WO2019090488A1 - 生成模拟航线的方法、模拟飞行的方法、设备及存储介质 - Google Patents
生成模拟航线的方法、模拟飞行的方法、设备及存储介质 Download PDFInfo
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- 238000004088 simulation Methods 0.000 title abstract description 24
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- 238000009877 rendering Methods 0.000 claims abstract description 74
- 238000004590 computer program Methods 0.000 claims description 11
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Definitions
- the present application relates to the field of computer technologies, and in particular, to a method for generating a simulated route, a method for simulating flight, a device, a computing device, and a computer readable storage medium.
- aircraft represented by drones have a wide range of applications, such as professional aerial photography, agricultural irrigation, power line inspection, and public security monitoring.
- the ground station plans the route for the aircraft.
- the control system of the aircraft is turned on, the ground station uploads the route to the control system to control the actual flight of the aircraft according to the route.
- the flight process of the aircraft can be simulated in advance through the ground station simulator to provide a relatively accurate route for the actual flight process of the aircraft.
- the ground station simulator usually performs route planning based on a two-dimensional plane map, so each of the planned route points has only two-dimensional position information, and the height information of the waypoint can only be set by parameters.
- the actual flight of the aircraft will be caused due to the difference in the actual altitude of the home point and the relative height.
- the height is not accurate; correspondingly, since the ground station simulator only supports two-dimensional route planning, it is difficult to carry out flight simulation of the flight process of the aircraft through the ground station simulator, and it is necessary to combine the height information of the actually set waypoints.
- a reasonable route can be obtained through multiple actual flight operations, so the operation is cumbersome, and because the ground station simulator has a single function, it is difficult to plan a route with precise requirements for the actual flight altitude of the waypoint.
- the present application provides a method of generating a simulated route, a method of simulating flight, a device, a computing device, and a computer readable storage medium.
- a method of generating a simulated route comprising:
- a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
- a simulated route is generated based on the initial three-dimensional information.
- a method of simulating flight which simulates flight using a simulated route generated by the method for generating a simulated route, the method comprising:
- the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
- an apparatus for generating a simulated route comprising:
- a loading unit for loading a three-dimensional model of the target scene
- a rendering unit configured to invoke a three-dimensional rendering engine to render the three-dimensional model, and output a human-computer interaction interface, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
- An obtaining unit configured to obtain initial three-dimensional information of a waypoint based on the human-computer interaction interface
- a generating unit configured to generate a simulated route according to the initial three-dimensional information.
- a device for simulating flight the device applying the simulated route generated by the device for generating a simulated route to perform a simulated flight, including:
- a setting unit configured to set flight parameters of the aircraft model by a parameter adjustment simulator
- control unit configured to: after receiving the simulated flight instruction, control the aircraft model to execute the simulated route in a three-dimensional picture according to the flight parameter to obtain simulated flight data;
- a rendering unit configured to render the simulated flight data by using a three-dimensional rendering engine
- an output unit configured to output a simulated flight picture in a picture window of the human-computer interaction interface according to the rendering result.
- a computing device comprising a memory, a processor and an external interface connected by an internal bus,
- the memory is configured to store machine readable instructions corresponding to control logic for generating an analog route
- the processor is configured to read machine readable instructions on the memory and execute the instructions to:
- a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
- a simulated route is generated based on the initial three-dimensional information.
- a computing device comprising a memory, a processor and an external interface connected by an internal bus,
- the memory is configured to store machine readable instructions corresponding to the control logic of the simulated flight, and the simulated route corresponding to the control logic of the simulated flight is an analog route generated by the foregoing computing device;
- the processor is configured to read the machine readable instructions on the memory and execute the instructions to:
- the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
- a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to:
- a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
- a simulated route is generated based on the initial three-dimensional information.
- a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to:
- the aircraft model After receiving the simulated flight instruction, controlling the aircraft model to execute a simulated route in a three-dimensional picture according to the flight parameter, and obtaining simulated flight data, the simulated route being an analog route generated by executing a program on the computer readable storage medium ;
- the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
- the present application can calculate the three-dimensional information of the waypoints including the location information and the altitude information, and obtain the three-dimensional information of the waypoints including the location information and the height information. More accurate 3D simulation of the route, and because it can avoid multiple actual flight operations, thus improving the planning efficiency of the simulated route; correspondingly, based on the 3D simulation route for simulation flight, the simulated flight picture can be obtained synchronously, and can be simulated flight The simulation route is adjusted in real time during the process to provide a more accurate basis for the actual flight path of the aircraft.
- FIG. 1 is a flow chart of an embodiment of a method for generating a simulated route of the present application
- FIG. 2 is a schematic diagram of a human-machine interaction interface in FIG. 1;
- FIG. 3 is a flow chart showing an embodiment of obtaining initial three-dimensional information of a waypoint in the embodiment of FIG. 2;
- FIG. 4 is a flow chart showing another embodiment of obtaining initial three-dimensional information of a waypoint in the embodiment of FIG. 2;
- Figure 5 is a flow chart showing another embodiment of obtaining initial three-dimensional information of a waypoint in the embodiment of Figure 2;
- FIG. 6 is a flow chart of an embodiment of a method of simulating flight of the present application.
- FIG. 7 is a block diagram of an embodiment of an apparatus for generating a simulated route of the present application.
- Figure 8 is a block diagram of an embodiment of the apparatus for simulating flight of the present application.
- FIG. 9 is a block diagram of an embodiment of a computing device of the present application.
- the aircraft ground station is the command center of the aircraft system to control the aircraft to fly according to a preset route.
- the unmanned aerial platform as an example, which usually includes a remote controller, a terminal device (mobile phone, tablet, PC, etc.) with a video display function, a power supply system, a radio station, and the like.
- the ground station can plan the route for the aircraft.
- the control system of the aircraft is turned on, the ground station uploads the route to the control system to control the actual flight of the aircraft according to the route.
- the flight process of the aircraft can be simulated in advance through the ground station simulator to provide a relatively accurate reference for the actual flight path of the aircraft.
- the ground station simulator can be installed in a terminal device, such as a mobile phone, a tablet computer, a PC (Personal Computer, a personal computer), and the like.
- a terminal device such as a mobile phone, a tablet computer, a PC (Personal Computer, a personal computer), and the like.
- the ground station simulator in the embodiment of the present application can plan a three-dimensional simulation route through the human-machine interaction interface on the basis of loading the three-dimensional model, and can be based on The three-dimensional simulation route is simulated flight.
- the human-computer interaction interface for planning the three-dimensional simulation route can be entered.
- the waypoints in the simulated route can be obtained.
- a flowchart of an embodiment of a method for generating a simulated route according to the present application includes the following steps:
- Step 101 Load a three-dimensional model of the target scene.
- the three-dimensional model in this embodiment can be obtained by using an image-based modeling method, that is, after the scene to be modeled is determined, a plurality of two-dimensional images of the scene can be obtained, and then the two-dimensional image is used to establish the scene.
- the 3D geometry is used to complete the creation of the 3D model.
- the three-dimensional model of various scenarios may be generated in advance or generated in real time; the three-dimensional model may be generated by a cloud server or generated by a local terminal device.
- the three-dimensional model of the target scenario is generated by the cloud server
- the three-dimensional model may be loaded after receiving the three-dimensional model transmitted by the cloud server;
- the model is generated by the local terminal device, and the three-dimensional model can be loaded locally after the three-dimensional model is generated.
- Step 102 After calling the three-dimensional rendering engine to render the three-dimensional model, output a human-computer interaction interface, where the human-computer interaction interface includes a picture window for presenting the rendered three-dimensional image.
- the 3D rendering engine can be called to render the 3D model to obtain a 3D image of the target scene, and output a human-computer interaction interface, wherein the 3D image can be presented in the screen window of the human-computer interaction interface.
- the human-computer interaction interface may further include: a parameter setting panel for setting various parameters, a preview window for previewing the screen, and the like. 2 is a schematic diagram of a human-computer interaction interface according to an embodiment of the present application.
- Step 103 Obtain initial three-dimensional information of the waypoint based on the human-computer interaction interface.
- the initial three-dimensional information of the waypoint may include: location information of the waypoint and altitude information of the waypoint.
- location information of the waypoint may include: location information of the waypoint and altitude information of the waypoint.
- Step 301 Receive a mode switching instruction.
- the mode switching instructions in this step can be triggered in different ways:
- the user may perform a flip operation on the three-dimensional picture by using an input device such as a mouse or a touch pad, and trigger a corresponding mode switching instruction according to the flip state presented by the detected flip operation.
- the position editing instruction is triggered, and when the three-dimensional image is flipped to the head-up state, the height editing instruction is triggered; wherein the top view state and the pan view state can be determined according to the tilt angle of the three-dimensional image after the flip operation, for example, for example When the inclination angle of the three-dimensional screen is less than 45 degrees, it is in a plan view state, and when it is not less than 45 degrees, it is in a head-up state.
- the corresponding mode switching instruction may be triggered according to the user's selection result, for example, when the selection result is the position option, the position editing instruction is triggered, when selecting When the result is a height option, the height edit command is triggered.
- the position editing mode or the high-edit mode may be directly entered according to the mode switching instruction; or the position editing mode may be entered first by default, and then the high-definition mode is followed according to the mode switching instruction. Switch between and position mode.
- the embodiments of the present application are not limited.
- Step 302 Determine the type of the mode switching instruction. If it is a position editing instruction, execute step 303; if it is a height editing instruction, execute step 304.
- Step 303 Switch to the location editing mode according to the location editing command, and obtain the location information of the waypoint through the human-computer interaction interface. If yes, go to step 305.
- a plurality of waypoints may be generated based on the user's dot operation on the three-dimensional screen.
- the user can perform a right-click operation by using an input device such as a mouse or a touchpad.
- the intersection of the click position and the three-dimensional model is determined, and the intersection is determined as a waypoint;
- the height of each waypoint is the ground height, and the adjacent waypoints set in sequence are connected by a route.
- the user can drag the waypoint and determine the target position of the waypoint according to the result of the drag operation; or the user can also set the position parameter in the parameter setting panel.
- the position parameter corresponds to the target position of the waypoint.
- the corresponding location information of the target location in the three-dimensional picture may be obtained, and the location information includes latitude and longitude.
- Step 304 Switch to the height editing mode according to the height editing command, and obtain the height information of the waypoint through the human-machine interaction interface.
- the waypoint when switching to the height editing mode according to the height editing command, the waypoint can be controlled to perform a preset operation, wherein the preset operation may include the following operations:
- the user can set the translation height of the waypoint in the parameter setting panel of the human-computer interaction interface, and after obtaining the translation height, can control all the waypoints that have set the position information according to the translation height in the three-dimensional picture.
- the overall movement in the vertical direction can be set.
- the user can drag any waypoint through an input device such as a mouse or a touchpad, and control the waypoint to move in the vertical direction according to the drag operation.
- an input device such as a mouse or a touchpad
- the height information of the waypoint in the three-dimensional picture may be determined, and the height information may include an absolute height indicating the altitude of the waypoint or a relative height of the waypoint relative to the height of the takeoff point.
- the projection height of the takeoff point of the aircraft model on the three-dimensional model can be obtained, and the difference between the absolute height of the waypoint and the projected height is calculated, and the relative height of the waypoint is obtained.
- Step 305 Save initial three-dimensional information of each waypoint, and the initial three-dimensional information includes location information and altitude information of the waypoint.
