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WO2018165915A1 - Procédé et système permettant de planifier un point de cheminement d'un véhicule aérien sans pilote, dispositif électronique, et support d'informations - Google Patents

Procédé et système permettant de planifier un point de cheminement d'un véhicule aérien sans pilote, dispositif électronique, et support d'informations Download PDF

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Publication number
WO2018165915A1
WO2018165915A1 PCT/CN2017/076798 CN2017076798W WO2018165915A1 WO 2018165915 A1 WO2018165915 A1 WO 2018165915A1 CN 2017076798 W CN2017076798 W CN 2017076798W WO 2018165915 A1 WO2018165915 A1 WO 2018165915A1
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WO
WIPO (PCT)
Prior art keywords
mode
waypoint
planning
uav
unmanned aerial
Prior art date
Application number
PCT/CN2017/076798
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English (en)
Chinese (zh)
Inventor
谢卓
许昌建
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 CN201780004418.1A priority Critical patent/CN108521803A/zh
Priority to PCT/CN2017/076798 priority patent/WO2018165915A1/fr
Publication of WO2018165915A1 publication Critical patent/WO2018165915A1/fr

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Classifications

    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/22—Arrangements for acquiring, generating, sharing or displaying traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/30—Flight plan management
    • G08G5/32—Flight plan management for flight plan preparation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft

Definitions

  • the present disclosure relates to an unmanned aerial vehicle waypoint planning method, system, and electronic device.
  • the present disclosure also relates to a storage medium.
  • Waypoint flight means that the UAV is flying according to a preset waypoint route. For example, a user may set one or more location points in the space as waypoints, and the UAV may fly in accordance with the route determined by the waypoints.
  • Existing waypoint planning requirements must be in the electronic device used to set the waypoint (eg mobile terminal, tablet, smart wearable device, laptop, desktop, smart appliance, or unmanned aerial vehicle running the waypoint setting program)
  • the dedicated remote control, etc. establishes a communication connection with the unmanned aerial vehicle, and the unmanned aerial vehicle takes off before the waypoint can be planned.
  • the user controls the unmanned aerial vehicle to fly to the actual waypoint location, and obtains the latitude and longitude coordinate data and the altitude data at the location as the waypoint data of the location.
  • the waypoint data can be uploaded from the electronic device for setting the waypoint to the unmanned aerial vehicle, and the unmanned aerial vehicle can fly according to the set waypoint.
  • the waypoint planning requires the UAV to actually fly to the waypoint location, and then the location can be set as the waypoint.
  • the power consumption of the unmanned aerial vehicle is consumed, and the time is also more, which causes inconvenience to the user.
  • An aspect of the present disclosure provides an unmanned aerial vehicle waypoint planning method for an electronic device, the method comprising performing an offline planning mode in a case where the electronic device does not establish a communication connection with the unmanned aerial vehicle
  • the waypoint planning in the offline planning mode includes: receiving user input; acquiring location data of one or more locations on the electronic map according to the user input; and according to the location The data determines waypoint data for the UAV.
  • an unmanned aerial vehicle waypoint planning system for an electronic device, the system including an offline planning module, where a user does not establish a communication connection with the unmanned aerial vehicle And performing the waypoint planning in an offline planning mode, where the offline planning module includes: a user interaction unit, configured to receive user input; and a location data acquiring unit, configured to acquire one or more locations on the electronic map according to the user input Location data; and a waypoint data determining unit for determining waypoint data of the unmanned aerial vehicle based on the location data.
  • Another aspect of the present disclosure provides an electronic device comprising: a display screen; a user input device; and a processor, wherein the processor performs the method described above.
  • Another aspect of the disclosure provides a storage medium for storing program instructions for causing a processor to perform the methods described above.
