CN110007685A - Air route adjusting method and device - Google Patents
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- CN110007685A CN110007685A CN201810006727.9A CN201810006727A CN110007685A CN 110007685 A CN110007685 A CN 110007685A CN 201810006727 A CN201810006727 A CN 201810006727A CN 110007685 A CN110007685 A CN 110007685A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The utility model provides a course adjustment method and a device, relates to the technical field of unmanned aerial vehicles, can adjust the course in real time, solves the problem that the existing unmanned aerial vehicle cannot cover the whole operation area according to a given route, and improves the working efficiency of the unmanned aerial vehicle. The specific technical scheme is as follows: acquiring position information of a current waypoint and information of an initial route, wherein the information of the initial route comprises a navigation direction, a route length and a route interval; acquiring a first adjusting instruction, wherein the first adjusting instruction is used for adjusting at least one of a flight angle, a flight line length and a flight line spacing of a navigation direction; calculating to obtain the position information of the target waypoint according to the position information of the current waypoint, the first adjusting instruction and a preset algorithm; an adjusted course is generated from the current waypoint to the target waypoint. The invention is used for adjusting the flight path.
Description
Technical field
This disclosure relates to air vehicle technique field more particularly to a kind of course line method of adjustment and device.
Background technique
With the continuous development of science and technology, unmanned plane is widely used to take photo by plane, plant protection, express transportation, electric inspection process, speedily carry out rescue work
The fields such as the disaster relief, movies-making.The path that unmanned plane is flown in operation is course line.Existing unmanned plane is carrying out operation
When, usually fly according to set course line.As shown in Figure 1, the region that unmanned plane carries out operation is that Fig. 1 is shown in solid not
Regular shape when in set itinerant map 1 shown in dotted line, when unmanned plane carries out operation according to set course line, can not cover
Entire operating area reduces the operating efficiency of unmanned plane.
Summary of the invention
The embodiment of the present disclosure provides a kind of course line method of adjustment and device, can be adjusted in real time to course line, solves existing
There is the problem of unmanned plane can not cover entire operating area according to pre-determined route, improves the working efficiency of unmanned plane.The technology
Scheme is as follows:
According to the first aspect of the embodiments of the present disclosure, a kind of course line method of adjustment is provided, this method comprises:
The location information of current destination and the information of initial route are obtained, the information of initial route includes navigation direction, boat
Line length and course line spacing；
The first adjustment instruction is obtained, the first adjustment instruction is for adjusting flight angle, length for heading and the boat in navigation direction
At least one of line spacing；
According to the location information of current destination, the first adjustment instruction and preset algorithm, the position of target destination is calculated
Information；
Generate the adjustment course line from current destination to target destination.
It is adjusted by least one of flight angle, length for heading and the course line spacing to navigation direction, it can be to boat
Line is adjusted in real time, is solved the problems, such as that existing unmanned plane can not cover entire operating area according to pre-determined route, is provided nobody
The operating efficiency of machine.
In one embodiment, it according to the location information of current destination, the first adjustment instruction and preset algorithm, is calculated
The location information of target destination includes:
When the first adjustment instruction is for adjusting the flight angle in navigation direction, target boat is calculated according to the first formula
The location information of point, the first formula are as follows:
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, θ indicate
It adjusts the angle, λ indicates that the first course line spacing Dynamic gene, L indicate course line spacing, and R indicates constant factor, f1And f2Indicate conversion
The factor.
As λ=1, in the case where course line spacing is fixed, the flight angle in navigation direction is adjusted；When λ ≠ 1
When, in the case where the adjustment of course line spacing, the flight angle in navigation direction is adjusted, realizes flying angle in varied situations
The adjustment of degree, to be adapted to the operating area of various complexity.
In one embodiment, it according to the location information of current destination, the first adjustment instruction and preset algorithm, is calculated
The location information of target destination includes:
When the first adjustment is instructed for adjusting length for heading, believed according to the position that target destination is calculated in the second formula
Breath, the second formula are as follows:
x2=x1；
y2=y1+α*k1；
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, α indicate
Length for heading Dynamic gene, k1Indicate length for heading adjusting step.
