WO2021097640A1 - 飞行控制方法、设备及*** - Google Patents

飞行控制方法、设备及*** Download PDF

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Publication number
WO2021097640A1
WO2021097640A1 PCT/CN2019/119327 CN2019119327W WO2021097640A1 WO 2021097640 A1 WO2021097640 A1 WO 2021097640A1 CN 2019119327 W CN2019119327 W CN 2019119327W WO 2021097640 A1 WO2021097640 A1 WO 2021097640A1
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WIPO (PCT)
Prior art keywords
route
waypoints
target area
flight
covered
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PCT/CN2019/119327
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English (en)
French (fr)
Inventor
黄振昊
石仁利
何刚
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980039685.1A priority Critical patent/CN112292648A/zh
Priority to PCT/CN2019/119327 priority patent/WO2021097640A1/zh
Publication of WO2021097640A1 publication Critical patent/WO2021097640A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—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

  • This application relates to the technical field of flight control, and in particular to a flight control method, equipment and system.
  • the unmanned aerial vehicle's route is set through the control equipment of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to fly according to the set route to complete the corresponding task.
  • the control device can automatically generate the route of the unmanned aerial vehicle according to the target area delineated by the user, and send the route to the unmanned aerial vehicle, and the unmanned aerial vehicle can automatically fly according to the route.
  • the embodiments of the present application provide a flight control method, equipment, and system to solve the problems of complicated operation and low intelligence in the prior art.
  • an embodiment of the present application provides a flight control method, which is applied to a control device, and the control device is used to control the flight of an unmanned aerial vehicle; including:
  • the first route covering the first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments has at least three waypoints, two of which are located on the flight segments Both ends of
  • an embodiment of the present application provides a flight control method, which is applied to a control device, and the control device is used to control the flight of an unmanned aerial vehicle; including:
  • the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends;
  • the waypoints of the first route not covered by the second target area generate a second route, and send the second route to the unmanned aerial vehicle so that the unmanned aerial vehicle can follow the Perform flight operations on the second route.
  • an embodiment of the present application provides a control device.
  • the control device is used to control the flight of an unmanned aerial vehicle and includes: a processor and a memory; the memory is used to store program codes; the processor calls The program code, when the program code is executed, is used to perform the following operations:
  • the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends;
  • an embodiment of the present application provides an unmanned aerial system, including: a control device and an unmanned aerial vehicle;
  • the control device is used to display a first route covering a first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with at least three waypoints, two of which are Waypoints are located at both ends of the flight segment; obtain the second target area selected by the user in the first target area; and, according to the waypoints or the waypoints of the first route not covered by the second target area Generating a second route to the waypoints of the first route covered by the second target area, and sending the second route to the unmanned aerial vehicle;
  • the unmanned aerial vehicle is used to perform flight operations according to the second route.
  • an embodiment of the present application provides an unmanned aerial vehicle, including: a control device and an unmanned aerial vehicle;
  • the control device is configured to display a first flight route covering a first target area; wherein the first flight route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends; obtaining The second target area selected by the user in the first target area; determining that the target flight segments overlapping and adjacent to the second target area among the plurality of flight segments are located on two of the target flight segments Adding waypoints between terminals; and, generating a second route based on the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, And sending the second route to the unmanned aerial vehicle, so that the unmanned aerial vehicle can perform flight operations according to the second route.
  • the unmanned aerial vehicle is used to perform flight operations according to the second route.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control the The computer executes the method according to any one of the first aspect.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control the The computer executes the method of any one of the second aspect.
  • an embodiment of the present application provides a computer program, which is used to implement the method according to any one of the first aspect when the computer program is executed by a computer.
  • a computer program is characterized in that, when the computer program is executed by a computer, it is used to implement the method according to any one of the second aspects.
  • the embodiments of the present application provide a flight control method, device, and system.
  • a first route covering a first target area By displaying a first route covering a first target area, a second target area selected by a user in the first target area is acquired, and the second target area is not covered by the second target area.
  • the waypoints of the first route or the waypoints of the first route covered by the second target area are generated to generate the second route, which is based on the waypoints of the first route covering the first target area and the user’s position in the first target area.
  • the selected second target area generates a second route for the second target area in a special scenario, so that the unmanned aerial vehicle can perform flight operations according to the second route.
  • FIGS 1 to 2 are schematic diagrams of application scenarios of the flight control method provided by the embodiments of this application;
  • Figure 3 is a schematic diagram of a route in the prior art
  • FIG. 4 is a schematic flowchart of a flight control method provided by an embodiment of the application.
  • 5 to 8D are schematic diagrams of the route of the flight control method provided by the embodiments of this application.
  • FIG. 9 is a schematic flowchart of a flight control method provided by another embodiment of this application.
  • 10-12B are schematic diagrams of the route of the flight control method provided by the embodiments of the application.
  • FIG. 13 is a schematic structural diagram of a control device provided by an embodiment of this application.
  • FIG. 14 is a schematic structural diagram of a control device provided by another embodiment of this application.
  • Fig. 1 is a schematic diagram of an application scenario of the flight control method provided by an embodiment of the application.
  • the application scenario includes a control device 11 and an unmanned aerial vehicle 12.
  • the control terminal 11 is in communication connection with the unmanned aerial vehicle 12 and controls The device 11 is used to control the flight of the unmanned aerial vehicle 12.
  • the control terminal 11 can set up a route according to user requirements and send the route to the unmanned aerial vehicle 12, and the unmanned aerial vehicle 12 can perform flight operations according to the route sent by the control terminal 11.
  • the control terminal 11 includes a remote controller with a screen, a smart phone, a tablet computer, a palmtop computer, and the like.
  • control device 11 may be directly communicatively connected with the UAV 12, or, as shown in FIG. 2, the control device 11 may be communicatively connected with the UAV 12 through a relay device.
  • the relay device may include a remote control.
  • the relay device may include other unmanned aerial vehicles.
  • the route of the coverage area 1 set by the control device 11 as shown in FIG. 3 may include a plurality of parallel flight segments, and by connecting these parallel flight segments, a bow-shaped route can be generated.
  • the solid line in Figure 3 is used to illustrate a flight segment, and the points at both ends of the solid line are the waypoints.
  • the unmanned aerial vehicle when there are obstacles in area 2 in FIG. 3 that hinder flight, when the unmanned aerial vehicle flies to the vicinity of area 2 according to the route shown in FIG. 3, the user needs to manually operate the unmanned aircraft.
  • the human aircraft bypasses the area 2, and after the user manually controls the unmanned aircraft to bypass the area 2, the unmanned aircraft can continue to fly according to the route shown in FIG. 3.
  • waypoints are provided between the two ends of at least part of the flight segment in the first flight route covering the first target area, and the waypoints are set according to the first target area selected by the user. 2.
  • the target area and the waypoints of the segments of the first route generate the second route, which realizes the second target area selected by the user based on the waypoints of the first route covering the first target area and the user in the first target area, Generate a second route for the second target area in a special scenario.
  • FIG. 4 is a schematic flowchart of a flight control method provided by an embodiment of this application.
  • the execution subject of this embodiment may be the control device 11, and specifically may be the processor of the control device 11.
  • the method of this embodiment may include:
  • Step 401 Display a first route covering a first target area; wherein, the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with at least three waypoints, two of which are located at all. The two ends of the flight segment are described.
  • the relationship among the first target area X, the first route, the flight segments of the first flight route, and the waypoints of the flight segments may be as shown in FIG. 5.
  • the first route covering the first target area X includes a plurality of parallel flight segments S, and the two ends of each flight segment are respectively provided with waypoints a, and there is also set between the two ends of each flight segment.
  • Waypoint b the two ends of each flight segment are respectively provided with waypoints a, and there is also set between the two ends of each flight segment.
  • the waypoints at both ends of each flight segment and the waypoints between the two ends can be the default waypoints; or, the waypoints at both ends of each flight segment can be the default waypoints, and the waypoints between the two ends can be the default waypoints.
  • the waypoint of can be a newly added waypoint, and the step of adding a waypoint can be performed before step 401, step 402, or step 403.
  • the default waypoint refers to the waypoint that exists by default on the first route
  • the new waypoint refers to the waypoint added on the basis of the default waypoint of the first route.
  • the number of waypoints set between the two ends of the flight segment in FIG. 5 is only an example, and the shape of the first target area X is only an example.
  • the solid line in Figure 5 is used to illustrate a flight segment, and the points at both ends of the solid line are the waypoints.
  • Figure 5 is only a schematic diagram of the relationship between the first target area, the first route, the flight segments of the first flight route, and the waypoints of the flight segments, and is not displayed as a display of the first flight route covering the first target area. Way restrictions. When displaying the first route covering the first target area, the waypoints of the flight segment may not be displayed according to actual needs, or only the waypoints at both ends of the flight segment may be displayed, or all the waypoints of the flight segment may be displayed.
  • Step 402 Obtain a second target area selected by the user in the first target area.
  • the user can select the second target area Y1 in the first target area X.
  • the second target area Y1 is a part of the first target area X.
  • the user may select the second target area Y2 in the first target area X.
  • the second target area Y2 is a part of the first target area X.
  • the shape of the second target area in FIGS. 6A and 6B is only an example, and the shape of the second target area Y can be flexibly realized according to requirements.
  • the shape of the second target area can be square, rectangular, Round, oval, etc.
  • the specific method for obtaining the second target area selected by the user in the first target area can be implemented flexibly according to requirements.
  • the center point coordinates of the second target area Y input by the user and the distance from the center point to the edge of the area may be obtained, and the second target area may be determined according to the center point coordinates and the distance.
  • Step 403 Generate a second route according to the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, and combine the second The route is sent to the unmanned aerial vehicle so that the unmanned aerial vehicle can perform flight operations according to the second route.
