WO2019119186A1

WO2019119186A1 - Waypoint editing method and control device for unmanned aerial vehicle, and storage medium

Info

Publication number: WO2019119186A1
Application number: PCT/CN2017/116867
Authority: WO
Inventors: 黄宗继; 徐富
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-18
Filing date: 2017-12-18
Publication date: 2019-06-27
Also published as: CN109074213A

Abstract

Embodiments of the present invention provide a waypoint editing method and a control device for an unmanned aerial vehicle, and a storage medium, applied to a terminal for waypoint editing. The terminal is used for displaying a waypoint editing interface, and the waypoint editing interface comprises a route region obtained by planning at least three regional waypoints. The method comprises: obtaining an editing operation of a target regional waypoint associated with the route region on a user interface; determining the type of the editing operation and location information of the target regional waypoint; editing the target regional waypoint according to the type of the editing operation and the location information of the target regional waypoint to update the location information of the target regional waypoint; and adjusting the size of the route region according to the updated target regional waypoint. In this way, the quick editing of the regional waypoints is realized, and the accuracy of the route region is improved by adjusting the size of the route region and adjusting the length of the route.

Description

一种无人机的航点编辑方法、控制设备及存储介质Waypoint editing method, control device and storage medium for drone

技术领域Technical field

本发明涉及无人机应用领域，尤其涉及一种无人机的航点编辑方法、控制设备及存储介质。The invention relates to the field of application of a drone, and in particular to a method, a control device and a storage medium for a waypoint editing of a drone.

背景技术Background technique

随着无人机技术的发展，目前无人机已经广泛地应用于执行各种类型的作业任务(例如航拍、农业植保、勘测等)。例如，无人机在应用于农业植保应用时，可以通过无人机的控制设备对无人机执行农业植保任务的地块区域进行预先规划及设定，从而确定出无人机的航线区域。然而，在实际设定过程中，可能会因为操作界面及操作方法等影响产生精度偏差，从而导致设定得到的航线区域和预想的进行任务的航线区域出现偏差，影响无人机对该区域的作业效率。With the development of drone technology, drones have been widely used to perform various types of work tasks (such as aerial photography, agricultural plant protection, surveying, etc.). For example, when the UAV is applied to an agricultural plant protection application, the unmanned aerial vehicle area can be pre-planned and set by the UAV control device to perform the agricultural plant protection task. However, in the actual setting process, the accuracy deviation may occur due to the influence of the operation interface and the operation method, which may cause the deviation of the set route area and the expected route area of the task, affecting the drone's area to the target. Work efficiency.

因此，如何更好地提高航线区域位置的精确度成为研究的重点。Therefore, how to better improve the accuracy of the location of the route area has become the focus of research.

发明内容Summary of the invention

本发明实施例提供了一种无人机的航点编辑方法、控制设备及存储介质，以提高设定航线区域的准确度。Embodiments of the present invention provide a waypoint editing method, a control device, and a storage medium for a drone to improve the accuracy of setting a route area.

第一方面，本发明实施例提供了一种无人机的航点编辑方法，应用于进行航线规划的终端，所述终端用于显示航线规划界面，所述航线规划界面上包括由至少三个区域航点规划得到的航线区域，所述方法包括：In a first aspect, an embodiment of the present invention provides a waypoint editing method for a drone, which is applied to a terminal for route planning, where the terminal is used to display a route planning interface, where the route planning interface includes at least three The route area obtained by the regional waypoint planning, the method includes:

获取在用户界面上与所述航线区域关联的目标区域航点的编辑操作；Acquiring an editing operation of a target area waypoint associated with the route area on the user interface;

确定所述编辑操作的类型以及所述目标区域航点的位置信息；Determining a type of the editing operation and location information of a waypoint of the target area;

根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，以更新所述目标区域航点的位置信息；And performing, according to the type of the editing operation and the location information of the target area waypoint, the editing process of the target area waypoint to update the location information of the target area waypoint;

根据所述更新后的目标区域航点，调整所述航线区域的尺寸。The size of the route area is adjusted according to the updated target area waypoint.

第二方面，本发明实施例提供了一种无人机的控制设备，应用于航线规划控制，包括：In a second aspect, an embodiment of the present invention provides a control device for a drone, which is applied to route planning control, and includes:

显示装置，用于显示航线规划界面，所述航线规划界面上包括由至少三个区域航点规划得到的航线区域；a display device, configured to display a route planning interface, where the route planning interface includes a route region obtained by planning at least three regional waypoints;

控制装置，用于接收用户的编辑操作；a control device, configured to receive an editing operation of the user;

处理器，所述处理器分别与所述显示装置和所述控制装置相连接，所述处理器用于判断所述编辑操作并生成相应的控制指令，并执行以下步骤：a processor, the processor being respectively connected to the display device and the control device, wherein the processor is configured to determine the editing operation and generate a corresponding control instruction, and perform the following steps:

第三方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如上述第一方面所述无人机的航点编辑方法。In a third aspect, an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, implements the navigation of the drone as described in the first aspect above. Point editing method.

本发明实施例中，控制设备通过获取在用户界面上与所述航线区域关联的目标区域航点的编辑操作，确定所述编辑操作的类型以及所述目标区域航点的位置信息，根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，以更新所述目标区域航点的位置信息，根据所述更新后的目标区域航点，调整所述航线区域的尺寸，通过这种方式，实现了快速地对区域航点进行编辑，以对航线区域尺寸的调整，提高了设定航线区域的准确度。In the embodiment of the present invention, the control device determines the type of the editing operation and the location information of the target area waypoint by acquiring an editing operation of the target area waypoint associated with the route area on the user interface, according to the Editing the type of the operation operation and the location information of the target area waypoint, and performing editing processing on the target area waypoint to update the location information of the target area waypoint, and adjusting according to the updated target area waypoint In this way, the size of the route area is achieved, and the regional waypoints are edited quickly, so as to adjust the size of the route area, and the accuracy of setting the route area is improved.

附图说明DRAWINGS

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例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发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present invention. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.

图1是本发明实施例提供的一种航线区域的界面示意图；1 is a schematic diagram of an interface of a route area according to an embodiment of the present invention;

图2是本发明实施例提供的另一种航线区域的界面示意图；2 is a schematic diagram of an interface of another route area according to an embodiment of the present invention;

图3是本发明实施例提供的又一种航线区域的界面示意图；3 is a schematic diagram of an interface of another route area according to an embodiment of the present invention;

图4是本发明实施例提供的又一种航线区域的界面示意图；4 is a schematic diagram of another interface of a route area according to an embodiment of the present invention;

图5是本发明实施例提供的一种无人机的航点编辑方法的流程示意图；FIG. 5 is a schematic flowchart of a method for editing a waypoint of a drone according to an embodiment of the present invention; FIG.

图6是本发明实施例提供的一种提示界面的示意图；FIG. 6 is a schematic diagram of a prompt interface according to an embodiment of the present invention; FIG.

图7是本发明实施例提供的另一种无人机的航点编辑方法的流程示意图；FIG. 7 is a schematic flowchart of another waypoint editing method of a drone according to an embodiment of the present invention; FIG.

图8是本发明实施例提供的又一种无人机的航点编辑方法的流程示意图；FIG. 8 is a schematic flowchart of still another method for editing a waypoint of a drone according to an embodiment of the present invention; FIG.

图9是本发明实施例提供的一种控制设备的结构示意图。FIG. 9 is a schematic structural diagram of a control device according to an embodiment of the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，本方案所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the embodiments described in the present embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. example. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

下面结合附图对本发明的一些实施方式作详细说明。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。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

本发明实施例提供的无人机的航点编辑方法可应用于一种无人机的控制设备，所述控制设备可以是进行航线规划的终端，实际应用中所述终端可以为台式电脑、笔记本电脑、智能手机、可穿戴设备(如手表、手环)、遥控器中的任意一种或多种。其中，所述终端用于显示航线规划界面，所述航线规划界面上包括由至少三个区域航点规划得到的航线区域，所述航线区域中包括无人机的飞行航线，所述飞行航线包括连接段航线和飞行段航线。需要说明的是，所述连接段航线与航线区域的边界线平行并且相距预设的距离间隔。如图1所示，图1是本发明实施例提供的一种航线区域的界面示意图，如图1所示，所述航线区域界面上包括由区域航点11、区域航点12、区域航点13和区域航点14规划得到的航线区域15，所述航线区域15中包括飞行航线16，所述区域航点12上悬浮显示了该区域航点12的经纬度信息121，所述区域航点13上悬浮显示了所述区域航点13与所述区域航点12之间的距离131。The waypoint editing method of the UAV provided by the embodiment of the present invention can be applied to a control device of a drone, and the control device can be a terminal for route planning. In actual applications, the terminal can be a desktop computer or a notebook. Any one or more of a computer, a smart phone, a wearable device (such as a watch, a wristband), and a remote control. The terminal is configured to display a route planning interface, where the route planning interface includes a route area obtained by planning at least three regional waypoints, where the route area includes a flight path of the drone, and the flight path includes Connect segment routes and flight segment routes. It should be noted that the connecting segment route is parallel to the boundary line of the route region and is separated by a preset distance. As shown in FIG. 1 , FIG. 1 is a schematic diagram of an interface of a route area according to an embodiment of the present invention. As shown in FIG. 1 , the route area interface includes an area waypoint 11 , a regional waypoint 12 , and an area waypoint. 13 and a route point 15 planned by the regional waypoint 14 , wherein the route area 15 includes a flight route 16 , and the latitude and longitude information 121 of the waypoint 12 of the area is suspended and displayed on the regional waypoint 12 , and the regional waypoint 13 The upper suspension shows the distance 131 between the regional waypoint 13 and the regional waypoint 12.

本发明实施例提供的所述无人机的航点编辑方法可应用于无人机的作业任务，例如农业植保任务(如喷洒农药)、航拍作业任务、勘测作业任务，下文中将以农业植保任务来进行示意性说明。下面对本发明实施例提供的无人机的航点编辑方法进行举例说明。The waypoint editing method of the drone provided by the embodiment of the invention can be applied to the operation tasks of the drone, such as agricultural plant protection tasks (such as spraying pesticides), aerial work tasks, survey work tasks, and the following will be based on agricultural plant protection. The task is to give a schematic explanation. The waypoint editing method of the drone provided by the embodiment of the present invention is exemplified below.

本发明实施例中，所述无人机的控制设备可以获取在用户界面上与所述航线区域关联的目标区域航点的编辑操作，并确定出所述编辑操作的类型以及所述目标区域航点的位置信息，从而根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，以更新所述目标区域航点的位置信息，以及根据所述更新后的目标区域航点，调整所述航线区域的尺寸。In the embodiment of the present invention, the control device of the UAV can acquire an editing operation of a target area waypoint associated with the route area on the user interface, and determine the type of the editing operation and the target area navigation. Position information of the point, so that the target area waypoint is edited according to the type of the editing operation and the location information of the target area waypoint to update the location information of the target area waypoint, and according to the location The updated target area waypoint is adjusted to adjust the size of the route area.