In one embodiment, it according to the location information of current destination, the first adjustment instruction and preset algorithm, is calculated
The location information of target destination includes:
When the first adjustment is instructed for adjusting course line spacing, believed according to the position that target destination is calculated in third formula
Breath, third formula are as follows:
x2=x1+β*k2；
y2=y1；
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, β indicate
Second course line spacing Dynamic gene, k2Indicate course line spacing adjusting step.
In one embodiment, this method further include: next destination of control target destination is instructed according to the first adjustment
It is adjusted, until getting second adjustment instruction.
For the operating area of some rule variations, by the destination between the first adjustment instruction and second adjustment instruction
Unified adjustment is carried out, to realize the real-time adjustment to course line.
According to the second aspect of an embodiment of the present disclosure, a kind of boat line adjusting device is provided, comprising:
First obtains module, for obtaining the location information of current destination and the information of initial route, the letter of initial route
Breath includes navigation direction, length for heading and course line spacing；
Second obtains module, and for obtaining the first adjustment instruction, the first adjustment instruction is for adjusting the flight in navigation direction
At least one of angle, length for heading and course line spacing；
Computing module, for mesh to be calculated according to the location information of current destination, the first adjustment instruction and preset algorithm
Mark the location information of destination；
Generation module, for generating the adjustment course line from current destination to target destination.
In one embodiment, computing module is used for when the first adjustment instruction is for adjusting the flight angle in navigation direction
When, the location information of target destination, the first formula are calculated according to the first formula are as follows:
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, θ indicate
It adjusts the angle, λ indicates that the first course line spacing Dynamic gene, L indicate course line spacing, and R indicates constant factor, f1And f2Indicate conversion
The factor.
In one embodiment, computing module is used for when the first adjustment is instructed for adjusting length for heading, according to second
The location information of target destination, the second formula is calculated in formula are as follows:
x2=x1；
y2=y1+α*k1；
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, α indicate
Length for heading Dynamic gene, k1Indicate length for heading adjusting step.
In one embodiment, computing module is used for when the first adjustment is instructed for adjusting course line spacing, according to third
The location information of target destination, third formula is calculated in formula are as follows:
x2=x1+β*k2；
y2=y1；
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, β indicate
Second course line spacing Dynamic gene, k2Indicate course line spacing adjusting step.
In one embodiment, device further include: control module；
Control module, next destination for controlling target destination is adjusted according to the first adjustment instruction, until obtaining
Get second adjustment instruction.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is a kind of schematic diagram in existing course line that the embodiment of the present disclosure provides；
Fig. 2 is a kind of flow chart for course line method of adjustment that the embodiment of the present disclosure provides；
Fig. 3 is a kind of schematic diagram for initial route information that the embodiment of the present disclosure provides；
Fig. 4 is a kind of schematic diagram for airline operation angle adjustment that the embodiment of the present disclosure provides；
Fig. 5 is a kind of schematic diagram for length for heading adjustment that the embodiment of the present disclosure provides；
Fig. 6 is a kind of schematic diagram for course line adjustment that the embodiment of the present disclosure provides；
Fig. 7 is a kind of structure chart for boat line adjusting device that the embodiment of the present disclosure provides；
Fig. 8 is a kind of structure chart for boat line adjusting device that the embodiment of the present disclosure provides.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
The embodiment of the present disclosure provides a kind of course line method of adjustment, as shown in Fig. 2, the course line method of adjustment includes following step
It is rapid:
201, the location information of current destination and the information of initial route are obtained.
In embodiment of the disclosure, the location information for obtaining current destination can be the coordinate for obtaining current destination, sit
Mark can be indicated with longitude and latitude.