  • FIG. 1 schematically shows a schematic diagram of offline waypoint planning according to an embodiment of the present disclosure
  • FIG. 2 is a flow chart schematically showing an unmanned aerial vehicle waypoint planning method for an electronic device in accordance with an embodiment of the present disclosure
  • FIG. 3 is a flow chart schematically showing an unmanned aerial vehicle waypoint planning method for an electronic device according to another embodiment of the present disclosure
  • FIG. 4A schematically illustrates a flowchart of an unmanned aerial vehicle waypoint planning method for an electronic device in accordance with another embodiment of the present disclosure
  • FIG. 4B schematically illustrates a display interface on an electronic device when performing the method of FIG. 4A in accordance with an embodiment of the present disclosure
  • FIG. 5A schematically illustrates a flowchart of an unmanned aerial vehicle waypoint planning method for an electronic device 100 in accordance with another embodiment of the present disclosure
  • FIG. 5B schematically illustrates a display interface on an electronic device when performing the method of FIG. 5A in accordance with an embodiment of the present disclosure
  • FIG. 6 is a flow chart schematically showing an unmanned aerial vehicle waypoint planning method for an electronic device according to another embodiment of the present disclosure
  • FIG. 7A-7H schematically illustrate a display interface on an electronic device when an electronic device establishes a communication connection with an unmanned aerial vehicle in an offline planning mode according to an embodiment of the present disclosure, and the unmanned aerial vehicle is in the above various task modes;
  • FIG. 8 is a block diagram schematically showing a structure of an unmanned aerial vehicle waypoint planning system for an electronic device according to an embodiment of the present disclosure
  • FIG. 9 is a block diagram schematically showing a structural block diagram of an unmanned aerial vehicle waypoint planning system for an electronic device according to another embodiment of the present disclosure.
  • FIG. 10 schematically shows a structural block diagram of an electronic device according to an embodiment of the present disclosure.
  • One aspect of the disclosure provides an unmanned aerial vehicle waypoint planning method for an electronic device.
  • the method includes planning a waypoint in an offline planning mode if the electronic device does not establish a communication connection with the UAV.
  • the waypoint planning in the offline planning mode includes receiving user input, obtaining location data of one or more locations on the electronic map based on the user input, and determining waypoint data of the unmanned aerial vehicle based on the location data.
  • Another aspect of the present disclosure provides an unmanned aerial vehicle waypoint planning system for an electronic device.
  • Another aspect of the present disclosure provides an electronic device.
  • Another aspect of the present disclosure provides a storage medium.
  • off-line route planning can be implemented without the electronic device establishing a communication connection with the unmanned aerial vehicle.
  • the waypoint data obtained by the offline route planning may be uploaded to the unmanned aerial vehicle, and the unmanned aerial vehicle may fly according to the waypoint data.
  • the unmanned aerial vehicle power can be significantly saved according to an embodiment of the present disclosure, and the user can quickly set a waypoint on the electronic device or conveniently change the waypoint setting on the electronic device without taking time control
  • the unmanned aerial vehicle flies to the actual waypoint position.
  • FIG. 1 schematically illustrates a schematic diagram of offline waypoint planning in accordance with an embodiment of the present disclosure.
  • a communication connection 300 can be established between the electronic device 100 and the UAV 200, but in the offline planning mode, the electronic device 100 does not establish a communication connection 300 with the UAV 200.
  • the electronic device 100 may include a mobile terminal, a tablet computer, a smart wearable device, a notebook computer, a desktop computer, or a smart home appliance, etc., and may also include a dedicated remote controller of the unmanned aerial vehicle, but is not limited thereto.
  • the unmanned aerial vehicle 200 may include, but is not limited to, a rotorcraft unmanned aerial vehicle or a fixed-wing unmanned aerial vehicle.
  • the communication connection 300 can be, for example, a wired connection or a wireless connection.
  • the wired connection may be implemented by, for example, a universal serial bus (USB), or may be implemented using other signal cables, but is not limited thereto.
  • the wireless connection can be implemented, for example, by a Bluetooth protocol, a ZigBee protocol, a 2G, 3G, 4G, or 5G communication protocol, but is not limited thereto.
  • the electronic device 100 can display the electronic map 110.