  • the second route is determined based on the waypoints of the first route, and is aimed at the route of the second target area. Since the first route covering the first target area includes multiple parallel flight segments, there are waypoints between the two ends of each flight segment, and the second target area is included in the first target area, so the second The target area can cover part of the waypoints of the first route. Moreover, for the waypoints of the first route covered by the second target area, there are two situations, that is, either the waypoints need to be focused on by the unmanned aerial vehicle, or the waypoints are not required for the unmanned aerial vehicle to fly.
  • the user can pass through the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area. In this way, a second route for the second target area is generated.
  • the waypoints of the first route covered by the second target area include waypoints completely located in the second target area.
  • the waypoints of the first route covered by the second target area further include waypoints located on the boundary of the second target area.
  • the second route is a flight path for the key flight to the second target area.
  • the flight that is actually outside the second target area and whose distance from the second target area is less than or equal to the preset threshold can be selected. Click to join the planning of the second route.
  • the waypoints of the first route not covered by the second target area include waypoints that are completely outside the second target area.
  • the second route is a route to fly around the second target area.
  • the waypoints outside the second target area are too close to the second target area, if these waypoints are also added to the planning of the second route, a collision problem may occur. Therefore, the waypoints that are actually outside the second target area and whose distance from the second target area are less than or equal to the preset threshold can be deleted first, and then route planning can be performed based on the remaining waypoints.
  • the user when there is a waypoint whose distance from the boundary of the second target area is less than or equal to the distance threshold, the user may be prompted to reselect the second target area, which is more convenient for route planning, and no need for later Add or delete.
  • the second route may be generated by default based on the waypoints of the first route not covered by the second target area; or, the second route may be generated by default based on the waypoints of the first route covered by the second target area; or , Based on user operations, it is possible to select whether to generate the second route based on the waypoints of the first route not covered by the second target area, or generate the second route based on the waypoints of the first route covered by the second target area.
  • the second target area selected by the user in the first target area is acquired, and the waypoints or second destinations of the first route not covered by the second target area are obtained.
  • the waypoints of the first route covered by the target area generate the second route, which realizes the generation of special scenes based on the waypoints of the first route covering the first target area and the second target area selected by the user in the first target area
  • the second route for the second target area enables the unmanned aerial vehicle to perform flight operations according to the second route. Compared with the traditional technology, it reduces user operations and improves intelligence.
  • the second target area is an obstacle area
  • the second route is used to instruct the unmanned aerial vehicle to bypass the second target area for flight operations.
  • the second target area selected by the user is the obstacle area that hinders the flight of the unmanned aerial vehicle.
  • the waypoints of the first route not covered by the second target area can be generated to indicate the unmanned aircraft.
  • the second target area selected by the user may be a non-obstacle area.
  • the waypoints of the first route covered by the second target area may be generated to indicate the pair of unmanned aerial vehicles.
  • the second route for flight operations in the second target area Since the obstacle area is usually small and the operation area is usually larger in the flight area delineated by the user, in the obstacle avoidance scenario, passing the second target area as the obstacle area can facilitate the user's selection and improve the user experience.
  • the second target area is a key area
  • the second route is used to instruct the unmanned aerial vehicle to perform flight operations on the second target area.
  • the second target area selected by the user is the key area where the UAV needs to fly.
  • the waypoints of the first route covered by the second target area can be generated to indicate the unmanned aircraft.
  • the area that needs to be focused on flight is usually small, and the area that does not need to be focused on flight is usually larger. Therefore, in the key flight scenario, using the second target area as the key area can facilitate user selection. Improve user experience.
  • the second route is composed of a plurality of straight line segments connected end to end, and no waypoint is set between the two ends of each straight line segment.
  • no waypoint is set between the two ends of each straight line segment.
  • the two straight line segments connected end to end are not collinear.
  • the straight line segments connected end to end are collinear, it can indicate that there are redundant waypoints in the second route.
  • the two straight line segments connected end to end are not collinear, which can further reduce the number of waypoints in the second route generated, which is beneficial Further reduce the waypoint's occupation of the flight controller memory of the unmanned aerial vehicle, thereby further saving the memory resources of the flight controller.
  • the two straight line segments connected end to end are perpendicular to each other, and the two straight line segments connected end to end to the same straight line segment are parallel to each other.
  • the two straight line segments connected end to end are perpendicular to each other and connected end to end with the same straight line segment to be parallel to each other, so that a bow-shaped second course can be formed.
  • generating the second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps A1 and B1 And step C1.
  • Step A1 Determine a target flight segment among the multiple flight segments according to the second target area, the target flight segment including flight segments that are not covered by the second target area and are not adjacent.
  • the second route generated based on the waypoints of the first route not covered by the second target area is used to instruct the unmanned aerial vehicle to bypass the second target area to perform flight operations.
  • the flight segment covered by the second target area and the waypoints between the two ends of the adjacent flight segments of the second target area need to be used for the second route to bypass the second target area, and the second target area is not covered and not adjacent
  • the waypoints between the ends of the flight segment do not need to be used to achieve the second route bypassing the second target area, that is, the waypoints between the two ends of the target flight segment do not need to be used to achieve the second route bypassing the first 2.
  • Target area At this time, the waypoints between the two ends of the target flight segment can be considered as redundant waypoints.
  • Step B1 Delete the waypoints between the two ends of the target flight segment and the waypoints in the first route covered by the second target area to obtain the remaining waypoints of the first route.
  • the second route generated from the waypoints of the first route not covered by the second target area is used to instruct the UAV to bypass the second target area for flight operations, the first route covered by the second target area
  • the waypoints in are invalid waypoints that the UAV does not need to fly.
  • the remaining waypoints of the obtained first route can be generated to instruct the UAV to bypass The second route for flight operations in the second target area.
  • FIG. 7A On the basis of FIG. 6A, after deleting the waypoints between the two ends of the target flight segment and the waypoints in the first route covered by the second target area, the remaining waypoints of the first route are shown in FIG. 7A. As shown in Figure 7A, on the basis of step B1, part of the waypoints between the two ends of the adjacent flight segments in the second target area can also be deleted. This part of the waypoints are also redundant waypoints, which can be implemented flexibly according to requirements. .
  • Step C1 Generate a second route according to the remaining waypoints of the first route.
  • the remaining waypoints of the first route are obtained, and the second route is generated based on the remaining waypoints of the first route, and the waypoints of the first route not covered by the second target area are directly extracted, and Compared with generating the second route, it can avoid the complicated implementation problems caused by the extraction of waypoints, which is conducive to simplifying the implementation. In addition, the number of waypoints involved in generating the second route can be reduced, which is conducive to reducing the amount of calculation and saving computing resources.
  • step C1 may specifically include: deleting redundant waypoints among the remaining waypoints of the first route to obtain key waypoints, connecting the key waypoints in sequence to form multiple straight-line segments connected end to end, To generate a second route; wherein, the two straight line segments connected end to end are not collinear, and the key waypoints are the waypoints at both ends of each straight line segment.
  • the connecting line does not cross or touch the second target area during the process of connecting the remaining waypoints in sequence.
  • first delete waypoint b1, waypoint b2, waypoint b3, and waypoint b4 on the basis of Figure 7A that is, waypoints b1, b2, b3, and b4 are redundant waypoints.
  • the second route generated by the points is shown in Figure 7B.
  • the order of the waypoints of the first route can be waypoint 1, waypoint 2,..., waypoint 26, so as to achieve a detour. Open the second target area.
  • the remaining waypoints of the first route can be connected in sequence to form multiple end-to-end straight line segments, and the second route is generated based on the multiple end-to-end straight line segments.
  • the two waypoints are shown in Figure 7C.
  • waypoint b1, waypoint b2, waypoint b3, and waypoint b4 can be deleted to obtain the second route as shown in Figure 7B.
  • generating the second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps A2 and B2.
  • Step A2 Delete redundant waypoints among the waypoints of the first route not covered by the second target area, and obtain key routes among the waypoints of the first route not covered by the second target area. point.
  • the waypoints of the first route not covered by the second target area can include redundant waypoints and key waypoints, where redundant waypoints can be understood as unnecessary waypoints used to generate the second route, key waypoints It can be understood as the necessary waypoints used to generate the second route, that is, the waypoints that define a straight line (points at both ends of the straight line)
  • Step B2 Connect the key waypoints in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein, the two straight line segments connected end to end are not collinear, and the key waypoints are each The waypoints at both ends of the straight line segment.
  • generating the second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps A3 and B3.
  • Step A3 connecting the waypoints of the first route not covered by the second target area in sequence to generate a plurality of straight line segments connected end to end.
  • the waypoints of the first route not covered by the second target area can be directly connected in sequence to form multiple heads and tails. Connected straight segments. It can be understood that, when the waypoints of the first route not covered by the second target area include redundant waypoints, collinear straight line segments may exist among the generated multiple straight line segments connected end to end. For the obstacle circumvention scenario, it is necessary to ensure that the connecting line does not cross or touch the second target area during the sequential connection of the waypoints of the first route that are not covered by the second target area.
  • the waypoints of the first route not covered by the second target area are sequentially connected to generate a plurality of straight line segments connected end to end as shown in FIG. 7E.
  • Step B3 Delete redundant waypoints in the multiple straight-line segments connected end to end, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.
  • the second route as shown in FIG. 7B is obtained.
  • generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps D1 and E1.
  • Step D1 Delete the waypoints in the first route that are not covered by the second target area, and obtain the remaining waypoints of the first route.
  • the second route generated according to the waypoints of the first route covered by the second target area is used to instruct the unmanned aerial vehicle to perform flight operations on the second target area.
  • the waypoints covered by the second target area need to be used to achieve the second target area of the second flight route, while the waypoints not covered by the second target area need not be used to achieve the second target area of the second flight route, that is, the second target
  • the waypoints not covered by the area must be invalid waypoints that the UAV does not need to fly.
  • the remaining waypoints of the obtained first route can be used to generate the second route for instructing the unmanned aerial vehicle to perform flight operations on the second target area.
  • Step E1 Generate a second route according to the remaining waypoints of the first route.