The information of initial route includes navigation direction, length for heading and course line spacing.To believe initial route shown in Fig. 3
Flight angle, length for heading and the course line spacing in the navigation direction in breath are illustrated.Navigation direction can be user according to nothing
The man-machine flight range of being carried out setting, such as arrow direction in Fig. 3；Length for heading is the distance between two destinations,
Destination is indicated with circle in Fig. 3；The distance between two course lines are course line spacing.
It should be noted that initial route is according to the preparatory plane-generating of flight range of the wanted operation of unmanned plane.One
As in the case of, the course line spacing of the initial route of preparatory plane-generating is fixed, length for heading be less than operating area in appoint
It anticipates the distance between two boundary lines.The generation of initial route is described below.
In one embodiment, the flight range for obtaining the wanted operation of unmanned plane cooks up flight boat according to flight range
Line determines corresponding destination then according to the endpoint in each course line, and all destinations are connected according to preset navigation direction
Come, forms initial route.
In one embodiment, before initial route generation, the coordinate of two destinations, two boats are acquired using unmanned plane
The distance between coordinate of point is length for heading, then according to preset navigation direction, generates the fixed initial boat of course line spacing
Line.
202, the first adjustment instruction is obtained.
In flight angle, length for heading and course line spacing of the first adjustment instruction for adjusting the navigation direction at least
One.By the adjustment at least one of flight angle, length for heading and course line spacing, may be implemented to the real-time of course line
Adjustment.
In one embodiment, the first adjustment instruction can be user and adjustment information be sent to unmanned plane by remote controler
In flight controller, to carry out fining adjustment to route information.Illustratively, flight controller provides special interface,
Support the real-time adjustment of user.In real-time course line implementation procedure, user utilizes the key of remote controler according to actual landform situation
It is adjusted with bar position, selecting the object to be adjusted by key is flight angle adjustment or course line spacing or course line
The adjustment of length carries out granularity adjustment by bar position, and stirring primary is a granularity adjustment.If flight angle adjusts
Granularity be 15 °, remote controler bar position is designed to " rice " font, can adjustment of the reality to different flight angles.
In another embodiment, the boundary line information of operating area and initial can be pre-saved in flight controller
The information in course line, by comparing in the boundary line information of operating area whether include current destination location information, alternatively, currently
Whether the position of destination is greater than preset threshold at a distance from the boundary line of operating area, when in the boundary line information of operating area not
Location information comprising current destination, alternatively, the position of current destination is greater than preset threshold at a distance from the boundary line of operating area
When, it determines and needs to be adjusted current destination, then obtain the first adjustment instruction.
203, according to the location information of current destination, the first adjustment instruction and preset algorithm, target destination is calculated
Location information.
Due to can be to any in the navigation flight angle in direction, length for heading and course line spacing in the first adjustment instruction
One or combination are adjusted, and therefore, for different regulating objects, the calculation of the location information of target destination is not
Together.It is described below for the calculation of different regulating objects.
In one embodiment, when the first adjustment instruction is for adjusting the flight angle in navigation direction, using the first public affairs
The location information of target destination is calculated in formula.Wherein, the first formula are as follows:
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, θ indicate
It adjusts the angle, λ indicates that the first course line spacing Dynamic gene, L indicate course line spacing, and R indicates constant factor, f1And f2Indicate conversion
The factor.
As λ=1, the first formula is used to carry out the flight angle in navigation direction in the case where course line spacing is fixed
Adjustment, is calculated the location information of target destination.As λ ≠ 1, the first formula be used for course line spacing adjust while pair
Flight angle is also adjusted, and the location information of target destination is calculated.It can be with 360 ° of any angles to the adjustment of flight angle
The adjustment of degree, still, in practical applications, unmanned plane is flown according to navigation direction, therefore, if with course line spacing institute
It is benchmark direction in direction, the adjusting range of flight angle is (- 90 °, 90 °).For navigating by water the adjustment of the flight angle in direction,
Typically it is adjusted in waypoint location.It is illustrated in figure 4 and is adjusted in the course line that course line spacing consolidates timing adjustment flight angle
Schematic diagram.