- FIG. 4 a process for obtaining initial three-dimensional information by real-time dot-dot during the flight simulation of controlling the aircraft model in a three-dimensional picture is shown:
- Step 401 Control the aircraft model to start a simulated flight from a take-off point in the three-dimensional picture according to a control command issued by the remote controller.
- the aircraft model in this embodiment may include a dynamic model for interacting with the three-dimensional model, a control model for controlling the flight attitude of the aircraft model, and a visual system model for providing visual data for the control model.
- the user can set the takeoff point of the aircraft model in the three-dimensional picture through the analog remote controller or the real remote controller, and then issue a control command to the aircraft model, thereby controlling the aircraft model to start the simulation flight from the takeoff point.
- Step 402 If the waypoint increase command issued by the controller is received at any flight point during the simulated flight, the flight point is determined to be a waypoint, and the initial three-dimensional information of the waypoint is recorded.
- the image data when the preview window is included in the human-computer interaction interface, after the image data captured by the simulated image transmission function of the aircraft model during the simulated flight is acquired, the image data may be performed by the three-dimensional rendering engine. Render and render the rendered simulation in the preview window for real-time preview by the user.
- the waypoint increase command can be issued by operating a designated button on the remote controller, and after receiving the waypoint increase command, The current flight point is determined as a waypoint, and the position information and height information of the flight point in the three-dimensional picture are recorded as the initial three-dimensional information of the newly added waypoint.
- Step 403 Save initial three-dimensional information of each waypoint, and the initial three-dimensional information includes location information and altitude information of the waypoint.
- the simulated flight may be interrupted, and the adjusted for the waypoint is obtained.
- the initial 3D information is then saved to the adjusted initial 3D information of the waypoint.
- the adjustment may be performed through the parameter setting panel, or the navigation point may be dragged in the three-dimensional image by using an input device such as a mouse or a touchpad, and details are not described herein.
- a selection instruction of a target waypoint issued by the remote controller may be received, and the target waypoint may be a waypoint set by the dot operation. Any of the waypoints, then control the aircraft model to start from the target waypoint and re-execute the simulated flight in the 3D picture.
- Step 501 Load a preset route template in the picture window.
- multiple route templates may be preset, and the initial simulated route corresponding to each route template may have a fixed shape, such as a rectangle, a square, or a triangle, etc., and then the name and route template of each route template may be stored locally. Correspondence. After the user inputs the name of the selected route template, the route template corresponding to the input name may be obtained from the stored correspondence, and the route template may be loaded in the picture window. The route template is also available It is set by the user.
- Step 502 Generate an initial simulated route according to the route template, where the initial simulated route includes multiple initial waypoints, and the waypoint information of each initial waypoint includes initial three-dimensional information.
- the take-off point and the landing point of the initial simulated route can be determined by a user's click operation in the three-dimensional picture or a setting operation in the parameter setting panel, and then between the take-off point and the landing point.
- the initial simulated route is generated according to the fixed shape of the initial simulated route.
- the takeoff point and length of the initial simulated route may be determined by a user clicking operation in a three-dimensional picture or a setting operation in a parameter setting panel, and then starting from the takeoff point, according to the initial simulation
- the fixed shape of the route generates an initial simulated route that is consistent with the length of the simulated route.
- Step 503 Obtain modified initial three-dimensional information for any initial waypoint through the human-computer interaction interface.
- a plurality of initial waypoints may be set according to a preset interval in the initial simulated route, and the initial three-dimensional information may be determined according to the position of each initial waypoint in the three-dimensional picture.
- any of the initial waypoints may be adjusted, for example, by dragging to reset the position of any of the initial waypoints, or after selecting any initial waypoints, in the parameters
- the position of the initial waypoint is set in the setting panel, and then the modified initial three-dimensional information is obtained according to the adjusted initial waypoint position.
- Step 504 Save the modified initial three-dimensional information of each waypoint, and the initial three-dimensional information includes location information and altitude information.
- Step 104 Generate a simulated route according to the initial three-dimensional information.
- the target three-dimensional information of the waypoint may be obtained according to the initial three-dimensional information obtained in step 103, and the simulated route file may be saved correspondingly, and the simulated route file may include: a waypoint order and a waypoint information of each waypoint,
- the point information includes the target three-dimensional information of the waypoint and the attribute information of the waypoint.
- the target three-dimensional information of the waypoint may include: location information and altitude information of the waypoint; the attribute information of the waypoint may include: a posture parameter of the pan/tilt when the aircraft flies to the waypoint, a speed parameter of the aircraft, and an attitude parameter of the aircraft. .
- the takeoff point of the aircraft model can be acquired in three dimensions.
- the projection height on the model and calculate the difference between the absolute height of each waypoint and the projected height, which is the relative height of each waypoint relative to the takeoff point, which can be determined as the target three-dimensional information. Height information.
- the three-dimensional information of the waypoint including the position information and the height information can be planned, thereby obtaining a more accurate three-dimensional image.
- the route is simulated, and the planning efficiency of the simulated route is improved because multiple actual flight operations can be avoided.
- FIG. 6 is a flowchart of an embodiment of a method for simulating flight according to the present application.
- the embodiment may apply the simulated route generated by the foregoing embodiment shown in FIG. 2 to perform simulated flight, including the following steps:
- Step 601 Set flight parameters of the aircraft model by a parameter adjustment simulator.
- Step 602 After receiving the simulated flight instruction, control the aircraft model to execute the simulated route in the three-dimensional picture according to the flight parameter, and obtain simulated flight data.
- the simulated route can be adjusted during the execution of the simulated route. If a pause command is received at a certain waypoint, the simulated route can be interrupted and the adjusted for the waypoint can be obtained. The 3D information is then generated based on the adjusted 3D information to generate an updated simulated route. Based on the regenerated analog route, if the selection instruction of the target waypoint is received, the aircraft model can be controlled to start from the target waypoint, and the updated simulated route is executed in the three-dimensional picture, thereby improving the adjustment of the simulated route by adjusting the waypoint in real time. effectiveness.
- Step 603 Rendering simulated flight data by using a three-dimensional rendering engine.
- Step 604 Output a simulated flight picture in a picture window of the human-computer interaction interface according to the rendering result.
- the human-computer interaction interface may further include a preview window, so after acquiring the image data captured by the simulated image transmission function during the execution of the simulated flight path of the aircraft model, the image may be imaged by the three-dimensional rendering engine. The data is rendered, and the rendered simulation image is presented in real time in the preview window for the user to preview the simulated image captured by the aircraft model in real time during flight.
- the embodiment performs simulation flight based on the three-dimensional simulation route, and the simulated flight picture can be obtained synchronously, and the simulation route can be adjusted in real time during the simulation flight, thereby providing a more accurate basis for the actual flight path of the aircraft.
- the present application also provides an embodiment of a device for generating a simulated route, a device for simulating flight, and a computing device.
- FIG. 7 a block diagram of an embodiment of an apparatus for generating a simulated route according to the present application is as follows:
- the apparatus includes a loading unit 710, a rendering unit 720, an obtaining unit 730, and a generating unit 740.
- the loading unit 710 is configured to load a three-dimensional model of the target scene.
- a rendering unit 720 configured to invoke a three-dimensional rendering engine to render the three-dimensional model, and output a human-computer interaction interface, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
- the obtaining unit 730 is configured to obtain initial three-dimensional information of a waypoint based on the human-machine interaction interface
- the generating unit 740 is configured to generate a simulated route according to the initial three-dimensional information.
- the loading unit 710 may include at least one of the following units (not shown in FIG. 7):
- a first loading subunit configured to load the three-dimensional model after receiving the three-dimensional model of the target scene generated by the cloud server
- a second loading subunit configured to load the three-dimensional model after generating a three-dimensional model of the target scene by the local three-dimensional reconstruction function.
- the obtaining unit 730 may include (not shown in FIG. 7):
- a mode switching subunit configured to control the human-machine interaction interface to switch between a position editing mode and a high-edit mode according to a mode switching instruction
- a location information obtaining subunit configured to obtain location information of a waypoint through the human-machine interaction interface when switching to the location editing mode
- a height information obtaining subunit configured to obtain height information of a waypoint through the human-machine interaction interface when switching to the height editing mode
- a first information saving subunit configured to save initial three-dimensional information of each waypoint, the initial three-dimensional information including the location information and the height information.
- the mode switching subunit may be specifically configured to obtain a mode switching instruction according to the detected inversion state of the three-dimensional picture, and switch to a position editing mode when the three-dimensional picture is flipped to a top view state.
- the mode is switched to the height editing mode; or, according to the mode switching option provided by the human-machine interaction interface, the mode switching instruction is obtained, and when the position option is selected, the mode is switched to the position editing mode, when the height is When the option is selected, switch to the height edit mode.
- the location information obtaining subunit may be specifically used to perform based on the three-dimensional picture.
- Point operation generate a plurality of waypoints; determine a target position after any of the waypoints after the drag operation, or perform a target position after the position parameter setting in the parameter setting panel of the human-computer interaction interface, and obtain the target Corresponding location information in the three-dimensional picture, the location information including latitude and longitude.
- the height information obtaining sub-unit may be specifically configured to control the waypoint to perform a preset operation, and determine height information in the three-dimensional picture after the waypoint completes the preset operation.
- the controlling the waypoint to perform the preset operation may include: obtaining a translation height of the waypoint set in the parameter setting panel of the human-machine interaction interface, and controlling the waypoint according to the translation height Move in the vertical direction, or control the waypoint to move in the vertical direction according to the drag operation.
- the obtaining unit 730 may also include (not shown in FIG. 7):
- a waypoint increase determination subunit for determining that the flight point is a waypoint if the waypoint increase command issued by the controller is received at any flight point during the simulated flight, and recording the waypoint Initial three-dimensional information
- the second information saving subunit is configured to save initial three-dimensional information of each waypoint, where the initial three-dimensional information includes location information and altitude information of the waypoint.
- the human-computer interaction interface may further include a preview window
- the rendering unit 720 may be further configured to acquire image data captured by the aircraft model during the simulated flight, by using the three-dimensional rendering.
- the engine renders the image data and renders the rendered simulated picture in the preview window.
- the simulated flight control subunit may be further configured to interrupt execution of the simulated flight if a pause command is received at a certain waypoint during the simulated flight, obtaining Adjusted initial three-dimensional information of the waypoint;
- the second information saving subunit may further be configured to save the adjusted initial three-dimensional information of the waypoint
- the simulated flight control sub-unit may be further configured to receive a selection instruction of a target waypoint, where the target waypoint is any one of the waypoints determined by the waypoint increase command. Controlling the aircraft model from the target waypoint, performing the simulated flight in the three-dimensional picture.
- the obtaining unit 730 may further include (not shown in FIG. 7):
- a route template loading subunit configured to load a preset route template in the picture window
- An initial route generation subunit configured to generate an initial simulated route according to the route template, where the initial simulated route
- the method includes a plurality of initial waypoints, and the waypoint information of each initial waypoint includes initial three-dimensional information;
- a three-dimensional information obtaining subunit configured to obtain modified initial three-dimensional information for any initial waypoint through the human-computer interaction interface
- the third information saving subunit is configured to save the modified three-dimensional information of each waypoint, the initial three-dimensional information including location information and height information.
- the initial simulated route corresponding to each route template may have a fixed shape; the initial route generation subunit may be specifically configured to determine a takeoff point and a landing point of the initial route, according to the takeoff point and the landing point, Generating an initial simulated route according to the fixed shape of the initial simulated route, or determining a takeoff point and length of the initial simulated route, and generating an initial simulated route according to the fixed shape of the initial simulated route according to the takeoff point and length.