在一个实施例中，所述控制设备可以获取到用户通过用户界面输入的对目标区域航点的编辑操作，所述控制设备在确定所述编辑操作的类型时，如果检测到对所述目标区域航点的按压操作，则所述控制设备可以获取所述按压操作的按压时间，并判断所述按压时间是否大于预设的阈值，如果大于，则可以确定所述编辑操作的类型为移动编辑操作。具体可以图1为例进行说明，假设所述控制设备检测到对如图1所示的所述目标区域航点11的按压操作，并获取到所述按压操作的按压时间为2s，假设预设的阈值为1s，则所述控制设备可以判断出所述按压时间2s大于预设的阈值1s，从而可以确定所述编辑操作为移动编辑操作。In an embodiment, the control device may acquire an editing operation on the target area waypoint input by the user through the user interface, and when the control device determines the type of the editing operation, if the target area is detected The pressing operation of the waypoint, the control device may acquire the pressing time of the pressing operation, and determine whether the pressing time is greater than a preset threshold. If it is greater than, the type of the editing operation may be determined to be a mobile editing operation. . Specifically, FIG. 1 is used as an example for description. It is assumed that the control device detects a pressing operation on the target area waypoint 11 as shown in FIG. 1 and obtains a pressing time of the pressing operation of 2 s, assuming a preset. The threshold value is 1 s, and the control device can determine that the pressing time 2s is greater than a preset threshold value of 1 s, so that the editing operation can be determined to be a mobile editing operation.

在一个实施例中，如果所述控制设备获取到对所述目标区域航点的编辑操作的类型为移动编辑操作，则可以获取在所述用户界面上对所述目标区域航点的移动编辑指令，并根据对所述目标区域航点的移动编辑指令，获取所述目标区域航点的移动位置信息，移动所述目标区域航点至所述移动位置信息所对应的位置，从而调整所述航线区域的尺寸。在一个实施例中，所述控制设备在调整所述航线区域尺寸时，也对所述航线区域内飞行航线的航线长度进行相应的调整。其中，所述目标区域航点的移动位置信息所对应的位置可以是任意方向的位置，本发明实施例不做限定。具体可以图1和图2为例进行说明，图2是本发明实施例提供的另一种航线区域的界面示意图。假设所述控制设备确定出对图1所示的所述目标区域航点11的编辑操作为移动编辑操作，则可以获取在所述用户界面上对所述目标区域航点11的移动编辑指令，所述控制设备可以根据对所述目标区域航点11的移动编辑指令，获取到所述目标区域航点11的移动位置信息，移动所述目标区域航点11至如图2所示的所述移动位置信息所对应的位置21，从而调整图1所述航线区域15的尺寸得到如图2所示的航线区域25，所述控制设备可以根据对图1所示的所述航线区域15的调整，对所述航线区域15内的飞行航线16的航线长度也进行相应的调整，得到如图2所示的调整后的飞行航线26的航线长度。其中，所述图2中还包括了与图1对应的区域航点22、区域航点23、区域航点24、区域航点22的经纬度信息221、在所述区域航点23上显示的与区域航点22之间的距离231。In an embodiment, if the control device acquires the type of the editing operation for the target area waypoint as a mobile editing operation, the mobile editing instruction for the target area waypoint on the user interface may be acquired. And acquiring, according to a movement editing instruction of the target area waypoint, moving position information of the target area waypoint, moving the target area waypoint to a position corresponding to the moving position information, thereby adjusting the route The size of the area. In an embodiment, when the control device adjusts the size of the route region, the control device also adjusts the route length of the flight route in the route region accordingly. The position corresponding to the moving position information of the waypoint of the target area may be a position in any direction, which is not limited in the embodiment of the present invention. 1 and FIG. 2 are used as an example for illustration. FIG. 2 is a schematic diagram of another route area provided by an embodiment of the present invention. Assuming that the control device determines that the editing operation of the target area waypoint 11 shown in FIG. 1 is a mobile editing operation, a mobile editing instruction for the target area waypoint 11 on the user interface may be acquired. The control device may acquire the mobile location information of the target area waypoint 11 according to the mobile editing instruction of the target area waypoint 11, and move the target area waypoint 11 to the manner as shown in FIG. Moving the position 21 corresponding to the position information, thereby adjusting the size of the route area 15 shown in FIG. 1 to obtain the route area 25 as shown in FIG. 2, the control device may adjust according to the route area 15 shown in FIG. The route length of the flight path 16 in the route area 15 is also adjusted accordingly, and the route length of the adjusted flight path 26 as shown in FIG. 2 is obtained. The latitude and longitude information 221 of the regional waypoint 22, the regional waypoint 23, the regional waypoint 24, the regional waypoint 22 corresponding to FIG. 1 and the display on the regional waypoint 23 are also included in FIG. 2 . The distance 231 between the regional waypoints 22.

在一个实施例中，如果所述控制设备获取到对所述目标区域航点的编辑操作的类型为删除编辑操作，则可以获取在所述用户界面上对所述目标区域航点的删除指令，并根据所述删除指令和所述目标区域航点的位置信息，删除所述目标区域航点。其中，所述删除编辑操作可以是对所述目标区域航点的点击操作，所述点击操作可以是双击操作或者其他的操作，本发明实施例不做限定。在一个实施例中，如果删除所述目标区域航点后在所述航线区域上剩余至少三个区域航点，则可以由删除后剩余的至少三个区域航点规划得到新的航线区域，如果删除所述目标区域航点后在所述航线区域上剩下的区域航点少于三个，则所述航线区域消失。具体可以图1和图3为例进行说明，图3是本发明实施例提供的又一种航线区域的界面示意图。例如，假设所述控制设备获取到对如图1中所示的所述目标区域航点11的双击操作，并确定出所述双击操作为对所述目标区域航点11的删除编辑操作，则所述控制设备可以获取在所述用户界面上对所述目标区域航点11的删除指令，并根据所述删除指令和所述目标区域航点11的位置信息，删除所述目标区域航点11。如图1所示的所述航线区域15由4个区域航点组成，删除目标区域航点11后剩下区域航点12、区域航点13和区域航点14这三个区域航点。因此删除所述目标区域航点11之后由区域航点12、区域航点13和区域航点14规划得到如图3所示的新的航线区域35。其中，所述图3中还包括与图1对应的区域航点32、区域航点33和区域航点34、经纬度信息321、距离331。In an embodiment, if the control device acquires the type of the editing operation of the target area waypoint as a delete editing operation, the deletion instruction of the target area waypoint on the user interface may be acquired, And deleting the target area waypoint according to the deletion instruction and the location information of the target area waypoint. The deletion editing operation may be a click operation on the waypoint of the target area, and the click operation may be a double-click operation or other operations, which is not limited in the embodiment of the present invention. In an embodiment, if at least three regional waypoints remain on the route area after deleting the target area waypoint, the new route area may be obtained by planning at least three regional waypoints remaining after the deletion. After deleting the target area waypoint and having less than three regional waypoints on the route area, the route area disappears. 1 and FIG. 3 are used as an example for illustration. FIG. 3 is a schematic diagram of another route region provided by an embodiment of the present invention. For example, assuming that the control device acquires a double-click operation on the target area waypoint 11 as shown in FIG. 1 and determines that the double-tap operation is a delete editing operation on the target area waypoint 11, The control device may acquire a deletion instruction for the target area waypoint 11 on the user interface, and delete the target area waypoint 11 according to the deletion instruction and the location information of the target area waypoint 11 . The route area 15 shown in FIG. 1 is composed of four regional waypoints. After deleting the target area waypoint 11, the three regional waypoints of the regional waypoint 12, the regional waypoint 13 and the regional waypoint 14 remain. Therefore, after the target area waypoint 11 is deleted, the regional waypoint 12, the regional waypoint 13 and the regional waypoint 14 are planned to obtain a new route area 35 as shown in FIG. The regional waypoint 32, the regional waypoint 33 and the regional waypoint 34, the latitude and longitude information 321 and the distance 331 corresponding to FIG. 1 are also included in FIG. 3 .

在一个实施例中，所述控制设备如果获取到对所述目标区域航点所述编辑操作的类型为位置微调编辑操作，则所述控制设备可以获取在所述用户界面上对所述目标区域航点的微调指令，并输出关于所述目标区域航点的微调界面，以及根据所述微调界面上接收到的编辑操作，对所述目标区域航点的位置进行微调编辑处理。其中，所述微调编辑操作可以是对用户界面的单击操作，也可以是其他操作，本发明实施例不做限定，所述微调界面包括方向操作按钮、撤销按钮、选择按钮、取消按钮等中任意一个或多个按钮。所述控制设备在所述微调界面上接收到的编辑操作是根据在所述微调界面上获取到的对各个按钮的操作获取到的。In an embodiment, if the control device acquires the type of the editing operation for the target area waypoint as a position fine-tuning editing operation, the control device may acquire the target area on the user interface. a fine-tuning instruction of the waypoint, and outputting a fine-tuning interface with respect to the waypoint of the target area, and fine-tuning the position of the waypoint of the target area according to the editing operation received on the fine-tuning interface. The fine-tuning editing operation may be a click operation on the user interface, or may be other operations, which are not limited in the embodiment of the present invention. The fine-tuning interface includes a direction operation button, an undo button, a selection button, a cancel button, and the like. Any one or more buttons. The editing operation received by the control device on the fine-tuning interface is obtained according to the operation of each button acquired on the fine-tuning interface.