In another embodiment, it when the first adjustment is instructed for adjusting length for heading, is calculated according to the second formula
To the location information of target destination.Wherein, the second formula are as follows:
x2=x1；
y2=y1+α*k1；
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, α indicate
Length for heading adjusts number, k1Indicate length for heading adjusting step.
According to described in step 202, if length for heading adjusting step corresponds to the particle that remote controler stirs a bar position
Degree, and remote controler, according to navigating by water when direction is stirred to increase length for heading, contrary with navigation stirs to reduce path length
Degree；What length for heading adjustment number correspond to remote controler stirs number, then, when remote controler is according to navigating by water direction and stirring twice,
y2=y1+1.It is illustrated in figure 5 when the course line for increasing length for heading according to preset navigation direction adjusts schematic diagram.
In another embodiment, it when the first adjustment is instructed for adjusting course line spacing, is calculated according to third formula
To the location information of target destination.Wherein, third formula are as follows:
x2=x1+β*k2；
y2=y1；
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, β indicate
Second course line spacing Dynamic gene, k2Indicate course line spacing adjusting step.
According to described in step 202, if course line spacing adjusting step corresponds to the particle that remote controler stirs a bar position
It spends, and remote controler, according to navigating by water when direction is stirred to increase course line spacing, contrary with navigation stirs between reduction course line
Away from；What spacing adjustment number in course line correspond to remote controler stirs number, then, when remote controler is according to navigating by water direction and stirring twice,
x2=x1+1.It is illustrated in figure 6 the schematic diagram adjusted to flight angle, length for heading, course line spacing.
204, the adjustment course line from current destination to target destination is generated.
According to the description of above-mentioned steps, due in flight angle, length for heading and the course line spacing to navigation direction extremely
Few one is adjusted, so, target destination changes with the waypoint location in initial route, and therefore, it is necessary to generate from working as
Preceding destination is to the adjustment course line of target destination.And then according to the adjustment course line of generation, control unmanned plane is according to adjustment course line from working as
Preceding destination flies to target destination.
For method described in step 201~204, the first adjustment instruction can be the position being only limitted to current destination
The adjustment of information obtains target destination, in other words, is only adjusted to the destination for getting adjustment information, other destinations without
Adjustment, then, unmanned plane flies after target destination according to initial route.
After step 204, this method further include: control target destination next destination according to the first adjustment instruct into
Row adjustment, until getting second adjustment instruction.
That is, the destination between the first adjustment instruction and second adjustment instruction is instructed all in accordance with the first adjustment and is carried out
Adjustment, i.e. the first adjustment instruction are suitable for all destinations between the first adjustment instruction and second adjustment instruction.
Illustratively, it when current destination gets the first adjustment information, can be only to the length for heading of current destination
It is adjusted, unmanned plane still flies according to initial route later, i.e., only adjusts to the destination for getting adjustment information
It is whole；It is also possible to be adjusted the length for heading of current destination, generates new course line according to course line spacing adjusted, nobody
Machine flies according to new course line.
Illustratively, when current destination gets the first adjustment information, it can be the course line spacing only to current destination
It is adjusted, unmanned plane later still flies according to initial route, i.e., only carries out to the destination for getting adjustment information
Adjustment；It is also possible to be adjusted the course line spacing of current destination, generates new course line, nothing according to course line spacing adjusted
It is man-machine to fly according to new course line.
The course line method of adjustment that the embodiment of the present disclosure provides, obtains the location information of current destination and the letter of initial route
Breath obtains the first adjustment instruction, and the first adjustment instruction is for adjusting flight angle, length for heading and the course line spacing in navigation direction
At least one of, according to the location information of current destination, the first adjustment instruction and preset algorithm, target destination is calculated
Location information generates the adjustment course line from current destination to target destination.Pass through flight angle, the length for heading to navigation direction
With the adjustment of at least one of course line spacing, course line can be adjusted in real time, solve existing unmanned plane according to pre-determined route
The problem of entire operating area can not be covered, provides the operating efficiency of unmanned plane.