- the height information may include: an absolute height for indicating an altitude of the waypoint, or a relative height of the waypoint relative to a takeoff point height.
- the generating unit 740 can include (not shown in FIG. 7):
- a target information obtaining subunit configured to obtain target three-dimensional information of a waypoint according to the initial three-dimensional information
- the simulated route save subunit is configured to save the simulated route file, where the simulated route file includes: a waypoint sequence and waypoint information of each waypoint; the waypoint information includes target three-dimensional information of the waypoint, and Attribute information of waypoints;
- the target three-dimensional information of the waypoint includes: location information and altitude information of the waypoint;
- the attribute information of the waypoint includes: a posture parameter of the pan/tilt when the aircraft flies to the waypoint, a speed parameter of the aircraft, and a posture of the aircraft.
- the target information obtaining subunit may be specifically used to acquire a projection of the takeoff point of the aircraft model on the three-dimensional model. Height, the difference between the absolute height of each waypoint and the projected height is determined as the height information of each waypoint.
- the human-computer interaction interface further includes a preview window.
- the rendering unit 720 is further configured to: when the waypoint information of any waypoint is determined, acquire the aircraft model based on the three-dimensional image.
- the image data captured by the waypoint information is rendered by the three-dimensional rendering engine, and the rendered simulated image is presented in the preview window.
- FIG. 8 a block diagram of an embodiment of a device for simulating flight of the present application can be simulated flight using the simulated route generated by the device shown in FIG. 7:
- the apparatus includes a setting unit 810, a control unit 820, a rendering unit 830, and an output unit 840.
- the setting unit 810 is configured to set flight parameters of the aircraft model by using a parameter adjustment simulator
- the control unit 820 is configured to, after receiving the simulated flight instruction, control the aircraft model to execute the simulated route in a three-dimensional picture according to the flight parameter, to obtain simulated flight data;
- a rendering unit 830 configured to render the simulated flight data by using a three-dimensional rendering engine
- the output unit 840 is configured to output a simulated flight picture in a picture window of the human-machine interaction interface according to the rendering result.
- the apparatus may also include (not shown in FIG. 8):
- An interruption unit configured to interrupt execution of the simulated route if a pause command is received at a certain waypoint during execution of the simulated route by the aircraft model
- An obtaining unit configured to obtain adjusted three-dimensional information for the waypoint
- a generating unit configured to generate an updated simulated route based on the adjusted three-dimensional information.
- the apparatus may further include (not shown in FIG. 8):
- a receiving unit configured to receive a selection instruction of a target waypoint after regenerating the simulated route
- the control unit 820 may be further configured to control the aircraft model to start from the target waypoint, and execute the updated simulated route in the three-dimensional picture.
- the flight parameters may include: a cloud platform parameter of the aircraft model, a parameter of the aircraft model mounting analog camera, a GPS parameter of the aircraft model, and a posture parameter.
- the computing device may have the following general structure, including: a memory 920 connected through an internal bus 910, a processor 930, and an external interface 940.
- the memory 920 can store machine readable instructions corresponding to different control logics. Accordingly, the processor 930 can read machine readable instructions on the memory 920 to perform different operations.
- the memory 920 is configured to store machine readable instructions corresponding to control logic for obtaining flight simulation data
- the processor 930 is configured to read the machine readable instructions on the memory 920 and execute the instructions to implement the following operations:
- a human-computer interaction interface is output, where the human-computer interaction interface includes a screen window for presenting the rendered three-dimensional image;
- a simulated route is generated based on the initial three-dimensional information.
- the processor 930 is specifically configured to perform loading the three-dimensional model after receiving the three-dimensional model of the target scene generated by the cloud server; or generating the target scene by using the local three-dimensional reconstruction function. After the 3D model, the 3D model is loaded.
- the processor 930 is specifically configured to perform, according to the mode switching instruction, controlling the human-machine interaction interface to switch between a position editing mode and a height editing mode; when switching to the position editing mode, Obtaining location information of the waypoint through the human-computer interaction interface; obtaining the height information of the waypoint through the human-machine interaction interface when switching to the high-edit mode; and saving initial three-dimensional information of each waypoint, the initial The three-dimensional information includes the location information and the height information.
- the processor 930 is specifically configured to: obtain a mode switching instruction according to the detected inversion state of the three-dimensional picture, and switch to position editing when the three-dimensional picture is flipped to a top view state. a mode of switching to a height editing mode when the three-dimensional screen is flipped to a head-up state; or obtaining a mode switching instruction according to a mode switching option provided by the human-machine interaction interface, and switching to a position editing mode when the location option is selected When the height option is selected, switch to the height edit mode.
- the processor 930 is configured to perform, according to the striking operation on the three-dimensional picture, generate a plurality of waypoints; determine a target position of any waypoint after the drag operation, or Performing a target position after the position parameter setting in the parameter setting panel of the human-computer interaction interface; obtaining position information corresponding to the target position in the three-dimensional picture, the position information including latitude and longitude.
- the processor 930 is specifically configured to perform control of the waypoint to perform a preset operation; and determine height information in the three-dimensional picture after the waypoint completes the preset operation.
- the processor 930 is specifically configured to perform obtaining a translation height of the waypoint set in a parameter setting panel of the human-machine interaction interface, and control the waypoint according to the The translation height is moved in the vertical direction; or, the waypoint is controlled to move in the vertical direction according to the drag operation.
- the processor 930 is specifically configured to execute, according to a control command issued by the remote controller, control the aircraft model to start a simulated flight from a take-off point in the three-dimensional picture; if during the simulated flight Receiving a waypoint increase command issued by the controller at any flight point, determining that the flight point is a waypoint, and recording initial three-dimensional information of the waypoint; and saving initial three-dimensional information of each waypoint
- the initial three-dimensional information includes location information and altitude information of the waypoint.
- the processor 930 is specifically configured to perform acquiring image data captured by the aircraft model during the simulated flight; and rendering the image data by using the three-dimensional rendering engine; The rendered simulated picture is rendered in the preview window.
- the processor 930 is further configured to perform, during the simulated flight, if the pause instruction is received at a certain waypoint, interrupting performing the simulated flight; The adjusted initial three-dimensional information of the waypoint is stored; and the adjusted initial three-dimensional information of the waypoint is saved.
- the processor 930 is further configured to perform a selection instruction of receiving a target waypoint, where the target waypoint is any one of the waypoints determined by the waypoint increase instruction. Pointing; controlling the aircraft model to start from the target waypoint, performing the simulated flight in the three-dimensional picture.
- the processor 930 is specifically configured to perform loading a preset route template in the picture window, and generate an initial simulated route according to the route template, where the initial simulated route includes multiple The initial waypoints, the waypoint information of each initial waypoint contains initial three-dimensional information; the modified initial three-dimensional information for any initial waypoint is obtained through the human-computer interaction interface; and the modified each waypoint is saved Initial three-dimensional information, the initial three-dimensional information including location information and height information.
- the processor 930 is specifically configured to perform a determination of a take-off point and a landing point of an initial simulated route, and generate an initial shape according to the fixed shape of the initial simulated route according to the take-off point and the landing point. Simulating the route; or determining the takeoff point and length of the initial simulated route, and generating an initial simulated route according to the fixed shape of the initial simulated route according to the takeoff point and length.
- the height information includes an absolute height for indicating an altitude of the waypoint or a relative height of the waypoint relative to a height of the takeoff point.
- the processor 930 is specifically configured to perform target three-dimensional information for obtaining a waypoint according to the initial three-dimensional information; and save a simulated route file, where the simulated route file includes: a waypoint sequence and Waypoint information of each waypoint; the waypoint information includes target three-dimensional information of the waypoint, and attribute information of the waypoint;
- the target three-dimensional information of the waypoint includes: location information and altitude information of the waypoint;
- the attribute information of the waypoint includes: a posture parameter of the pan/tilt when the aircraft flies to the waypoint, a speed parameter of the aircraft, and an attitude parameter of the aircraft.
- the initial three-dimensional information of the waypoint includes: location information of the waypoint and an absolute height;
- the processor 930 is specifically configured to perform a high projection of the takeoff point of the acquiring aircraft model on the three-dimensional model Degree; the difference between the absolute height of each waypoint and the projected height is determined as the height information of each waypoint.
- the human-computer interaction interface further includes a preview window.
- the processor 930 is further configured to: when the waypoint information of any waypoint is determined, acquire the aircraft model in the three-dimensional image. Image data captured based on the waypoint information; rendering the image data by the three-dimensional rendering engine; presenting the rendered simulated image in the preview window.
- the memory 920 is configured to store machine readable instructions corresponding to the control logic of the simulated flight, and the simulated route corresponding to the control logic of the simulated flight is an analog route generated by the foregoing computing device;
- the processor 930 is configured to read the machine readable instructions on the memory and execute the instructions to:
- the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
- the processor 930 is further configured to perform execution of the simulated route during the execution of the simulated route of the aircraft model, if the suspension instruction is received at a certain waypoint, interrupting execution of the simulated route; The adjusted three-dimensional information of the waypoint; generating an updated simulated route based on the adjusted three-dimensional information.
- the processor 930 is further configured to perform a selection instruction of receiving a target waypoint after regenerating the simulated route; controlling the aircraft model to start from the target waypoint in the three-dimensional picture The updated simulated route is executed in the middle.
- the flight parameters include: a pan/tilt parameter of the aircraft model, a parameter of the aircraft model mount analog camera, a GPS parameter of the aircraft model, and a pose parameter.
- the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, and when the program is executed, the following operations are implemented:
- a human-computer interaction interface is output, and the human-computer interaction boundary
- the facet includes a picture window for rendering the rendered three-dimensional picture
- a simulated route is generated based on the initial three-dimensional information.
- the embodiment of the present application further provides another computer readable storage medium, on which a computer program is stored, and when the program is executed, the following operations are implemented:
- the simulated flight picture is output in the picture window of the human-computer interaction interface according to the rendering result.
- the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
- the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.
- Embodiments of the subject matter and functional operations described in this specification can be implemented in the following: digital electronic circuits, tangible embodied computer software or firmware, computer hardware including the structures disclosed in the specification and their structural equivalents, or One or more combinations.
- Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., encoded on a tangible, non-transitory program carrier, to be executed by or controlled by a data processing device.
- the program instructions may be encoded on an artificially generated propagating signal, such as a machine-generated electrical, optical or electromagnetic signal that is generated to encode and transmit the information to a suitable receiver device for data
- the processing device executes.
- the computer storage medium can be a machine readable storage device, a machine readable storage substrate, a random or serial access memory device, or a combination of one or more of them.
- the processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform the corresponding functions by operating in accordance with input data and generating an output.
- the processing and logic flow may also be performed by dedicated logic circuitry, such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), and the apparatus may also be implemented as dedicated logic circuitry.
- FPGA Field Programmable Gate Array
- ASIC Application Specific Integrated Circuit
- Computers suitable for the execution of a computer program include, for example, a general purpose and/or special purpose microprocessor, or any other type of central processing unit.
- the central processing unit will receive instructions and data from a read only memory and/or a random access memory.
- the basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data.
- the computer will also include one or more mass storage devices for storing data, such as a magnetic disk, magneto-optical disk or optical disk, or the like, or the computer will be operatively coupled to the mass storage device for receiving data or It transmits data, or both.
- the computer does not have to have such a device.
- the computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or, for example, a universal serial bus (USB) ) Portable storage devices for flash drives, to name a few.