在一个实施例中，具体可以图1和图4为例进行说明，其中，图4是本发明实施例提供的又一种航线区域的界面示意图。假设所述控制设备获取到对如图1所示的所述目标区域航点11的所述编辑操作的类型为位置微调编辑操作，则所述控制设备可以获取在所述用户界面上对所述目标区域航点11的微调指令，并输出如图4所示的关于所述目标区域航点11的微调界面40，所述控制设备可以根据在如图4所示的所述微调界面40上接收到的编辑操作，对所述目标区域航点11的位置进行微调编辑处理。其中，所述微调界面40上包括了提示信息，所述提示信息用于提示用户关于航点微调的调整方向和所对应的调整距离；所述微调界面40上还包括了方向操作按钮41，所述方向操作按钮41中包括：向上调整按钮411用于指示调整方向为向上、向右调整按钮412用于指示调整方向为向右、向下调整按钮413用于指示调整方向为向下、以及向左调整按钮414用于指示调整方向为向左，所述微调界面40上还包括了撤销按钮42用于撤销上一个区域航点的编辑，所述微调界面40上还包括了选择按钮，所述选择按钮用于选择与当前区域航点相邻的区域航点，所述选择按钮包括：上一个按钮44、下一个按钮43，所述微调界面40上还包括：取消按钮45和确定按钮46，所述取消按钮45用于取消在所述微调界面上进行的所有区域航点的编辑处理，确定按钮46用于完成所述微调界面40上所进行的对区域航点的编辑处理。In an embodiment, FIG. 1 and FIG. 4 are used as an example for illustration. FIG. 4 is a schematic diagram of another route region provided by an embodiment of the present invention. Assuming that the control device acquires the type of the editing operation of the target area waypoint 11 as shown in FIG. 1 as a position fine-tuning editing operation, the control device may acquire the pair on the user interface. a fine-tuning command of the waypoint 11 of the target area, and outputting a fine-tuning interface 40 for the waypoint 11 of the target area as shown in FIG. 4, the control device being receivable according to the fine-tuning interface 40 as shown in FIG. The editing operation is performed, and the position of the waypoint 11 of the target area is fine-tuned and edited. The prompting information is used to prompt the user about the adjustment direction of the waypoint fine adjustment and the corresponding adjustment distance. The fine adjustment interface 40 further includes a direction operation button 41. The direction operation button 41 includes: an upward adjustment button 411 for indicating that the adjustment direction is an upward adjustment button 412 for indicating that the adjustment direction is a rightward direction, and a downward adjustment button 413 for indicating that the adjustment direction is downward, and The left adjustment button 414 is configured to indicate that the adjustment direction is to the left, and the fine adjustment interface 40 further includes an undo button 42 for canceling the editing of the previous regional waypoint, and the fine adjustment interface 40 further includes a selection button. The selection button is used to select an area waypoint adjacent to the current regional waypoint. The selection button includes: a previous button 44, a next button 43, and the fine adjustment interface 40 further includes: a cancel button 45 and an OK button 46, The cancel button 45 is used to cancel the editing process of all regional waypoints performed on the fine-tuning interface, and the determining button 46 is used to complete the fine-tuning interface 40. Editing region waypoint.

在一个实施例中，所述控制设备可以获取用户通过按键输入的对目标区域航点的编辑指令，根据所述编辑指令确定出所述编辑操作的类型，并根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，从而根据所述编辑处理的目标区域航点，调整所述航线区域的尺寸。In an embodiment, the control device may acquire an editing instruction for the target area waypoint input by the user through the button, determine the type of the editing operation according to the editing instruction, and according to the type and location of the editing operation. The location information of the target area waypoint is edited, and the target area waypoint is edited to adjust the size of the route area according to the edited target area waypoint.

本发明实施例提供的无人机的航点编辑方法需要所述控制设备来实现，下面结合附图对应用于控制设备的无人机的航点编辑方法进行详细说明。The waypoint editing method of the drone provided by the embodiment of the present invention needs to be implemented by the control device, and the waypoint editing method corresponding to the drone for controlling the device will be described in detail below with reference to the accompanying drawings.

具体请参见图5，图5是本发明实施例提供的一种无人机的航点编辑方法的流程示意图，应用于进行航线规划的终端，所述终端用于显示航线规划界面，所述航线规划界面上包括由至少三个区域航点规划得到的航线区域，所述方法可以由控制设备执行，其中，所述控制设备的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。For details, please refer to FIG. 5. FIG. 5 is a schematic flowchart of a method for editing a waypoint of a drone according to an embodiment of the present invention, which is applied to a terminal for route planning, where the terminal is used to display a route planning interface, and the route is The planning interface includes a route area obtained by planning at least three regional waypoints, and the method can be performed by a control device, wherein a specific explanation of the control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S501：获取在用户界面上与航线区域关联的目标区域航点的编辑操作。S501: Acquire an editing operation of a target area waypoint associated with the route area on the user interface.

本发明实施例中，所述控制设备可以获取在用户界面上与所述航线区域关联的目标区域航点的编辑操作。其中，所述编辑操作可以是按压操作，也可以是对所述目标区域航点进行编辑的其他的操作，本发明实施例不做限定。In the embodiment of the present invention, the control device may acquire an editing operation of a target area waypoint associated with the route area on a user interface. The editing operation may be a pressing operation, or may be another operation of editing the waypoint of the target area, which is not limited in the embodiment of the present invention.

在一个实施例中，所述控制设备在获取用户界面上与所述航线区域关联的目标区域航点的编辑操作之前，可以在所述用户界面上悬浮显示与所述目标区域航点的编辑操作关联的提示信息，所述提示信息用于指示所述目标区域航点的编辑操作所对应的操作方式。具体可以图6为例进行说明，图6是本发明实施例提供的一种提示界面的示意图。如图6所示的提示界面包括：航点微调操作指引61、移动航点操作指引62、删除航点操作指引63以及提示信息64。用户可以根据如图6所示的提示界面，根据所述提示界面上的操作指引选择需要的操作方式对目标区域航点进行编辑操作。In an embodiment, the control device may hover display the editing operation with the target area waypoint on the user interface before acquiring the editing operation of the target area waypoint associated with the route area on the user interface. Associated prompt information, the prompt information is used to indicate an operation mode corresponding to an editing operation of the target area waypoint. FIG. 6 is a schematic diagram of a prompting interface provided by an embodiment of the present invention. The prompt interface shown in FIG. 6 includes a waypoint fine adjustment operation guide 61, a mobile waypoint operation guide 62, a delete waypoint operation guide 63, and prompt information 64. The user can perform an editing operation on the target area waypoint according to the prompt interface shown in FIG. 6 according to the operation guide on the prompt interface.

在一个实施例中，在所述用户界面上显示了与所述目标区域航点的编辑操作关联的距离信息，其中，所述距离信息是所述目标区域航点所对应的位置与相邻的区域航点所对应的位置之间的距离。例如，如图1所示，所述用户界面上区域航点13上显示了所述区域航点13与相邻的所述区域航点12之间的距离131。In one embodiment, distance information associated with an editing operation of the target area waypoint is displayed on the user interface, wherein the distance information is a location corresponding to the target area waypoint and adjacent The distance between the locations corresponding to the regional waypoints. For example, as shown in FIG. 1, the distance 131 between the regional waypoint 13 and the adjacent regional waypoint 12 is displayed on the regional waypoint 13 on the user interface.

S502：确定所述编辑操作的类型以及所述目标区域航点的位置信息。S502: Determine a type of the editing operation and location information of the target area waypoint.

本发明实施例中，所述控制设备可以根据获取到的在用户界面上与所述航线区域关联的目标区域航点的编辑操作，确定出所述编辑操作的类型以及所述目标区域航点的位置信息。In the embodiment of the present invention, the control device may determine, according to the acquired editing operation of the target area waypoint associated with the route area on the user interface, the type of the editing operation and the destination area of the destination point. location information.

在一个实施例中，所述控制设备可以根据获取到的所述编辑操作，确定出所述编辑操作的类型。在确定所述编辑操作的类型的过程中，所述控制设备如果接收到对所述目标区域航点的按压操作，则所述控制设备可以获取所述按压操作的按压时间，并判断所述按压时间是否大于预设的阈值，如果大于，则所述控制设备可以确定所述编辑操作的类型为移动编辑操作。具体可以图1为例进行说明，假设所述控制设备检测到对所述目标区域航点11的按压操作，并获取到所述按压操作的按压时间为2s，假设预设的阈值为1s，则所述控制设备可以判断出所述按压时间2s大于预设的阈值1s，从而可以确定所述编辑操作为移动编辑操作。In an embodiment, the control device may determine the type of the editing operation according to the acquired editing operation. In the process of determining the type of the editing operation, if the control device receives a pressing operation on the waypoint of the target area, the control device may acquire a pressing time of the pressing operation, and determine the pressing Whether the time is greater than a preset threshold, and if greater, the control device may determine that the type of the editing operation is a mobile editing operation. Specifically, FIG. 1 is used as an example for description. It is assumed that the control device detects a pressing operation on the target area waypoint 11 and obtains a pressing time of the pressing operation of 2 s. If the preset threshold value is 1 s, The control device may determine that the pressing time 2s is greater than a preset threshold value of 1 s, so that the editing operation may be determined to be a mobile editing operation.

S503：根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，以更新所述目标区域航点的位置信息。S503: Perform editing processing on the target area waypoint according to the type of the editing operation and the location information of the target area waypoint to update the location information of the target area waypoint.

本发明实施例中，所述控制设备可以根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，以更新所述目标区域航点的位置信息。In the embodiment of the present invention, the control device may perform editing processing on the target area waypoint according to the type of the editing operation and the location information of the target area waypoint to update the location of the target area waypoint. information.

在一个实施例中，所述控制设备在确定出所述编辑操作为移动编辑操作之后，可以获取在所述用户界面上对所述目标区域航点的移动编辑指令，并根据对所述目标区域航点的移动编辑指令，获取所述目标区域航点的移动位置信息，以及移动所述目标区域航点至所述移动位置信息所对应的位置。其中，所述目标区域航点的移动位置信息所对应的位置可以是任意方向的位置，本发明实施例不做限定。具体可以图1为例进行说明，假设所述控制设备确定出对图1所示的所述目标区域航点11的编辑操作为移动编辑操作，则可以获取在所述用户界面上对所述目标区域航点11的移动编辑指令，所述控制设备可以根据对所述目标区域航点11的移动编辑指令，获取所述目标区域航点11的移动位置信息，并移动所述目标区域航点11至如图2所示的所述移动位置信息所对应的位置21。In an embodiment, after determining that the editing operation is a mobile editing operation, the control device may acquire a mobile editing instruction for the target area waypoint on the user interface, and according to the target area And a moving edit instruction of the waypoint, acquiring moving position information of the target area waypoint, and moving the target area waypoint to a position corresponding to the moving position information. The position corresponding to the moving position information of the waypoint of the target area may be a position in any direction, which is not limited in the embodiment of the present invention. Specifically, FIG. 1 is taken as an example. If the control device determines that the editing operation of the target area waypoint 11 shown in FIG. 1 is a mobile editing operation, the target device may be acquired on the user interface. a mobile editing instruction of the regional waypoint 11 , the control device may acquire moving position information of the target area waypoint 11 according to a movement editing instruction of the target area waypoint 11 , and move the target area waypoint 11 To the position 21 corresponding to the moving position information as shown in FIG. 2.

