WO2021134607A1 - Flight control method, device and system for unmanned aerial vehicle, and computer-readable medium - Google Patents

Abstract

A flight control method (100, 300-600), device (700, 820) and system (800) for an unmanned aerial vehicle (810), and a computer-readable storage medium. The method (100) comprises: acquiring three-dimensional map data and airspace data (S110); and when an unmanned aerial vehicle (810) is controlled to fly, drawing and presenting, on the basis of the three-dimensional map data and the airspace data, a stereoscopic airspace map of a scene within a predetermined region surrounding the position of the unmanned aerial vehicle (810) (S120). When an unmanned aerial vehicle (810) is controlled to fly, a stereoscopic airspace map of a scene surrounding the position of the unmanned aerial vehicle (810) is drawn and presented on the basis of three-dimensional map data and airspace data, such that clearer and more visual airspace display can be provided for an operator of the unmanned aerial vehicle (810), and the operator of the unmanned aerial vehicle (810) can determine the situation of an airspace more accurately, which is better facilitates flight planning and flight control.

Description

无人机的飞行控制方法、设备、***和计算机可读介质Flight control method, equipment, system and computer readable medium of unmanned aerial vehicle

说明书Manual

技术领域Technical field

本申请总体上涉及无人机技术领域，更具体地涉及一种无人机的飞行控制方法、装置、***和计算机可读存储介质。This application generally relates to the technical field of drones, and more specifically to a method, device, system, and computer-readable storage medium for flight control of drones.

背景技术Background technique

在现有的无人机的飞行控制中，是以俯视图的形式，在二维平面地图上向无人机操作者呈现空域信息或者限飞区域的信息，对空域没有进行立体的展示，也没有高度的清晰展示。这使得无人机操作者仅能够查看俯视图范围，可能导致出现如下情况：在可飞空域误以为不可飞行，从而导致可飞空域缩小；或者在具有飞行高度限制的区域，不能清晰理解飞行高度，导致无意识违法。此外，由于空域展示不清晰，导致操作者在无人机飞行前做出的飞行规划可能出现不满足合法空域的情况。In the existing flight control of unmanned aerial vehicles, in the form of a top view, the drone operator is presented with the airspace information or the information of the restricted flight area on a two-dimensional plane map. There is no three-dimensional display of the airspace, and there is no three-dimensional display of the airspace. Highly clear display. This allows the drone operator to only view the range of the top view, which may lead to the following situations: the flyable airspace is mistaken for non-flying, which leads to the reduction of the flyable airspace; or the flying height cannot be clearly understood in areas with flying height restrictions. Lead to unconscious violation of the law. In addition, due to the unclear display of the airspace, the flight plan made by the operator before the UAV flight may not meet the legal airspace.

发明内容Summary of the invention

本申请实施例提供一种无人机的飞行控制方案，其能够将无人机位置周边场景的三维立体空域图呈现出来，有利于无人机的飞行控制。下面简要描述本申请提出的无人机的飞行控制方案，更多细节将在后续结合附图在具体实施方式中加以描述。The embodiment of the present application provides a flight control solution for a drone, which can present a three-dimensional airspace map of the surrounding scene of the drone position, which is beneficial to the flight control of the drone. The following briefly describes the flight control scheme of the unmanned aerial vehicle proposed in this application, and more details will be described later in the specific implementation with reference to the accompanying drawings.

根据本申请一方面，提供了一种无人机的飞行控制方法，所述方法包括：获取三维地图数据和空域数据；在控制无人机飞行时，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图。According to one aspect of the present application, there is provided a flight control method of an unmanned aerial vehicle. The method includes: acquiring three-dimensional map data and airspace data; when controlling the drone's flight, based on the three-dimensional map data and the airspace data Draw and present a three-dimensional airspace map of the scene in a predetermined area around the drone position.

根据本申请另一方面，提供了一种无人机的飞行控制设备，所述设备包括处理器和显示装置，其中：所述处理器用于获取三维地图数据和空域数据，并在控制无人机飞行时，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边预定区域内的场景的立体空域图；所述显示装置用 于呈现所述立体空域图。According to another aspect of the present application, there is provided a flight control device for a drone. The device includes a processor and a display device. The processor is used to obtain three-dimensional map data and airspace data, and to control the drone. During flight, based on the three-dimensional map data and the airspace data, a three-dimensional airspace map of the scene in a predetermined area around the position of the drone is drawn; the display device is used to present the three-dimensional airspace map.

根据本申请再一方面，提供了一种无人机的飞行控制***，所述***包括无人机和上述的无人机的飞行控制设备，其中所述飞行控制设备与所述无人机通信连接，用于控制所述无人机飞行。According to another aspect of the present application, there is provided a flight control system for an unmanned aerial vehicle. The system includes an unmanned aerial vehicle and the aforementioned flight control device for an unmanned aerial vehicle, wherein the flight control device communicates with the unmanned aerial vehicle Connected to control the flight of the drone.

根据本申请又一方面，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上存储有计算机程序，所述计算机程序在运行时执行上述无人机的飞行控制方法。According to another aspect of the present application, a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium, and the computer program executes the above-mentioned flight control method of a drone during operation.

根据本申请实施例的无人机的飞行控制方法、设备、***和计算机可读存储介质在控制无人机飞行时，基于三维地图数据和空域数据绘制并呈现无人机位置周边场景的立体空域图，能够给予无人机操作者更为清晰更为直观的空域展示，使得无人机操作者更加准确地判断空域情况，更加有利于其进行飞行规划和飞行控制。The flight control method, device, system, and computer-readable storage medium of the drone according to the embodiments of the present application draw and present the three-dimensional airspace surrounding the drone location based on the three-dimensional map data and the airspace data when controlling the flight of the drone The map can give the drone operator a clearer and more intuitive display of the airspace, so that the drone operator can more accurately judge the airspace situation, which is more conducive to flight planning and flight control.

附图说明Description of the drawings

图1示出根据本申请一个实施例的无人机的飞行控制方法的示意性流程图。Fig. 1 shows a schematic flowchart of a flight control method of a drone according to an embodiment of the present application.