- PDA personal digital assistant
- GPS global positioning system
- USB universal serial bus
- Computer readable media suitable for storing computer program instructions and data include all forms of nonvolatile memory, media and memory devices including, for example, semiconductor memory devices (eg, EPROM, EEPROM, and flash memory devices), magnetic disks (eg, internal hard drives or Mobile disk), magneto-optical disks, and CD ROM and DVD-ROM disks.
- semiconductor memory devices eg, EPROM, EEPROM, and flash memory devices
- magnetic disks eg, internal hard drives or Mobile disk
- magneto-optical disks e.g, CD ROM and DVD-ROM disks.
- the processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.
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Abstract
生成模拟航线的方法、模拟飞行的方法、装置、设备及存储设备,该生成模拟航线方法包括:加载目标场景的三维模型;调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;基于所述人机交互界面获得航点的初始三维信息;根据所述初始三维信息生成模拟航线。应用本申请实施例可以规划出包括位置信息和高度信息在内的航点的三维信息,从而获得更为准确的三维模拟航线,并且由于可以避免多次实际飞行操作,因此提升了模拟航线的规划效率;相应的,基于三维模拟航线进行模拟飞行,可以为飞行器的实际飞行航线提供更为精确的依据。
Description
本申请涉及计算机技术领域,尤其涉及一种生成模拟航线的方法、模拟飞行的方法、装置、计算设备及计算机可读存储介质。
目前以无人机为代表的飞行器有比较广泛的应用,例如,进行专业航拍、农业灌溉、电力巡线、治安监控等。通常飞行器在实际飞行过程中,由地面站为飞行器规划航线,当飞行器的控制***开机后,地面站将航线上传至控制***,以控制飞行器根据航线进行实际飞行。为了保证飞行器在实际飞行过程中的精确性,可以预先通过地面站模拟器对飞行器的飞行过程进行模拟仿真,以便为飞行器的实际飞行过程提供相对精确的航线。
相关技术中,地面站模拟器通常基于二维平面地图进行航线规划,因此规划出的模拟航线中每个航点仅具有二维的位置信息,而航点的高度信息仅能通过参数设置,设置为相对于飞行器起飞点(home点)的相对高度,因此当飞行器在不同的home点起飞时,将会由于home点实际海拔高度的不同,而相对高度不变的情况下,导致飞行器的实际飞行高度不准确;相应的,由于地面站模拟器仅支持二维航线规划,因此难以通过地面站模拟器对飞行器的飞行过程进行空间范围内的飞行模拟,需要结合实际设置的航点的高度信息,通过多次实际飞行操作才能获得合理的航线,因此操作繁琐,而且由于地面站模拟器功能单一,也难以规划出对航点的实际飞行高度有精确要求的航线。
发明内容
本申请提供一种生成模拟航线的方法、模拟飞行的方法、装置、计算设备及计算机可读存储介质。
依据本申请的第一方面,提供一种生成模拟航线的方法,所述方法包括:
加载目标场景的三维模型;
调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;
基于所述人机交互界面获得航点的初始三维信息;
根据所述初始三维信息生成模拟航线。
依据本申请的第二方面,提供一种模拟飞行的方法,所述方法应用前述生成模拟航线的方法所生成的模拟航线进行模拟飞行,所述方法包括:
通过参数调节模拟器设置飞行器模型的飞行参数;
在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行所述模拟航线,获得模拟飞行数据;
通过三维渲染引擎对所述模拟飞行数据进行渲染;
根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
依据本申请的第三方面,提供一种生成模拟航线的装置,包括:
加载单元,用于加载目标场景的三维模型;
渲染单元,用于调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;
获得单元,用于基于所述人机交互界面获得航点的初始三维信息;
生成单元,用于根据所述初始三维信息生成模拟航线。
依据本申请的第四方面,提供一种模拟飞行的装置,所述装置应用前述生成模拟航线的装置所生成的模拟航线进行模拟飞行,包括:
设置单元,用于通过参数调节模拟器设置飞行器模型的飞行参数;
控制单元,用于在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行所述模拟航线,获得模拟飞行数据;
渲染单元,用于通过三维渲染引擎对所述模拟飞行数据进行渲染;
输出单元,用于根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
依据本申请的第五方面,提供一种计算设备,包括通过内部总线连接的存储器、处理器和外部接口,
所述存储器,用于存储生成模拟航线的控制逻辑对应的机器可读指令;
所述处理器,用于读取所述存储器上的机器可读指令,并执行所述指令以实现如下操作:
加载目标场景的三维模型;
调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;
基于所述人机交互界面获得航点的初始三维信息;
根据所述初始三维信息生成模拟航线。
依据本申请的第六方面,提供一种计算设备,包括通过内部总线连接的存储器、处理器和外部接口,
所述存储器,用于存储模拟飞行的控制逻辑对应的机器可读指令,所述模拟飞行的控制逻辑对应的模拟航线为前述计算设备生成的模拟航线;
所述处理器,用于读取所述存储器上的所述机器可读指令,并执行所述指令以实现如下操作:
通过参数调节模拟器设置飞行器模型的飞行参数;
在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行所述模拟航线,获得模拟飞行数据;
通过三维渲染引擎对所述模拟飞行数据进行渲染;
根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
依据本申请的第七方面,提供一种计算机可读存储介质,其上存储有计算机程序,所述程序被处理器执行时实现如下操作:
加载目标场景的三维模型;
调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;
基于所述人机交互界面获得航点的初始三维信息;
根据所述初始三维信息生成模拟航线。
依据本申请的第八方面,提供一种计算机可读存储介质,其上存储有计算机程序,所述程序被处理器执行时实现如下操作:
通过参数调节模拟器设置飞行器模型的飞行参数;
在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行模拟航线,获得模拟飞行数据,所述模拟航线为执行前述计算机可读存储介质上的程序生成的模拟航线;
通过三维渲染引擎对所述模拟飞行数据进行渲染;
根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
由以上本申请实施例提供的技术方案可见,本申请由于基于三维模型进行模拟航线规划,与现有技术相比,可以规划出包括位置信息和高度信息在内的航点的三维信息,从而获得更为准确的三维模拟航线,并且由于可以避免多次实际飞行操作,因此提升了模拟航线的规划效率;相应的,基于三维模拟航线进行模拟飞行,可以同步获得模拟飞行画面,并可以在模拟飞行过程中实时调整模拟航线,从而为飞行器的实际飞行航线提供更为精确的依据。
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。
图1是本申请生成模拟航线的方法的实施例流程图;
图2是图1中一种人机交互界面的示意图;
图3是图2实施例中获得航点的初始三维信息的一个实施例流程图;
图4是图2实施例中获得航点的初始三维信息的另一个实施例流程图;
图5是图2实施例中获得航点的初始三维信息的另一个实施例流程图;
图6是本申请模拟飞行的方法的实施例流程图;
图7是本申请生成模拟航线的装置的实施例框图;
图8是本申请模拟飞行的装置的实施例框图;
图9是本申请计算设备的实施例框图。
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本申请一部分实施例,而不是全部的实施例。基于本申请
中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。另外,在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
飞行器地面站是飞行器***的指挥中心,用以控制飞行器按照预设航线飞行。以无人机地面站为例,其通常包括遥控器、具有视频显示功能的终端设备(手机、平板、PC等)、电源***,电台等。地面站可以为飞行器规划航线,当飞行器的控制***开机后,地面站将航线上传至控制***,以控制飞行器根据航线进行实际飞行。为了保证飞行器在实际飞行过程中的精确性,可以预先通过地面站模拟器对飞行器的飞行过程进行模拟仿真,以便为飞行器的实际飞行航线提供相对精确参考。
地面站模拟器作为一种APP(Application,应用),可以安装在终端设备中,例如,手机、平板电脑、PC(Personal Computer,个人电脑)等。与现有地面站模拟器基于二维平面规划二维航线不同,本申请实施例中的地面站模拟器可以在加载三维模型的基础上,通过人机交互界面规划出三维模拟航线,并且可以基于该三维模拟航线进行模拟飞行。在实际应用中,当用户打开地面站模拟器APP,即可进入用于规划三维模拟航线的人机交互界面,此时根据用户在人机交互界面上的各种操作,可以获得模拟航线中航点的三维信息,并生成三维的模拟航线;进一步还可以在终端设备的显示器上呈现飞行器模型的各种预览画面,以此可以在生成模拟航线时,或者在模拟飞行的过程中实时对航线进行调整。因此,应用本申请实施例可以在获得更为准确的模拟航线的同时,提升模拟航线的规划效率,为飞行器的实际飞行提供更为精确的依据。下面结合附图对本申请实施例进行详细描述。
参见图1,为本申请生成模拟航线的方法的一个实施例流程图,包括下述步骤:
步骤101:加载目标场景的三维模型。
本实施例中的三维模型可以采用基于图像的建模方式获得,即在确定了待建模的场景后,可以获得该场景的多个二维图像,然后由这些二维图像建立出该场景的三维几何结构,从而完成三维模型的建立。
在一个可选的实现方式中,各种场景的三维模型可以预先生成,也可以实时生成;三维模型可以由云端服务器生成,也可以由本地终端设备生成。
本步骤中,当确定了待规划模拟航线的目标场景后,如果目标场景的三维模型由云端服务器生成,则可以在接收到云端服务器传输的三维模型后,加载该三维模型;如果目标场景的三维模型由本地终端设备生成,则可以在生成该三维模型后,在本地加载该三维模型。