Based on course line method of adjustment described in the corresponding embodiment of above-mentioned Fig. 1, following is embodiment of the present disclosure,
It can be used for executing embodiments of the present disclosure.
The embodiment of the present disclosure provides a kind of boat line adjusting device, which can be the flight control in unmanned plane
Device processed.As shown in fig. 7, the boat line adjusting device 70 includes: that the first acquisition module 701, second obtains module 702, computing module
703, generation module 704.Wherein,
First obtains module 701, for obtaining the location information of current destination and the information of initial route, initial route
Information includes navigation direction, length for heading and course line spacing；
Second obtains module 702, and for obtaining the first adjustment instruction, the first adjustment instruction is for adjusting flying for navigation direction
At least one of row angle, length for heading and course line spacing；
Computing module 703, for calculating according to the location information of current destination, the first adjustment instruction and preset algorithm
To the location information of target destination；
Generation module 704, for generating the adjustment course line from current destination to target destination.
In one embodiment, computing module 703 is used for when the first adjustment instruction is for adjusting the flying angle in navigation direction
When spending, the location information of target destination, the first formula are calculated according to the first formula are as follows:
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, θ indicate
It adjusts the angle, λ indicates that the first course line spacing Dynamic gene, L indicate course line spacing, and R indicates constant factor, f1And f2Indicate conversion
The factor.
In one embodiment, computing module 703 is used for when the first adjustment is instructed for adjusting length for heading, according to the
The location information of target destination, the second formula is calculated in two formula are as follows:
x2=x1；
y2=y1+α*k1；
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, α indicate
Length for heading Dynamic gene, k1Indicate length for heading adjusting step.
In one embodiment, computing module 703 is used for when the first adjustment is instructed for adjusting course line spacing, according to the
The location information of target destination, third formula is calculated in three formula are as follows:
x2=x1+β*k2；
y2=y1；
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, β indicate
Second course line spacing Dynamic gene, k2Indicate course line spacing adjusting step.
As shown in figure 8, the boat line adjusting device further include: control module 704；
Control module 704, next destination for controlling target destination are adjusted according to the first adjustment instruction, until
Get second adjustment instruction.
The boat line adjusting device that the embodiment of the present disclosure provides, obtains the location information of current destination and the letter of initial route
Breath obtains the first adjustment instruction, and the first adjustment instruction is for adjusting flight angle, length for heading and the course line spacing in navigation direction
At least one of, according to the location information of current destination, the first adjustment instruction and preset algorithm, target destination is calculated
Location information generates the adjustment course line from current destination to target destination.Pass through flight angle, the length for heading to navigation direction
With the adjustment of at least one of course line spacing, course line can be adjusted in real time, solve existing unmanned plane according to pre-determined route
The problem of entire operating area can not be covered, provides the operating efficiency of unmanned plane.
Based on course line method of adjustment described in the corresponding embodiment of above-mentioned Fig. 2, the embodiment of the present disclosure also provides one kind
Computer readable storage medium, for example, non-transitorycomputer readable storage medium can be read-only memory (English: Read
Only Memory, ROM), it is random access memory (English: Random Access Memory, RAM), CD-ROM, tape, soft
Disk and optical data storage devices etc..It is stored with computer instruction on the storage medium, for executing the corresponding embodiment of above-mentioned Fig. 2
Described in course line method of adjustment, details are not described herein again.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (10)
1. a kind of course line method of adjustment, which is characterized in that the described method includes:
The location information of current destination and the information of initial route are obtained, the information of the initial route includes navigation direction, boat
Line length and course line spacing；
The first adjustment instruction is obtained, the first adjustment instruction is for adjusting the flight angle for navigating by water direction, the course line
At least one of length and the course line spacing；
According to the location information of the current destination, the first adjustment instruction and preset algorithm, target destination is calculated
Location information；
It generates from the current destination to the adjustment course line of the target destination.