  • the remaining waypoints of the first route are obtained, and the second route is generated based on the remaining waypoints of the first route, and the first route covered by the second target area is directly extracted Compared with the waypoints of one route and generating the second route, it is possible to avoid the complicated implementation problems caused by extracting the waypoints, which is conducive to simplifying the implementation.
  • step E1 may specifically include: deleting redundant waypoints among the remaining waypoints of the first route to obtain key waypoints, connecting the key waypoints in sequence to form multiple straight-line segments connected end to end , To generate a second route; wherein, the key waypoints are the waypoints at both ends of each straight line segment.
  • first delete waypoint b5, waypoint b6, and waypoint b7 on the basis of Figure 8A that is, waypoints b5, b6, and b7 are redundant waypoints.
  • the second waypoint is generated based on the key waypoint.
  • the route is shown in Figure 8B.
  • the order of the waypoints of the first route can be waypoint 1, waypoint 2,..., waypoint 6, so as to realize the flight The second target area.
  • the remaining waypoints of the first route can be connected in sequence to form multiple end-to-end straight line segments, and the second route generated based on the multiple end-to-end straight line segments is generated.
  • the two waypoints are shown in Figure 8C.
  • waypoint b5, waypoint b6 and waypoint b7 can be deleted to obtain the second route as shown in Figure 8B.
  • generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps D2 and E2.
  • Step D2 Delete redundant waypoints among the waypoints of the first route covered by the second target area, and obtain key waypoints among the waypoints of the first route covered by the second target area.
  • Step E2 Connect the key waypoints in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein, the two straight line segments connected end to end are not collinear, and the key waypoints are each The waypoints at both ends of the straight line segment.
  • FIG. 8D On the basis of FIG. 6B, the obtained key waypoints in the first route covered by the second target area are shown in FIG. 8D.
  • Fig. 8D On the basis of Fig. 8D, after connecting the key points in sequence, the second route obtained is shown in Fig. 8B.
  • generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps D3 and E3.
  • Step D3 connecting the waypoints of the first route covered by the second target area in sequence to form a plurality of straight line segments connected end to end;
  • Step E3 Delete redundant waypoints in the multiple straight-line segments connected end to end, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.
  • the straight line segment formed by sequentially connecting the waypoints of the first route covered by the second target area is as shown in FIG. 8C.
  • the second route obtained is shown in Fig. 8B.
  • the waypoints between the two ends of the flight segment can be distributed according to the manual setting of the user.
  • the waypoints between the two ends of the flight segment are distributed according to the user's manual setting, so that the user can flexibly set the waypoints between the two ends of the flight segment, which is beneficial to improve flexibility.
  • the specific method for obtaining the waypoints between the two ends of the flight segment manually can be flexibly implemented according to the needs. For example, the user's click operation between the two ends of the flight segment can be obtained, and the position of the flight segment corresponding to the click operation can be obtained Set waypoints.
  • the waypoints between the two ends of the flight segment can be automatically set according to a preset target strategy.
  • the waypoints between the two ends of the flight segment are automatically set according to the preset target strategy, which helps simplify user operations.
  • the target strategy includes any one of the following: a strategy with a preset distance as an interval, a strategy with a preset number set at equal intervals, and a strategy with a set number that is positively related to a terrain undulation condition.
  • the preset distance can be flexibly realized according to requirements, and the preset distance can determine the number of waypoints set between the two ends of the flight segment.
  • the larger the preset distance the fewer the number of waypoints set between the two ends of the flight segment, the smaller the preset distance, the more the number of waypoints set between the two ends of the flight segment.
  • the preset number can be flexibly implemented according to requirements, and the preset number is the number of waypoints set between the two ends of the flight segment.
  • the strategy that is positively correlated with the ups and downs automatically sets the waypoints between the two ends of the flight segment, and can flexibly control the granularity of setting waypoints between the two ends of the flight segment according to needs.
  • the acquiring the second target area selected by the user in the first target area may specifically include: according to the user's position in the first target area
  • the area selection operation determines that the user selects the second target area in the first target area. Therefore, the user can flexibly select the second target area in the first target area through the area selection operation, which is beneficial to simplify the user input and improve the user experience.
  • the above mainly describes the multiple parallel flight segments of the first route, and on the basis that there are waypoints between the two ends of each flight segment, according to the waypoints in the first route or the second target covered by the second target area
  • the way points in the first route not covered by the area generate the second route.
  • the same content as in the foregoing embodiment will not be repeated.
  • FIG. 9 is a schematic flowchart of a flight control method provided by another embodiment of this application.
  • the execution subject of this embodiment may be the control device 11, and specifically may be the processor of the control device 11.
  • the method of this embodiment may include:
  • Step 901 Display a first route covering the first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends.
  • the relationship among the first target area X, the first route, the flight segments of the first flight route, and the waypoints of the flight segments may be as shown in FIG. 10.
  • the first route covering the first target area X includes a plurality of parallel flight segments S, and two ends of each flight segment are respectively provided with waypoints a.
  • Step 902 Obtain a second target area selected by the user in the first target area.
  • the user can select the second target area Y1 in the first target area X, and the second target area Y1 is a part of the first target area X.
  • the user can select the second target area Y2 in the first target area X, and the second target area Y2 is a part of the first target area X.
  • Step 903 Determine the target flight segments that overlap with the second target area among the plurality of flight segments and that are adjacent to each other, and add waypoints between the two ends of the target flight segment.
  • the overlapping and adjacent target flight segments in the second target area are flight segments S1, S2, S3, and S4, respectively.
  • the specific method of adding waypoints between the two ends of the target flight segment can be implemented flexibly according to requirements.
  • the number of waypoints added between the two ends of each target flight segment may be the same, and the number of waypoints added between the two ends of each target flight segment is the same, which facilitates simplified implementation.
  • Fig. 11A the result after adding waypoints between the two ends of the target flight segment can be as shown in Fig. 12A.
  • Fig. 11B the result after adding waypoints between the two ends of the target flight segment can be as shown in Fig. 12B. It should be noted that the way of adding waypoints in Fig. 12A and Fig. 12B is only an example.
  • Step 904 Generate a second route according to the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, and combine the second route The route is sent to the unmanned aerial vehicle so that the unmanned aerial vehicle can perform flight operations according to the second route.
  • the second target area selected by the user in the first target area is acquired, and the multiple flight segments that overlap with and adjacent to the second target area are determined
  • For the target flight segment add waypoints between the two ends of the target flight segment, and generate a second route based on the waypoints of the first route not covered by the second target area or the waypoints of the first route covered by the second target area, Reduce user operations and improve intelligence.
  • the number of added waypoints can be reduced, which is beneficial to save the memory of the control device.
  • step 904 may specifically include: when the second target area is an obstacle area, generating a second route according to the waypoints of the first route not covered by the second target area The second route is used to instruct the unmanned aerial vehicle to bypass the second target area for flight operations; when the second target area is a key area, according to the second target area covered by the first The waypoints of a route generate a second route; the second route is used to instruct the unmanned aerial vehicle to perform flight operations on the second target area.
  • the generating a second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps F1 and G1 .
  • Step F1 Delete the waypoints in the first route covered by the second target area, and obtain the remaining waypoints of the first route.
  • the second route generated from the waypoints of the first route not covered by the second target area is used to instruct the UAV to bypass the second target area for flight operations
  • the first route covered by the second target area The waypoints in are invalid waypoints that the UAV does not need to fly. Therefore, by deleting the waypoints in the first route covered by the second target area, the obtained remaining waypoints of the first route can generate a second route for instructing the unmanned aerial vehicle to bypass the second target area for flight operations. .
  • Fig. 7A On the basis of Fig. 12A, after deleting the waypoints in the first route covered by the second target area, the remaining waypoints of the first route are as shown in Fig. 7A. As shown in Figure 7A, based on step F, part of the waypoints between the two ends of the adjacent flight segments in the second target area can also be deleted. This part of the waypoints are also redundant waypoints, which can be implemented flexibly according to requirements. .
  • Step G1 Generate a second route according to the remaining waypoints of the first route.
  • step G1 is similar to step C1 in the foregoing embodiment, and will not be repeated here.
  • the generating a second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps F2 and G2 .
  • Step F2 Delete redundant waypoints among the waypoints of the first route not covered by the second target area, and obtain key routes among the waypoints of the first route not covered by the second target area. point.
  • Step G2 Connect the key waypoints in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein the two straight line segments connected end to end are not collinear, and the key waypoints are each The waypoints at both ends of the straight line segment.
  • step F2 is similar to step A2 in the foregoing embodiment, and the specific implementation of step G2 is similar to step B2 in the foregoing embodiment, and will not be repeated here.
  • the generating a second route according to the waypoints of the first route not covered by the second target area may specifically include the following steps F3 and G3 .
  • Step F3 connecting the waypoints of the first route not covered by the second target area in sequence to generate a plurality of straight line segments connected end to end.
  • Step G3 Delete redundant waypoints in the multiple straight-line segments connected end to end, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.
  • step F3 is similar to step A3 in the foregoing embodiment, and the specific implementation of step G3 is similar to step B3 in the foregoing embodiment, and will not be repeated here.
  • generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps H1 and I1.
  • Step H1 Delete the waypoints in the first route that are not covered by the second target area, and obtain the remaining waypoints of the first route.
  • the second route generated according to the waypoints of the first route covered by the second target area is used to instruct the unmanned aerial vehicle to perform flight operations on the second target area.
  • the waypoints covered by the second target area need to be used to achieve the second target area of the second flight route, while the waypoints not covered by the second target area need not be used to achieve the second target area of the second flight route, that is, the second target
  • the waypoints not covered by the area must be invalid waypoints that the UAV does not need to fly.
  • the remaining waypoints of the obtained first route can be used to generate the second route for instructing the unmanned aerial vehicle to perform flight operations on the second target area.