步骤102:调用三维渲染引擎对三维模型进行渲染后,输出人机交互界面,人机交互界面中包含用于呈现渲染后的三维画面的画面窗口。
本步骤中,在加载完三维模型后,可以调用三维渲染引擎对三维模型进行渲染后得到目标场景的三维画面,并输出人机交互界面,其中三维画面可以呈现在人机交互界面的画面窗口中,该人机交互界面中还可以包括:用于设置各种参数的参数设置面板,用于预览画面的预览窗口等。参见图2,为本申请实施例的一个人机交互界面的示意图。
步骤103:基于人机交互界面获得航点的初始三维信息。
本步骤中,航点的初始三维信息可以包括:航点的位置信息和航点的高度信息。其中,可以采用如下任一实现方式,基于人机交互界面获得航点的初始三维信息:
在一个可选的实现方式中,参见图3,示出了通过直接在画面窗口中打点的方式获得航点的初始三维信息的过程:
步骤301:接收模式切换指令。
本步骤中的模式切换指令可通过不同的方式触发:
在一种实现方式中,针对画面窗口呈现的三维画面,用户可以通过鼠标、触控板等输入设备对该三维画面进行翻转操作,根据检测到的翻转操作呈现的翻转状态触发相应的模式切换指令。比如,当三维画面翻转到俯视状态时,触发位置编辑指令,当三维画面翻转到平视状态时,触发高度编辑指令;其中,俯视状态和平视状态可以根据翻转操作后三维画面的倾斜角度确定,例如,三维画面的倾斜角小于45度时,为俯视状态,不小于45度时,为平视状态。
在另一种实现方式中,针对参数设置面板中提供的模式切换选项,可以根据用户的选择结果触发相应的模式切换指令,比如,当选择结果为位置选项时,则触发位置编辑指令,当选择结果为高度选项时,则触发高度编辑指令。
需要说明的是,在步骤102输出人机交互界面后,可以直接根据模式切换指令进入位置编辑模式,或者高度编辑模式;也可以先默认进入位置编辑模式,后续再根据模式切换指令在高度编辑模式和位置模式之间进行切换。对此本申请实施例不进行限制。
步骤302:判断模式切换指令的类型,如果是位置编辑指令,则执行步骤303;如果是高度编辑指令,则执行步骤304。
步骤303:根据位置编辑指令切换到位置编辑模式,通过人机交互界面获得航点的位置信
息,执行步骤305。
本步骤中,当根据位置编辑指令切换到位置编辑模式下时,可以基于用户在三维画面上的打点操作,生成多个航点。其中,用户可以通过鼠标、触控板等输入设备进行右键点击操作,在获得点击操作对应的点击位置后,确定该点击位置与三维模型的交点,将该交点确定为一个航点;在位置编辑模式下,每个航点的高度为地面高度,依次设置的相邻航点之间通过航线连接。
在通过打点操作生成任一航点后,用户可以对该航点进行拖动操作,根据拖动操作的结果确定该航点的目标位置;或者,用户也可以在参数设置面板中设置位置参数,该位置参数对应于航点的目标位置。在确定任一航点的目标位置后,可以获得该目标位置在三维画面中对应的位置信息,该位置信息包括纬度和经度。
步骤304:根据高度编辑指令切换到高度编辑模式,通过人机交互界面获得航点的高度信息。
本步骤中,当根据高度编辑指令切换到高度编辑模式下时,可以控制航点执行预设操作,其中预设操作可以包括如下操作:
在一个实现方式中,用户可以在人机交互界面的参数设置面板中设置航点的平移高度,在获得该平移高度后,可以控制所有已经设置了位置信息的航点按照该平移高度在三维画面的垂直方向上进行整体移动。
在另一个实现方式中,用户可以通过鼠标、触控板等输入设备对任一航点进行拖动操作,并控制该航点按照拖动操作在垂直方向上移动。
在控制航点完成预设操作后,可以确定航点在三维画面中的高度信息,该高度信息可以包括表示航点的海拔高度的绝对高度,或者表示航点相对于起飞点高度的相对高度。其中,在获得了航点的绝对高度后,可以获取飞行器模型的起飞点在三维模型上的投影高度,计算航点的绝对高度与该投影高度的差值,得到航点的相对高度。
步骤305:保存每个航点的初始三维信息,初始三维信息包括航点的位置信息和高度信息。
在另一个可选的实现方式中,参见图4,示出了在控制飞行器模型在三维画面中模拟飞行过程中,通过实时打点的方式获得初始三维信息的过程:
步骤401:根据遥控器发出的控制指令,控制飞行器模型从三维画面中的起飞点开始进行模拟飞行。
本实施例中的飞行器模型可以包括:用于与三维模型进行交互的动力模型,用于控制飞行器模型飞行姿态的控制模型,以及用于为控制模型提供视觉数据的视觉***模型。本步骤中,用户可以通过模拟遥控器,或者真实遥控器在三维画面中设置飞行器模型的起飞点,然后向飞行器模型发出控制指令,从而控制飞行器模型从起飞点开始进行模拟飞行。
步骤402:如果在模拟飞行过程中的任一飞行点上接收到控制器发出的航点增加指令,则确定该飞行点为航点,并记录该航点的初始三维信息。
在一个可选的实现方式中,当人机交互界面中包括预览窗口时,在获取到飞行器模型在模拟飞行过程中通过模拟图像传输功能拍摄的图像数据后,可以通过三维渲染引擎对图像数据进行渲染,并将渲染后的模拟画面呈现在预览窗口中,供用户进行实时预览。
在飞行器模型模拟飞行过程中,当用户通过预览窗口确定某个飞行点可以作为航点时,可以通过操作遥控器上的指定按键发出航点增加指令,在收到该航点增加指令后,可以将当前飞行点确定为航点,并且记录该飞行点在三维画面中的位置信息和高度信息,作为新增航点的初始三维信息。
步骤403:保存每个航点的初始三维信息,初始三维信息包括航点的位置信息和高度信息。
在一个可选的实现方式中,在飞行器模型的模拟飞行的过程中,如果在某个航点接收到遥控器发出的暂停指令,则可以中断执行模拟飞行,并获得针对该航点的调整后的初始三维信息,然后保存该航点的调整后的初始三维信息。其中,在调整航点的初始三维信息时,可以通过参数设置面板进行调整,也可以通过鼠标、触控板等输入设备在三维画面中拖动航点进行调整,在此不再赘述。
在另一个可选的实现方式中,当在通过遥控器进行航点的打点操作过程中,可以接收遥控器发出的目标航点的选择指令,该目标航点可以为通过打点操作设置的航点中的任一航点,然后控制飞行器模型从目标航点开始,在三维画面中重新执行模拟飞行。
在另一个可选的实现方式中,参见图5,示出了通过预设的航线模板设置航点,并获得航点的初始三维信息的过程:
步骤501:在画面窗口中加载预设的航线模板。
本实施例中,可以预先设置多个航线模板,每个航线模板对应的初始模拟航线可以具有固定形状,比如长方形、正方形、或者三角形等;然后可以在本地存储每个航线模板的名称与航线模板的对应关系。当用户输入所选择的航线模板的名称后,可以从存储的对应关系中获得与输入的名称对应的航线模板,并可以在画面窗口中加载该航线模板。该航线模板也可
以是由用户自定义设置的。
步骤502:根据航线模板生成初始模拟航线,初始模拟航线中包含多个初始航点,每个初始航点的航点信息中包含初始三维信息。
在一个可选的实现方式中,可以通过用户在三维画面中的点击操作,或者在参数设置面板中的设置操作,确定初始模拟航线的起飞点和降落点,然后在起飞点和降落点之间,按照初始模拟航线的固定形状生成初始模拟航线。
在另一个可选的实现方式中,可以通过用户在三维画面中的点击操作,或者在参数设置面板中的设置操作,确定初始模拟航线的起飞点和长度,然后从起飞点开始,按照初始模拟航线的固定形状生成与模拟航线的长度一致的初始模拟航线。
步骤503:通过人机交互界面获得针对任一初始航点的修改后的初始三维信息。
在生成初始模拟航线后,该初始模拟航线中可以按照预设间隔设置多个初始航点,根据每个初始航点在三维画面中的位置可以确定其初始三维信息。本步骤中,可以对多个初始航点中的任一初始航点进行调整,例如,通过拖动操作重新设置该任一初始航点的位置,或者在选中任一初始航点后,在参数设置面板中设置该初始航点的位置,然后根据调整后的初始航点的位置,获得其修改后的初始三维信息。
步骤504:保存每个航点修改后的初始三维信息,初始三维信息包括位置信息和高度信息。
至此,完成对基于人机交互界面获得航点的初始三维信息的集中可选方式的描述。
步骤104:根据初始三维信息生成模拟航线。
本步骤中,可以根据步骤103中得到的初始三维信息获得航点的目标三维信息,并相应保存模拟航线文件,该模拟航线文件可以包括:航点顺序和每个航点的航点信息,航点信息包括航点的目标三维信息、以及航点的属性信息。其中,航点的目标三维信息可以包括:航点的位置信息和高度信息;航点的属性信息可以包括:飞行器飞行到航点时的云台的姿态参数、飞行器的速度参数、飞行器的姿态参数。
在一个可选的实现方式中,如果航点的初始三维信息包括航点的位置信息和绝对高度,则在根据初始三维信息获得航点的目标三维信息时,可以获取飞行器模型的起飞点在三维模型上的投影高度,并计算每个航点的绝对高度与投影高度的差值,该差值即为每个航点相对于起飞点的相对高度,可以将该相对高度确定为目标三维信息中的高度信息。
由上述实施例可见,该实施例由于基于三维模型进行模拟航线规划,与现有技术相比,可以规划出包括位置信息和高度信息在内的航点的三维信息,从而获得更为准确的三维模拟航线,并且由于可以避免多次实际飞行操作,因此提升了模拟航线的规划效率。
参见图6,为本申请模拟飞行的方法的实施例流程图,该实施例可以应用前述图2所示实施例生成的模拟航线进行模拟飞行,包括如下步骤:
步骤601:通过参数调节模拟器设置飞行器模型的飞行参数。
本步骤中,通过参数调节模拟器可以设置飞行器模型的各种飞行参数,这些飞行参数与飞行器实际飞行过程中需要设置的各种飞行参数一致,可以包括:飞行器模型的云台参数、飞行器模型挂载模拟相机的参数、飞行器模型的GPS参数、姿态参数等。
步骤602:在接收到模拟飞行指令后,控制飞行器模型按照飞行参数在三维画面中执行模拟航线,获得模拟飞行数据。
在一个可选的实现方式中,可以在模拟航线的执行过程中对模拟航线进行调整,如果在某个航点接收到暂停指令,则可以中断执行模拟航线,并获得针对该航点的调整后的三维信息,然后基于调整后的三维信息生成更新后的模拟航线。基于重新生成的模拟航线,如果接收到目标航点的选择指令,则可以控制飞行器模型从目标航点开始,在三维画面中执行更新后的模拟航线,从而通过实时调整航点提高模拟航线的调整效率。
步骤603:通过三维渲染引擎对模拟飞行数据进行渲染。
步骤604:根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
在一个可选的实现方式中,人机交互界面中还可以包括预览窗口,因此在获取到飞行器模型在执行模拟航线过程中通过模拟图像传输功能拍摄的图像数据后,可以通过三维渲染引擎对图像数据进行渲染,并将将渲染后的模拟画面实时呈现在预览窗口中,供用户预览飞行器模型在飞行过程中实时拍摄的模拟画面。
由上述实施例可见,该实施例基于三维模拟航线进行模拟飞行,可以同步获得模拟飞行画面,并可以在模拟飞行过程中实时调整模拟航线,从而为飞行器的实际飞行航线提供更为精确的依据。
与前述生成模拟航线的方法,以及模拟飞行的方法实施例相对应,本申请还提供了生成模拟航线的装置、模拟飞行的装置、以及计算设备的实施例。
参见图7,为本申请生成模拟航线的装置的实施例框图:
该装置包括:加载单元710、渲染单元720、获得单元730和生成单元740。
其中,加载单元710,用于加载目标场景的三维模型;
渲染单元720,用于调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;
获得单元730,用于基于所述人机交互界面获得航点的初始三维信息;
生成单元740,用于根据所述初始三维信息生成模拟航线。
在一个可选的实现方式中,所述加载单元710可以包括至少一个下述单元(图7中未示出):
第一加载子单元,用于在接收到云端服务器生成的目标场景的三维模型后,加载所述三维模型;
第二加载子单元,用于在通过本地三维重建功能生成目标场景的三维模型后,加载所述三维模型。