图2A到图2J示出根据本申请实施例的无人机的飞行控制方法中呈现的立体空域图的示例。2A to 2J show examples of three-dimensional airspace diagrams presented in a flight control method of a drone according to an embodiment of the present application.

图3示出根据本申请另一个实施例的无人机的飞行控制方法的示意性流程图。Fig. 3 shows a schematic flowchart of a flight control method of a drone according to another embodiment of the present application.

图4示出根据本申请再一个实施例的无人机的飞行控制方法的示意性流程图。Fig. 4 shows a schematic flowchart of a flight control method of a drone according to still another embodiment of the present application.

图5示出根据本申请又一个实施例的无人机的飞行控制方法的示意性流程图。Fig. 5 shows a schematic flowchart of a flight control method of a drone according to another embodiment of the present application.

图6示出根据本申请再一个实施例的无人机的飞行控制方法的示意性流程图。Fig. 6 shows a schematic flowchart of a flight control method of a drone according to still another embodiment of the present application.

图7示出根据本申请实施例的无人机的飞行控制设备的示意性框图。Fig. 7 shows a schematic block diagram of a flight control device for a drone according to an embodiment of the present application.

图8示出根据本申请实施例的无人机的飞行控制***的示意性框图。Fig. 8 shows a schematic block diagram of a flight control system of a drone according to an embodiment of the present application.

具体实施方式Detailed ways

为了使得本申请的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本申请的示例实施例。显然，所描述的实施例仅仅是本申请的一部分实施例，而不是本申请的全部实施例，应理解，本申请不受这里描述的示例实施例的限制。In order to make the objectives, technical solutions, and advantages of the present application more obvious, the exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited by the exemplary embodiments described herein.

在下文的描述中，给出了大量具体的细节以便提供对本申请更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本申请可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本申请发生混淆，对于本领域公知的一些技术特征未进行描述。In the following description, a lot of specific details are given in order to provide a more thorough understanding of this application. However, it is obvious to those skilled in the art that this application can be implemented without one or more of these details. In other examples, in order to avoid confusion with this application, some technical features known in the art are not described.

应当理解的是，本申请能够以不同形式实施，而不应当解释为局限于这里提出的实施例。相反地，提供这些实施例将使公开彻底和完全，并且将本申请的范围完全地传递给本领域技术人员。It should be understood that this application can be implemented in different forms and should not be construed as being limited to the embodiments presented here. On the contrary, the provision of these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

在此使用的术语的目的仅在于描述具体实施例并且不作为本申请的限制。在此使用时，单数形式的“一”、“一个”和“所述/该”也意图包括复数形式，除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”，当在该说明书中使用时，确定所述特征、整数、步骤、操作、元件和/或部件的存在，但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时，术语“和/或”包括相关所列项目的任何及所有组合。The purpose of the terms used here is only to describe specific embodiments and not as a limitation of the present application. When used herein, the singular forms "a", "an" and "the/the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "composition" and/or "including", when used in this specification, determine the existence of the described features, integers, steps, operations, elements and/or components, but do not exclude one or more other The existence or addition of features, integers, steps, operations, elements, parts, and/or groups. As used herein, the term "and/or" includes any and all combinations of related listed items.

为了彻底理解本申请，将在下列的描述中提出详细的步骤以及详细的结构，以便阐释本申请提出的技术方案。除了本申请详细描述的实施例外，本申请还可以具有其他实施方式。In order to thoroughly understand this application, detailed steps and detailed structures will be presented in the following description to explain the technical solutions proposed by this application. In addition to the implementation exceptions described in detail in this application, this application may also have other implementation modes.

下面结合附图描述根据本发明实施例的无人机的飞行控制方案。图1示出了根据本申请一个实施例的无人机的飞行控制方法100的示意性流程图。如图1所示，无人机的飞行控制方法100可以包括如下步骤：The following describes the flight control scheme of the unmanned aerial vehicle according to the embodiments of the present invention with reference to the accompanying drawings. Fig. 1 shows a schematic flowchart of a method 100 for controlling a flight of an unmanned aerial vehicle according to an embodiment of the present application. As shown in FIG. 1, the flight control method 100 of the UAV may include the following steps:

在步骤S110，获取三维地图数据和空域数据。In step S110, three-dimensional map data and airspace data are acquired.

在本申请的实施例中，为了绘制并呈现用于无人机的飞行控制的立体空域图，需要先获取三维地图数据和空域数据。其中，三维地图数据包括能够用来绘制三维地图的数据；空域数据包括能够用来生成诸如地理标识、一个或更多个空域的限飞时间、限飞高度或限飞条件等空域信息的数据。在一个示例中，三维地图数据和空域数据可以是从云端服务器获取的，例 如实时获取的。在另一个示例中，三维地图数据和空域数据也可以是预先存储在本地而从本次存储获取的。在再一个示例中，可以从云端服务器获取能够用来生成二维地图的二维地图数据，并基于该二维地图数据和无人机采集的第三维度数据生成三维地图数据。应理解，步骤S110所获取的三维地图数据和空域数据所对应的地理区域至少包括无人机即将飞行或者正在飞行的区域。In the embodiment of the present application, in order to draw and present a three-dimensional airspace map for flight control of a drone, it is necessary to obtain three-dimensional map data and airspace data first. Among them, the three-dimensional map data includes data that can be used to draw a three-dimensional map; the airspace data includes data that can be used to generate airspace information such as geographic identification, flight restriction time of one or more airspaces, restricted flight altitude, or restricted flight conditions. In an example, the three-dimensional map data and airspace data may be obtained from a cloud server, for example, obtained in real time. In another example, the three-dimensional map data and airspace data may also be stored locally in advance and obtained from this storage. In another example, two-dimensional map data that can be used to generate a two-dimensional map can be obtained from a cloud server, and three-dimensional map data can be generated based on the two-dimensional map data and the third-dimensional data collected by the drone. It should be understood that the geographic area corresponding to the three-dimensional map data and the airspace data obtained in step S110 includes at least the area where the drone is about to fly or is flying.

在步骤S120，在控制无人机飞行时，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图。In step S120, when the drone is controlled to fly, based on the three-dimensional map data and the airspace data, a three-dimensional airspace map of a scene in a predetermined area around the location of the drone is drawn and presented.