  • step 904 if the second route needs to be generated based on the waypoints of the first route covered by the second target area, step 903 can be replaced by determining the number of flight segments. For the target flight segment that overlaps the second target area, a waypoint is added between the two ends of the target flight segment.
  • Step I1 Generate a second route according to the remaining waypoints of the first route.
  • step I1 is similar to step E1 in the foregoing embodiment, and will not be repeated here.
  • generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps H2 and I2.
  • Step H2 Delete redundant waypoints among the waypoints of the first route covered by the second target area to obtain key waypoints among the waypoints of the first route not covered by the second target area .
  • Step I2 Connect the key waypoints in sequence to form a plurality of straight line segments connected end to end to generate a second route; wherein, the two straight line segments connected end to end are not collinear, and the key waypoints are each The waypoints at both ends of the straight line segment.
  • step H2 is similar to step D2 in the foregoing embodiment, and the specific implementation of step I2 is similar to step E2 in the foregoing embodiment, and will not be repeated here.
  • generating the second route according to the waypoints of the first route covered by the second target area may specifically include the following steps H3 and I3.
  • Step H3 connecting the waypoints of the first route covered by the second target area in sequence to generate a plurality of straight line segments connected end to end.
  • Step I3 Delete redundant waypoints in the multiple straight-line segments connected end to end, so that the two straight-line segments connected end to end are not collinear, so as to generate a second route.
  • step H3 is similar to step D3 in the foregoing embodiment, and the specific implementation of step I3 is similar to step E3 in the foregoing embodiment, and will not be repeated here.
  • adding waypoints between the two ends of the target flight segment in step 903 may specifically include: between the two ends of the target flight segment according to a preset target strategy Increase waypoints.
  • the target strategy includes any one of the following: a strategy with a preset distance as an interval or a strategy with a preset number set at equal intervals.
  • adding waypoints between the two ends of the target flight segment in step 903 may specifically include: adding waypoints between the two ends of the target flight segment according to the manual setting of the user. Waypoint.
  • step 902 may specifically include: determining that the user selects the second target area in the first target area according to an area selection operation of the user in the first target area.
  • FIG. 13 is a schematic structural diagram of a control device provided by an embodiment of the application, and the control device is used to control the flight of an unmanned aerial vehicle.
  • the control device 1300 may include: a memory 1301 and a processor 1302.
  • the memory 1301 is used to store program codes
  • the processor 1302 calls the program code, and when the program code is executed, is configured to perform the following operations:
  • the first route covering the first target area; wherein the first route includes a plurality of parallel flight segments, and each of the flight segments has at least three waypoints, two of which are located on the flight segments Both ends of
  • control device 1300 provided in this embodiment may be used to implement the technical solution of the method embodiment in FIG. 5, and its implementation principle and technical effect are similar to the method embodiment, and will not be repeated here.
  • FIG. 14 is a schematic structural diagram of a control device provided by another embodiment of the application, and the control device is used to control the flight of an unmanned aerial vehicle.
  • the control device 1400 may include: a memory 1401 and a processor 1402.
  • the memory 1401 is used to store program codes
  • the processor 1402 calls the program code, and when the program code is executed, is configured to perform the following operations:
  • the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with a waypoint at both ends;
  • control device 1400 provided in this embodiment can be used to execute the technical solution of the method embodiment in FIG. 9, and its implementation principle and technical effect are similar to the method embodiment, and will not be repeated here.
  • the embodiment of the present application also provides an unmanned aerial system including: a control device 11 and an unmanned aerial vehicle 12.
  • the control device 11 is used to display a first route covering a first target area; wherein, the first route includes a plurality of parallel flight segments, and each of the flight segments is provided with at least three waypoints, Two waypoints are located at both ends of the flight segment; obtain the second target area selected by the user in the first target area; and, according to the first route not covered by the second target area A waypoint or a waypoint of the first route covered by the second target area, generating a second route, and sending the second route to the unmanned aerial vehicle;
  • the unmanned aerial vehicle 12 is used to perform flight operations according to the second route.
  • the embodiment of the present application also provides an unmanned aerial system including: a control device 11 and an unmanned aerial vehicle 12.