在一个实施例中，所述控制设备如果获取到对所述目标区域航点的删除编辑操作，所述控制设备可以获取在所述用户界面上对所述目标区域航点的删除指令，并删除所述目标区域航点，其中，所述删除编辑操作的解释如上所述。在一个实施例中，如果删除所述目标区域航点后剩余至少三个区域航点，则可以由删除后剩余的所述至少三个区域航点规划得到新的航线区域，如果删除所述目标区域航点后剩下的区域航点少于三个，则所述航线区域消失。具体可以图1和图3为例进行说明，假设所述删除编辑操作对应为对所述目标区域航点的双击操作，如果所述控制设备获取到对图1中目标区域航点11的双击操作，则所述控制设备可以获取在所述用户界面上对所述目标区域航点11的删除指令，并根据所述删除指令和所述目标区域航点11的位置信息，删除所述目标区域航点11。In an embodiment, if the control device acquires a delete edit operation for the target area waypoint, the control device may acquire a delete instruction for the target area waypoint on the user interface, and delete The target area waypoint, wherein the explanation of the delete editing operation is as described above. In an embodiment, if at least three regional waypoints remain after deleting the target area waypoint, the new route area may be obtained by the at least three regional waypoints remaining after the deletion, if the target is deleted. If there are fewer than three waypoints remaining after the regional waypoint, the route area disappears. Specifically, FIG. 1 and FIG. 3 can be used as an example. It is assumed that the delete editing operation corresponds to a double-click operation on the target area waypoint, and if the control device acquires a double-click operation on the target area waypoint 11 in FIG. The control device may acquire a deletion instruction for the target area waypoint 11 on the user interface, and delete the target area navigation according to the deletion instruction and the location information of the target area waypoint 11 Point 11.

S504：根据所述更新后的目标区域航点，调整所述航线区域的尺寸。S504: Adjust a size of the route area according to the updated target area waypoint.

本发明实施例中，所述控制设备可以根据所述编辑处理更新后的目标区域航点，调整所述航线区域的尺寸，所述控制设备在调整所述航线区域尺寸时，可以对所述航线区域内飞行航线的航线长度进行相应的调整。具体可以图1和图2为例进行说明，假设所述控制设备通过对如图1所示的所述目标区域航点11进行移动编辑操作后将所述目标区域航点11移动至如图2所示的区域航点21所对应的位置处，则所述控制设备可以将如图1所述的航线区域15的尺寸调整为如图2所示的航线区域25所示的尺寸。所述控制设备可以根据对图1所述的航线区域15尺寸的调整，对所述航线区域15内的飞行航线16的航线长度也进行相应的调整，得到如图2所示的飞行航线26的航线长度。In the embodiment of the present invention, the control device may adjust the size of the route area according to the updated target area waypoint, and the control device may adjust the route area size to the route. The length of the route of the flight route in the area is adjusted accordingly. Specifically, FIG. 1 and FIG. 2 can be used as an example. It is assumed that the control device moves the target area waypoint 11 to the target area by moving the editing operation to the target area waypoint 11 as shown in FIG. At the position corresponding to the illustrated regional waypoint 21, the control device can adjust the size of the course area 15 as shown in FIG. 1 to the size shown by the course area 25 as shown in FIG. The control device may adjust the route length of the flight route 16 in the route region 15 according to the adjustment of the size of the route region 15 described in FIG. 1 to obtain the flight route 26 as shown in FIG. 2 . Route length.

本发明实施例中，控制设备通过获取在用户界面上与所述航线区域关联的目标区域航点的编辑操作，确定出所述编辑操作的类型以及所述目标区域航点的位置信息，并根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，以更新所述目标区域航点的位置信息，从而根据所述更新后的目标区域航点，调整所述航线区域的尺寸，通过这种方式，实现了快速地对区域航点的编辑，以对航线区域尺寸的调整，提高了设定航线区域的准确度。In the embodiment of the present invention, the control device determines the type of the editing operation and the location information of the target area waypoint by acquiring an editing operation of the target area waypoint associated with the route area on the user interface, and according to Editing processing of the target area waypoint to update the location information of the target area waypoint according to the type of the editing operation and the location information of the target area waypoint, thereby navigating according to the updated target area In this way, the editing of the regional waypoints is quickly performed to adjust the size of the route area, and the accuracy of setting the route area is improved.

请参见图7，图7是本发明实施例提供的另一种无人机的航点编辑方法的流程示意图，本发明实施例的所述方法与上述图5所述实施例的区别在于，本发明实施例是在所述编辑操作的类型为位置微调编辑操作时，在微调界面上对所述目标区域航点进行的编辑处理。具体地，本发明实施例的所述方法包括如下步骤。Referring to FIG. 7, FIG. 7 is a schematic flowchart of another method for editing a waypoint of a drone according to an embodiment of the present invention. The method of the embodiment of the present invention is different from the embodiment of FIG. 5 described above. The embodiment of the invention is an editing process performed on the target area waypoint on the fine adjustment interface when the type of the editing operation is a position fine-tuning editing operation. Specifically, the method of the embodiment of the present invention includes the following steps.

S701：获取在用户界面上与航线区域关联的目标区域航点的编辑操作。S701: Acquire an editing operation of a target area waypoint associated with the route area on the user interface.

在一个实施例中，所述控制设备可以根据获取到的在用户界面上与所述航线区域关联的目标区域航点的编辑操作，确定出所述编辑操作的类型以及所述目标区域航点的位置信息。In an embodiment, the control device may determine the type of the editing operation and the destination area of the target area according to the acquired editing operation of the target area waypoint associated with the route area on the user interface. location information.

S702：如果所述编辑操作的类型为位置微调编辑操作，则获取在所述用户界面上对所述目标区域航点的微调指令。S702: If the type of the editing operation is a position fine-tuning editing operation, obtain a fine-tuning instruction for the target area waypoint on the user interface.

本发明实施例中，如果所述控制设备获取到的所述编辑操作的类型为位置微调编辑操作，则可以获取在所述用户界面上对所述目标区域航点的微调指令。In the embodiment of the present invention, if the type of the editing operation acquired by the control device is a position fine-tuning editing operation, a fine-tuning instruction for the target area waypoint on the user interface may be acquired.

S703：输出所述目标区域航点的微调界面。S703: Output a fine adjustment interface of the target area waypoint.

本发明实施例中，所述控制设备可以在获取到所述目标区域航点的微调指令时，输出所述目标区域航点的微调界面。具体可以图1和图4为例进行说明，假设所述控制设备获取到对如图1所示的所述目标区域航点11所述编辑操作的类型为位置微调编辑操作，则所述控制设备可以获取在所述用户界面上对所述目标区域航点11的微调指令，并输出如图4所示的关于所述目标区域航点11的微调界面40。In the embodiment of the present invention, the control device may output a fine adjustment interface of the target area waypoint when acquiring the fine adjustment instruction of the target area waypoint. Specifically, FIG. 1 and FIG. 4 can be used as an example. If the control device acquires the type of the editing operation of the target area waypoint 11 as shown in FIG. 1 as a position fine-tuning editing operation, the control device A fine-tuning instruction for the target area waypoint 11 on the user interface may be obtained, and a fine-tuning interface 40 for the target area waypoint 11 as shown in FIG. 4 may be output.

S704：根据在所述微调界面上接收到的编辑操作，对所述编辑操作所指示的目标区域航点进行编辑处理。S704: Perform editing processing on the target area waypoint indicated by the editing operation according to the editing operation received on the fine adjustment interface.

本发明实施例中，所述控制设备可以根据所述微调界面上接收到的编辑操作，对所述目标区域航点的位置进行微调编辑处理，以更新所述目标区域航点的位置信息。其中，所述微调界面包括方向操作按钮、撤销按钮、选择按钮、取消按钮等中任意一个或多个按钮。In the embodiment of the present invention, the control device may perform fine-tuning editing processing on the location of the target area waypoint according to the editing operation received on the fine-tuning interface to update the location information of the target area waypoint. The fine adjustment interface includes any one or more of a direction operation button, an undo button, a selection button, a cancel button, and the like.

在一个实施例中，如果所述控制设备接收到对所述方向操作按钮的点击操作，则可以获取所述点击操作所点击的方向操作按钮所指示的调整方向，并在所述调整方向上移动所述目标区域航点。具体可以图4为例进行说明，如图4所示，假设所述控制设备获取到对如图1所示的所述目标区域航点11的位置微调编辑操作，输出了如图4所示的用户界面，并在所述用户界面上输出了所述微调界面40。假设所述控制设备在所述微调界面40上接收到方向操作按钮41中向上调整按钮411的点击操作，则所述控制设备可以获取所述点击操作所点击的向上调整按钮411所指示的方向为向上，所述控制设备可以根据所述微调界面预设的调整距离如图4中所示的0.5m/次，在所述向上的调整方向上移动所述目标区域航点11的距离为0.5m/次。其中，所述预设的调整距离可以设置为其他值，本发明实施例不做限定。In an embodiment, if the control device receives a click operation on the direction operation button, the adjustment direction indicated by the direction operation button clicked by the click operation may be acquired, and moved in the adjustment direction. The target area waypoint. Specifically, FIG. 4 is used as an example. As shown in FIG. 4, it is assumed that the control device acquires a fine-tuning editing operation for the position of the target area waypoint 11 as shown in FIG. a user interface, and the fine adjustment interface 40 is output on the user interface. Assuming that the control device receives the click operation of the upward adjustment button 411 in the direction operation button 41 on the fine adjustment interface 40, the control device may acquire the direction indicated by the upward adjustment button 411 clicked by the click operation as Upward, the control device may adjust the preset distance according to the fine adjustment interface by 0.5 m/time as shown in FIG. 4, and move the distance of the target area waypoint 11 to 0.5 m in the upward adjustment direction. / time. The preset adjustment distance may be set to other values, which is not limited in the embodiment of the present invention.

在一个实施例中，如果所述控制设备接收到对所述撤销按钮的点击操作，则可以撤销对所述目标区域航点的编辑操作，被所撤销的编辑操作是指：根据上一次获取到的微调指令对所述编辑操作所指示的区域航点进行的编辑处理。具体可以图4为例进行说明，如图4所示，假设所述控制设备在所述微调界面40上已经对区域航点11和区域航点12进行了编辑处理，当前接收到了对所述撤销按钮42的点击操作，则所述控制设备可以撤销对已经编辑处理过的所述区域航点11和所述区域航点12的编辑操作。In an embodiment, if the control device receives the click operation on the undo button, the editing operation on the target region waypoint may be revoked, and the revoked edit operation refers to: according to the last acquisition The fine-tuning instruction performs an editing process on the regional waypoint indicated by the editing operation. Specifically, FIG. 4 is used as an example. As shown in FIG. 4, it is assumed that the control device has edited the regional waypoint 11 and the regional waypoint 12 on the fine adjustment interface 40, and currently receives the cancellation. With the click operation of the button 42, the control device can cancel the editing operation of the regional waypoint 11 and the regional waypoint 12 that have been edited.