在本申请的实施例中，基于步骤S110所获取的三维地图数据和空域数据，可以绘制无人机位置周边预定区域内的场景的立体空域图，以用于无人机的飞行控制。在一个示例中，无人机的飞行控制可以包括无人机在飞行之前的飞行规划(稍后将在下文中结合图3进行描述)。在该示例中，所绘制的无人机位置周边预定区域内的场景的立体空域图可以包括无人机的待飞行区域内的场景的立体空域图。在另一个示例中，无人机的飞行控制可以包括无人机在飞行过程中的实时飞行控制(稍后将在下文中结合图4进行描述)。在该示例中，所绘制的无人机位置周边预定区域内的场景的立体空域图可以包括无人机飞行过程中周围一定范围内的场景的立体空域图。在再一个示例中，无人机的飞行控制可以包括上述示例的任意组合(稍后将在下文中结合图5和图6进行描述)。In the embodiment of the present application, based on the three-dimensional map data and airspace data obtained in step S110, a three-dimensional airspace map of the scene in a predetermined area around the position of the drone can be drawn for flight control of the drone. In an example, the flight control of the drone may include the flight planning of the drone before the flight (which will be described later in conjunction with FIG. 3). In this example, the drawn three-dimensional airspace map of the scene in the predetermined area around the position of the drone may include the three-dimensional airspace map of the scene in the area to be flown by the drone. In another example, the flight control of the drone may include real-time flight control of the drone during the flight (which will be described later in conjunction with FIG. 4). In this example, the drawn three-dimensional airspace map of the scene in a predetermined area around the position of the drone may include a three-dimensional airspace map of the scene in a certain range around the drone during flight. In yet another example, the flight control of the drone may include any combination of the above examples (which will be described later in conjunction with FIG. 5 and FIG. 6).

在本申请的实施例中，所绘制的无人机位置周边预定区域内的场景的立体空域图可以包括三维地图信息，该三维地图信息按照一定比例反映物理世界中的物体的真实三维尺寸，如图2A所示的。也就是说，在所绘制的立体空域图所对应的场景中，各物体之间的尺寸的相对大小关系是与物理世界中一致的，而不是像绘制二维地图那样仅能呈现各物体的存在及相对位置关系。由于所绘制的立体空域图中各物体之间的尺寸的相对大小关系是与物理世界中一致的，因此在将立体空域图呈现给无人机操作者时，无人机操作者能够更清晰地辨明无人机可飞行的高度和范围(例如在两个有高度差的大楼之间的飞行控制)，从而能够更加准确地控制无人机的飞行，确保飞行安全。In the embodiment of the present application, the drawn three-dimensional airspace map of the scene in a predetermined area around the drone position may include three-dimensional map information, which reflects the true three-dimensional size of objects in the physical world according to a certain scale, such as Shown in Figure 2A. That is to say, in the scene corresponding to the drawn three-dimensional airspace map, the relative size relationship between the sizes of the objects is consistent with that in the physical world, instead of only showing the existence of each object like drawing a two-dimensional map And relative position relationship. Since the relative size relationship between the objects in the drawn three-dimensional airspace map is consistent with that in the physical world, when the three-dimensional airspace map is presented to the drone operator, the drone operator can more clearly Identify the height and range that the drone can fly (for example, the flight control between two buildings with a height difference), so as to control the drone's flight more accurately and ensure flight safety.

在本申请的实施例中，所绘制的无人机位置周边预定区域内的场景的 立体空域图还可以包括空域信息，该空域信息可以包括以下中的至少一项：地理标识、一个或更多个空域的限飞时间、限飞高度或限飞条件，如图2B所示的。其中，限飞条件例如可以包括飞行权限，诸如哪些飞行器有权限在本空域飞行等。根据所绘制的立体空域图上所呈现的三维地图信息和空域信息，无人机操作者可以准确地控制无人机的飞行边界，确保无人机在规定时间、规定高度内飞行，能够避免出现因不能清晰理解飞行高度导致无意识违法的情况，也能够避免由于空域展示不清晰导致的飞行规划不满足合法空域的情况，还能够避免在可飞空域误以为不可飞行从而导致可飞空域缩小的情况。In the embodiment of the present application, the drawn three-dimensional airspace map of the scene in the predetermined area around the drone position may also include airspace information, and the airspace information may include at least one of the following: geographic identification, one or more The restricted flight time, restricted altitude, or restricted flight conditions of each airspace are shown in Figure 2B. Among them, the flight restriction conditions may include, for example, flight permissions, such as which aircraft are authorized to fly in the airspace. According to the three-dimensional map information and airspace information presented on the drawn three-dimensional airspace map, the drone operator can accurately control the flight boundary of the drone to ensure that the drone can fly within the specified time and height, and avoid occurrence Unconscious violations of the law caused by the inability to clearly understand the flight altitude can also avoid the situation where the flight plan does not meet the legal airspace due to the unclear display of the airspace, and can also avoid the situation where the flyable airspace is mistaken for flying in the flyable airspace, which leads to the reduction of the flyable airspace. .

在一个示例中，可以在无人机飞行控制界面(诸如无人机的飞行控制设备终端的飞行控制界面)上显示所绘制的立体空域图。其中，无人机的飞行控制界面可以包括地图显示界面和第一人称视角(First Person View，FPV)界面。示例性地，可以在地图显示界面上显示无人机位置周边预定区域内的场景的三维地图，所述三维地图是基于所述三维地图数据和所述空域数据绘制的，如图2C所示的。在该示例中，用户可以根据所显示的三维地图在无人机飞行前对无人机的飞行路线进行飞行规划。如前所述的，三维地图中各物体之间的尺寸的相对大小关系是与物理世界中一致的，使得无人机操作者能够更清晰地辨明无人机可飞行的高度和范围，从而有利于无人机操作者做出合理的飞行规划。In one example, the drawn three-dimensional airspace map may be displayed on a drone flight control interface (such as a flight control interface of a drone flight control device terminal). Among them, the flight control interface of the UAV may include a map display interface and a first person view (FPV) interface. Exemplarily, a three-dimensional map of a scene in a predetermined area around the location of the drone may be displayed on the map display interface, the three-dimensional map is drawn based on the three-dimensional map data and the airspace data, as shown in FIG. 2C . In this example, the user can plan the flight route of the drone before the drone flies according to the displayed three-dimensional map. As mentioned above, the relative size relationship between the objects in the three-dimensional map is consistent with that in the physical world, so that the drone operator can more clearly identify the height and range that the drone can fly. It is helpful for drone operators to make reasonable flight planning.