  • the control device 11 is used to display a first flight route covering a first target area; wherein, the first flight route includes a plurality of parallel flight segments, each of which is provided with a flight segment at both ends.
  • the unmanned aerial vehicle 12 is used to perform flight operations according to the second route.
  • a person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware.
  • the aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

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Abstract

一种飞行控制方法、设备及***，该方法包括：显示覆盖第一目标区域的第一航线；其中，第一航线包括平行的多个航段，每个航段设有至少三个航点，其中两个航点位于航段的两端（401）；获取用户在第一目标区域中所选择的第二目标区域（402）；根据第二目标区域未覆盖的第一航线的航点或第二目标区域覆盖的第一航线的航点，生成第二航线，并将第二航线发送至无人飞行器，以使无人飞行器能够根据第二航线执行飞行操作（403）。该飞行控制方法、设备及***减少了用户操作，提高了智能化。

Description

飞行控制方法、设备及*** 技术领域
本申请涉及飞行控制技术领域，尤其涉及一种飞行控制方法、设备及***。
背景技术
近年来，随着科技的发展，无人飞行器的应用越来越广泛。
通常，通过无人飞行器的控制设备设定无人飞行器的航线，控制无人飞行器按照设定的航线飞行以完成相应任务。具体的，控制设备可以根据用户划定的目标区域自动生成无人飞行器的航线，并将航线发送至无人飞行器，无人飞行器便可根据航线自动飞行。
然而，对于一些针对目标区域中部分区域的特定场景，例如，该部分区域中存在障碍物阻碍飞行，或者，该部分区域需要重新飞行时，需要用户重新规划航线，因此存在操作复杂，智能化较低的问题。
发明内容
本申请实施例提供一种飞行控制方法、设备及***，用以解决现有技术中操作复杂，智能化较低的问题。
第一方面，本申请实施例提供一种飞行控制方法，应用于控制设备，所述控制设备用于控制无人飞行器的飞行；包括：
显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段设有至少三个航点，其中两个航点位于所述航段的两端；
获取用户在所述第一目标区域中所选择的第二目标区域；
根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
第二方面，本申请实施例提供一种飞行控制方法，应用于控制设备，所述控制设备用于控制无人飞行器的飞行；包括：
显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段的两端分别设有一个航点；
获取用户在所述第一目标区域中所选择的第二目标区域；
确定所述多个航段中与所述第二目标区域重叠的和相邻的目标航段，在所述目标航段的两端之间增加航点；
根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
第三方面，本申请实施例提供一种控制设备，所述控制设备用于控制无人飞行器的飞行，包括：处理器和存储器；所述存储器，用于存储程序代码；所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段的两端分别设有一个航点；
获取用户在所述第一目标区域中所选择的第二目标区域；
确定所述多个航段中与所述第二目标区域重叠的和相邻的目标航段，在所述目标航段的两端之间增加航点；
根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
第四方面，本申请实施例提供一种无人飞行***，包括：控制设备和无人飞行器；
所述控制设备，用于显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段设有至少三个航点，其中两个航点位于所述航段的两端；获取用户在所述第一目标区域中所选择的第二目标区域；以及，根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线 发送至所述无人飞行器；
所述无人飞行器，用于根据所述第二航线执行飞行操作。
第五方面，本申请实施例提供一种无人飞行***，包括：控制设备和无人飞行器；
所述控制设备，用于显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段的两端分别设有一个航点；获取用户在所述第一目标区域中所选择的第二目标区域；确定所述多个航段中与所述第二目标区域重叠的和相邻的目标航段，在所述目标航段的两端之间增加航点；以及，根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
所述无人飞行器，用于根据所述第二航线执行飞行操作。
第六方面，本申请实施例提供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，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行如第一方面任一项所述的方法。
第七方面，本申请实施例提供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，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行第二方面任一项所述的方法。
第八方面，本申请实施例提供一种计算机程序，当所述计算机程序被计算机执行时，用于实现如第一方面任一项所述的方法。
第九方面，一种计算机程序，其特征在于，当所述计算机程序被计算机执行时，用于实现如第二方面任一项所述的方法。
本申请实施例提供一种飞行控制方法、设备及***，通过显示覆盖第一目标区域的第一航线，获取用户在第一目标区域中所选择的第二目标区域，根据第二目标区域未覆盖的第一航线的航点或第二目标区域覆盖的第一航线的航点，生成第二航线，实现了根据覆盖第一目标区域的第一航线的航点以及用户在第一目标区域中所选择的第二目标区域，生成特殊场景下针对第二目标区域的第二航线，使得无人飞行器能够根据第二航线执行飞行操作，与 传统技术相比，减少了用户操作，提高了智能化。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图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的前提下，还可以根据这些附图获得其他的附图。
图1-图2为本申请实施例提供的飞行控制方法的应用场景示意图；
图3为现有技术中航线的示意图；
图4为本申请一实施例提供的飞行控制方法的流程示意图；
图5-图8D为本申请实施例提供的飞行控制方法的航线的示意图；
图9为本申请另一实施例提供的飞行控制方法的流程示意图；
图10-图12B为本申请实施例提供的飞行控制方法的航线的示意图；
图13为本申请一实施例提供的控制设备的结构示意图；
图14为本申请另一实施例提供的控制设备的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，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，都属于本申请保护的范围。
图1为本申请实施例提供的飞行控制方法的应用场景示意图，如图1所示，该应用场景包括控制设备11和无人飞行器12，其中，控制终端11与无人飞行器12通信连接，控制设备11用于控制无人飞行器12的飞行。具体的，控制终端11能够根据用户需求设置航线，并将航线发送至无人飞行器12，无人飞行器12能够根据控制终端11发送的航线执行飞行操作。示例性的，控制终端11包括带屏遥控器、智能手机、平板电脑、掌上电脑等。
需要说明的是，对于控制设备11与无人飞行器12通信连接的具体方式，本申请不做限定。可选的，控制设备11可以与无人飞行器12直接通信连接，或者，如图2所示，控制设备11可以通过中继设备与无人飞行器12通信连接。以控制设备11为智能手机为例，中继设备可以包括遥控器。以控制设备11为带屏遥控器为例，中继设备可以包括其他无人飞行器。
通常，如图3所示控制设备11设置的覆盖区域1的航线可以包括了平行的多个航段，通过将这些平行的航段连接起来，从而能够生成弓字形航线。需要说明的是，图3中的实线用于示例出一个航段，该实线两端的点即为航点。
其中，每个航段的两端分别设有一个航点，并且由于一个航段两端的航点能够唯一确定该航段，而无人飞行器的飞行控制器的内存有限，因此航段的两端之间并未设置航点。然而，对于一些针对图3所示的区域1中区域2的特殊场景，存在用户操作复杂，智能化较低的问题。
具体的，如图3所示，在图3中的区域2中存在障碍物阻碍飞行的情况下，无人飞行器在根据图3所示的航线飞行至该区域2附近时，需要用户手动操作无人飞行器绕过该区域2，在用户手动控制无人飞行器绕过该区域2之后，无人飞行器才能够根据图3所示的航线继续飞行。
如图3所示，在图3中的区域2需要重新飞行的情况下，无人飞行器在根据图3所示的航线结束飞行之后，需要用户手动操作无人飞行器在该区域2重新飞行。或者，无人飞行器在根据图3所示的航线结束飞行之后，需要用户使用控制设备重新规划针对该区域2的航线，具体的，不但需要用户划定该区域2，还需要用户设置该区域2对应的飞行状态等参数，以便控制终端能够根据用户设置重新规划航线。
本申请实施例提供的飞行控制方法，通过在覆盖第一目标区域的第一航线中的至少部分航段的两端之间设有航点，并根据用户在第一目标区域中所选择的第二目标区域以及第一航线的航段的航点，生成第二航线，实现了根据覆盖第一目标区域的第一航线的航点以及用户在第一目标区域中所选择的第二目标区域，生成特殊场景下针对第二目标区域的第二航线。
下面结合附图，对本申请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。
图4为本申请一实施例提供的飞行控制方法的流程示意图，本实施例的执行主体可以为控制设备11，具体可以为控制设备11的处理器。如图4所示，本 实施例的方法可以包括：
步骤401，显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段设有至少三个航点，其中两个航点位于所述航段的两端。
本步骤中，第一目标区域X、第一航线、第一航线的航段以及航段的航点之间的关系可以如图5所示。参考图5，覆盖第一目标区域X的第一航线包括平行的多个航段S，且每个航段的两端分别设置有航点a，每个航段的两端之间还设置有航点b。
需要说明的是，每个所述航段的两端的航点以及两端之间的航点可以是默认航点；或者，每个航段两端的航点可以是默认航点，两端之间的航点可以是新增航点，增加航点的步骤可以在步骤401、步骤402或步骤403之前执行。其中，默认航点是指第一航线默认存在的航点，新增航点是指在第一航线的默认航点的基础上增加的航点。
需要说明的是，图5中航段的两端之间设置的航点数量仅为举例，第一目标区域X的形状仅为举例。图5中的实线用于示例出一个航段，该实线两端的点即为航点。
需要说明的是，图5仅为第一目标区域、第一航线、第一航线的航段以及航段的航点之间的关系示意图，并不作为显示覆盖第一目标区域的第一航线显示方式的限制。在显示覆盖第一目标区域的第一航线时，根据实际需求可以不显示航段的航点，或者，可以只显示航段两端的航点，或者可以显示航段的所有航点等。
步骤402，获取用户在所述第一目标区域中所选择的第二目标区域。
本步骤中，在图5的基础上，如图6A所示用户可以在第一目标区域X中选择第二目标区域Y1。第二目标区域Y1为第一目标区域X中的部分区域。或者，如图6B所示，用户可以在第一目标区域X中选择第二目标区域Y2。第二目标区域Y2为第一目标区域X中的部分区域。
需要说明的是，图6A和图6B中第二目标区域的形状仅为举例，第二目标区域Y的形状可以根据需求灵活实现，示例性的，第二目标区域的形状可以为正方形、长方形、圆形、椭圆形等。
其中，获取用户在第一目标区域中所选择的第二目标区域的具体方式，可以根据需求灵活实现。例如，可以获取用户输入的第二目标区域Y的中心点 坐标以及中心点到区域边缘的距离，并根据中心点坐标以及距离确定第二目标区域。
步骤403，根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