在另一个可选的实现方式中,所述获得单元730可以包括(图7中未示出):
模式切换子单元,用于根据模式切换指令控制所述人机交互界面在位置编辑模式和高度编辑模式之间切换;
位置信息获得子单元,用于当切换到位置编辑模式时,通过所述人机交互界面获得航点的位置信息;
高度信息获得子单元,用于当切换到高度编辑模式时,通过所述人机交互界面获得航点的高度信息;
第一信息保存子单元,用于保存每个航点的初始三维信息,所述初始三维信息包括所述位置信息和所述高度信息。
在一个例子中,所述模式切换子单元,可以具体用于根据检测到的所述三维画面的翻转状态获得模式切换指令,当所述三维画面翻转到俯视状态时,切换到位置编辑模式,当所述三维画面翻转到平视状态时,切换到高度编辑模式;或者,根据所述人机交互界面提供的模式切换选项获得模式切换指令,当位置选项被选中时,切换到位置编辑模式,当高度选项被选中时,切换到高度编辑模式。
在另一个例子中,所述位置信息获得子单元,可以具体用于基于所述三维画面上的打
点操作,生成多个航点;确定任一航点经过拖动操作后的目标位置,或者在所述人机交互界面的参数设置面板中进行位置参数设置后的目标位置,并获得所述目标位置在所述三维画面中对应的位置信息,所述位置信息包括纬度和经度。
在另一个例子中,所述高度信息获得子单元,可以具体用于控制所述航点执行预设操作,并确定所述航点完成预设操作后在所述三维画面中的高度信息。其中,所述控制航点执行预设操作,可以包括:获得在所述人机交互界面的参数设置面板中设置的所述航点的平移高度,并控制所述航点按照所述平移高度在垂直方向移动,或者控制所述航点按照拖动操作在垂直方向上移动。
在另一个可选的实现方式中,所述获得单元730也可以包括(图7中未示出):
模拟飞行控制子单元,用于根据遥控器发出的控制指令,控制飞行器模型从所述三维画面中的起飞点开始进行模拟飞行;
航点增加确定子单元,用于如果在模拟飞行过程中的任一飞行点上接收到所述控制器发出的航点增加指令,则确定所述飞行点为航点,并记录所述航点的初始三维信息;
第二信息保存子单元,用于保存每个航点的初始三维信息,所述初始三维信息包括航点的位置信息和高度信息。
在一个例子中,所述人机交互界面中还可以包括预览窗口,所述渲染单元720,还可以用于获取所述飞行器模型在所述模拟飞行过程中拍摄的图像数据,通过所述三维渲染引擎对所述图像数据进行渲染,并将渲染后的模拟画面呈现在所述预览窗口。
在另一个例子中,所述模拟飞行控制子单元,还可以用于在所述模拟飞行的过程中,如果在某个航点接收到暂停指令,则中断执行所述模拟飞行,获得针对所述航点的调整后的初始三维信息;
所述第二信息保存子单元,还可以用于保存所述航点的调整后的初始三维信息
在另一个例子中,所述模拟飞行控制子单元,还可以用于接收到目标航点的选择指令,所述目标航点为通过所述航点增加指令确定的航点中的任一航点,控制所述飞行器模型从所述目标航点开始,在所述三维画面中执行所述模拟飞行。
在另一个可选的实现方式中,所述获得单元730还可以包括(图7中未示出):
航线模板加载子单元,用于在所述画面窗口中加载预设的航线模板;
初始航线生成子单元,用于根据所述航线模板生成初始模拟航线,所述初始模拟航线
中包含多个初始航点,每个初始航点的航点信息中包含初始三维信息;
三维信息获得子单元,用于通过所述人机交互界面获得针对任一初始航点的修改后的初始三维信息;
第三信息保存子单元,用于保存每个航点修改后的初始三维信息,所述初始三维信息包括位置信息和高度信息。
在一个例子中,每个航线模板对应的初始模拟航线可以具有固定形状;所述初始航线生成子单元,可以具体用于确定初始航线的起飞点和降落点,根据所述起飞点和降落点,按照所述初始模拟航线的固定形状生成初始模拟航线,或者确定初始模拟航线的起飞点和长度,根据所述起飞点和长度,按照所述初始模拟航线的固定形状生成初始模拟航线。
在另一个可选的实现方式中,所述高度信息可以包括:用于表示所述航点的海拔高度的绝对高度,或者,用于表示所述航点相对于起飞点高度的相对高度。
在另一个可选的实现方式中,所述生成单元740可以包括(图7中未示出):
目标信息获得子单元,用于根据所述初始三维信息获得航点的目标三维信息;
模拟航线保存子单元,用于保存模拟航线文件,所述模拟航线文件中包括:航点顺序和每个航点的航点信息;所述航点信息包括所述航点的目标三维信息、以及航点的属性信息;
其中,所述航点的目标三维信息包括:所述航点的位置信息和高度信息;
所述航点的属性信息包括:飞行器飞行到所述航点时的云台的姿态参数、飞行器的速度参数、飞行器的姿态。
在一个例子中,如果航点的初始三维信息包括:航点的位置信息和绝对高度;相应的,目标信息获得子单元,可以具体用于获取飞行器模型的起飞点在所述三维模型上的投影高度,将每个航点的绝对高度与所述投影高度的差值,确定为每个航点的高度信息。
在另一个例子中,所述人机交互界面中还包括预览窗口;所述渲染单元720,还可以用于当任一航点的航点信息确定后,获取飞行器模型在三维画面中基于所述航点信息拍摄的图像数据,通过所述三维渲染引擎对所述图像数据进行渲染,并将渲染后的模拟画面呈现在所述预览窗口。
参见图8,为本申请模拟飞行的装置的实施例框图,该装置可以应用如图7所示装置生成的模拟航线进行模拟飞行:
该装置包括:设置单元810、控制单元820、渲染单元830和输出单元840。
其中,所述设置单元810,用于通过参数调节模拟器设置飞行器模型的飞行参数;
控制单元820,用于在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行所述模拟航线,获得模拟飞行数据;
渲染单元830,用于通过三维渲染引擎对所述模拟飞行数据进行渲染;
输出单元840,用于根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
在一个可选的实现方式中,所述装置还可以包括(图8中未示出):
中断单元,用于在所述飞行器模型执行模拟航线的过程中,如果在某个航点接收到暂停指令,则中断执行所述模拟航线;
获得单元,用于获得针对所述航点的调整后的三维信息;
生成单元,用于基于调整后的三维信息生成更新后的模拟航线。
在另一个可选的实现方式中,所述装置还可以包括(图8中未示出):
接收单元,用于在重新生成模拟航线后,接收到目标航点的选择指令;
所述控制单元820,还可以用于控制所述飞行器模型从所述目标航点开始,在所述三维画面中执行所述更新后的模拟航线。
在另一个可选的实现方式中,所述飞行参数可以包括:飞行器模型的云台参数、飞行器模型挂载模拟相机的参数、飞行器模型的GPS参数、姿态参数。
参见图9,为本申请计算设备的实施例示意图,该计算设备可以具有如下通用结构,包括:通过内部总线910连接的存储器920、处理器930和外部接口940。其中,存储器920上可以存储不同的控制逻辑对应的机器可读指令,相应的,处理器930可以读取存储器920上的机器可读指令,执行不同的操作。
在本申请的一个实现方式中:
所述存储器920,用于存储获得飞行模拟数据的控制逻辑对应的机器可读指令;
所述处理器930,用于读取所述存储器920上的所述机器可读指令,并执行所述指令以实现如下操作:
加载目标场景的三维模型;
调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;
基于所述人机交互界面获得航点的初始三维信息;
根据所述初始三维信息生成模拟航线。
在一个可选的例子中,所述处理器930,具体用于执行在接收到云端服务器生成的目标场景的三维模型后,加载所述三维模型;或者,在通过本地三维重建功能生成目标场景的三维模型后,加载所述三维模型。
在另一个可选的例子中,所述处理器930,具体用于执行根据模式切换指令控制所述人机交互界面在位置编辑模式和高度编辑模式之间切换;当切换到位置编辑模式时,通过所述人机交互界面获得航点的位置信息;当切换到高度编辑模式时,通过所述人机交互界面获得航点的高度信息;并保存每个航点的初始三维信息,所述初始三维信息包括所述位置信息和所述高度信息。
在另一个可选的例子中,所述处理器930,具体用于执行根据检测到的所述三维画面的翻转状态获得模式切换指令,当所述三维画面翻转到俯视状态时,切换到位置编辑模式,当所述三维画面翻转到平视状态时,切换到高度编辑模式;或者,根据所述人机交互界面提供的模式切换选项获得模式切换指令,当位置选项被选中时,切换到位置编辑模式,当高度选项被选中时,切换到高度编辑模式。
在另一个可选的例子中,所述处理器930,具体用于执行基于所述三维画面上的打点操作,生成多个航点;确定任一航点经过拖动操作后的目标位置,或者在所述人机交互界面的参数设置面板中进行位置参数设置后的目标位置;获得所述目标位置在所述三维画面中对应的位置信息,所述位置信息包括纬度和经度。
在另一个可选的例子中,所述处理器930,具体用于执行控制所述航点执行预设操作;确定所述航点完成预设操作后在所述三维画面中的高度信息。
在另一个可选的例子中,所述处理器930,具体用于执行获得在所述人机交互界面的参数设置面板中设置的所述航点的平移高度,并控制所述航点按照所述平移高度在垂直方向移动;或者,控制所述航点按照拖动操作在垂直方向上移动。
在另一个可选的例子中,所述处理器930,具体用于执行根据遥控器发出的控制指令,控制飞行器模型从所述三维画面中的起飞点开始进行模拟飞行;如果在模拟飞行过程中的任一飞行点上接收到所述控制器发出的航点增加指令,则确定所述飞行点为航点,并记录所述航点的初始三维信息;并保存每个航点的初始三维信息,所述初始三维信息包括航点的位置信息和高度信息。
在另一个可选的例子中,所述处理器930,具体用于执行获取所述飞行器模型在所述模拟飞行过程中拍摄的图像数据;通过所述三维渲染引擎对所述图像数据进行渲染;将渲染后的模拟画面呈现在所述预览窗口。
在另一个可选的例子中,所述处理器930,还用于执行在所述模拟飞行的过程中,如果在某个航点接收到暂停指令,则中断执行所述模拟飞行;获得针对所述航点的调整后的初始三维信息;保存所述航点的调整后的初始三维信息。
在另一个可选的例子中,所述处理器930,还用于执行接收到目标航点的选择指令,所述目标航点为通过所述航点增加指令确定的航点中的任一航点;控制所述飞行器模型从所述目标航点开始,在所述三维画面中执行所述模拟飞行。
在另一个可选的例子中,所述处理器930,具体用于执行在所述画面窗口中加载预设的航线模板;根据所述航线模板生成初始模拟航线,所述初始模拟航线中包含多个初始航点,每个初始航点的航点信息中包含初始三维信息;通过所述人机交互界面获得针对任一初始航点的修改后的初始三维信息;保存每个航点修改后的初始三维信息,所述初始三维信息包括位置信息和高度信息。
在另一个可选的例子中,所述处理器930,具体用于执行确定初始模拟航线的起飞点和降落点,根据所述起飞点和降落点,按照所述初始模拟航线的固定形状生成初始模拟航线;或者,确定初始模拟航线的起飞点和长度,根据所述起飞点和长度,按照所述初始模拟航线的固定形状生成初始模拟航线。
在另一个可选的例子中,所述高度信息包括:用于表示所述航点的海拔高度的绝对高度,或者,用于表示所述航点相对于起飞点高度的相对高度。
在另一个可选的例子中,所述处理器930,具体用于执行根据所述初始三维信息获得航点的目标三维信息;保存模拟航线文件,所述模拟航线文件中包括:航点顺序和每个航点的航点信息;所述航点信息包括所述航点的目标三维信息、以及航点的属性信息;
其中,所述航点的目标三维信息包括:所述航点的位置信息和高度信息;
所述航点的属性信息包括:飞行器飞行到所述航点时的云台的姿态参数、飞行器的速度参数、飞行器的姿态参数。
在另一个可选的例子中,所述航点的初始三维信息包括:航点的位置信息和绝对高度;
所述处理器930,具体用于执行获取飞行器模型的起飞点在所述三维模型上的投影高