在另一个示例中，可以在无人机飞行控制界面(诸如无人机的飞行控制设备终端的飞行控制界面)的第一人称视角(First Person View，FPV)界面上显示无人机位置周边预定区域内的场景的拍摄画面，所述拍摄画面可以是基于所述三维地图数据和所述空域数据绘制的，如图2D所示的。在该示例中，随着用户操作无人机位置的移动，可以实时绘制无人机周边一定范围的三维地图和空域信息，显示在无人机飞行控制界面的第一人称视角界面上，帮助用户及时直观地查看周边信息，以更精确地控制无人机飞行。此外，也可以仅将例如图2C所示的三维地图显示在无人机飞行控制界面的第一人称视角界面上而不显示空域信息，例如已知无人机目前所在区域不存在限飞区域，则可以仅根据三维地图中的物体的立体信息控制无人机的安全飞行。In another example, the predetermined area around the drone position can be displayed on the first person view (FPV) interface of the drone flight control interface (such as the flight control interface of the drone flight control device terminal). The shooting picture of the scene in the inside, the shooting picture may be drawn based on the three-dimensional map data and the airspace data, as shown in FIG. 2D. In this example, as the user moves the position of the drone, the three-dimensional map and airspace information around a certain range of the drone can be drawn in real time and displayed on the first-person view interface of the drone flight control interface to help the user in time Intuitively view the surrounding information to control the drone flight more precisely. In addition, it is also possible to display only the three-dimensional map shown in Figure 2C on the first-person view interface of the drone flight control interface without displaying the airspace information. For example, it is known that there is no restricted-flying area in the area where the drone is currently located. The safe flight of the drone can be controlled only according to the three-dimensional information of the objects in the three-dimensional map.

在又一个示例中，地图显示界面和FPV界面可以同时显示，例如第一人称视角界面显示在屏幕的大部分区域，而地图显示界面显示在屏幕的小部分区域(如显示在屏幕右下角)，如图2E所示的；或者，第一人称视角界面和地图显示界面各自显示在屏幕的一半区域，如图2F所示的；或者其他各种可能的情况，这可以根据用户的需求而设置。In another example, the map display interface and the FPV interface can be displayed at the same time. For example, the first-person view interface is displayed in most areas of the screen, while the map display interface is displayed in a small area of the screen (such as displayed in the lower right corner of the screen), such as As shown in Figure 2E; or, the first-person view interface and the map display interface are each displayed in half of the screen, as shown in Figure 2F; or other various possible situations, which can be set according to the needs of the user.

在本申请的进一步的实施例中，方法100还可以包括(未示出)：接收用户根据所呈现的立体空域图而输入的飞行路线、飞行高度和/或飞行方向的设置指令，并基于所述用户输入的设置指令控制所述无人机飞行。在该实施例中，用户可以根据所呈现的立体空域图输入与无人机飞行相关的设置指令，诸如飞行前的飞行路线规划、飞行中的飞行高度/方向调整等，根据用户输入的指令，可对无人机的飞行进行控制。当然，也可对绘制的立体空域图进行相关的图像处理，即获取、计算或者测量某些飞行参数，从而自动生成飞行规划或者自动进行飞行中的控制。In a further embodiment of the present application, the method 100 may further include (not shown): receiving a setting instruction of the flight route, flight altitude and/or flight direction input by the user according to the presented three-dimensional airspace map, and based on all the settings. The setting instruction input by the user controls the drone to fly. In this embodiment, the user can input setting instructions related to the flight of the drone according to the presented three-dimensional airspace map, such as flight route planning before flight, flight height/direction adjustment during flight, etc., according to the instructions input by the user, It can control the flight of the UAV. Of course, related image processing can also be performed on the drawn stereo airspace map, that is, certain flight parameters are acquired, calculated, or measured, so as to automatically generate a flight plan or automatically perform in-flight control.

在本申请的进一步的实施例中，方法100还可以包括(未示出)：接收用户对所述立体空域图的查看指令，并对所述立体空域图执行与所述查看指令对应的操作，以向用户呈现不同视角下的所述立体空域图或呈现所述立体空域图中所述操作所指向的信息。在该实施例中，用户可以通过各种人机交互指令来查看立体空域图，诸如：点击立体空域图中的某建筑物以查看该建筑物的详细信息(诸如建筑物的实际高度、宽度等)，如图2G所示的；拖动立体空域图以查看更多区域的空域情况或者切换视角来查看地图与空域信息，例如图2H所示的从图2G所示的视角切换到图2H所示的视角；按压立体空域图中的某空域以查看该空域的更详细信息(诸如该空域的具体限飞条件等)，如图2I所示的；对立体空域图中的某区域进行多指操作以放大该区域而查看更细节的信息或缩小该区域以扩大查看范围，如图2J所示的将图2G所示的视图放大后的效果；或者其他任何人机交互指令等。这些人机交互指令可以通过操作设备按钮来实现，也可以通过屏幕展示实体来实现，还可以通过虚拟按键等各种方式来实现。In a further embodiment of the present application, the method 100 may further include (not shown): receiving a user's viewing instruction on the three-dimensional airspace map, and performing an operation corresponding to the viewing instruction on the three-dimensional airspace map, To present the three-dimensional airspace map under different viewing angles to the user or present the information pointed to by the operation in the three-dimensional airspace map. In this embodiment, the user can view the three-dimensional airspace map through various human-computer interaction commands, such as: clicking on a building in the three-dimensional airspace map to view detailed information of the building (such as the actual height and width of the building, etc.) ), as shown in Figure 2G; drag the three-dimensional airspace map to view the airspace situation in more areas or switch the perspective to view the map and airspace information, for example, as shown in Figure 2H, switch from the perspective shown in Figure 2G to that shown in Figure 2H Press an airspace in the three-dimensional airspace map to view more detailed information of the airspace (such as the specific flight restriction conditions of the airspace, etc.), as shown in Figure 2I; multi-finger an area in the three-dimensional airspace map Operate to enlarge the area to view more detailed information or reduce the area to enlarge the viewing range, as shown in FIG. 2J after the view shown in FIG. 2G is enlarged; or any other human-computer interaction instructions. These human-computer interaction commands can be implemented by operating device buttons, display entities on the screen, or various methods such as virtual buttons.