本步骤中，第二航线是基于第一航线的航点确定的，针对第二目标区域的航线。由于覆盖第一目标区域的第一航线包括了平行的多个航段，每个航段的两端之间设有航点，且第二目标区域是包含在第一目标区域中，因此第二目标区域能够覆盖第一航线的部分航点。并且，对于第二目标区域覆盖的第一航线的航点，存在两种情况，即要么是需要无人飞行器重点飞行的航点，要么是不需要无人飞行器飞行的航点。因此，无论具体是哪种特殊场景，在用户选择第二目标区域后，均能够通过根据第二目标区域未覆盖的第一航线的航点或第二目标区域覆盖的第一航线的航点的方式，生成针对第二目标区域的第二航线。
其中，第二目标区域覆盖的第一航线的航点包括完全位于所述第二目标区域内的航点。在另一优选实施例中，所述第二目标区域覆盖的第一航线的航点还包括位于所述第二目标区域边界上的航点。
对于对第二目标区域进行重点飞行的场景，第二航线为对所述第二目标区域进行重点飞行的航线。当第二目标区域的划分形状不适合生成较为顺畅的航线获其他原因时，可将实际上位于所述第二目标区域外且与所述第二目标区域的距离小于或等于预设阈值的航点加入第二航线的规划中。
第二目标区域未覆盖的第一航线的航点包括完全位于第二目标区域之外的航点。
对于对第二目标区域进行绕障飞行的场景，第二航线为绕开所述第二目标区域进行飞行的航线。当所述第二目标区域之外的航点和所述第二目标区域过近的时候，如果这些航点也加入第二航线的规划，可能会发生撞机的问题。因此，可将实际上位于所述第二目标区域外且与所述第二目标区域的距离小于或等于预设阈值的航点先删除，再基于剩下的航点进行航线规划。
在另一实施例中，当存在与所述第二目标区域的边界之间的距离小于或等于距离阈值的航点时，可以提示用户重新选择第二目标区域，更方便航线 的规划，无需后期增加或删除。
示例性的，可以默认根据第二目标区域未覆盖的第一航线的航点，生成第二航线；或者，可以默认根据第二目标区域覆盖的第一航线的航点，生成第二航线；或者，可以基于用户操作，选择是根据第二目标区域未覆盖的第一航线的航点生成第二航线，还是根据第二目标区域覆盖的第一航线的航点生成第二航线。
本实施例中，通过显示覆盖第一目标区域的第一航线，获取用户在第一目标区域中所选择的第二目标区域，根据第二目标区域未覆盖的第一航线的航点或第二目标区域覆盖的第一航线的航点，生成第二航线，实现了根据覆盖第一目标区域的第一航线的航点以及用户在第一目标区域中所选择的第二目标区域，生成特殊场景下针对第二目标区域的第二航线，使得无人飞行器能够根据第二航线执行飞行操作，与传统技术相比，减少了用户操作，提高了智能化。
在图4所示实施例的基础上，可选的，当所述第二目标区域为障碍区域时，根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线；所述第二航线用于指示所述无人飞行器绕开所述第二目标区域进行飞行操作。这里，对于绕障场景，用户所选择的第二目标区域为阻碍无人飞行器飞行的障碍区域，此时，可以根据第二目标区域未覆盖的第一航线的航点，生成用于指示无人飞行器绕开第二目标区域进行飞行操作的第二航线。
可替换的，对于绕障场景，用户所选择的第二目标区域可以为非障碍区域，此时，可以根据第二目标区域覆盖的第一航线的航点生成用于指示所述无人飞行器对第二目标区域进行飞行操作的第二航线。由于用户所划定的飞行区域中，障碍区域通常较小，作业区域通常较大，因此在避障场景下，通过第二目标区域为障碍区域，能够便于用户选择，提高用户的使用体验。
在图4所示实施例的基础上，可选的，当所述第二目标区域为重点区域时，根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线；所述第二航线用于指示所述无人飞行器对所述第二目标区域进行飞行操作。这里，对于重点飞行场景，用户所选择的第二目标区域为需要无人飞行器重点飞行的重点区域，此时，可以根据第二目标区域覆盖的第一航线的航点，生成用于指示无人飞行器针对第二目标区域进行飞行操作的第二航线。由于用户所划定的飞行区域中，需要重点飞行的区域通常较小，不需要重点飞行的区域 通常较大，因此在重点飞行场景下，通过第二目标区域为重点区域，能够便于用户选择，提高用户的使用体验。
示例性的，所述第二航线由首尾连接的多个直线段构成，每一所述直线段两端之间未设有航点。通过每一所述直线段两端之间未设有航点，能够减少所生成的第二航线中航点的数量，有利于减少航点对于无人飞行器的飞行控制器内存的占用，节省飞行控制器的内存资源。
示例性的，两条所述首尾连接的直线段不共线。在首尾连接的直线段共线时，可以表示第二航线中还存在冗余航点，通过两条首尾连接的直线段不共线，能够进一步减少生成的第二航线中航点的数量，有利于进一步减少航点对于无人飞行器的飞行控制器内存的占用，从而进一步节省飞行控制器的内存资源。
示例性的，两条所述首尾连接的直线段之间相互垂直，且与同一直线段首尾连接的两条所述直线段相互平行。通过首尾连接的直线段之间相互垂直且与同一直线段首尾连接的两条所述直线段相互平行，能够成弓字型的第二航线。
在图4所示实施例的基础上，可选的，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤A1、步骤B1和步骤C1。
步骤A1，根据所述第二目标区域，确定所述多个航段中的目标航段，所述目标航段包括所述第二目标区域未覆盖且未相邻的航段。
其中，根据第二目标区域未覆盖的第一航线的航点所生成的第二航线是用于指示无人飞行器绕开第二目标区域进行飞行操作。第二目标区域覆盖的航段以及第二目标区域相邻的航段两端之间的航点需要用于实现第二航线绕开第二目标区域，而第二目标区域未覆盖且未相邻的航段两端之间的航点并不需要用于实现第二航线绕开第二目标区域，即目标航段两端之间的航点是并不需要用于实现第二航线绕开第二目标区域，此时，目标航段两端之间的航点可以认为是冗余航点。
步骤B1，删除所述目标航段两端之间的航点以及所述第二目标区域覆盖的所述第一航线中的航点，得到所述第一航线的剩余航点。
其中，由于根据第二目标区域未覆盖的第一航线的航点所生成的第二航线是用于指示无人飞行器绕开第二目标区域进行飞行操作，因此第二目标区 域覆盖的第一航线中的航点是无人飞行器不需要飞行的无效航点。
因此，通过删除目标航段两端之间的航点以及第二目标区域覆盖的第一航线中的航点，所得到的第一航线的剩余航点，能够生成用于指示无人飞行器绕开第二目标区域进行飞行操作的第二航线。
在图6A的基础上，删除目标航段两端之间的航点以及第二目标区域覆盖的第一航线中的航点之后，第一航线的剩余航点如图7A所示。如图7A所示，在步骤B1的基础上，还可以删除第二目标区域相邻的航段两端之间的部分航点，该部分航点也是冗余航点，具体可以根据需求灵活实现。
步骤C1，根据所述第一航线的剩余航点，生成第二航线。
通过删除第一航线的部分航点得到第一航线的剩余航点，并根据第一航线的剩余航点生成第二航线，与直接提取第二目标区域未覆盖的第一航线的航点，并生成第二航线相比，能够避免由于提取航点带来的实现复杂的问题，有利于简化实现。并且，能够减少参与生成第二航线的航点数量，有利于减少计算量，节省计算资源。
示例性的，步骤C1具体可以包括：删除所述第一航线的剩余航点中的冗余航点，得到关键航点，将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直线段两端的航点。其中，对于绕障场景，在将剩余航点依次连接的过程中需要保证连接线不与第二目标区域有交叉或接触。
例如，在图7A的基础上先删除航点b1、航点b2、航点b3和航点b4，即航点b1、b2、b3、b4为冗余航点，得到关键航点之后根据关键航点所生成的第二航线如图7B所示。图7B中以航点1为起始航点，航点26为结束航点为例，第一航线的航点顺序可以为航点1、航点2、……，航点26，从而实现绕开第二目标区域。
可替换的，在图7A的基础上可以先将第一航线的剩余航点依次连接形成多个首尾连接的直线段，并根据多个首尾连接的直线段生成的第二航线，所生成的第二航点如图7C所示，进一步的，在图7C的基础上可以删除航点b1、航点b2、航点b3和航点b4，得到如图7B所示的第二航线。
通过删除第一航线的剩余航点中的冗余航点，有利于减少航点对于无人飞行器的飞行控制器内存的占用，节省飞行控制器的内存资源。
或者，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成 第二航线，具体可以包括如下步骤A2和步骤B2。
步骤A2，删除所述第二目标区域未覆盖的所述第一航线的航点中的冗余航点，得到所述第二目标区域未覆盖的所述第一航线的航点中的关键航点。
其中，第二目标区域未覆盖的第一航线的航点可以包括冗余航点和关键航点，其中，冗余航点可以理解为用于生成第二航线的非必要航点，关键航点可以理解为用于生成第二航线的必要航点，即定义一条直线的航点(直线两端的点)
例如，在图6A的基础，所得到的第二目标区域未覆盖的第一航线的航点中的关键航点如图7D所示。
步骤B2，将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直线段两端的航点。
其中，对于绕障场景，在将关键航点依次连接的过程中需要保证连接线不与第二目标区域有交叉或接触。例如通过将图7D所示的关键航点依次连接之后，得到如图7B所示的第二航线。
或者，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤A3和步骤B3。
步骤A3，将所述第二目标区域未覆盖的所述第一航线的航点依次连接，生成多个首尾连接的直线段。
其中，不区分第二目标区域未覆盖的第一航线的航点是冗余航点还是关键航点，可以直接将第二目标区域未覆盖的第一航线的航点依次连接，形成多个首尾连接的直线段。可以理解的是，当第二目标区域未覆盖的第一航线的航点包括冗余航点时，所生成的多个首尾连接的直线段中可以存在共线的直线段。对于绕障场景，在所述第二目标区域未覆盖的所述第一航线的航点依次连接的过程中需要保证连接线不与第二目标区域有交叉或接触。
例如，在图6A的基础，将所述第二目标区域未覆盖的所述第一航线的航点依次连接，生成多个首尾连接的直线段如图7E所示。
步骤B3，删除所述多个首尾连接的直线段中的冗余航点，使两条首尾连接的直线段不共线，以生成第二航线。
例如，通过将图7E所示的直线段中的冗余航点删除后，得到如图7B所示的第二航线。
在图4所示实施例的基础上，可选的，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤D1和步骤E1。
步骤D1，删除所述第二目标区域未覆盖的所述第一航线中的航点，得到所述第一航线的剩余航点。
其中，根据第二目标区域覆盖的第一航线的航点所生成的第二航线是用于指示无人飞行器对第二目标区域进行飞行操作。第二目标区域覆盖的航点需要用于实现第二航线飞行第二目标区域，而第二目标区域未覆盖的航点并不需要用于实现第二航线飞行第二目标区域，即第二目标区域未覆盖的航点必定是无人飞行器不需要飞行的无效航点。
因此，通过删除第二目标区域未覆盖的第一航线中的航点，所得到的第一航线的剩余航点，能够生成用于指示无人飞行器对第二目标区域进行飞行操作的第二航线。
在图6B的基础上，删除第二目标区域未覆盖的所述第一航线中的航点之后，第一航线的剩余航点如图8A所示。
步骤E1，根据所述第一航线的剩余航点，生成第二航线。
通过删除第二目标区域未覆盖的第一航线中的航点，得到第一航线的剩余航点，并根据第一航线的剩余航点生成第二航线，与直接提取第二目标区域覆盖的第一航线的航点并生成第二航线相比，能够避免由于提取航点带来的实现复杂的问题，有利于简化实现。
与步骤C1类似，步骤E1具体可以包括：删除所述第一航线的剩余航点中的冗余航点，得到关键航点，将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，所述关键航点为每一所述直线段两端的航点。
例如，在图8A的基础上先删除航点b5、航点b6和航点b7，即航点b5、b6、b7为冗余航点，得到关键航点之后根据关键航点所生成的第二航线如图8B所示。图8B中以航点1为起始航点，航点6为结束航点为例，第一航线的航点顺序可以为航点1、航点2、……，航点6，从而实现飞行第二目标区域。
可替换的，在图8A的基础上可以先将第一航线的剩余航点依次连接形成多个首尾连接的直线段，并根据多个首尾连接的直线段生成的第二航线，所生成的第二航点如图8C所示，进一步的，在图8C的基础上可以删除航点b5、航点b6和航点b7，得到如图8B所示的第二航线。
或者，与步骤A2和步骤B2类似，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤D2和E2。
步骤D2，删除所述第二目标区域覆盖的所述第一航线的航点中的冗余航点，得到所述第二目标区域覆盖的所述第一航线的航点中的关键航点。
步骤E2，将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直线段两端的航点。
例如，在图6B的基础，所得到的第二目标区域覆盖的第一航线的航点中的关键航点如图8D所示。在图8D的基础上，将关键点依次连接之后，得到的第二航线如图8B所示。
或者，与步骤A3和步骤B3类似，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤D3和E3。
步骤D3，将所述第二目标区域覆盖的所述第一航线的航点依次连接，形成多个首尾连接的直线段；