度;将每个航点的绝对高度与所述投影高度的差值,确定为每个航点的高度信息。
在另一个可选的例子中,所述人机交互界面中还包括预览窗口;所述处理器930,还用于执行当任一航点的航点信息确定后,获取飞行器模型在三维画面中基于所述航点信息拍摄的图像数据;通过所述三维渲染引擎对所述图像数据进行渲染;将渲染后的模拟画面呈现在所述预览窗口。
在本申请的另一个实现方式中:
所述存储器920,用于存储模拟飞行的控制逻辑对应的机器可读指令,所述模拟飞行的控制逻辑对应的模拟航线为前述计算设备生成的模拟航线;
所述处理器930,用于读取所述存储器上的所述机器可读指令,并执行所述指令以实现如下操作:
通过参数调节模拟器设置飞行器模型的飞行参数;
在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行所述模拟航线,获得模拟飞行数据;
通过三维渲染引擎对所述模拟飞行数据进行渲染;
根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
在一个例子中,所述处理器930,还用于执行在所述飞行器模型执行模拟航线的过程中,如果在某个航点接收到暂停指令,则中断执行所述模拟航线;获得针对所述航点的调整后的三维信息;基于调整后的三维信息生成更新后的模拟航线。
在另一个例子中,所述处理器930,还用于执行在重新生成模拟航线后,接收到目标航点的选择指令;控制所述飞行器模型从所述目标航点开始,在所述三维画面中执行所述更新后的模拟航线。
在另一个例子中,所述飞行参数包括:飞行器模型的云台参数、飞行器模型挂载模拟相机的参数、飞行器模型的GPS参数、姿态参数。
本申请实施例还提供一种计算机可读存储介质,其上存储有计算机程序,所述程序被执行时实现如下操作:
加载目标场景的三维模型;
调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界
面中包含用于呈现渲染后的三维画面的画面窗口;
基于所述人机交互界面获得航点的初始三维信息;
根据所述初始三维信息生成模拟航线。
本申请实施例还提供另一种计算机可读存储介质,其上存储有计算机程序,所述程序被执行时实现如下操作:
通过参数调节模拟器设置飞行器模型的飞行参数;
在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行模拟航线,获得模拟飞行数据,所述模拟航线为执行如权利要求45所述计算机可读存储介质上的程序生成的模拟航线;
通过三维渲染引擎对所述模拟飞行数据进行渲染;
根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
对于装置实施例而言,由于其基本对应于方法实施例,所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的,其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下,即可以理解并实施。
需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。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、物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、物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、物品或者设备中还存在另外的相同要素。
本说明书中描述的主题及功能操作的实施例可以在以下中实现:数字电子电路、有形体现的计算机软件或固件、包括本说明书中公开的结构及其结构性等同物的计算机硬件、或者它们中的一个或多个的组合。本说明书中描述的主题的实施例可以实现为一个或多个计算机程序,即编码在有形非暂时性程序载体上以被数据处理装置执行或控制数据处理装置的操
作的计算机程序指令中的一个或多个模块。可替代地或附加地,程序指令可以被编码在人工生成的传播信号上,例如机器生成的电、光或电磁信号,该信号被生成以将信息编码并传输到合适的接收机装置以由数据处理装置执行。计算机存储介质可以是机器可读存储设备、机器可读存储基板、随机或串行存取存储器设备、或它们中的一个或多个的组合。
本说明书中描述的处理及逻辑流程可以由执行一个或多个计算机程序的一个或多个可编程计算机执行,以通过根据输入数据进行操作并生成输出来执行相应的功能。所述处理及逻辑流程还可以由专用逻辑电路-例如FPGA(现场可编程门阵列)或ASIC(专用集成电路)来执行,并且装置也可以实现为专用逻辑电路。
适合用于执行计算机程序的计算机包括,例如通用和/或专用微处理器,或任何其他类型的中央处理单元。通常,中央处理单元将从只读存储器和/或随机存取存储器接收指令和数据。计算机的基本组件包括用于实施或执行指令的中央处理单元以及用于存储指令和数据的一个或多个存储器设备。通常,计算机还将包括用于存储数据的一个或多个大容量存储设备,例如磁盘、磁光盘或光盘等,或者计算机将可操作地与此大容量存储设备耦接以从其接收数据或向其传送数据,抑或两种情况兼而有之。然而,计算机不是必须具有这样的设备。此外,计算机可以嵌入在另一设备中,例如移动电话、个人数字助理(PDA)、移动音频或视频播放器、游戏操纵台、全球定位***(GPS)接收机、或例如通用串行总线(USB)闪存驱动器的便携式存储设备,仅举几例。
适合于存储计算机程序指令和数据的计算机可读介质包括所有形式的非易失性存储器、媒介和存储器设备,例如包括半导体存储器设备(例如EPROM、EEPROM和闪存设备)、磁盘(例如内部硬盘或可移动盘)、磁光盘以及CD ROM和DVD-ROM盘。处理器和存储器可由专用逻辑电路补充或并入专用逻辑电路中。
虽然本说明书包含许多具体实施细节,但是这些不应被解释为限制任何发明的范围或所要求保护的范围,而是主要用于描述特定发明的具体实施例的特征。本说明书内在多个实施例中描述的某些特征也可以在单个实施例中被组合实施。另一方面,在单个实施例中描述的各种特征也可以在多个实施例中分开实施或以任何合适的子组合来实施。此外,虽然特征可以如上所述在某些组合中起作用并且甚至最初如此要求保护,但是来自所要求保护的组合中的一个或多个特征在一些情况下可以从该组合中去除,并且所要求保护的组合可以指向子组合或子组合的变型。
类似地,虽然在附图中以特定顺序描绘了操作,但是这不应被理解为要求这些操作以所示的特定顺序执行或顺次执行、或者要求所有例示的操作被执行,以实现期望的结果。在
某些情况下,多任务和并行处理可能是有利的。此外,上述实施例中的各种***模块和组件的分离不应被理解为在所有实施例中均需要这样的分离,并且应当理解,所描述的程序组件和***通常可以一起集成在单个软件产品中,或者封装成多个软件产品。
由此,主题的特定实施例已被描述。其他实施例在所附权利要求书的范围以内。在某些情况下,权利要求书中记载的动作可以以不同的顺序执行并且仍实现期望的结果。此外,附图中描绘的处理并非必需所示的特定顺序或顺次顺序,以实现期望的结果。在某些实现中,多任务和并行处理可能是有利的。
以上对本申请实施例所提供的方法和装置进行了详细介绍,本文中应用了具体个例对本申请的原理及实施方式进行了阐述,以上实施例的说明只是用于帮助理解本申请的方法及其核心思想;同时,对于本领域的一般技术人员,依据本申请的思想,在具体实施方式及应用范围上均会有改变之处,综上所述,本说明书内容不应理解为对本申请的限制。
Claims (46)
- 一种生成模拟航线的方法,其特征在于,所述方法包括:加载目标场景的三维模型;调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;基于所述人机交互界面获得航点的初始三维信息;根据所述初始三维信息生成模拟航线。
- 根据权利要求1所述的方法,其特征在于,所述加载目标场景的三维模型,包括:在接收到云端服务器生成的目标场景的三维模型后,加载所述三维模型;或者,在通过本地三维重建功能生成目标场景的三维模型后,加载所述三维模型。
- 根据权利要求1所述的方法,其特征在于,所述基于所述人机交互界面获得航点的初始三维信息,包括:根据模式切换指令控制所述人机交互界面在位置编辑模式和高度编辑模式之间切换;当切换到位置编辑模式时,通过所述人机交互界面获得航点的位置信息;当切换到高度编辑模式时,通过所述人机交互界面获得航点的高度信息;保存每个航点的初始三维信息,所述初始三维信息包括所述位置信息和所述高度信息。
- 根据权利要求3所述的方法,其特征在于,所述根据模式切换指令控制所述人机交互界面在位置编辑模式和高度编辑模式之间切换,包括:根据检测到的所述三维画面的翻转状态获得模式切换指令,当所述三维画面翻转到俯视状态时,切换到位置编辑模式,当所述三维画面翻转到平视状态时,切换到高度编辑模式;或者,根据所述人机交互界面提供的模式切换选项获得模式切换指令,当位置选项被选中时,切换到位置编辑模式,当高度选项被选中时,切换到高度编辑模式。
- 根据权利要求3所述的方法,其特征在于,所述通过人机交互界面获得航点的位置信息,包括:基于所述三维画面上的打点操作,生成多个航点;确定任一航点经过拖动操作后的目标位置,或者在所述人机交互界面的参数设置面板中进行位置参数设置后的目标位置;获得所述目标位置在所述三维画面中对应的位置信息,所述位置信息包括纬度和经度。
- 根据权利要求3所述的方法,其特征在于,所述通过人机交互界面获得航点的高度信 息,包括:控制所述航点执行预设操作;确定所述航点完成预设操作后在所述三维画面中的高度信息。
- 根据权利要求6所述的方法,其特征在于,所述控制航点执行预设操作,包括:获得在所述人机交互界面的参数设置面板中设置的所述航点的平移高度,并控制所述航点按照所述平移高度在垂直方向移动;或者,控制所述航点按照拖动操作在垂直方向上移动。
- 根据权利要求1所述的方法,其特征在于,所述基于所述人机交互界面获得航点的初始三维信息,包括:根据遥控器发出的控制指令,控制飞行器模型从所述三维画面中的起飞点开始进行模拟飞行;如果在模拟飞行过程中的任一飞行点上接收到所述控制器发出的航点增加指令,则确定所述飞行点为航点,并记录所述航点的初始三维信息;保存每个航点的初始三维信息,所述初始三维信息包括航点的位置信息和高度信息。
- 根据权利要求8所述的方法,其特征在于,所述人机交互界面中还包括预览窗口;所述方法还包括:获取所述飞行器模型在所述模拟飞行过程中拍摄的图像数据;通过所述三维渲染引擎对所述图像数据进行渲染;将渲染后的模拟画面呈现在所述预览窗口。
- 根据权利要求8所述的方法,其特征在于,所述方法还包括:在所述模拟飞行的过程中,如果在某个航点接收到暂停指令,则中断执行所述模拟飞行;获得针对所述航点的调整后的初始三维信息;保存所述航点的调整后的初始三维信息。
- 根据权利要求10所述的方法,其特征在于,所述方法还包括:接收到目标航点的选择指令,所述目标航点为通过所述航点增加指令确定的航点中的任一航点;控制所述飞行器模型从所述目标航点开始,在所述三维画面中执行所述模拟飞行。
- 根据权利要求1所述的方法,其特征在于,所述基于所述人机交互界面获得航点的初始三维信息,包括:在所述画面窗口中加载预设的航线模板;根据所述航线模板生成初始模拟航线,所述初始模拟航线中包含多个初始航点,每个初始航点的航点信息中包含初始三维信息;通过所述人机交互界面获得针对任一初始航点的修改后的初始三维信息;保存每个航点修改后的初始三维信息,所述初始三维信息包括位置信息和高度信息。