  • the electronic device 100 can receive user input, acquire location data of locations 1, 2, and 3 on the electronic map 110 based on user input, and determine waypoint data for the unmanned aerial vehicle based on the location data.
  • the location data may include latitude and longitude coordinate data and/or height data. It will be understood that although three waypoint locations are shown in the figures, the present disclosure is not limited thereto, but one, two, four, five, or more waypoint locations may also be provided.
  • FIG. 2 schematically illustrates a flow chart of an unmanned aerial vehicle waypoint planning method for electronic device 100 in accordance with an embodiment of the present disclosure.
  • the unmanned aerial vehicle waypoint planning method performs a waypoint planning in an offline planning mode in a case where the electronic device 100 does not establish a communication connection with the unmanned aerial vehicle 200.
  • location data of one or more locations on the electronic map is acquired according to the user input.
  • waypoint data of the UAV 200 is determined based on the position data.
  • the electronic device 100 may receive a user's click input to a location on the electronic map 110.
  • electronic device 100 can include a touch display screen that a user can touch directly on the touch display screen to select a waypoint location.
  • the electronic device 100 can include a display screen and a mouse, and the user can move the cursor on the display screen by manipulating the mouse to select a waypoint location.
  • electronic device 100 can include a direction key, a universal wheel, or other input device by which the user can select a waypoint location on electronic map 110.
  • the advantage of clicking the input is that the operation is more intuitive and convenient. The user does not need to know the specific latitude and longitude data of the waypoint, and only needs to click on the map.
  • the user input device may be a touch display integrated with the display screen, or may be other input devices independent of the display screen, such as a mouse, a keyboard, a direction key, and the like.
  • the electronic device 100 may also allow a user to directly input location data, such as latitude and longitude and/or altitude data, through a keyboard or a touch screen.
  • location data such as latitude and longitude and/or altitude data
  • directly entering location data is that it allows for precise positioning.
  • the electronic device 100 may also provide a plurality of candidate locations to a user.
  • the electronic device 100 may store the previously set waypoint location data and display the waypoint locations on the electronic map as candidate locations.
  • the electronic device 100 may also display a list of saved waypoint location data for selection by the user.
  • the electronic device 100 may also receive waypoint location data from an external server and select these waypoint locations as candidate locations for the user.
  • the user may find that a waypoint location is particularly well-suited for a particular purpose, such as shooting at a certain waypoint location, or a waypoint location needs to be recorded for a particular use, such as When the UAV is delivered at the time of delivery, these waypoint locations can be recorded as candidate locations.
  • the server may collect waypoint location data for a plurality of users and push the waypoint location data to the electronic device 100 as candidate locations.
  • the user can refer to the waypoint data of other users when setting the waypoint, thereby improving the setting efficiency and reducing the blindness.
  • the waypoint data of multiple users may be the waypoint data uploaded after the actual execution of the waypoint task, and the use of such waypoint data is beneficial to improve the safety and success rate of the unmanned aerial vehicle flight.
  • FIG. 3 schematically illustrates a flow chart of an unmanned aerial vehicle waypoint planning method for electronic device 100 in accordance with another embodiment of the present disclosure.
  • the method includes operations S201 to S203, and operations S304 and S305.
  • the operations S201 to S203 are the same as or similar to the operations S201 to S203 shown in FIG. 2, and are not described herein again.
  • the waypoint data is transmitted to the UAV in operation S305.
  • FIG. 4A schematically illustrates a flow chart of an unmanned aerial vehicle waypoint planning method for electronic device 100 in accordance with another embodiment of the present disclosure.
  • the method includes operations S201 to S203, and operations S404 to S407.
  • the operations S201 to S203 are the same as or similar to the operations S201 to S203 shown in FIG. 2, and are not described herein again.
  • operation S405 it is determined whether the application executing the waypoint planning method supports the unmanned aerial vehicle 200.
  • FIG. 4B schematically illustrates a display interface on the electronic device 100 when performing the method of FIG. 4A in accordance with an embodiment of the present disclosure.
