而且，如今，取代手工地制作集成电路芯片，这种编程也多半改用“逻辑编译器(logic compiler)”软件来实现，它与程序开发撰写时所用的软件编译器相类似，而要编译之前的原始代码也得用特定的编程语言来撰写，此称之为硬件描述语言(Hardware Description Language，HDL)，而HDL也并非仅有一种，而是有许多种，如ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language)等，目前最普遍使用的是VHDL(Very-High-Speed Integrated Circuit Hardware Description Language)与Verilog。本领域技术人员也应该清楚，只需要将方法流程用上述几种硬件描述语言稍作逻辑编程并编程到集成电路中，就可以很容易得到实现该逻辑方法流程的硬件电路。
控制器可以按任何适当的方式实现，例如，控制器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器和嵌入微控制器的形式，控制器的例子包括但不限于以下微控制器：ARC 625D、Atmel AT91SAM、Microchip PIC18F26K20以及Silicone Labs C8051F320，存储器控制器还可以被实现为存储器的控制逻辑的一部分。本领域技术人员也知道，除了以纯计算机可读程序代码方式实现控制器以外，完全可以通过将方法步骤进行逻辑编程来使得控制器以逻辑门、开关、专用集成电路、可编程逻辑控制器和嵌入微控制器等的形式来实现相同功能。因此这种控制器可以被认为是一种硬件部件，而对其内包括的用于实现各种功能的装置也可以视为硬件部件内的结构。或者甚至，可以将用于实现各种功能的装置视为既可以是实现方法的软件模块又可以是硬件部件内的结构。
上述实施例阐明的系统、装置、模块或单元，可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机。计算机例如可以为个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任何设备的组合。
为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本公开时可以把各单元的功能在同一个或多个软件和/或硬件中实现。
本领域的技术人员应明白，本公开的实施例可提供为方法、系统、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图的一个或多个流程和/或方框图的一个或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图的一个或多个流程和/或方框图的一个或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图的一个或多个流程和/或方框图的一个或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数 据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白，本公开的实施例可提供为方法、系统或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开可以在由计算机执行的计算机可执行指令的一般上下文中描述，例如程序模块。一般地，程序模块包括执行特定任务或实现特定抽象数据类型的例程、程序、对象、组件、数据结构等等。也可以在分布式计算环境中实践本公开，在这些分布式计算环境中，由通过通信网络而被连接的远程处理设备来执行任务。在分布式计算环境中，程序模块可以位于包括存储设备在内的本地和远程计算机存储介质中。
本公开中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本公开的实施例而已，并不用于限制本公开。对于本领域技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本公开的权利要求范围之内。

Claims (21)

  1. 一种无人机监控系统，所述系统包括无人机、终端以及服务器，其中：
    所述无人机被配置为向所述服务器发送所述无人机的当前位置信息；
    所述终端，承载有预先构建的三维环境模型，所述三维环境模型基于所述无人机飞行区域内的环境信息构建；所述终端被配置为向所述服务器发送航线获取请求，根据从所述服务器接收到的所述无人机的航线信息，在所述三维环境模型中显示所述无人机的规划飞行路径；当从所述服务器接收到所述无人机的当前位置信息时，在所述三维环境模型中显示所述无人机的当前位置信息；
    所述服务器，被配置为将从所述无人机接收到的所述无人机的当前位置信息转发至所述终端；并根据从所述终端接收到的航线获取请求，向所述终端返回所述无人机的航线信息。
  2. 如权利要求1所述的系统，其中，所述终端还被配置为：根据接收到的所述无人机的航线信息中包含的规划飞行时间，在所述规划飞行路径中显示期望所述无人机当前已飞行的进度。
  3. 如权利要求1所述的系统，其中，所述预先构建的三维环境模型以地心为原点；
    所述终端还被配置为：根据所述无人机执行当前任务的飞行区域，确定所述飞行区域对应的参考点；
    以所述参考点为原点，更新所述三维环境模型中各位置的位置信息。
  4. 如权利要求1所述的系统，其中，当存在一个或多个所述无人机时，