在本申请的进一步的实施例中，所绘制并呈现的立体空域图可以是可编辑的，基于此，方法100还可以包括(未示出)：接收用户对所述立体空域图的编辑指令，并对所述立体空域图执行与所述编辑指令对应的操作， 以对所述立体空域图上的信息进行不同的呈现。示例性地，所述编辑指令包括以下中的至少一项：向所述立体空域图中添加信息、从所述立体空域图中删除信息、对所述立体空域图中的信息进行编辑。在该实施例中，用户可以对所显示的立体空域图进行编辑，例如添加所需要的信息、删减不需要的信息、修改信息等，以使得所显示的立体空域图更有助于对无人机飞行的控制。例如，用户在查看某政府规定空域时，可以添加无人机的限制信息范围(诸如限飞高度、距离等)，进而判断实际可飞行范围和方向位置等。再如，用户可以通过将周边环境的模型数据与立体空域叠加，进行航线规划和实际拍摄角度的模拟调整等。此外，用户还可以对立体空域图中的不同空域元素进行区分性的操作(诸如将立体空域图中的不同空域元素渲染成不同的颜色)，以对不同的空域进行区分，从而醒目地起到提醒作用，实现无人机在不同空域中飞行时对无人机执行针对性的飞行控制。In a further embodiment of the present application, the drawn and presented stereoscopic airspace map may be editable. Based on this, the method 100 may further include (not shown): receiving a user's editing instruction for the stereoscopic airspace map, The operation corresponding to the editing instruction is performed on the three-dimensional airspace map, so as to present different information on the three-dimensional airspace map. Exemplarily, the editing instruction includes at least one of the following: adding information to the three-dimensional airspace diagram, deleting information from the three-dimensional airspace diagram, and editing the information in the three-dimensional airspace diagram. In this embodiment, the user can edit the displayed three-dimensional airspace map, such as adding required information, deleting unnecessary information, modifying information, etc., so that the displayed three-dimensional airspace map is more helpful to the Control of man-machine flight. For example, when a user is viewing a government-specified airspace, he can add the restricted information range of the drone (such as restricted flying height, distance, etc.), and then determine the actual flying range and direction position. For another example, the user can superimpose the model data of the surrounding environment with the three-dimensional airspace to perform route planning and simulation adjustment of the actual shooting angle. In addition, users can also perform distinguishing operations on different airspace elements in the 3D airspace map (such as rendering different airspace elements in the 3D airspace map into different colors) to distinguish different airspaces, so as to distinguish between different airspaces. It is a reminder to realize the targeted flight control of the UAV when it is flying in different airspaces.

基于上面的描述，根据本申请实施例的无人机的飞行控制方法在控制无人机飞行时，基于三维地图数据和空域数据绘制并呈现无人机位置周边场景的立体空域图，能够给予无人机操作者更为清晰更为直观的空域展示，使得无人机操作者更加准确地判断空域情况，更加有利于其进行飞行规划和飞行控制。Based on the above description, when controlling the flight of the drone, the flight control method of the drone according to the embodiments of the present application draws and presents a three-dimensional airspace map of the surrounding scene of the drone location based on the three-dimensional map data and the airspace data. The clearer and more intuitive airspace display for human-machine operators allows UAV operators to more accurately judge the airspace situation, which is more conducive to flight planning and flight control.

如前所述的，在本申请的实施例中，基于所获取的三维地图数据和空域数据，可以绘制无人机位置周边预定区域内的场景的立体空域图，以用于无人机的飞行控制，其中，无人机的飞行控制可以包括无人机在飞行之前的飞行规划、在飞行之间的实时飞行控制以及两者的任意组合。下面结合图3到图6来进一步描述，此外，为了简洁，结合图3到图6的实施例仅着重描述基于立体空域图的飞行控制，而不再对立体空域图和对立体空域图的操作进行详细的描述，本领域技术人员可以参照前文的描述理解下面的实施例中的立体空域图和对立体空域图的操作，下文中不再赘述。As mentioned above, in the embodiment of the present application, based on the acquired three-dimensional map data and airspace data, a three-dimensional airspace map of the scene in a predetermined area around the location of the drone can be drawn for the flight of the drone. Control, where the flight control of the UAV can include the flight planning of the UAV before the flight, the real-time flight control between flights, and any combination of the two. The following is a further description with reference to Figs. 3 to 6. In addition, for brevity, the embodiments in Figs. 3 to 6 only focus on the flight control based on the three-dimensional airspace diagram, instead of the operation of the three-dimensional airspace diagram and the three-dimensional airspace diagram. For a detailed description, those skilled in the art can refer to the foregoing description to understand the three-dimensional airspace diagram and the operations on the three-dimensional airspace diagram in the following embodiments, which will not be repeated hereafter.

图3示出根据本申请另一个实施例的无人机的飞行控制方法300的示意性流程图。如图3所示，无人机的飞行控制方法300可以包括如下步骤：FIG. 3 shows a schematic flowchart of a method 300 for controlling a flight of an unmanned aerial vehicle according to another embodiment of the present application. As shown in FIG. 3, the flight control method 300 of the drone may include the following steps:

在步骤S310，获取三维地图数据和空域数据。In step S310, three-dimensional map data and airspace data are acquired.

在步骤S320，在无人机飞行之前，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第一预定区域内的场景的立体空域 图，以用于对所述无人机进行飞行规划。In step S320, before the drone is flying, based on the three-dimensional map data and the airspace data, draw and present a three-dimensional airspace map of the scene in the first predetermined area around the location of the drone, for the purpose of comparing the The drone performs flight planning.