  • the electronic device 100 establishes a communication connection 300 with the UAV 200 in an offline planning mode.
  • the electronic device 100 determines whether the application supports the UAV 200. If the application does not support the UAV 200, a prompt box is displayed prompting the user to switch the application. If the user does not switch the application, the communication connection 300 between the electronic device 100 and the UAV 200 can be disconnected and the waypoint planning can continue in the offline planning mode. Alternatively, if the user directly disconnects the communication connection 300 between the electronic device 100 and the UAV 200, the waypoint planning can continue in the offline planning mode.
  • FIG. 5A schematically illustrates a flow chart of an unmanned aerial vehicle waypoint planning method for electronic device 100 in accordance with another embodiment of the present disclosure.
  • the method includes operations S201 to S203, and operations S504 to S506.
  • the operations S201 to S203 are the same as or similar to the operations S201 to S203 shown in FIG. 2, and are not described herein again.
  • the electronic device 100 can display, for example, the main operational interface of the UAV 200, and the like.
  • FIG. 5B schematically illustrates a display interface on the electronic device 100 when performing the method of FIG. 5A in accordance with an embodiment of the present disclosure.
  • the electronic device 100 establishes a communication connection 300 with the UAV 200 in an offline planning mode. If the application executing the waypoint planning method on the electronic device 100 supports the unmanned aerial vehicle 200, it is determined whether the unmanned aerial vehicle 200 supports the waypoint planning function. If the UAV 200 does not support the waypoint planning function, the waypoint data currently being planned is saved, and the offline planning mode is automatically exited. After exiting the offline planning mode, the electronic device 100 can display, for example, the main operating interface 510 of the UAV 200.
  • the main operation interface 510 may include, for example, a live image 511 returned by the UAV 200, a flight state 512 of the UAV 200, and one or more operational controls 513, and the like, but is not limited thereto.
  • FIG. 6 schematically illustrates a flow chart of an unmanned aerial vehicle waypoint planning method for electronic device 100 in accordance with another embodiment of the present disclosure.
  • the method includes operations S201 to S203, and operations S604 to S606.
  • the operations S201 to S203 are the same as or similar to the operations S201 to S203 shown in FIG. 2, and are not described herein again.
  • operation S606 according to the current mode of the UAV 200, it is determined whether to switch from the offline planning mode to another mode and/or to another mode from the offline planning mode, or according to the current mode and user selection of the UAV Determining whether to switch from the offline planning mode to another mode and/or to switch from the offline planning mode to what other mode.
  • the mode of the UAV 200 may include, but is not limited to, any of the following:
  • a waypoint mission mode in which the unmanned aerial vehicle 200 conducts flight based on the waypoint data stored locally by the unmanned aerial vehicle 200;
  • a pointing flight mode in which the UAV 200 flies at a user-specified location as a destination
  • Novice mode in which the UAV 200 has a default set flying height and cannot perform a waypoint task.
  • FIGS. 7A-7H schematically illustrate an electronic device 100 when the electronic device 100 establishes a communication connection 300 with the unmanned aerial vehicle 200 in an offline planning mode according to an embodiment of the present disclosure, and the unmanned aerial vehicle 200 is in the above various mission modes.
  • the electronic device 100 if the electronic device 100 establishes a communication connection 300 with the UAV 200 in the offline planning mode, and the UAV 200 is in a waypoint task, the electronic device 100 saves the planned waypoint data and automatically Switch from offline planning mode to waypoint task mode.
  • the electronic device 100 may, for example, display a waypoint mission interface 710, including the route 711 that the UAV 200 is performing, the flight state 712 of the UAV 200, and the like, but is not limited thereto.