步骤E3，删除所述多个首尾连接的直线段中的冗余航点，使两条首尾连接的直线段不共线，以生成第二航线。
例如，在图6B的基础，将所述第二目标区域覆盖的所述第一航线的航点依次连接所形成的首尾连接的直线段如图8C所示。在图8C的基础上，将冗余航点删除之后，得到的第二航线如图8B所示。
在图4所示实施例的基础上，可选的，所述航段的两端之间的航点可以按照用户的手动设置进行分布。通过航段两端之间的航点按照用户的手动设置分布，使得用户能够灵活设置航段的两端之间的航点，有利于提高灵活性。对于获取用户手动设置航段两端之间航点的具体方式，可以根据需求灵活实现，示例性的，可以获取用户在航段两端之间的点击操作，并在点击操作对应的航段位置设置航点。
示例性的，所述航段的两端之间的航点可以按照预设的目标策略进行自动设置。通过航段两端之间的航点按照预设的目标策略自动设置，有利于简化用户操作。
示例性的，所述目标策略包括下述中的任意一种：以预设距离为间隔的策略、等间隔设置预设数量的策略，设置数量与地形起伏状况正相关的策略。
其中，预设距离可以根据需求灵活实现，预设距离可以决定航段两端之 间设置的航点数量。预设距离越大航段两端之间设置的航点数量越少，预设距离越小航段两端之间设置的航点数量越多。预设数量可以根据需求灵活实现，预设数量即为航段两端之间设置的航点的数量。
通常情况下，地形起伏状况越小则飞行环境状况越好，需要特殊考虑的概率越小，地形起伏状况越大则飞行环境状况越差，需要特殊考虑的概率越大，因此根据设置数量与地形起伏状况正相关的策略自动设置航段两端之间的航点，能够根据需求灵活控制在航段两端之间设置航点的粒度。
在图4所示实施例的基础上，示例性的，所述获取用户在所述第一目标区域中所选择的第二目标区域，具体可以包括：根据用户在所述第一目标区域中的区域选择操作，确定所述用户在所述第一目标区域中选择所述第二目标区域。从而使得用户能够通过区域选择操作在第一目标区域中灵活选择第二目标区域，有利于简化用户输入，提高用户的使用体验。
以上主要描述了第一航线的平行的多个航段中，各航段两端之间均设有航点的基础上，根据第二目标区域覆盖的第一航线中的航点或第二目标区域未覆盖的第一航线中的航点生成第二航线的方式。可替换的，在下述9所示实施例中，提供了在该多个航段中部分航段的两端之间设置航点的基础上，根据第二目标区域覆盖的第一航线中的航点或第二目标区域未覆盖的第一航线中的航点生成第二航线的方式。图9所示实施例中对于与前述实施例中相同的内容，不再赘述。
图9为本申请又一实施例提供的飞行控制方法的流程示意图，本实施例的执行主体可以为控制设备11，具体可以为控制设备11的处理器。如图9所示，本实施例的方法可以包括：
步骤901，显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段的两端分别设有一个航点。
本步骤中，第一目标区域X、第一航线、第一航线的航段以及航段的航点之间的关系可以如图10所示。参考图10，覆盖第一目标区域X的第一航线包括平行的多个航段S，且每个航段的两端分别设置有航点a。
步骤902，获取用户在所述第一目标区域中所选择的第二目标区域。
本步骤中，在图10的基础上，如图11A所示用户可以在第一目标区域X中选择第二目标区域Y1，第二目标区域Y1为第一目标区域X中的部分区域。或者，如图11B所示用户可以在第一目标区域X中选择第二目标区域Y2，第二目 标区域Y2为第一目标区域X中的部分区域。
步骤903，确定所述多个航段中与所述第二目标区域重叠的和相邻的目标航段，在所述目标航段的两端之间增加航点。
本步骤中，以图11A为例，第二目标区域重叠的和相邻的目标航段分别为航段S1、S2、S3和S4。
需要说明的是，在目标航段的两端之间增加航点的具体方式，可以根据需求灵活实现。示例性的，各目标航段的两端之间增加的航点数可以相同，通过各目标航段的两端之间增加的航点数相同，有利于简化实现。
在图11A的基础上，在目标航段的两端之间增加航点之后的结果可以如图12A所示。在图11B的基础上，在目标航段的两端之间增加航点之后的结果可以如图12B所示。需要说明的是，图12A、图12B中增加航点的方式仅为举例。
步骤904，根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
本实施例中，通过显示覆盖第一目标区域的第一航线，获取用户在第一目标区域中所选择的第二目标区域，确定多个航段中与第二目标区域重叠的和相邻的目标航段，在目标航段的两端之间增加航点，根据第二目标区域未覆盖的第一航线的航点或第二目标区域覆盖的第一航线的航点，生成第二航线，减少了用户操作，提高了智能化。并且，通过根据第二目标区域对第一航线的多个航段中的目标航段两端之间增加航点，能够减少所增加的航点数量，有利于节省控制设备的内存。
与图4所示实施例类似，步骤904具体可以包括：当所述第二目标区域为障碍区域时，根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线；所述第二航线用于指示所述无人飞行器绕开所述第二目标区域进行飞行操作；当所述第二目标区域为重点区域时，根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线；所述第二航线用于指示所述无人飞行器对所述第二目标区域进行飞行操作。
在图9所述实施例的基础上，可选的，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤F1和步骤G1。
步骤F1，删除所述第二目标区域覆盖的所述第一航线中的航点，得到所 述第一航线的剩余航点。
其中，由于根据第二目标区域未覆盖的第一航线的航点所生成的第二航线是用于指示无人飞行器绕开第二目标区域进行飞行操作，因此第二目标区域覆盖的第一航线中的航点是无人飞行器不需要飞行的无效航点。因此，通过删除第二目标区域覆盖的第一航线中的航点，所得到的第一航线的剩余航点，能够生成用于指示无人飞行器绕开第二目标区域进行飞行操作的第二航线。
在图12A的基础上，删除第二目标区域覆盖的第一航线中的航点之后，第一航线的剩余航点如图7A所示。如图7A所示，在步骤F的基础上，还可以删除第二目标区域相邻的航段两端之间的部分航点，该部分航点也是冗余航点，具体可以根据需求灵活实现。
步骤G1，根据所述第一航线的剩余航点，生成第二航线。
需要说明的是，步骤G1的具体实现与前述实施例中步骤C1类似，在此不再赘述。
在图9所述实施例的基础上，可选的，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤F2和步骤G2。
步骤F2，删除所述第二目标区域未覆盖的所述第一航线的航点中的冗余航点，得到所述第二目标区域未覆盖的所述第一航线的航点中的关键航点。
步骤G2，将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直线段两端的航点。
需要说明的是，步骤F2的具体实现与前述实施例中步骤A2类似，步骤G2的具体实现与前述实施例中步骤B2类似，在此不再赘述。
在图9所述实施例的基础上，可选的，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤F3和步骤G3。
步骤F3，将所述第二目标区域未覆盖的所述第一航线的航点依次连接，生成多个首尾连接的直线段。
步骤G3，删除所述多个首尾连接的直线段中的冗余航点，使两条首尾连接的直线段不共线，以生成第二航线。
需要说明的是，步骤F3的具体实现与前述实施例中步骤A3类似，步骤G3的具体实现与前述实施例中步骤B3类似，在此不再赘述。
在图9所述实施例的基础上，可选的，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤H1和步骤I1。
步骤H1，删除所述第二目标区域未覆盖的所述第一航线中的航点，得到所述第一航线的剩余航点。
其中，根据第二目标区域覆盖的第一航线的航点所生成的第二航线是用于指示无人飞行器对第二目标区域进行飞行操作。第二目标区域覆盖的航点需要用于实现第二航线飞行第二目标区域，而第二目标区域未覆盖的航点并不需要用于实现第二航线飞行第二目标区域，即第二目标区域未覆盖的航点必定是无人飞行器不需要飞行的无效航点。
因此，通过删除第二目标区域未覆盖的第一航线中的航点，所得到的第一航线的剩余航点，能够生成用于指示无人飞行器对第二目标区域进行飞行操作的第二航线。
在图12B的基础上，删除第二目标区域未覆盖的所述第一航线中的航点之后，第一航线的剩余航点如图8A所示。参考图12A和图8A可以看出，由于在根据第二目标区域覆盖的第二航线的航点生成第二航线时，第二目标区域未覆盖的第一航线的航点必定是无人飞行器不需要飞行的无效航点，因此在步骤904需要根据所述第二目标区域覆盖的所述第一航线的航点生成第二航线的情况下，步骤903可以替换为确定所述多个航段中与所述第二目标区域重叠的目标航段，在所述目标航段的两端之间增加航点。
步骤I1，根据所述第一航线的剩余航点，生成第二航线。
需要说明的是，步骤I1的具体实现与前述实施例中步骤E1类似，在此不再赘述。
在图9所述实施例的基础上，可选的，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤H2和步骤I2。
步骤H2，删除所述第二目标区域覆盖的所述第一航线的航点中的冗余航点，得到所述第二目标区域未覆盖的所述第一航线的航点中的关键航点。
步骤I2，将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直线段两端的航点。
需要说明的是，步骤H2的具体实现与前述实施例中步骤D2类似，步骤I2的具体实现与前述实施例中步骤E2类似，在此不再赘述。
在图9所述实施例的基础上，可选的，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，具体可以包括如下步骤H3和步骤I3。
步骤H3，将所述第二目标区域覆盖的所述第一航线的航点依次连接，生成多个首尾连接的直线段。
步骤I3，删除所述多个首尾连接的直线段中的冗余航点，使两条首尾连接的直线段不共线，以生成第二航线。
需要说明的是，步骤H3的具体实现与前述实施例中步骤D3类似，步骤I3的具体实现与前述实施例中步骤E3类似，在此不再赘述。
与图4所示实施例类似，步骤903中所述在所述目标航段的两端之间增加航点，具体可以包括：按照预设的目标策略在所述目标航段的两端之间增加航点。示例性的，所述目标策略包括下述中的任意一种：以预设距离为间隔的策略或等间隔设置预设数量的策略。
与图4所示实施例类似，步骤903中所述在所述目标航段的两端之间增加航点，具体可以包括：按照用户的手动设置在所述目标航段的两端之间增加航点。
与图4所示实施例类似，步骤902具体可以包括：根据用户在所述第一目标区域中的区域选择操作，确定所述用户在所述第一目标区域中选择所述第二目标区域。
图13为本申请一实施例提供的控制设备的结构示意图，该控制设备用于控制无人飞行器的飞行。如图13所示，该控制设备1300可以包括：存储器1301和处理器1302。
所述存储器1301，用于存储程序代码；
所述处理器1302，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段设有至少三个航点，其中两个航点位于所述航段的两端；
获取用户在所述第一目标区域中所选择的第二目标区域；
根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区 域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
本实施例提供的控制设备1300，可以用于执行前述图5方法实施例的技术方案，其实现原理和技术效果与方法实施例类似，在此不再赘述。
图14为本申请另一实施例提供的控制设备的结构示意图，该控制设备用于控制无人飞行器的飞行。如图14所示，该控制设备1400可以包括：存储器1401和处理器1402。
所述存储器1401，用于存储程序代码；
所述处理器1402，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段的两端分别设有一个航点；
获取用户在所述第一目标区域中所选择的第二目标区域；
确定所述多个航段中与所述第二目标区域重叠的和相邻的目标航段，在所述目标航段的两端之间增加航点；
根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
本实施例提供的控制设备1400，可以用于执行前述图9方法实施例的技术方案，其实现原理和技术效果与方法实施例类似，在此不再赘述。
如图1、图2所示，本申请实施例还提供一种无人飞行***包括：控制设备11和无人飞行器12。其中，所述控制设备11，用于显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段设有至少三个航点，其中两个航点位于所述航段的两端；获取用户在所述第一目标区域中所选择的第二目标区域；以及，根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器；
所述无人飞行器12，用于根据所述第二航线执行飞行操作。