在该实施例中，可以在无人机飞行之前，基于所获取的三维地图数据和空域数据绘制并呈现无人机位置周边第一预定区域内的场景的立体空域图，以用于对无人机进行更加准确、合理的飞行规划。其中，第一预定区域是指预设的无人机的待飞区域，该区域可以为无人机位置周边的区域，也可能当前不在无人机的位置周边，这可以取决于无人机当前的具***置。此外，应理解，第一预定区域仅是为了与后文中将出现的第二预定区域相区分而如此命名，没有其他限制作用。此外，还应理解，即使本文中多次出现第一预定区域，但其不一定是指代相同的区域，而仅是为了指代都是用于飞行规划的区域。In this embodiment, the three-dimensional airspace map of the scene in the first predetermined area around the location of the drone can be drawn and presented based on the acquired three-dimensional map data and airspace data before the drone is flying. The aircraft conducts more accurate and reasonable flight planning. Among them, the first predetermined area refers to the preset area for the drone to fly. This area may be the area around the location of the drone, or it may not be currently around the location of the drone, which may depend on the current location of the drone. The specific location. In addition, it should be understood that the first predetermined area is named as such only to distinguish it from the second predetermined area that will appear later, and has no other limiting effect. In addition, it should also be understood that even if the first predetermined area appears multiple times in this article, it does not necessarily refer to the same area, but only to refer to the area used for flight planning.

图4示出根据本申请再一个实施例的无人机的飞行控制方法400的示意性流程图。如图4所示，无人机的飞行控制方法400可以包括如下步骤：FIG. 4 shows a schematic flowchart of a method 400 for controlling a flight of an unmanned aerial vehicle according to another embodiment of the present application. As shown in FIG. 4, a flight control method 400 of a drone may include the following steps:

在步骤S410，获取三维地图数据和空域数据。In step S410, three-dimensional map data and airspace data are acquired.

在步骤S420，在无人机飞行过程中，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制。In step S420, during the drone flight process, based on the three-dimensional map data and the airspace data, draw and present a three-dimensional airspace map of the scene in a second predetermined area around the location of the drone for the purpose of comparing The UAV performs flight control.

在该实施例中，可以在无人机飞行过程中，基于所获取的三维地图数据和空域数据绘制并呈现无人机位置周边第二预定区域内的场景的立体空域图，以用于对无人机的飞行进行更为精准的实时控制。其中，第二预定区域是指无人机当前位置周围一定范围内的区域，例如以无人机当前位置为圆心，半径R米范围内的区域，或者无人机的视野前方一定范围内的区域等。应理解，第二预定区域是为了与前文中出现的第一预定区域相区分而如此命名，没有其他限制作用。一般地，前述的第一预定区域的范围可以大于此处第二预定区域的范围，因为用于飞行规划的区域范围一般大于实时飞行控制的周边范围。当然，也不是必需是这样的情况。类似地，还应理解，即使本文中多次出现第二预定区域，但其不一定是指代相同的区域，而仅是为了指代都是用于实时飞行控制的区域。In this embodiment, during the drone flight, based on the acquired three-dimensional map data and airspace data, the three-dimensional airspace map of the scene in the second predetermined area around the drone position can be drawn and presented for the purpose of comparing the drone. The flight of the man-machine is controlled more accurately in real time. Among them, the second predetermined area refers to an area within a certain range around the current position of the drone, for example, an area within a radius of R meters with the current position of the drone as the center, or an area within a certain range in front of the drone's field of view Wait. It should be understood that the second predetermined area is so named to distinguish it from the first predetermined area appearing in the foregoing, and has no other limiting effect. Generally, the range of the aforementioned first predetermined area may be larger than the range of the second predetermined area here, because the range of the area used for flight planning is generally larger than the peripheral range of real-time flight control. Of course, this is not necessarily the case. Similarly, it should also be understood that even if the second predetermined area appears multiple times in this article, it does not necessarily refer to the same area, but only to refer to the area used for real-time flight control.

图5示出根据本申请又一个实施例的无人机的飞行控制方法500的示意性流程图。如图5所示，无人机的飞行控制方法500可以包括如下步骤：FIG. 5 shows a schematic flowchart of a method 500 for controlling a flight of a drone according to another embodiment of the present application. As shown in FIG. 5, a flight control method 500 of a drone may include the following steps:

在步骤S510，获取三维地图数据和空域数据。In step S510, three-dimensional map data and airspace data are acquired.

在步骤S520，在无人机飞行之前，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划。In step S520, before the drone is flying, based on the three-dimensional map data and the airspace data, draw and present a three-dimensional airspace map of the scene in the first predetermined area around the location of the drone for the purpose of comparing the The drone performs flight planning.

在步骤S530，在所述无人机基于所述飞行规划自动飞行的过程中，响应于用户指令将所述无人机的飞行模式转变为手动飞行模式，并基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制。In step S530, during the automatic flight of the drone based on the flight plan, the flight mode of the drone is converted to a manual flight mode in response to a user instruction, and based on the three-dimensional map data and the The airspace data draws and presents a three-dimensional airspace map of the scene in the second predetermined area around the position of the drone, so as to perform flight control of the drone.