  • the electronic device 100 if the electronic device 100 establishes the communication connection 300 with the UAV 200 in the offline planning mode, and the current mode of the UAV is the pointing flight mode, the electronic device 100 saves the waypoint data currently being planned. Automatically switches from offline planning mode to pointing flight mode. For example, the electronic device 100 can pop up a prompt box 720 prompting the user that the unmanned aerial vehicle 200 is in a pointing flight mode. If the user selects "OK”, the electronic device 100 saves the waypoint data being planned and switches to the pointing flight mode. If the user selects "Cancel", the electronic device 100 disconnects the communication connection 300 with the UAV 200 and continues to plan for the waypoint in the offline planning mode.
  • the electronic device 100 if the electronic device 100 establishes the communication connection 300 with the UAV 200 in the offline planning mode, and the current mode of the UAV is the smart tracking mode, the electronic device 100 saves the waypoint data currently being planned. Automatically switches from offline planning mode to smart tracking mode. For example, the electronic device 100 can pop up a prompt box 730 prompting the user that the unmanned aerial vehicle 200 is in an intelligent tracking mode. If the user selects "OK”, the electronic device 100 saves the waypoint data being planned and switches to the smart tracking mode. If the user selects "Cancel", the electronic device 100 disconnects the communication connection 300 with the UAV 200 and continues to plan for the waypoint in the offline planning mode.
  • the electronic device 100 may display the shooting interface 740, including the real-time captured image 741 and the shooting progress 742, and the like, but is not limited thereto.
  • the electronic device 100 may display an upgrade interface 750 including an upgrade progress 751, etc., but is not limited thereto.
  • the electronic device 100 can display the activation interface 760, including the activation progress 761, and the like, but is not limited thereto.
  • the electronic device 100 if the electronic device 100 establishes the communication connection 300 with the UAV 200 in the offline planning mode, and the current mode of the UAV 200 is the live mode, the electronic device 100 saves the waypoint data currently being planned. , automatically switch from offline planning mode to live mode. For example, the electronic device 100 can pop up a prompt box 770 prompting the user that the unmanned aerial vehicle 200 is in live mode. If the user selects "OK”, the electronic device 100 saves the waypoint data being planned and switches to the live mode. If the user selects "Cancel", the electronic device 100 disconnects the communication connection 300 with the UAV 200 and continues to plan for the waypoint in the offline planning mode.
  • the electronic device 100 establishes the communication connection 300 with the UAV 200 in the offline planning mode, and the current mode of the UAV 200 is the novice mode, the user is prompted to select whether to exit the novice mode, if not exiting In the novice mode, the current waypoint data is saved, and the offline planning mode is automatically switched from the offline planning mode to the novice mode. If the novice mode is exited, the currently planned waypoint data is saved, and the offline planning mode is automatically switched to the continuous mode.
  • a line planning mode in which position data of one or more locations to which the UAV flies is acquired as the waypoint data in the connection planning mode.
  • the electronic device 100 can pop up a prompt box 780 prompting the user that the unmanned aerial vehicle 200 is in the novice mode and asking if the novice mode is to be exited. If the user selects "OK”, the electronic device 100 saves the waypoint data being planned and switches to the connection planning mode. If the user selects "Cancel”, the electronic device 100 saves that it is currently The planned waypoint data is automatically switched from offline planning mode to novice mode.
  • the electronic device 100 Automatically switching from the offline planning mode to the connection planning mode, wherein in the connection planning mode, location data of one or more locations to which the UAV flies is acquired as the waypoint data. For example, if the UAV 200 has taken off, but does not perform any specific tasks, the electronic device 100 can automatically switch from the offline planning mode to the wired planning mode after establishing the communication connection 300 with the UAV 200.
  • the UAV 200 can also have other modes. For each mode, it may be set according to actual conditions whether the electronic device 100 automatically switches to the mode after establishing the communication connection 300 with the UAV 200, or switches to the mode or maintains the offline planning mode according to the user selection, or Whether to allow the user to choose to switch to a different mode.
  • the above schemes are all included in the scope of the present disclosure.
  • the user may be allowed to obtain offline planning. At the same time, it is effective to avoid operational failure or safety problems of the UAV 200 that may be caused by connecting to the UAV 200 during off-line planning.