在一个实施例中，如果所述控制设备接收到对所述选择按钮的点击操作，则所述控制设备可以确定当前编辑的目标区域航点，并对与所述当前编辑的目标区域航点相邻的区域航点进行编辑处理。具体可以图4为例进行说明，如图4所示，假设所述控制设备在所述微调界面40上已经对区域航点11进行了编辑处理，当前正在对目标区域航点12进行编辑，其中，所述区域航点12分别与所述区域航点11和所述区域航点13相邻。如果所述控制设备接收到对所述选择按钮中的上一个按钮44的点击操作，则所述控制设备可以首先确定出当前编辑的目标区域航点12，然后对与所述目标区域航点12相邻的区域航点11进行编辑处理。又例如，如果所述控制设备接受到对所述选择按钮中的下一个按钮43的点击操作，则所述控制设设备可以对与所述目标区域航点12相邻的区域航点13进行编辑处理。In one embodiment, if the control device receives a click operation on the selection button, the control device may determine a currently edited target region waypoint and compare with the currently edited target region waypoint The adjacent regional waypoints are edited. Specifically, FIG. 4 is used as an example. As shown in FIG. 4, it is assumed that the control device has edited the regional waypoint 11 on the fine adjustment interface 40, and currently edits the target area waypoint 12, wherein The regional waypoints 12 are adjacent to the regional waypoints 11 and the regional waypoints 13, respectively. If the control device receives a click operation on the previous one of the selection buttons 44, the control device may first determine the currently edited target area waypoint 12 and then pair with the target area waypoint 12 Adjacent area waypoints 11 are edited. For another example, if the control device accepts a click operation on the next button 43 of the selection buttons, the control device may edit the regional waypoint 13 adjacent to the target region waypoint 12 deal with.

在一个实施例中，如果所述控制设备接收到对所述取消按钮的点击操作，则可以取消基于在所述微调界面上进行的编辑操作而对所述目标区域航点进行的编辑处理，并取消所述微调界面。具体可以图4为例进行说明，如图4所示，假设所述控制设备在所述微调界面40上已经对区域航点11和区域航点12进行了编辑处理，当前接收到对所述取消按钮45的点击操作，所述控制设备可以取消对在所述微调界面40上已经对所述区域航点11和所述区域航点12所做的编辑处理。In one embodiment, if the control device receives a click operation on the cancel button, editing processing on the target region waypoint based on an editing operation performed on the fine adjustment interface may be canceled, and Cancel the fine-tuning interface. Specifically, FIG. 4 is used as an example. As shown in FIG. 4, it is assumed that the control device has edited the regional waypoint 11 and the regional waypoint 12 on the fine adjustment interface 40, and currently receives the cancellation. With the click operation of the button 45, the control device can cancel the editing process that has been performed on the regional waypoint 11 and the regional waypoint 12 on the fine-tuning interface 40.

S705：根据所述编辑处理的目标区域航点，调整所述航线区域的尺寸。S705: Adjust a size of the route area according to the target area waypoint of the editing process.

本发明实施例中，所述控制设备可以根据所述编辑处理的目标区域航点，调整所述航线区域的尺寸，在一个实施例中，所述控制设备在调整所述航线区域尺寸时，可以对所述航线区域内飞行航线的航线长度进行相应的调整。In the embodiment of the present invention, the control device may adjust the size of the route area according to the target area waypoint of the editing process. In an embodiment, when the control device adjusts the size of the route area, The length of the route of the flight route in the route area is adjusted accordingly.

本发明实施例中，所述控制设备通过获取在用户界面上与所述航线区域关联的目标区域航点的位置微调编辑操作，获取在所述用户界面上对所述目标区域航点的微调指令，并输出所述目标区域航点的微调界面，从而根据在所述微调界面上接收到的编辑操作，对所述编辑操作所指示的目标区域航点进行编辑处理，通过这种方式，实现了对区域航点位置的微调，以对航线区域尺寸的调整和航线长度的调整，提高了设定航线区域的准确度。In the embodiment of the present invention, the control device obtains a fine-tuning instruction for the destination area waypoint on the user interface by acquiring a position fine-tuning editing operation of the target area waypoint associated with the route area on the user interface. And outputting a fine-tuning interface of the target area waypoint, so as to edit the target area waypoint indicated by the editing operation according to the editing operation received on the fine-tuning interface, thereby implementing the method Fine-tuning the location of the regional waypoints improves the accuracy of the set route area by adjusting the size of the route area and adjusting the length of the route.

请参见图8，图8是本发明实施例提供的又一种无人机的航点编辑方法的流程示意图，本发明实施例的所述方法与上述图5所述实施例的区别在于，本发明实施例是通过控制按键对所述区域航点进行控制和编辑。具体地，本发明实施例的所述方法包括如下步骤。Referring to FIG. 8, FIG. 8 is a schematic flowchart of a method for editing a waypoint of a UAV according to an embodiment of the present invention. The difference between the method of the embodiment of the present invention and the embodiment of FIG. 5 is that In an embodiment of the invention, the regional waypoints are controlled and edited by control buttons. Specifically, the method of an embodiment of the present invention includes the following steps.

S801：获取用户输入的对目标区域航点的编辑指令。S801: Acquire an editing instruction input by the user to the waypoint of the target area.

本发明实施例中，所述控制设备可以获取用户通过控制按键输入的对目标区域航点的编辑指令，其中，所述编辑指令可以是移动编辑指令、删除指令、微调指令中的任意一个或多个。在一个实施例中，所述控制设备可以获取用户通过控制按键输入的移动编辑指令；或者，所述控制设备可以获取用户通过控制按键输入的删除指令；或者，所述控制设备可以获取用户通过控制按键输入的微调指令。In the embodiment of the present invention, the control device may acquire an editing instruction for the target area waypoint input by the user through the control button, where the editing instruction may be any one or more of a mobile editing instruction, a deletion instruction, and a fine adjustment instruction. One. In an embodiment, the control device may acquire a mobile editing instruction input by the user through a control button; or the control device may acquire a deletion instruction input by the user through the control button; or the control device may acquire the user by controlling Fine-tuning command for key input.

S802：确定所述编辑指令对应编辑操作的类型。S802: Determine the type of the editing operation corresponding to the editing instruction.

本发明实施例中，所述控制设备可以根据获取到的所述编辑指令，确定所述编辑指令对应的编辑操作的类型。在一个实施例中，如果所述控制设备获取到用户通过控制按键输入的移动编辑指令，则可以确定所述编辑操作的类型为移动编辑操作。在一个实施例中，如果所述控制设备获取到用户通过控制按键输入的删除指令，则可以确定所述编辑操作的类型为删除编辑操作。在一个实施例中，如果所述控制设备获取到用户通过控制按键输入的微调指令，则可以确定所述编辑操作的类型为位置微调编辑操作。In the embodiment of the present invention, the control device may determine the type of the editing operation corresponding to the editing instruction according to the obtained editing instruction. In one embodiment, if the control device acquires a mobile editing instruction input by the user through a control button, it may be determined that the type of the editing operation is a mobile editing operation. In one embodiment, if the control device acquires a delete instruction input by the user through the control button, it may be determined that the type of the editing operation is a delete editing operation. In one embodiment, if the control device acquires a fine-tuning instruction input by the user through a control button, it may be determined that the type of the editing operation is a position fine-tuning editing operation.

S803：根据所述编辑指令和所述编辑操作的类型，对所述目标区域航点进行移动编辑处理。S803: Perform a motion editing process on the target area waypoint according to the editing instruction and the type of the editing operation.

本发明实施例中，所述控制设备可以根据所述编辑指令和所述编辑操作的类型，对所述目标区域航点进行移动编辑处理，以更新所述目标区域航点的位置信息。In the embodiment of the present invention, the control device may perform a mobile editing process on the target area waypoint according to the editing instruction and the type of the editing operation to update the location information of the target area waypoint.

在一个实施例中，如果所述控制设备确定出所述编辑操作的类型为移动编辑操作，则可以获取用户输入的移动编辑方向和移动编辑次数，并根据所述移动编辑方向和所述移动编辑次数，对所述目标区域航点进行移动编辑处理。在一个实施例中，所述控制设备如果确定出用户持续按压移动编辑按键，则可以根据所述移动编辑按键对应的移动编辑方向，持续地对所述目标区域航点进行移动编辑处理。具体实施例实现方式的举例如上所述，此处不再赘述。In one embodiment, if the control device determines that the type of the editing operation is a mobile editing operation, the mobile editing direction and the number of mobile editing inputs input by the user may be acquired, and edited according to the moving editing direction and the mobile editing The number of times, the movement editing process is performed on the waypoint of the target area. In an embodiment, if the control device determines that the user continuously presses the mobile editing button, the mobile editing direction may be continuously performed on the target region waypoint according to the mobile editing direction corresponding to the mobile editing button. Examples of implementations of specific embodiments are as described above, and are not described herein again.

在一个实施例中，如果所述控制设备确定出所述编辑操作的类型为删除编辑操作，则可以在确定用户按压删除按键时，根据所述删除按键对应的删除编辑操作，删除所述目标区域航点。具体实施例实现方式的举例如上所述，此处不再赘述。In an embodiment, if the control device determines that the type of the editing operation is a delete editing operation, the user may delete the target area according to the delete editing operation corresponding to the delete button when determining that the user presses the delete button. Waypoint. Examples of implementations of specific embodiments are as described above, and are not described herein again.

在一个实施例中，如果所述控制设备确定出所述编辑操作的类型为位置微调编辑操作，则可以获取用户输入的位置微调的调整方向，并根据所述位置微调的调整方向，对所述目标区域航点进行移动编辑处理。具体实施例实现方式的举例如上所述，此处不再赘述。In an embodiment, if the control device determines that the type of the editing operation is a position fine-tuning editing operation, the adjustment direction of the position fine adjustment input by the user may be acquired, and according to the adjustment direction of the position fine adjustment, The target area waypoint performs mobile editing processing. Examples of implementations of specific embodiments are as described above, and are not described herein again.

S804：根据所述编辑处理的目标区域航点，调整所述航线区域的尺寸。S804: Adjust a size of the route area according to the target area waypoint of the editing process.

本发明实施例中，所述控制设备可以根据所述编辑处理更新后的目标区域航点，调整所述航线区域的尺寸，具体实施例实现方式的举例如上所述，此处不再赘述。In the embodiment of the present invention, the control device may adjust the size of the route area according to the updated target area waypoint in the editing process. The example of the implementation manner of the specific embodiment is as described above, and details are not described herein again.

本发明实施例中，所述控制设备通过获取用户输入的编辑指令，获取对所述目标区域航点的编辑操作，并确定出所述编辑操作的类型，并根据所述编辑指令和所述编辑操作的类型，对所述目标区域航点进行移动编辑处理，从而根据所述编辑处理的目标区域航点，调整所述航线区域的尺寸，通过这种方式，实现了快速地对区域航点的编辑，以对航线区域尺寸的调整和航线长度的调整，提高了设定航线区域的准确度。In the embodiment of the present invention, the control device acquires an editing operation on the waypoint of the target area by acquiring an editing instruction input by the user, and determines a type of the editing operation, and according to the editing instruction and the editing a type of operation, performing a motion editing process on the waypoint of the target area, thereby adjusting a size of the route area according to the target area waypoint of the editing process, and in this way, realizing a fast way to the regional waypoint The editing improves the accuracy of setting the route area by adjusting the size of the route area and adjusting the length of the route.