2. the method according to claim 1, wherein the location information according to the current destination, described
The first adjustment instruction and preset algorithm, the location information that target destination is calculated include:
When the first adjustment instruction is for adjusting the flight angle in the navigation direction, institute is calculated according to the first formula
State the location information of target destination, first formula are as follows:
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, θ indicate adjustment
Angle, λ indicate that the first course line spacing Dynamic gene, L indicate course line spacing, and R indicates constant factor, f1And f2Indicate conversion factor.
3. the method according to claim 1, wherein the location information according to the current destination, described
The first adjustment instruction and preset algorithm, the location information that target destination is calculated include:
When the first adjustment is instructed for adjusting the length for heading, the target destination is calculated according to the second formula
Location information, second formula are as follows:
x2=x1；
y2=y1+α*k1；
Wherein, (x1,y1) indicate the position coordinates of the current destination, (x2,y2) indicate the position coordinates of the target destination, α
Indicate length for heading Dynamic gene, k1Indicate length for heading adjusting step.
4. the method according to claim 1, wherein the location information according to the current destination, described
The first adjustment instruction and preset algorithm, the location information that target destination is calculated include:
When the first adjustment is instructed for adjusting the course line spacing, the target destination is calculated according to third formula
Location information, the third formula are as follows:
x2=x1+β*k2；
y2=y1；
Wherein, (x1,y1) indicate the position coordinates of the current destination, (x2,y2) indicate the position coordinates of the target destination, β
Indicate the second course line spacing Dynamic gene, k2Indicate course line spacing adjusting step.
5. the method according to claim 1, wherein the method also includes:
The next destination for controlling the target destination is adjusted according to the first adjustment instruction, until getting the second tune
Whole instruction.
6. a kind of boat line adjusting device characterized by comprising
First obtains module, for obtaining the location information of current destination and the information of initial route, the letter of the initial route
Breath includes navigation direction, length for heading and course line spacing；
Second obtains module, and for obtaining the first adjustment instruction, the first adjustment instruction is for adjusting the navigation direction
At least one of flight angle, the length for heading and described course line spacing；
Computing module, for calculating according to the location information of the current destination, the first adjustment instruction and preset algorithm
To the location information of target destination；
Generation module, for generating the adjustment course line from the current destination to the target destination.
7. device according to claim 6, which is characterized in that the computing module is used to use when the first adjustment instruction
When adjusting the flight angle in the navigation direction, the location information of the target destination, institute are calculated according to the first formula
State the first formula are as follows:
Wherein, (x1,y1) indicate the position coordinates of current destination, (x2,y2) indicate target destination position coordinates, θ indicate adjustment
Angle, λ indicate that the first course line spacing Dynamic gene, L indicate course line spacing, and R indicates constant factor, f1And f2Indicate conversion factor.
8. device according to claim 6, which is characterized in that the computing module is used to use when the first adjustment instruction
When adjusting the length for heading, the location information of the target destination, second formula are calculated according to the second formula
Are as follows:
x2=x1；
y2=y1+α*k1；
Wherein, (x1,y1) indicate the position coordinates of the current destination, (x2,y2) indicate the position coordinates of the target destination, α
Indicate length for heading Dynamic gene, k1Indicate length for heading adjusting step.
9. device according to claim 6, which is characterized in that the computing module is used to use when the first adjustment instruction
When adjusting the course line spacing, the location information of the target destination, the third formula are calculated according to third formula
Are as follows:
x2=x1+β*k2；
y2=y1；
Wherein, (x1,y1) indicate the position coordinates of the current destination, (x2,y2) indicate the position coordinates of the target destination, β
Indicate the second course line spacing Dynamic gene, k2Indicate course line spacing adjusting step.
10. device according to claim 6, which is characterized in that described device further include: control module；
The control module, next destination for controlling the target destination are adjusted according to the first adjustment instruction
It is whole, until getting second adjustment instruction.
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