  • FIG. 8 schematically illustrates a structural block diagram of an unmanned aerial vehicle waypoint planning system 800 for an electronic device 100 in accordance with an embodiment of the present disclosure.
  • the system 800 includes an offline planning module 810, and the user performs a waypoint planning in an offline planning mode if the electronic device 100 does not establish a communication connection 300 with the unmanned aerial vehicle 200.
  • the offline planning module 810 includes a user interaction unit 811, a location data acquisition unit 812, and a waypoint data determination unit 813.
  • the user interaction unit 811 is configured to receive user input.
  • the location data obtaining unit 812 is configured to acquire location data of one or more locations on the electronic map according to the user input.
  • the waypoint data determining unit 813 is configured to determine the waypoint data of the unmanned aerial vehicle based on the location data.
  • receiving user input includes any one or more of the following: receiving a user's click input to any of the one or more locations on the electronic map; receiving the user input Longitude and latitude coordinate data of any one of the one or more locations; receiving height data of any one of the one or more locations input by the user; or providing a plurality of candidate locations to the user and receiving the plurality of candidate locations for the user Select input in any position.
  • the location data includes latitude and longitude coordinate data and/or height data.
  • FIG. 9 schematically illustrates a structural block diagram of an unmanned aerial vehicle waypoint planning system 900 for an electronic device 100 in accordance with another embodiment of the present disclosure.
  • the system 900 may include a waypoint data saving module 910 and a waypoint data sending module 920 in addition to the offline planning module 810 described above with reference to FIG.
  • the waypoint data saving module 910 is configured to save the waypoint data after the waypoint planning is completed.
  • the waypoint data transmitting module 920 is configured to transmit the waypoint data to the unmanned aerial vehicle 200 after the electronic device 100 is connected to the unmanned aerial vehicle 200.
  • the system 900 may further include a communication module 930, an application determination module 940, and a prompt module 950 in addition to the offline planning module 810 described above with reference to FIG.
  • the communication module 930 establishes a communication connection between the electronic device 100 and the UAV 200 in the offline planning mode.
  • the application determination module 940 determines whether the application executing the offline waypoint planning supports the UAV 200.
  • the prompting module 950 prompts to switch the application.
  • the offline planning module 810 continues to plan the waypoint in the offline planning mode after disconnecting the communication connection 300 between the UAV 200 and the electronic device 100.
  • system 900 can include communication module 930, function determination module 960, and exit module 970 in addition to offline planning module 810 described above with respect to FIG.
  • the communication module 930 establishes a communication connection 300 between the electronic device 100 and the UAV 200 in an offline planning mode.
  • the function determination module 960 determines whether the UAV 200 supports the waypoint planning function.
  • the exit module 970 saves the waypoint data currently being planned and automatically exits the offline planning mode.
  • the system 900 may further include a communication module 930, a mode acquisition module 980, and a handover control module 990 in addition to the offline planning module 810 described above with reference to FIG.
  • the communication module 930 establishes communication between the electronic device 100 and the UAV 200 in an offline planning mode. Connect 300.
  • the mode acquisition module 980 acquires the current mode of the UAV 200.
  • the handover control module 990 determines whether to switch from the offline planning mode to another mode and/or to switch from the offline planning mode to other modes according to the current mode of the UAV 200, or according to the current state of the UAV
  • the mode and user selection determine whether to switch from the offline planning mode to another mode and/or to switch from the offline planning mode to what other mode.
  • the mode of the UAV 200 includes any of the following:
  • a waypoint mission mode in which the unmanned aerial vehicle 200 conducts flight based on the waypoint data stored locally by the unmanned aerial vehicle 200;
  • a pointing flight mode in which the UAV 200 flies at a user-specified location as a destination
  • Novice mode in which the UAV 200 has a default set flying height and cannot perform a waypoint task.
  • the system 900 may further include a switching module 999 in addition to the offline planning module 810 described above with reference to FIG. 8 and the communication module 930, the mode acquisition module 980, and the switching control module 990 described with reference to FIG.