请参见图9，图9是本发明实施例提供的一种控制设备的结构示意图。具体地，所述控制设备包括：显示装置901、控制装置902、处理器903、数据接口904以及存储器905。Referring to FIG. 9, FIG. 9 is a schematic structural diagram of a control device according to an embodiment of the present invention. Specifically, the control device includes a display device 901, a control device 902, a processor 903, a data interface 904, and a memory 905.

所述显示装置901，用于显示所述处理器903规划得到的航线规划界面；The display device 901 is configured to display a route planning interface that is planned by the processor 903.

所述控制装置902，用于接收从数据接口904获取到的编辑操作。The control device 902 is configured to receive an editing operation acquired from the data interface 904.

所述存储器905可以包括易失性存储器(volatile memory)；存储器905也可以包括非易失性存储器(non-volatile memory)；存储器905还可以包括上述种类的存储器的组合。所述处理器903可以是中央处理器(central processing unit，CPU)。所述处理器903还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。The memory 905 may include a volatile memory; the memory 905 may also include a non-volatile memory; the memory 905 may also include a combination of the above types of memory. The processor 903 can be a central processing unit (CPU). The processor 903 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

进一步地，所述存储器905用于存储程序指令。所述处理器903分别与所述显示装置901和所述控制装置902相连接，所述处理器903可以调用存储器 905中存储的程序指令，用于执行如下步骤：Further, the memory 905 is used to store program instructions. The processor 903 is connected to the display device 901 and the control device 902, respectively, and the processor 903 can call the program instructions stored in the memory 905 for performing the following steps:

进一步地，所述控制装置902为触摸屏，所述触摸屏与所述显示装置一体化设置。Further, the control device 902 is a touch screen, and the touch screen is integrally provided with the display device.

进一步地，所述处理器903调用存储器905中存储的程序指令用于执行以下不步骤：Further, the processor 903 calls a program instruction stored in the memory 905 for performing the following non-steps:

当检测到对所述目标区域航点的按压操作时，获取所述按压操作的按压时间；Obtaining a pressing time of the pressing operation when a pressing operation on the waypoint of the target area is detected;

判断所述按压时间是否大于预设的阈值；Determining whether the pressing time is greater than a preset threshold;

如果判断结果为是，则确定所述编辑操作的类型为移动编辑操作。If the result of the determination is YES, it is determined that the type of the editing operation is a mobile editing operation.

进一步地，所述处理器903调用存储器905中存储的程序指令用于执行如下步骤：Further, the processor 903 calls a program instruction stored in the memory 905 for performing the following steps:

如果所述编辑操作的类型为移动编辑操作，获取在所述用户界面上对所述目标区域航点的移动编辑指令；And if the type of the editing operation is a mobile editing operation, acquiring a mobile editing instruction for the target area waypoint on the user interface;

根据所述目标区域航点的移动编辑指令，对所述目标区域航点进行移动编辑处理。And performing movement editing processing on the target area waypoint according to the movement editing instruction of the target area waypoint.

根据对所述目标区域航点的移动编辑指令，获取所述目标区域航点的移动位置信息；Obtaining mobile location information of the target area waypoint according to a mobile editing instruction of the target area waypoint;

移动所述目标区域航点至所述移动位置信息所对应的位置。Moving the target area waypoint to a position corresponding to the moving position information.

如果所述编辑操作的类型为删除编辑操作，获取在所述用户界面上对所述目标区域航点的删除指令；If the type of the editing operation is a delete editing operation, acquiring a delete instruction for the target area waypoint on the user interface;

根据所述删除指令和所述目标区域航点的位置信息，删除所述目标区域航点。Deleting the target area waypoint according to the deletion instruction and the location information of the target area waypoint.

如果所述编辑操作的类型为位置微调编辑操作，则获取在所述用户界面上对所述目标区域航点的微调指令；If the type of the editing operation is a position fine-tuning editing operation, acquiring a fine-tuning instruction for the target area waypoint on the user interface;

根据所述微调指令和所述目标区域的位置信息，对所述目标区域航点的位置进行微调编辑处理。And performing fine adjustment editing processing on the position of the target area waypoint according to the fine adjustment instruction and the position information of the target area.

当获取到所述目标区域航点的微调指令时，输出所述目标区域航点的微调界面；When obtaining a fine-tuning instruction of the target area waypoint, outputting a fine-tuning interface of the target area waypoint;

根据在所述微调界面上接收到的编辑操作，对所述编辑操作所指示的目标区域航点进行编辑处理。Editing processing is performed on the target area waypoint indicated by the editing operation according to the editing operation received on the fine adjustment interface.

如果接收到对所述移动编辑按钮的点击操作，获取所述点击操作所点击的移动编辑按钮所指示的移动编辑方向；If a click operation on the mobile editing button is received, obtaining a mobile editing direction indicated by the mobile editing button clicked by the click operation;

在所述移动编辑方向上移动所述目标区域航点。Moving the target area waypoint in the mobile editing direction.

如果接收到对所述撤销按钮的点击操作，则撤销对所述目标区域航点的编辑操作，被所撤销的编辑操作是指：根据上一次获取到的微调指令对所述编辑操作所指示的区域航点进行的编辑处理。If the click operation on the undo button is received, the editing operation on the waypoint of the target area is revoked, and the revoked editing operation refers to: indicating the editing operation according to the last obtained fine-tuning instruction Edit processing for regional waypoints.

如果接收到对所述选择按钮的点击操作，确定当前编辑的目标区域航点；Determining a currently edited target area waypoint if a click operation on the selection button is received;

对与所述当前编辑的目标区域航点相邻的区域航点进行编辑处理。Editing the regional waypoints adjacent to the currently edited target area waypoint.

如果接收到对所述取消按钮的点击操作，则取消基于在所述微调界面上进行的编辑操作而对所述目标区域航点进行的编辑处理。If a click operation on the cancel button is received, the editing process performed on the target area waypoint based on the editing operation performed on the fine adjustment interface is canceled.

在所述用户界面上悬浮显示与所述目标区域航点的编辑操作关联的提示信息，所述提示信息用于指示所述目标区域航点的编辑操作所对应的操作方式。The prompt information associated with the editing operation of the target area waypoint is displayed on the user interface, and the prompt information is used to indicate an operation mode corresponding to the editing operation of the target area waypoint.

在所述用户界面上显示与所述目标区域航点的编辑操作关联的距离信息，所述距离信息是所述目标区域航点所对应的位置与相邻的区域航点所对应的位置之间的距离。Displaying, on the user interface, distance information associated with an editing operation of the target area waypoint, where the distance information is between a position corresponding to the target area waypoint and a position corresponding to the adjacent area waypoint the distance.

进一步地，所述控制装置为控制按键。Further, the control device is a control button.

获取用户输入的移动编辑指令；Obtaining a mobile editing instruction input by the user;

确定所述编辑操作的类型为移动编辑操作。It is determined that the type of the editing operation is a mobile editing operation.

获取用户输入的移动编辑方向和移动编辑次数；Get the mobile editing direction and the number of mobile edits entered by the user;

根据所述移动编辑方向和所述移动编辑次数，对所述目标区域航点进行移动编辑处理。Performing a motion editing process on the target area waypoint according to the moving edit direction and the number of moving edits.

确定用户持续按压移动编辑按键；Determining that the user continues to press the move edit button;

根据所述移动编辑按键对应的移动编辑方向，持续地对所述目标区域航点进行移动编辑处理。And performing movement editing processing on the target area waypoint according to the mobile editing direction corresponding to the mobile editing button.

获取用户输入的删除指令；Obtaining a delete instruction input by the user;

确定所述编辑操作的类型为删除编辑操作。It is determined that the type of the editing operation is a delete editing operation.

确定用户按压删除按键；Determining that the user pressed the delete button;

根据所述删除按键对应的删除编辑操作，删除所述目标区域航点。Deleting the target area waypoint according to the delete editing operation corresponding to the delete button.

获取用户输入的微调指令；Obtain a fine-tuning instruction input by the user;

确定所述编辑操作的类型为位置微调编辑操作。It is determined that the type of the editing operation is a position fine-tuning editing operation.

获取用户输入的位置微调的调整方向；Obtain the adjustment direction of the user's input position fine adjustment;

根据所述位置微调的调整方向，对所述目标区域航点进行移动编辑处理。Performing a motion editing process on the target area waypoint according to the adjustment direction of the position fine adjustment.

本发明实施例中，控制设备通过获取在用户界面上与所述航线区域关联的目标区域航点的编辑操作，确定出所述编辑操作的类型以及所述目标区域航点的位置信息，并根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，从而根据所述编辑处理的目标区域航点，调整所述航线区域的尺寸，通过这种方式，实现了快速地对区域航点的编辑，以对航线区域尺寸的调整，提高了设定航线区域的准确度。In the embodiment of the present invention, the control device determines the type of the editing operation and the location information of the target area waypoint by acquiring an editing operation of the target area waypoint associated with the route area on the user interface, and according to Editing the waypoint of the target area by editing the type of the editing operation and the location information of the target area waypoint, thereby adjusting the size of the route area according to the edited target area waypoint In this way, the editing of the regional waypoints is realized quickly, and the accuracy of the set route area is improved by adjusting the size of the route area.

在本发明的实施例中还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明图5、图7或图8所对应实施例中描述的无人机的航点编辑方法，也可实现图9所对应实施例的控制设备，在此不再赘述。Also provided in an embodiment of the present invention is a computer readable storage medium storing a computer program that, when executed by a processor, implements FIG. 5, FIG. 7, or FIG. 8 of the present invention For the waypoint editing method of the UAV described in the corresponding embodiment, the control device of the embodiment corresponding to FIG. 9 can also be implemented, and details are not described herein again.

所述计算机可读存储介质可以是前述任一实施例所述的终端的内部存储单元，例如终端的硬盘或内存。所述计算机可读存储介质也可以是所述终端的外部存储设备，例如所述终端上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述终端的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。The computer readable storage medium may be an internal storage unit of the terminal described in any of the foregoing embodiments, such as a hard disk or a memory of the terminal. The computer readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart memory card (SMC), and a Secure Digital (SD) card. , Flash Card, etc. Further, the computer readable storage medium may also include both an internal storage unit of the terminal and an external storage device. The computer readable storage medium is for storing the computer program and other programs and data required by the terminal. The computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.

本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。One of ordinary skill in the art can understand that all or part of the process of implementing the foregoing embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium. When executed, the flow of an embodiment of the methods as described above may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above disclosure is only a part of the embodiments of the present invention, and the scope of the present invention is not limited thereto, and thus equivalent changes made in the claims of the present invention are still within the scope of the present invention.