如图1、图2所示，本申请实施例还提供一种无人飞行***包括：控制设备11和无人飞行器12。其中，所述控制设备11，用于显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段的两 端分别设有一个航点；获取用户在所述第一目标区域中所选择的第二目标区域；确定所述多个航段中与所述第二目标区域重叠的和相邻的目标航段，在所述目标航段的两端之间增加航点；以及，根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
所述无人飞行器12，用于根据所述第二航线执行飞行操作。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (36)

  1. 一种飞行控制方法，应用于控制设备，所述控制设备用于控制无人飞行器的飞行，其特征在于，包括：
    显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段设有至少三个航点，其中两个航点位于所述航段的两端；
    获取用户在所述第一目标区域中所选择的第二目标区域；
    根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线包括：
    当所述第二目标区域为障碍区域时，根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线；所述第二航线用于指示所述无人飞行器绕开所述第二目标区域进行飞行操作；
    当所述第二目标区域为重点区域时，根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线；所述第二航线用于指示所述无人飞行器对所述第二目标区域进行飞行操作。
  3. 根据权利要求1或2所述的方法，其特征在于，所述第二航线由首尾连接的多个直线段构成，每一所述直线段两端之间未设有航点。
  4. 根据权利要求3所述的方法，其特征在于，两条所述首尾连接的直线段不共线。
  5. 根据权利要求3所述的方法，其特征在于，两条所述首尾连接的直线段之间相互垂直，且与同一直线段首尾连接的两条所述直线段相互平行。
  6. 根据权利要求1或2所述的方法，其特征在于，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，包括：
    删除所述第二目标区域未覆盖的所述第一航线的航点中的冗余航点，得到所述第二目标区域未覆盖的所述第一航线的航点中的关键航点；
    将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直 线段两端的航点。
  7. 根据权利要求1或2所述的方法，其特征在于，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，包括：
    将所述第二目标区域未覆盖的所述第一航线的航点依次连接，生成多个首尾连接的直线段；
    删除所述多个首尾连接的直线段中的冗余航点，使两条首尾连接的直线段不共线，以生成第二航线。
  8. 根据权利要求1或2所述的方法，其特征在于，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，包括：
    删除所述第二目标区域覆盖的所述第一航线的航点中的冗余航点，得到关键航点；
    将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直线段两端的航点。
  9. 根据权利要求1或2所述的方法，其特征在于，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，包括：
    将所述第二目标区域覆盖的所述第一航线的航点依次连接，形成多个首尾连接的直线段；
    删除所述多个首尾连接的直线段中的冗余航点，使两条首尾连接的直线段不共线，以生成第二航线。
  10. 根据权利要求1或2所述的方法，其特征在于，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，包括：
    根据所述第二目标区域，确定所述多个航段中的目标航段，所述目标航段包括所述第二目标区域未覆盖且未相邻的航段；
    删除所述目标航段两端之间的航点以及所述第二目标区域覆盖的所述第一航线中的航点，得到所述第一航线的剩余航点；
    根据所述第一航线的剩余航点，生成第二航线。
  11. 根据权利要求1或2所述的方法，其特征在于，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，包括：
    删除所述第二目标区域未覆盖的所述第一航线中的航点，得到所述第一航线的剩余航点；
    根据所述第一航线的剩余航点，生成第二航线。
  12. 根据权利要求10或11所述的方法，其特征在于，所述根据所述第一航线的剩余航点，生成第二航线，包括：
    删除所述第一航线的剩余航点中的冗余航点，得到关键航点，将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直线段两端的航点。
  13. 根据权利要求1所述的方法，其特征在于，每个所述航段的两端之间的航点按照预设的目标策略进行自动设置。
  14. 根据权利要求13所述的方法，其特征在于，所述目标策略包括下述中的任意一种：以预设距离为间隔的策略、等间隔设置预设数量的策略或设置数量与地形起伏状况正相关的策略。
  15. 根据权利要求1所述的方法，其特征在于，每个所述航段的两端之间的航点按照用户的手动设置进行分布。
  16. 根据权利要求1所述的方法，其特征在于，所述获取用户在所述第一目标区域中所选择的第二目标区域，包括：根据用户在所述第一目标区域中的区域选择操作，确定所述用户在所述第一目标区域中选择所述第二目标区域。
  17. 一种飞行控制方法，应用于控制设备，所述控制设备用于控制无人飞行器的飞行，其特征在于，包括：
    显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段的两端分别设有一个航点；
    获取用户在所述第一目标区域中所选择的第二目标区域；
    确定所述多个航段中与所述第二目标区域重叠的和相邻的目标航段，在所述目标航段的两端之间增加航点；
    根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
  18. 根据权利要求17所述的方法，其特征在于，所述根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线包括：
    当所述第二目标区域为障碍区域时，根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线；所述第二航线用于指示所述无人飞行器绕开所述第二目标区域进行飞行操作；
    当所述第二目标区域为重点区域时，根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线；所述第二航线用于指示所述无人飞行器对所述第二目标区域进行飞行操作。
  19. 根据权利要求17或18所述的方法，其特征在于，所述第二航线由首尾连接的多个直线段构成，每一所述直线段两端之间未设有航点。
  20. 根据权利要求19所述的方法，其特征在于，两条所述首尾连接的直线段不共线。
  21. 根据权利要求19所述的方法，其特征在于，两条所述首尾连接的直线段之间相互垂直，且与同一直线段首尾连接的两条所述直线段相互平行。
  22. 根据权利要求17或18所述的方法，其特征在于，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，包括：
    删除所述第二目标区域未覆盖的所述第一航线的航点中的冗余航点，得到关键航点；
    将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直线段两端的航点。
  23. 根据权利要求17或18所述的方法，其特征在于，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，包括：
    将所述第二目标区域未覆盖的所述第一航线的航点依次连接，形成多个首尾连接的直线段；
    删除所述多个首尾连接的直线段中的冗余航点，使两条首尾连接的直线段不共线，以生成第二航线。
  24. 根据权利要求17或18所述的方法，其特征在于，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，包括：
    删除所述第二目标区域覆盖的所述第一航线的航点中的冗余航点，得到关键航点；
    将所述关键航点依次连接，形成多个首尾连接的直线段，以生成第二航线；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直 线段两端的航点。
  25. 根据权利要求17或18所述的方法，其特征在于，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，包括：
    将所述第二目标区域覆盖的所述第一航线的航点依次连接，形成多个首尾连接的直线段；
    删除所述多个首尾连接的直线段中的冗余航点，使两条首尾连接的直线段不共线，以生成第二航线。
  26. 根据权利要求17或18所述的方法，其特征在于，所述根据所述第二目标区域未覆盖的所述第一航线的航点，生成第二航线，包括：
    删除所述第二目标区域覆盖的所述第一航线中的航点，得到所述第一航线的剩余航点；
    根据所述第一航线的剩余航点，生成第二航线。
  27. 根据权利要求17或18所述的方法，其特征在于，所述根据所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，包括：
    删除所述第二目标区域未覆盖的所述第一航线中的航点，得到所述第一航线的剩余航点；
    根据所述第一航线的剩余航点，生成第二航线。
  28. 根据权利要求26或27所述的方法，其特征在于，所述根据所述第一航线的剩余航点，生成第二航线，包括：
    删除所述第一航线的剩余航点中的冗余航点，得到关键航点，将所述关键航点依次连接，形成多个首尾连接的直线段；其中，两条所述首尾连接的直线段不共线，所述关键航点为每一所述直线段两端的航点；
    根据多个首尾连接的直线段，生成第二航线。
  29. 根据权利要求17所述的方法，其特征在于，所述在所述目标航段的两端之间增加航点，包括：按照预设的目标策略在所述目标航段的两端之间增加航点。
  30. 根据权利要求29所述的方法，其特征在于，所述目标策略包括下述中的任意一种：以预设距离为间隔的策略或等间隔设置预设数量的策略。
  31. 根据权利要求17所述的方法，其特征在于，所述在所述目标航段的两端之间增加航点，包括：按照用户的手动设置在所述目标航段的两端之间增加航点。
  32. 根据权利要求17所述的方法，其特征在于，所述获取用户在所述第一目标区域中所选择的第二目标区域，包括：根据用户在所述第一目标区域中的区域选择操作，确定所述用户在所述第一目标区域中选择所述第二目标区域。
  33. 一种控制设备，所述控制设备用于控制无人飞行器的飞行，其特征在于，包括：处理器和存储器；所述存储器，用于存储程序代码；所述处理器，调用所述程序代码，当程序代码被执行时，用于执行如权利要求1-32任一项所述的方法。
  34. 一种无人飞行***，其特征在于，包括：控制设备和无人飞行器；
    所述控制设备，用于显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段设有至少三个航点，其中两个航点位于所述航段的两端；获取用户在所述第一目标区域中所选择的第二目标区域；以及，根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器；
    所述无人飞行器，用于根据所述第二航线执行飞行操作。
  35. 一种无人飞行***，其特征在于，包括：控制设备和无人飞行器；
    所述控制设备，用于显示覆盖第一目标区域的第一航线；其中，所述第一航线包括平行的多个航段，每个所述航段的两端分别设有一个航点；获取用户在所述第一目标区域中所选择的第二目标区域；确定所述多个航段中与所述第二目标区域重叠的和相邻的目标航段，在所述目标航段的两端之间增加航点；以及，根据所述第二目标区域未覆盖的所述第一航线的航点或所述第二目标区域覆盖的所述第一航线的航点，生成第二航线，并将所述第二航线发送至所述无人飞行器，以使所述无人飞行器能够根据所述第二航线执行飞行操作。
    所述无人飞行器，用于根据所述第二航线执行飞行操作。
  36. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行如权利要求1-32任一项所述的方法。
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