  • the switching module 999 saves the waypoint data currently being planned, and automatically switches from the offline planning mode to the waypoint task mode.
  • the switching module 999 saves the waypoint data currently being planned, automatically switching from the offline planning mode to the pointing flight mode.
  • the switching module 999 saves the waypoint data currently being planned, and automatically switches from the offline planning mode to the intelligent tracking mode.
  • the switching module 999 saves the current positive In the planned waypoint data, the offline planning mode is automatically switched to the shooting mode.
  • the switching module 999 saves the waypoint data currently being planned, and automatically switches from the offline planning mode to the upgrade mode.
  • the switching module 999 saves the waypoint data currently being planned, automatically switching from the offline planning mode to the active mode.
  • the switching module 999 saves the waypoint data currently being planned, and automatically switches from the offline planning mode to the live mode.
  • the switching module 999 prompts the user to select whether to exit the novice mode. If the novice mode is not exited, the currently planned waypoint data is saved, and the offline planning mode is automatically switched. For the novice mode, if the novice mode is exited, the currently planned waypoint data is saved, and the offline planning mode is automatically switched to the connection planning mode, wherein in the connection planning mode, the unmanned aerial vehicle 200 is acquired.
  • the location data of one or more locations to the location is used as the waypoint data.
  • the switching module 999 is further configured to: if the UAV 200 is not in the waypoint task mode, the pointing flight mode, the smart tracking mode, the shooting mode, the upgrade mode, the activation mode, the live mode, and the novice mode Or any mode, automatically switching from the offline planning mode to a connection planning mode, wherein in the connection planning mode, acquiring location data of one or more locations to which the UAV 200 flies is used as the navigation Point data.
  • FIG. 10 schematically shows a structural block diagram of an electronic device 100 in accordance with an embodiment of the present disclosure.
  • electronic device 1000 includes a processor 1010, a computer readable storage medium 1020, a display screen 1030, and a user input device 1040.
  • the electronic device 1000 can perform the method described above with reference to FIGS. 1 through 7H.
  • processor 1010 can include, for example, a general purpose microprocessor, an instruction set processor, and/or a related chipset and/or a special purpose microprocessor (eg, an application specific integrated circuit (ASIC)), and the like.
  • processor 1010 may also include onboard memory for caching purposes.
  • the processor 1010 may be a single processing unit or a plurality of processing units for performing different operations of the method flow according to the embodiments of the present disclosure described with reference to FIGS. 1 through 7H.
  • Computer readable storage medium 1020 can be any medium that can contain, store, communicate, propagate or transport the instructions.
  • a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium.
  • Specific examples of readable storage media include: magnetic storage devices, Such as a magnetic tape or hard disk (HDD); an optical storage device such as a compact disk (CD-ROM); a memory such as a random access memory (RAM) or flash memory; and/or a wired/wireless communication link.
  • the computer readable storage medium 1020 can include a computer program 1021, which can include code/computer executable instructions that, when executed by the processor 1010, cause the processor 1010 to perform methods such as those described above in connection with Figures 1-7H The process and any variations thereof.
  • Computer program 1021 can be configured to have computer program code, for example, including a computer program module.
  • the code in computer program 1021 may include one or more program modules, including, for example, module 1021A, module 1021B, .
  • the division manner and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations.
  • the processor 1010 may be The method flow, such as described above in connection with Figures 1-7H, and any variations thereof are performed.
  • the modules 1021A, the modules 1021B, . . . may implement the respective modules described above with reference to FIGS. 8 and 9.
  • the display screen 1030 may include, for example, a liquid crystal display screen, a light emitting diode display screen, or the like, but is not limited thereto.
  • the user input device 1040 may include, for example, a mouse, a keyboard, a joystick, a universal wheel, and the like, but is not limited thereto.
  • the display screen 1030 and the user input device 1040 may be implemented separately, or may be implemented integrally, for example, as a touch screen.