Claims

一种无人机的航点编辑方法，其特征在于，应用于进行航点编辑的终端，所述终端用于显示航点编辑界面，所述航点编辑界面上包括由至少三个区域航点规划得到的航线区域，所述方法包括：A waypoint editing method for a drone, which is characterized in that it is applied to a terminal for performing waypoint editing, the terminal is used for displaying a waypoint editing interface, and the waypoint editing interface includes at least three regional waypoints Planning the resulting route area, the method includes:

获取在用户界面上与所述航线区域关联的目标区域航点的编辑操作；Acquiring an editing operation of a target area waypoint associated with the route area on the user interface;

确定所述编辑操作的类型以及所述目标区域航点的位置信息；Determining a type of the editing operation and location information of a waypoint of the target area;

根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，以更新所述目标区域航点的位置信息；And performing, according to the type of the editing operation and the location information of the target area waypoint, the editing process of the target area waypoint to update the location information of the target area waypoint;

根据所述更新后的目标区域航点，调整所述航线区域的尺寸。The size of the route area is adjusted according to the updated target area waypoint.
根据权利要求1所述的方法，其特征在于，所述确定所述编辑操作的类型，包括：The method of claim 1, wherein the determining the type of the editing operation comprises:

当检测到对所述目标区域航点的按压操作时，获取所述按压操作的按压时间；Obtaining a pressing time of the pressing operation when a pressing operation on the waypoint of the target area is detected;

判断所述按压时间是否大于预设的阈值；Determining whether the pressing time is greater than a preset threshold;

如果判断结果为是，则确定所述编辑操作的类型为移动编辑操作。If the result of the determination is YES, it is determined that the type of the editing operation is a mobile editing operation.
根据权利要求1或2所述的方法，其特征在于，所述根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，包括：The method according to claim 1 or 2, wherein the editing processing of the target area waypoint according to the type of the editing operation and the location information of the target area waypoint comprises:

如果所述编辑操作的类型为移动编辑操作，获取在所述用户界面上对所述目标区域航点的移动编辑指令；And if the type of the editing operation is a mobile editing operation, acquiring a mobile editing instruction for the target area waypoint on the user interface;

根据所述目标区域航点的移动编辑指令，对所述目标区域航点进行移动编辑处理。And performing movement editing processing on the target area waypoint according to the movement editing instruction of the target area waypoint.
根据权利要求3所述的方法，其特征在于，所述根据所述目标区域航点的移动编辑指令，对所述目标区域航点进行移动编辑处理，包括：The method according to claim 3, wherein the performing a mobile editing process on the target area waypoint according to the mobile editing instruction of the target area waypoint comprises:

根据对所述目标区域航点的移动编辑指令，获取所述目标区域航点的移动位置信息；Obtaining mobile location information of the target area waypoint according to a mobile editing instruction of the target area waypoint;

移动所述目标区域航点至所述移动位置信息所对应的位置。Moving the target area waypoint to a position corresponding to the moving position information.
根据权利要求1所述的方法，其特征在于，所述根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，还包括：The method according to claim 1, wherein the editing processing of the target area waypoint according to the type of the editing operation and the location information of the target area waypoint further comprises:

如果所述编辑操作的类型为删除编辑操作，获取在所述用户界面上对所述目标区域航点的删除指令；If the type of the editing operation is a delete editing operation, acquiring a delete instruction for the target area waypoint on the user interface;

根据所述删除指令和所述目标区域航点的位置信息，删除所述目标区域航点。Deleting the target area waypoint according to the deletion instruction and the location information of the target area waypoint.
根据权利要求1所述的方法，其特征在于，所述根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，还包括：The method according to claim 1, wherein the editing processing of the target area waypoint according to the type of the editing operation and the location information of the target area waypoint further comprises:

如果所述编辑操作的类型为位置微调编辑操作，则获取在所述用户界面上对所述目标区域航点的微调指令；If the type of the editing operation is a position fine-tuning editing operation, acquiring a fine-tuning instruction for the target area waypoint on the user interface;

根据所述微调指令和所述目标区域的位置信息，对所述目标区域航点的位置进行微调编辑处理。And performing fine adjustment editing processing on the position of the target area waypoint according to the fine adjustment instruction and the position information of the target area.
根据权利要求6所述的方法，其特征在于，所述根据所述微调指令和所述目标区域的位置信息，对所述目标区域航点的位置进行微调编辑处理，包括：The method according to claim 6, wherein the fine-tuning editing processing of the location of the target area waypoint according to the fine-tuning instruction and the location information of the target area comprises:

当获取到所述目标区域航点的微调指令时，输出所述目标区域航点的微调界面；When obtaining a fine-tuning instruction of the target area waypoint, outputting a fine-tuning interface of the target area waypoint;

根据在所述微调界面上接收到的编辑操作，对所述编辑操作所指示的目标区域航点进行编辑处理。Editing processing is performed on the target area waypoint indicated by the editing operation according to the editing operation received on the fine adjustment interface.
根据权利要求7所述的方法，其特征在于，所述微调界面上设置有方向操作按钮，所述根据在所述微调界面上接收到的编辑操作，对所述编辑操作所指示的目标区域航点进行编辑处理，包括：The method according to claim 7, wherein the fine adjustment interface is provided with a direction operation button, and the target area indicated by the editing operation is based on an editing operation received on the fine adjustment interface. Click to edit, including:

如果接收到对所述方向操作按钮的点击操作，获取所述点击操作所点击的方向操作按钮所指示的调整方向；If a click operation on the direction operation button is received, obtaining an adjustment direction indicated by the direction operation button clicked by the click operation;

在所述调整方向上移动所述目标区域航点。Moving the target area waypoint in the adjustment direction.
根据权利要求7所述的方法，其特征在于，所述微调界面上设置有撤销按钮，所述根据在所述微调界面上接收到的编辑操作，对所述编辑操作所指示的目标区域航点进行编辑处理，还包括：The method according to claim 7, wherein the fine adjustment interface is provided with an undo button, and according to the editing operation received on the fine adjustment interface, the target area waypoint indicated by the editing operation Editing process also includes:

如果接收到对所述撤销按钮的点击操作，则撤销对所述目标区域航点的编辑操作，被所撤销的编辑操作是指：根据上一次获取到的微调指令对所述编辑操作所指示的区域航点进行的编辑处理。If the click operation on the undo button is received, the editing operation on the waypoint of the target area is revoked, and the revoked editing operation refers to: indicating the editing operation according to the last obtained fine-tuning instruction Edit processing for regional waypoints.
根据权利要求7所述的方法，其特征在于，所述微调界面上设置有选择按钮，所述根据在所述微调界面上接收到的编辑操作，对所述编辑操作所指示的目标区域航点进行编辑处理，还包括：The method according to claim 7, wherein the fine adjustment interface is provided with a selection button, and according to the editing operation received on the fine adjustment interface, the target area waypoint indicated by the editing operation Editing process also includes:

如果接收到对所述选择按钮的点击操作，确定当前编辑的目标区域航点；Determining a currently edited target area waypoint if a click operation on the selection button is received;

对与所述当前编辑的目标区域航点相邻的区域航点进行编辑处理。Editing the regional waypoints adjacent to the currently edited target area waypoint.
根据权利要求7所述的方法，其特征在于，所述微调界面上设置有取消按钮，所述根据在所述微调界面上接收到的编辑操作，对所述编辑操作所指示的区域航点进行编辑处理，还包括：The method according to claim 7, wherein the fine adjustment interface is provided with a cancel button, and according to the editing operation received on the fine adjustment interface, the regional waypoint indicated by the editing operation is performed. Edit processing, also includes:

如果接收到对所述取消按钮的点击操作，则取消基于在所述微调界面上进行的编辑操作而对所述目标区域航点进行的编辑处理。If a click operation on the cancel button is received, the editing process performed on the target area waypoint based on the editing operation performed on the fine adjustment interface is canceled.
根据权利要求1所述的方法，其特征在于，所述获取在用户界面上与所述航线区域相关联的目标区域航点的编辑操作之前，包括：The method according to claim 1, wherein the obtaining, before the editing operation of the target area waypoint associated with the route area on the user interface, comprises:

在所述用户界面上悬浮显示与所述目标区域航点的编辑操作关联的提示信息，所述提示信息用于指示所述目标区域航点的编辑操作所对应的操作方式。The prompt information associated with the editing operation of the target area waypoint is displayed on the user interface, and the prompt information is used to indicate an operation mode corresponding to the editing operation of the target area waypoint.
根据权利要求1所述的方法，其特征在于，所述获取在用户界面上与所述航线区域相关联的目标区域航点的编辑操作之前，还包括：The method according to claim 1, wherein the obtaining, before the editing operation of the target area waypoint associated with the route area on the user interface, further comprises:

在所述用户界面上显示与所述目标区域航点的编辑操作关联的距离信息，所述距离信息是所述目标区域航点所对应的位置与相邻的区域航点所对应的位置之间的距离。Displaying, on the user interface, distance information associated with an editing operation of the target area waypoint, where the distance information is between a position corresponding to the target area waypoint and a position corresponding to the adjacent area waypoint the distance.
根据权利要求1所述的方法，其特征在于，所述确定所述编辑操作的类型，还包括：The method of claim 1, wherein the determining the type of the editing operation further comprises:

获取用户输入的移动编辑指令；Obtaining a mobile editing instruction input by the user;

确定所述编辑操作的类型为移动编辑操作。It is determined that the type of the editing operation is a mobile editing operation.
根据权利要求14所述的方法，其特征在于，所述根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，包括：The method according to claim 14, wherein the editing processing of the target area waypoint according to the type of the editing operation and the location information of the target area waypoint comprises:

获取用户输入的移动编辑方向和移动编辑次数；Get the mobile editing direction and the number of mobile edits entered by the user;

根据所述移动编辑方向和所述移动编辑次数，对所述目标区域航点进行移动编辑处理。Performing a motion editing process on the target area waypoint according to the moving edit direction and the number of moving edits.
根据权利要求14所述的方法，其特征在于，所述根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，还包括：The method according to claim 14, wherein the editing processing of the target area waypoint according to the type of the editing operation and the location information of the target area waypoint further comprises:

确定用户持续按压移动编辑按键；Determining that the user continues to press the move edit button;

根据所述移动编辑按键对应的移动编辑方向，持续地对所述目标区域航点进行移动编辑处理。And performing movement editing processing on the target area waypoint according to the mobile editing direction corresponding to the mobile editing button.
根据权利要求1所述的方法，其特征在于，所述确定所述编辑操作的类型，还包括：The method of claim 1, wherein the determining the type of the editing operation further comprises:

获取用户输入的删除指令；Obtaining a delete instruction input by the user;

确定所述编辑操作的类型为删除编辑操作。It is determined that the type of the editing operation is a delete editing operation.
根据权利要求17所述的方法，其特征在于，所述根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，还包括：The method according to claim 17, wherein the editing processing of the target area waypoint according to the type of the editing operation and the location information of the target area waypoint further comprises:

确定用户按压删除按键；Determining that the user pressed the delete button;