在该实施例中，无人机的飞行模式从自动飞行模式转变为手动飞行模式。具体地，在无人机飞行之前，基于所获取的三维地图数据和空域数据绘制用于对无人机进行飞行规划的第一预定区域内的场景的立体空域图。在无人机基于该飞行规划自动飞行的过程中，可以响应于用户指令或者响应于其他操作(诸如自动飞行模式因意外而解除等)将无人机的飞行模式从自动飞行模式转变为手动飞行模式。在手动飞行模式下，可以基于所获取的三维地图数据和空域数据绘制用于对无人机进行实时飞行控制的第二预定区域内的场景的立体空域图，用户可以基于该立体空域图对无人机的飞行进行精准的实时控制。此处，关于第一预定区域和第二预定区域，前文已经解释过，此处不再赘述。如前所述的，该实施例中的第一预定区域与前文所述的第一预定区域可以相同，也可以不同；类似地，该实施例中的第二预定区域与前文所述的第二预定区域可以相同，也可以不同。In this embodiment, the flight mode of the drone is changed from the automatic flight mode to the manual flight mode. Specifically, before the drone is flying, based on the acquired three-dimensional map data and airspace data, a three-dimensional airspace map of the scene in the first predetermined area used for flight planning of the drone is drawn. During the automatic flight of the drone based on the flight plan, the drone's flight mode can be changed from automatic flight mode to manual flight in response to user instructions or in response to other operations (such as the automatic flight mode being released due to an accident, etc.) mode. In manual flight mode, based on the acquired three-dimensional map data and airspace data, a three-dimensional airspace map of the scene in the second predetermined area for real-time flight control of the drone can be drawn, and the user can compare the three-dimensional airspace map based on the three-dimensional airspace map. The flight of the man-machine is accurately controlled in real time. Here, the first predetermined area and the second predetermined area have been explained above, and will not be repeated here. As mentioned above, the first predetermined area in this embodiment may be the same as or different from the first predetermined area described above; similarly, the second predetermined area in this embodiment is the same as the second predetermined area described above. The predetermined areas can be the same or different.

图6示出根据本申请再一个实施例的无人机的飞行控制方法600的示意性流程图。如图6所示，无人机的飞行控制方法600可以包括如下步骤：FIG. 6 shows a schematic flowchart of a method 600 for controlling a flight of a drone according to another embodiment of the present application. As shown in FIG. 6, a flight control method 600 of a drone may include the following steps:

在步骤S610，获取三维地图数据和空域数据。In step S610, three-dimensional map data and airspace data are acquired.

在步骤S620，在无人机基于手动飞行模式飞行的过程中，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制。In step S620, during the process of the drone flying based on the manual flight mode, draw and present a three-dimensional airspace map of the scene in a second predetermined area around the location of the drone based on the three-dimensional map data and the airspace data, It is used for flight control of the UAV.

在步骤S630，响应于用户指令，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划。In step S630, in response to the user's instruction, based on the three-dimensional map data and the airspace data, draw and present a three-dimensional airspace map of the scene in the first predetermined area around the location of the drone, so as to be used for monitoring the unmanned airspace. The aircraft conducts flight planning.

在步骤S640，将所述无人机的飞行模式转变为自动飞行模式，并控制所述无人机基于所述飞行规划飞行。In step S640, the flight mode of the drone is changed to an automatic flight mode, and the drone is controlled to fly based on the flight plan.

在该实施例中，无人机的飞行模式从手动飞行模式转变为自动飞行模式。具体地，在无人机基于手动飞行模式飞行的过程中，基于所获取的三维地图数据和空域数据绘制用于对无人机进行实时飞行控制的第二预定区域内的场景的立体空域图，用户可以基于该立体空域图对无人机的飞行进行精准的实时控制。在无人机基于手动飞行模式飞行的过程中，可以响应于用户指令将无人机的飞行模式从手动飞行模式转变为自动飞行模式。在开始执行自动飞行模式之前，可以基于所获取的三维地图数据和空域数据绘制用于对无人机进行飞行规划的第一预定区域内的场景的立体空域图，用户可以基于该立体空域图对无人机进行准确、合理的飞行规划，或者由处理单元基于立体空域图自动生成飞行规划。在基于用户指令生成或者自动生成飞行规划后，可以控制无人机基于该飞行规划飞行。此处，关于第一预定区域和第二预定区域，前文已经解释过，此处不再赘述。如前所述的，该实施例中的第一预定区域与前文所述的第一预定区域可以相同，也可以不同；类似地，该实施例中的第二预定区域与前文所述的第二预定区域可以相同，也可以不同。In this embodiment, the flight mode of the drone is changed from manual flight mode to automatic flight mode. Specifically, in the process of the drone flying based on the manual flight mode, based on the acquired three-dimensional map data and airspace data, a three-dimensional airspace map of the scene in the second predetermined area for real-time flight control of the drone is drawn, The user can accurately and real-time control the flight of the UAV based on the three-dimensional airspace map. During the flight of the drone based on the manual flight mode, the flight mode of the drone can be changed from the manual flight mode to the automatic flight mode in response to user instructions. Before starting to execute the automatic flight mode, based on the acquired three-dimensional map data and airspace data, a three-dimensional airspace map of the scene in the first predetermined area used for flight planning of the drone can be drawn, and the user can compare the three-dimensional airspace map based on the three-dimensional airspace map. The drone performs accurate and reasonable flight planning, or the processing unit automatically generates a flight plan based on the three-dimensional airspace map. After generating or automatically generating a flight plan based on user instructions, the drone can be controlled to fly based on the flight plan. Here, the first predetermined area and the second predetermined area have been explained above, and will not be repeated here. As mentioned above, the first predetermined area in this embodiment may be the same as or different from the first predetermined area described above; similarly, the second predetermined area in this embodiment is the same as the second predetermined area described above. The predetermined areas can be the same or different.

以上示例性地描述了根据本申请实施例的无人机的飞行控制方法。基于上面的描述，根据本申请实施例的无人机的飞行控制方法在控制无人机飞行时，基于三维地图数据和空域数据绘制并呈现无人机位置周边场景的立体空域图，能够给予无人机操作者更为清晰更为直观的空域展示，使得无人机操作者更加准确地判断空域情况，更加有利于其进行飞行规划和飞行控制。The above exemplarily describes the flight control method of the drone according to the embodiments of the present application. Based on the above description, when controlling the flight of the drone, the flight control method of the drone according to the embodiments of the present application draws and presents a three-dimensional airspace map of the surrounding scene of the drone location based on the three-dimensional map data and the airspace data. The clearer and more intuitive airspace display for human-machine operators allows UAV operators to more accurately judge the airspace situation, which is more conducive to flight planning and flight control.

下面结合图7描述根据本申请另一方面提供的无人机的飞行控制设备700。根据本申请实施例的无人机的飞行控制设备700可以用于实施上文中描述的根据本申请实施例的无人机的飞行控制方法100、300-600。为了简洁，下文中仅对无人机的飞行控制设备700的主要结构和功能进行描述，而省略上文中已经描述的部分具体细节。The following describes a drone flight control device 700 provided according to another aspect of the present application in conjunction with FIG. 7. The flight control device 700 of the drone according to the embodiment of the present application may be used to implement the flight control methods 100, 300-600 of the drone according to the embodiment of the present application described above. For the sake of brevity, only the main structure and functions of the flight control device 700 of the drone are described below, and some specific details that have been described above are omitted.