  • processor 1010 can interact with display screen 1030 and user input device 1040 to perform the method flow described above in connection with Figures 1-7H and any variations thereof.
  • the above methods, systems, and/or modules in accordance with various embodiments of the present disclosure may be implemented by a computing enabled electronic device executing software comprising computer instructions.
  • the system can include storage devices to implement the various storages described above.
  • the computing capable electronic device can include a general purpose processor, a digital signal processor, a dedicated processor, a reconfigurable processor, etc., but is not limited thereto. Execution of such instructions causes the electronic device to be configured to perform the operations described above in accordance with the present disclosure.
  • Each of the above systems and/or modules may be implemented in one electronic device or in different electronic devices.
  • the software can be stored in a computer readable storage medium.
  • the computer readable storage medium stores one or more programs (software modules), the one or more programs including instructions that, when executed by one or more processors in an electronic device, cause the electronic device to execute The method of the present disclosure.
  • the software can be stored in the form of volatile memory or non-volatile storage (such as a storage device such as a ROM), whether erasable or rewritable, or stored in the form of a memory (eg, RAM,
  • a storage device such as a ROM
  • the memory chip, device or integrated circuit is either stored on an optically readable medium or a magnetically readable medium (eg, CD, DVD, magnetic or magnetic tape, etc.).
  • the storage device and the storage medium are embodiments of a machine-readable storage device adapted to store one or more programs, the one or more programs comprising instructions that, when executed, implement the present disclosure An embodiment.
  • the embodiment provides a program and a machine readable storage device storing such a program, the program comprising code for implementing the apparatus or method of any of the claims of the present disclosure.
  • these programs can be routed via any medium, such as a communication signal carried via a wired connection or a wireless connection, and various embodiments suitably include such programs.
  • Methods, apparatus, units, and/or modules in accordance with various embodiments of the present disclosure may also use, for example, a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, An application specific integrated circuit (ASIC) may be implemented in hardware or firmware, such as in any other reasonable manner for integrating or encapsulating the circuit, or in a suitable combination of three implementations of software, hardware, and firmware.
  • the system can include a storage device to implement the storage described above. When implemented in these manners, the software, hardware, and/or firmware used is programmed or designed to perform the respective methods, operations, and/or functions described above in accordance with the present disclosure.
  • One skilled in the art can appropriately implement one or more of these systems and modules, or some or more of them, according to actual needs, using different implementations described above. These implementations all fall within the protection scope of the present disclosure.

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

Abstract

La présente invention se rapporte à un procédé qui permet de planifier un point de cheminement d'un véhicule aérien sans pilote (200) pour un dispositif électronique (100). Le procédé consiste, dans un cas où un dispositif électronique (100) n'établit pas de connexion de communication (300) avec un véhicule aérien sans pilote (200), à planifier un point de cheminement à l'aide d'un mode de planification hors ligne, la planification d'un point de cheminement à l'aide d'un mode de planification hors ligne consistant : à recevoir une entrée d'utilisateur (S201) ; à obtenir des données de position d'une ou plusieurs positions sur une carte électronique (110) en fonction de l'entrée d'utilisateur (S202) ; et à déterminer des données de point de cheminement dudit véhicule aérien sans pilote (200) en fonction des données de position (S203).
PCT/CN2017/076798 2017-03-15 2017-03-15 Procédé et système permettant de planifier un point de cheminement d'un véhicule aérien sans pilote, dispositif électronique, et support d'informations WO2018165915A1 (fr)

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CN201780004418.1A CN108521803A (zh) 2017-03-15 2017-03-15 无人飞行器航点规划方法、系统、电子设备和存储介质
PCT/CN2017/076798 WO2018165915A1 (fr) 2017-03-15 2017-03-15 Procédé et système permettant de planifier un point de cheminement d'un véhicule aérien sans pilote, dispositif électronique, et support d'informations

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CN114705190A (zh) * 2022-03-25 2022-07-05 沃飞长空科技(成都)有限公司 无人机地形跟随航线规划方法、装置、终端及存储介质

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