根据所述删除按键对应的删除编辑操作，删除所述目标区域航点。Deleting the target area waypoint according to the delete editing operation corresponding to the delete button.
根据权利要求1所述的方法，其特征在于，所述确定所述编辑操作的类型，还包括：The method of claim 1, wherein the determining the type of the editing operation further comprises:

获取用户输入的微调指令；Obtain a fine-tuning instruction input by the user;

确定所述编辑操作的类型为位置微调编辑操作。It is determined that the type of the editing operation is a position fine-tuning editing operation.
根据权利要求19所述的方法，其特征在于，所述根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，包括：The method according to claim 19, wherein the editing processing of the target area waypoint according to the type of the editing operation and the location information of the target area waypoint comprises:

获取用户输入的位置微调的调整方向；Obtain the adjustment direction of the user's input position fine adjustment;

根据所述位置微调的调整方向，对所述目标区域航点进行移动编辑处理。Performing a motion editing process on the target area waypoint according to the adjustment direction of the position fine adjustment.
一种无人机的控制设备，其特征在于，应用于航点编辑控制，包括：A control device for a drone, characterized in that it is applied to waypoint editing control, including:

显示装置，用于显示航点编辑界面，所述航点编辑界面上包括由至少三个区域航点规划得到的航线区域；a display device, configured to display a waypoint editing interface, where the waypoint editing interface includes a route region obtained by planning at least three regional waypoints;

控制装置，用于接收用户的编辑操作；a control device, configured to receive an editing operation of the user;

处理器，所述处理器分别与所述显示装置和所述控制装置相连接，所述处理器用于判断所述编辑操作并生成相应的控制指令，并执行以下步骤：a processor, the processor being respectively connected to the display device and the control device, wherein the processor is configured to determine the editing operation and generate a corresponding control instruction, and perform the following steps:

确定所述编辑操作的类型以及所述目标区域航点的位置信息；Determining a type of the editing operation and location information of a waypoint of the target area;

根据所述编辑操作的类型和所述目标区域航点的位置信息，对所述目标区域航点进行编辑处理，以更新所述目标区域航点的位置信息；And performing, according to the type of the editing operation and the location information of the target area waypoint, the editing process of the target area waypoint to update the location information of the target area waypoint;

根据所述更新后的目标区域航点，调整所述航线区域的尺寸。The size of the route area is adjusted according to the updated target area waypoint.
根据权利要求21所述的设备，其特征在于，所述控制装置为触摸屏，所述触摸屏与所述显示装置一体化设置。The device according to claim 21, wherein said control device is a touch screen, and said touch screen is integrally provided with said display device.
根据权利要求21所述的设备，其特征在于，所述处理器用于执行以下步骤：The device according to claim 21, wherein said processor is operative to perform the following steps:

当检测到对所述目标区域航点的按压操作时，获取所述按压操作的按压时间；Obtaining a pressing time of the pressing operation when a pressing operation on the waypoint of the target area is detected;

判断所述按压时间是否大于预设的阈值；Determining whether the pressing time is greater than a preset threshold;

如果判断结果为是，则确定所述编辑操作的类型为移动编辑操作。If the result of the determination is YES, it is determined that the type of the editing operation is a mobile editing operation.
根据权利要求21或23所述的设备，其特征在于，所述处理器用于执行以下步骤：The device according to claim 21 or 23, wherein the processor is configured to perform the following steps:

如果所述编辑操作的类型为移动编辑操作，获取在所述用户界面上对所述目标区域航点的移动编辑指令；And if the type of the editing operation is a mobile editing operation, acquiring a mobile editing instruction for the target area waypoint on the user interface;

根据所述目标区域航点的移动编辑指令，对所述目标区域航点进行移动编辑处理。And performing movement editing processing on the target area waypoint according to the movement editing instruction of the target area waypoint.
根据权利要求24所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 24, wherein the processor is further configured to perform the following steps:

根据对所述目标区域航点的移动编辑指令，获取所述目标区域航点的移动位置信息；Obtaining mobile location information of the target area waypoint according to a mobile editing instruction of the target area waypoint;

移动所述目标区域航点至所述移动位置信息所对应的位置。Moving the target area waypoint to a position corresponding to the moving position information.
根据权利要求21所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 21, wherein the processor is further configured to perform the following steps:

如果所述编辑操作的类型为删除编辑操作，获取在所述用户界面上对所述目标区域航点的删除指令；If the type of the editing operation is a delete editing operation, acquiring a delete instruction for the target area waypoint on the user interface;

根据所述删除指令和所述目标区域航点的位置信息，删除所述目标区域航点。Deleting the target area waypoint according to the deletion instruction and the location information of the target area waypoint.
根据权利要求21所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 21, wherein the processor is further configured to perform the following steps:

如果所述编辑操作的类型为位置微调编辑操作，则获取在所述用户界面上对所述目标区域航点的微调指令；If the type of the editing operation is a position fine-tuning editing operation, acquiring a fine-tuning instruction for the target area waypoint on the user interface;

根据所述微调指令和所述目标区域的位置信息，对所述目标区域航点的位置进行微调编辑处理。And performing fine adjustment editing processing on the position of the target area waypoint according to the fine adjustment instruction and the position information of the target area.
根据权利要求27所述的设备，其特征在于，所述处理器用于执行以下步骤：The device according to claim 27, wherein said processor is operative to perform the following steps:

当获取到所述目标区域航点的微调指令时，输出所述目标区域航点的微调界面；When obtaining a fine-tuning instruction of the target area waypoint, outputting a fine-tuning interface of the target area waypoint;

根据在所述微调界面上接收到的编辑操作，对所述编辑操作所指示的目标区域航点进行编辑处理。Editing processing is performed on the target area waypoint indicated by the editing operation according to the editing operation received on the fine adjustment interface.
根据权利要求28所述的设备，其特征在于，所述处理器用于执行以下步骤：The device according to claim 28, wherein said processor is operative to perform the following steps:

如果接收到对所述移动编辑按钮的点击操作，获取所述点击操作所点击的移动编辑按钮所指示的移动编辑方向；If a click operation on the mobile editing button is received, obtaining a mobile editing direction indicated by the mobile editing button clicked by the click operation;

在所述移动编辑方向上移动所述目标区域航点。Moving the target area waypoint in the mobile editing direction.
根据权利要求28所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 28, wherein the processor is further configured to perform the following steps:

如果接收到对所述撤销按钮的点击操作，则撤销对所述目标区域航点的编辑操作，被所撤销的编辑操作是指：根据上一次获取到的微调指令对所述编辑操作所指示的区域航点进行的编辑处理。If the click operation on the undo button is received, the editing operation on the waypoint of the target area is revoked, and the revoked editing operation refers to: indicating the editing operation according to the last obtained fine-tuning instruction Edit processing for regional waypoints.
根据权利要求28所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 28, wherein the processor is further configured to perform the following steps:

如果接收到对所述选择按钮的点击操作，确定当前编辑的目标区域航点；Determining a currently edited target area waypoint if a click operation on the selection button is received;

对与所述当前编辑的目标区域航点相邻的区域航点进行编辑处理。Editing the regional waypoints adjacent to the currently edited target area waypoint.
根据权利要求28所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 28, wherein the processor is further configured to perform the following steps:

如果接收到对所述取消按钮的点击操作，则取消基于在所述微调界面上进行的编辑操作而对所述目标区域航点进行的编辑处理。If a click operation on the cancel button is received, the editing processing performed on the target area waypoint based on the editing operation performed on the fine adjustment interface is canceled.
根据权利要求21所述的设备，其特征在于，所述处理器用于执行以下步骤：The device according to claim 21, wherein said processor is configured to perform the following steps:

在所述用户界面上悬浮显示与所述目标区域航点的编辑操作关联的提示信息，所述提示信息用于指示所述目标区域航点的编辑操作所对应的操作方式。The prompt information associated with the editing operation of the target area waypoint is displayed on the user interface, and the prompt information is used to indicate an operation mode corresponding to the editing operation of the target area waypoint.
根据权利要求21所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 21, wherein the processor is further configured to perform the following steps:

在所述用户界面上显示与所述目标区域航点的编辑操作关联的距离信息，所述距离信息是所述目标区域航点所对应的位置与相邻的区域航点所对应的位置之间的距离。Displaying, on the user interface, distance information associated with an editing operation of the target area waypoint, where the distance information is between a position corresponding to the target area waypoint and a position corresponding to the adjacent area waypoint the distance.
根据权利要求21所述的设备，其特征在于，所述控制装置为控制按键。The device according to claim 21, wherein said control means is a control button.
根据权利要求21所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 21, wherein the processor is further configured to perform the following steps:

获取用户输入的移动编辑指令；Obtaining a mobile editing instruction input by the user;

确定所述编辑操作的类型为移动编辑操作。It is determined that the type of the editing operation is a mobile editing operation.
根据权利要求36所述的设备，其特征在于，所述处理器用于执行以下步骤：The device according to claim 36, wherein said processor is operative to perform the following steps:

获取用户输入的移动编辑方向和移动编辑次数；Get the mobile editing direction and the number of mobile edits entered by the user;

根据所述移动编辑方向和所述移动编辑次数，对所述目标区域航点进行移动编辑处理。Performing a motion editing process on the target area waypoint according to the moving edit direction and the number of moving edits.
根据权利要求36所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 36, wherein said processor is further configured to perform the following steps:

确定用户持续按压移动编辑按键；Determining that the user continues to press the move edit button;

根据所述移动编辑按键对应的移动编辑方向，持续地对所述目标区域航点进行移动编辑处理。And performing movement editing processing on the target area waypoint according to the mobile editing direction corresponding to the mobile editing button.
根据权利要求21所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 21, wherein the processor is further configured to perform the following steps:

获取用户输入的删除指令；Obtaining a delete instruction input by the user;

确定所述编辑操作的类型为删除编辑操作。It is determined that the type of the editing operation is a delete editing operation.
根据权利要求39所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 39, wherein the processor is further configured to perform the following steps:

确定用户按压删除按键；Determining that the user pressed the delete button;

根据所述删除按键对应的删除编辑操作，删除所述目标区域航点。Deleting the target area waypoint according to the delete editing operation corresponding to the delete button.
根据权利要求21所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 21, wherein the processor is further configured to perform the following steps:

获取用户输入的微调指令；Obtain a fine-tuning instruction input by the user;

确定所述编辑操作的类型为位置微调编辑操作。It is determined that the type of the editing operation is a position fine-tuning editing operation.
根据权利要求41所述的设备，其特征在于，所述处理器还用于执行以下步骤：The device according to claim 41, wherein the processor is further configured to perform the following steps:

获取用户输入的位置微调的调整方向；Obtain the adjustment direction of the user's input position fine adjustment;

根据所述位置微调的调整方向，对所述目标区域航点进行移动编辑处理。Performing a motion editing process on the target area waypoint according to the adjustment direction of the position fine adjustment.
一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至20任一项所述方法。A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the method of any one of claims 1 to 20.