    所述服务器还被配置为：接收所述终端发送的携带无人机标识的无人机位置获取请求，根据所述无人机标识，将所述无人机标识对应的无人机的当前位置信息转发至所述终端；
    所述服务器还被配置为：根据从所述终端接收到的航线获取请求中包含的无人机标识，将该无人机标识对应的无人机的航线信息返回至所述终端。
  5. 如权利要求1所述的系统，其中，所述无人机还被配置为：向所述服务器发送所述无人机的当前状态信息，所述当前状态信息包含所述无人机的飞行参数；
    所述服务器还被配置为：将从所述无人机接收到的所述无人机的当前状态信息转发至所述终端；
    所述终端还被配置为：根据从所述服务器接收到的所述无人机的当前状态信息，显示所述无人机当前的飞行参数。
  6. 如权利要求5所述的系统，其中，所述终端还被配置为：根据从所述服务器接收到的所述无人机的当前状态信息中的飞行参数，在所述三维环境模型中显示所述无人机的姿态；
    其中，所述飞行参数至少包括所述无人机的飞行位姿。
  7. 如权利要求1所述的系统，其中，所述服务器还被配置为：根据所述无人机待执行的一个或多个飞行任务，确定所述无人机执行所述一个或多个飞行任务的飞行区域；
    针对所述无人机的待执行的一个或多个飞行任务中的每个，获取该飞行任务对应的飞行区域内的环境图像，所述服务器根据获取到的所述环境图像，构建该飞行区域的三维环境模型。
  8. 如权利要求7所述的系统，其中，所述服务器还被配置为：接收一个或多个终端发送的环境模型获取请求，并根据所述环境模型获取请求中携带的终端标识，将构建完成的三维环境模型下发至对应终端。
  9. 如权利要求1所述的系统，其中，所述终端还被配置为：根据所述无人机待执行的一个或多个飞行任务，确定所述无人机执行所述一个或多个飞行任务的飞行区域；
    针对所述无人机的待执行的所述一个或多个飞行任务中的每个，获取该飞行任务对应的飞行区域内的环境图像，所述终端根据获取到的所述环境图像，构建所述飞行区域的三维环境模型。
  10. 如权利要求9所述的系统，其中，所述终端还被配置为：将构建完成的所述三维环境模型发送至所述服务器；
    所述服务器还配置为：存储接收到的所述三维环境模型，当接收到其他终端发送的环境模型获取请求时，将所述三维环境模型下发至所述其他终端。
  11. 一种无人机监控方法，包括：
    终端向服务器发送航线获取请求，所述终端根据从所述服务器接收到的无人机的航线信息，在所述终端中预先构建的三维环境模型中显示所述无人机的规划飞行路径，其中，所述终端承载有预先构建的三维环境模型，所述三维环境模型基于所述无人机飞行区域的环境信息构建；
    当所述终端接收到所述无人机的当前位置信息时，根据所述无人机的当前位置信息，在所述三维环境模型中显示所述无人机的当前位置信息。
  12. 如权利要求11所述的方法，其中，所述终端根据接收到的所述无人机的航线信息中包含的规划飞行时间，在所述规划飞行路径中显示期望所述无人机当前已飞行的进度。
  13. 如权利要求11所述的方法，其中，所述预先构建的三维环境模型以地心为原点；
    所述终端根据所述无人机执行当前任务的飞行区域，确定所述飞行区域对应的参考点；
    以所述参考点为原点，更新所述三维环境模型中各位置的位置信息。
  14. 如权利要求11所述的方法，其中，当存在一个或多个所述无人机时，
    所述终端向所述服务器发送携带无人机标识的无人机位置获取请求，以及从所述服务器接收所述无人机标识对应的无人机的当前位置信息；
    所述终端向所述服务器发送包含无人机标识的航线获取请求，以及从所述服务器接收所述无人机标识对应的无人机的航线信息。
  15. 如权利要求11所述的方法，其中，
    所述终端根据从所述服务器接收到的所述无人机的当前状态信息，显示所述无人机当前的飞行参数。
  16. 如权利要求15所述的方法，其中，所述终端根据从所述服务器接收到的所述无人机的当前状态信息中的飞行参数，在所述三维环境模型中显示所述无人机的姿态；
    其中，所述飞行参数至少包括所述无人机的飞行位姿。
  17. 如权利要求11所述的方法，其中，所述终端向所述服务器发送携带终端标识的环境模型获取请求，以及从所述服务器接收所述终端标识对应的三维环境模型。
  18. 如权利要求11所述的方法，其中，所述终端根据所述无人机待执行的一个或多个飞行任务，确定所述无人机执行所述一个或多个飞行任务的飞行区域；
    针对所述无人机的待执行的所述一个或多个飞行任务中的每个，所述终端获取该飞行任务对应的飞行区域内的环境图像；
    所述终端根据获取到的所述环境图像，构建所述飞行区域的三维环境模型。
  19. 如权利要求18所述的方法，其中，所述终端将构建完成的所述三维环境模型发送至所述服务器。
  20. 一种无人机监控装置，所述无人机监控装置承载有预先构建的三维环境模型，所述三维环境模型基于无人机飞行区域的环境信息构建，所述装置包括：
    航线请求模块，向服务器发送航线获取请求，根据从所述服务器接收到的航线信息，在所述三维环境模型中显示所述无人机的规划飞行路径；
    位置显示模块，当接收到所述无人机的当前位置信息时，根据所述无人机的当前位置信息，在所述三维环境模型中显示所述无人机的当前位置。
  21. 一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求11-19中任一项所述的方法。
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