- 根据权利要求12所述的方法,其特征在于,每个航线模板对应的初始模拟航线具有固定形状;所述根据所述航线模板生成初始模拟航线,包括:确定初始模拟航线的起飞点和降落点,根据所述起飞点和降落点,按照所述初始模拟航线的固定形状生成初始模拟航线;或者,确定初始模拟航线的起飞点和长度,根据所述起飞点和长度,按照所述初始模拟航线的固定形状生成初始模拟航线。
- 根据权利要求3、8或12所述的方法,其特征在于,所述高度信息包括:用于表示所述航点的海拔高度的绝对高度,或者,用于表示所述航点相对于起飞点高度的相对高度。
- 根据权利要求1所述的方法,其特征在于,所述根据所述初始三维信息生成模拟航线,包括:根据所述初始三维信息获得航点的目标三维信息;保存模拟航线文件,所述模拟航线文件中包括:航点顺序和每个航点的航点信息;所述航点信息包括所述航点的目标三维信息、以及航点的属性信息;其中,所述航点的目标三维信息包括:所述航点的位置信息和高度信息;所述航点的属性信息包括:飞行器飞行到所述航点时的云台的姿态参数、飞行器的速度参数、飞行器的姿态参数。
- 根据权利要求15所述的方法,其特征在于,所述航点的初始三维信息包括:航点的位置信息和绝对高度;所述根据所述初始三维信息获得航点的目标三维信息,包括:获取飞行器模型的起飞点在所述三维模型上的投影高度;将每个航点的绝对高度与所述投影高度的差值,确定为每个航点的高度信息。
- 根据权利要求15所述的方法,其特征在于,所述人机交互界面中还包括预览窗口;所述方法还包括:当任一航点的航点信息确定后,获取飞行器模型在三维画面中基于所述航点信息拍摄的图像数据;通过所述三维渲染引擎对所述图像数据进行渲染;将渲染后的模拟画面呈现在所述预览窗口。
- 一种模拟飞行的方法,其特征在于,所述方法应用如权利要求1至17任一方法生成的模拟航线进行模拟飞行,所述方法包括:通过参数调节模拟器设置飞行器模型的飞行参数;在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行所述模拟航线,获得模拟飞行数据;通过三维渲染引擎对所述模拟飞行数据进行渲染;根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
- 根据权利要求18所述的方法,其特征在于,所述方法还包括:在所述飞行器模型执行模拟航线的过程中,如果在某个航点接收到暂停指令,则中断执行所述模拟航线;获得针对所述航点的调整后的三维信息;基于调整后的三维信息生成更新后的模拟航线。
- 根据权利要求19所述的方法,其特征在于,所述方法还包括:在重新生成模拟航线后,接收到目标航点的选择指令;控制所述飞行器模型从所述目标航点开始,在所述三维画面中执行所述更新后的模拟航线。
- 根据权利要求18所述的方法,其特征在于,所述飞行参数包括:飞行器模型的云台参数、飞行器模型挂载模拟相机的参数、飞行器模型的GPS参数、姿态参数。
- 一种生成模拟航线的装置,其特征在于,包括:加载单元,用于加载目标场景的三维模型;渲染单元,用于调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;获得单元,用于基于所述人机交互界面获得航点的初始三维信息;生成单元,用于根据所述初始三维信息生成模拟航线。
- 一种模拟飞行的装置,其特征在于,所述装置应用如权利要求22所述装置生成的模拟航线进行模拟飞行,包括:设置单元,用于通过参数调节模拟器设置飞行器模型的飞行参数;控制单元,用于在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三 维画面中执行所述模拟航线,获得模拟飞行数据;渲染单元,用于通过三维渲染引擎对所述模拟飞行数据进行渲染;输出单元,用于根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
- 一种计算设备,其特征在于,包括通过内部总线连接的存储器、处理器和外部接口,所述存储器,用于存储生成模拟航线的控制逻辑对应的机器可读指令;所述处理器,用于读取所述存储器上的机器可读指令,并执行所述指令以实现如下操作:加载目标场景的三维模型;调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;基于所述人机交互界面获得航点的初始三维信息;根据所述初始三维信息生成模拟航线。
- 根据权利要求24所述的计算设备,其特征在于,所述处理器,具体用于执行在接收到云端服务器生成的目标场景的三维模型后,加载所述三维模型;或者,在通过本地三维重建功能生成目标场景的三维模型后,加载所述三维模型。
- 根据权利要求24所述的计算设备,其特征在于,所述处理器,具体用于执行根据模式切换指令控制所述人机交互界面在位置编辑模式和高度编辑模式之间切换;当切换到位置编辑模式时,通过所述人机交互界面获得航点的位置信息;当切换到高度编辑模式时,通过所述人机交互界面获得航点的高度信息;并保存每个航点的初始三维信息,所述初始三维信息包括所述位置信息和所述高度信息。
- 根据权利要求26所述的计算设备,其特征在于,所述处理器,具体用于执行根据检测到的所述三维画面的翻转状态获得模式切换指令,当所述三维画面翻转到俯视状态时,切换到位置编辑模式,当所述三维画面翻转到平视状态时,切换到高度编辑模式;或者,根据所述人机交互界面提供的模式切换选项获得模式切换指令,当位置选项被选中时,切换到位置编辑模式,当高度选项被选中时,切换到高度编辑模式。
- 根据权利要求26所述的计算设备,其特征在于,所述处理器,具体用于执行基于所述三维画面上的打点操作,生成多个航点;确定任一航点经过拖动操作后的目标位置,或者在所述人机交互界面的参数设置面板中进行位置参数设置后的目标位置;获得所述目标位置在所述三维画面中对应的位置信息,所述位置信息包 括纬度和经度。
- 根据权利要求26所述的计算设备,其特征在于,所述处理器,具体用于执行控制所述航点执行预设操作;确定所述航点完成预设操作后在所述三维画面中的高度信息。
- 根据权利要求29所述的计算设备,其特征在于,所述处理器,具体用于执行获得在所述人机交互界面的参数设置面板中设置的所述航点的平移高度,并控制所述航点按照所述平移高度在垂直方向移动;或者,控制所述航点按照拖动操作在垂直方向上移动。
- 根据权利要求24所述的计算设备,其特征在于,所述处理器,具体用于执行根据遥控器发出的控制指令,控制飞行器模型从所述三维画面中的起飞点开始进行模拟飞行;如果在模拟飞行过程中的任一飞行点上接收到所述控制器发出的航点增加指令,则确定所述飞行点为航点,并记录所述航点的初始三维信息;并保存每个航点的初始三维信息,所述初始三维信息包括航点的位置信息和高度信息。
- 根据权利要求31所述的计算设备,其特征在于,所述处理器,具体用于执行获取所述飞行器模型在所述模拟飞行过程中拍摄的图像数据;通过所述三维渲染引擎对所述图像数据进行渲染;将渲染后的模拟画面呈现在所述预览窗口。
- 根据权利要求31所述的计算设备,其特征在于,所述处理器,还用于执行在所述模拟飞行的过程中,如果在某个航点接收到暂停指令,则中断执行所述模拟飞行;获得针对所述航点的调整后的初始三维信息;保存所述航点的调整后的初始三维信息。
- 根据权利要求33所述的计算设备,其特征在于,所述处理器,还用于执行接收到目标航点的选择指令,所述目标航点为通过所述航点增加指令确定的航点中的任一航点;控制所述飞行器模型从所述目标航点开始,在所述三维画面中执行所述模拟飞行。
- 根据权利要求24所述的计算设备,其特征在于,所述处理器,具体用于执行在所述画面窗口中加载预设的航线模板;根据所述航线模板生成初始模拟航线,所述初始模拟航线中包含多个初始航点,每个初始航点的航点信息中包含初始三维信息;通过所述人机交互界面获得针对任一初始航点的修改后的初始三维信息;保存每个航点修改后的初始三维信息,所述初始三维信息包括位置信息和高度信息。
- 根据权利要求35所述的计算设备,其特征在于,所述处理器,具体用于执行确定初始模拟航线的起飞点和降落点,根据所述起飞点和降落点,按照所述初始模拟航线的固定形状生成初始模拟航线;或者,确定初始模拟航线的起飞点和长度,根据所述起飞点和长度,按照所述初始模拟航线的固定形状生成初始模拟航线。
- 根据权利要求26、31或35所述的计算设备,其特征在于,所述高度信息包括:用于表示所述航点的海拔高度的绝对高度,或者,用于表示所述航点相对于起飞点高度的相对高度。
- 根据权利要求24所述的计算设备,其特征在于,所述处理器,具体用于执行根据所述初始三维信息获得航点的目标三维信息;保存模拟航线文件,所述模拟航线文件中包括:航点顺序和每个航点的航点信息;所述航点信息包括所述航点的目标三维信息、以及航点的属性信息;其中,所述航点的目标三维信息包括:所述航点的位置信息和高度信息;所述航点的属性信息包括:飞行器飞行到所述航点时的云台的姿态参数、飞行器的速度参数、飞行器的姿态参数。
- 根据权利要求38所述的计算设备,其特征在于,所述航点的初始三维信息包括:航点的位置信息和绝对高度;所述处理器,具体用于执行获取飞行器模型的起飞点在所述三维模型上的投影高度;将每个航点的绝对高度与所述投影高度的差值,确定为每个航点的高度信息。
- 根据权利要求38所述的计算设备,其特征在于,所述人机交互界面中还包括预览窗口;所述处理器,还用于执行当任一航点的航点信息确定后,获取飞行器模型在三维画面中基于所述航点信息拍摄的图像数据;通过所述三维渲染引擎对所述图像数据进行渲染;将渲染后的模拟画面呈现在所述预览窗口。
- 一种计算设备,其特征在于,包括通过内部总线连接的存储器、处理器和外部接口,所述存储器,用于存储模拟飞行的控制逻辑对应的机器可读指令,所述模拟飞行的控制逻辑对应的模拟航线为如权利要求24至40任一计算设备生成的模拟航线;所述处理器,用于读取所述存储器上的所述机器可读指令,并执行所述指令以实现如下操作:通过参数调节模拟器设置飞行器模型的飞行参数;在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行所述模拟航线,获得模拟飞行数据;通过三维渲染引擎对所述模拟飞行数据进行渲染;根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
- 根据权利要求41所述的计算设备,其特征在于,所述处理器,还用于执行在所述飞行器模型执行模拟航线的过程中,如果在某个航点接收到暂停指令,则中断执行所述模拟航线;获得针对所述航点的调整后的三维信息;基于调整后的三维信息生成更新后的模拟航线。
- 根据权利要求42所述的计算设备,其特征在于,所述处理器,还用于执行在重新生成模拟航线后,接收到目标航点的选择指令;控制所述飞行器模型从所述目标航点开始,在所述三维画面中执行所述更新后的模拟航线。
- 根据权利要求41所述的计算设备,其特征在于,所述飞行参数包括:飞行器模型的云台参数、飞行器模型挂载模拟相机的参数、飞行器模型的GPS参数、姿态参数。
- 一种计算机可读存储介质,其上存储有计算机程序,其特征在于,所述程序被执行时实现如下操作:加载目标场景的三维模型;调用三维渲染引擎对所述三维模型进行渲染后,输出人机交互界面,所述人机交互界面中包含用于呈现渲染后的三维画面的画面窗口;基于所述人机交互界面获得航点的初始三维信息;根据所述初始三维信息生成模拟航线。
- 一种计算机可读存储介质,其上存储有计算机程序,其特征在于,所述程序被执行时实现如下操作:通过参数调节模拟器设置飞行器模型的飞行参数;在接收到模拟飞行指令后,控制所述飞行器模型按照所述飞行参数在三维画面中执行模拟航线,获得模拟飞行数据,所述模拟航线为执行如权利要求45所述计算机可读存储介质上的程序生成的模拟航线;通过三维渲染引擎对所述模拟飞行数据进行渲染;根据渲染结果在人机交互界面的画面窗口输出模拟飞行画面。
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