如图7所示，无人机的飞行控制设备700可以包括处理器710和显示装置720，其中，处理器710用于获取三维地图数据和空域数据，并在控制无人机飞行时，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边预定区域内的场景的立体空域图。显示装置720用于呈现处理器 710绘制的立体空域图。As shown in FIG. 7, the flight control device 700 of the drone may include a processor 710 and a display device 720, where the processor 710 is used to obtain three-dimensional map data and airspace data, and when controlling the flight of the drone, based on all The three-dimensional map data and the airspace data draw a three-dimensional airspace map of the scene in a predetermined area around the location of the drone. The display device 720 is used for presenting the stereoscopic spatial map drawn by the processor 710.

在本申请的一个实施例中，处理器710基于三维地图数据和空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，可以进一步包括：在无人机飞行之前，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第一预定区域内的场景的立体空域图。显示装置720呈现所述立体空域图，可以进一步包括：呈现所述第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划。In an embodiment of the present application, the processor 710 draws and presents a three-dimensional airspace map of the scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data, which may further include: before the drone flies, Based on the three-dimensional map data and the airspace data, a three-dimensional airspace map of the scene in the first predetermined area around the position of the drone is drawn. The display device 720 presenting the three-dimensional airspace map may further include: presenting a three-dimensional airspace map of the scene in the first predetermined area for use in flight planning of the drone.

在本申请的一个实施例中，处理器710基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，可以进一步包括：在无人机飞行过程中，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第二预定区域内的场景的立体空域图。显示装置720呈现所述立体空域图，可以进一步包括：呈现所述第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制。In an embodiment of the present application, the processor 710 draws and presents a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data, which may further include: During the flight of the aircraft, based on the three-dimensional map data and the airspace data, a three-dimensional airspace map of the scene in the second predetermined area around the position of the drone is drawn. The display device 720 presenting the three-dimensional airspace map may further include: presenting the three-dimensional airspace map of the scene in the second predetermined area, so as to perform flight control of the drone.

在本申请的一个实施例中，处理器710基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，可以进一步包括：在无人机飞行之前，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第一预定区域内的场景的立体空域图；显示装置720呈现所述立体空域图，可以进一步包括：呈现所述第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划；处理器710还可以用于在所述无人机基于所述飞行规划自动飞行的过程中，响应于用户指令将所述无人机的飞行模式转变为手动飞行模式，并基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第二预定区域内的场景的立体空域图；显示装置720还可以用于呈现所述第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制。In an embodiment of the present application, the processor 710 draws and presents a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data, which may further include: Before the aircraft flies, based on the three-dimensional map data and the airspace data, drawing a three-dimensional airspace map of the scene in a first predetermined area around the location of the drone; the display device 720 presents the three-dimensional airspace map, which may further include: presenting The three-dimensional airspace map of the scene in the first predetermined area is used for flight planning of the drone; the processor 710 may also be used for the automatic flight of the drone based on the flight plan , In response to a user instruction, change the flight mode of the drone to a manual flight mode, and draw the three-dimensional airspace of the scene in the second predetermined area around the location of the drone based on the three-dimensional map data and the airspace data Figure; The display device 720 can also be used to present a three-dimensional airspace map of the scene in the second predetermined area for flight control of the drone.

在本申请的一个实施例中，处理器710基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，可以进一步包括：在无人机基于手动飞行模式飞行的过程中，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第二预定区域内的场景的立体空域图；显示装置720呈现所述立体空域图，可以进一步包括：呈现所述第二预定区域内的场景的立体空域图，以用于对所述无人机 进行飞行控制；处理器710还可以用于响应于用户指令，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第一预定区域内的场景的立体空域图；显示装置720还可以用于呈现所述第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划；处理器710还可以用于将所述无人机的飞行模式转变为自动飞行模式，并控制所述无人机基于所述飞行规划飞行。In an embodiment of the present application, the processor 710 draws and presents a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data, which may further include: When the aircraft is flying in the manual flight mode, based on the three-dimensional map data and the airspace data, a three-dimensional airspace map of the scene in the second predetermined area around the drone location is drawn; the display device 720 presents the three-dimensional airspace map , May further include: presenting a three-dimensional airspace map of the scene in the second predetermined area for flight control of the drone; the processor 710 may also be used to respond to user instructions based on the three-dimensional map Data and the airspace data to draw a three-dimensional airspace map of the scene in the first predetermined area around the drone location; the display device 720 can also be used to present the three-dimensional airspace map of the scene in the first predetermined area for use In order to perform flight planning on the UAV; the processor 710 may also be used to convert the flight mode of the UAV to an automatic flight mode, and control the UAV to fly based on the flight plan.

在本申请的一个实施例中，所述立体空域图可以包括三维地图信息和空域信息，其中所述三维地图信息按照一定比例反映物理世界中的物体的真实三维尺寸，所述空域信息至少可以包括以下中的至少一项：地理标识、一个或更多个空域的限飞时间、限飞高度或限飞条件。In an embodiment of the present application, the three-dimensional airspace map may include three-dimensional map information and airspace information, wherein the three-dimensional map information reflects the true three-dimensional size of objects in the physical world according to a certain scale, and the airspace information may include at least At least one of the following: geographic identification, flight restriction time of one or more airspaces, restricted flight altitude, or restricted flight conditions.

在本申请的一个实施例中，显示装置720呈现所述无人机位置周边预定区域内的场景的立体空域图，可以包括：在无人机飞行控制界面的地图显示界面上显示所述无人机位置周边预定区域内的场景的三维地图，所述三维地图是处理器710基于所述三维地图数据和所述空域数据绘制的。In an embodiment of the present application, the display device 720 presenting a three-dimensional airspace map of the scene in a predetermined area around the drone position may include: displaying the drone on the map display interface of the drone flight control interface. A three-dimensional map of a scene in a predetermined area around the aircraft location, the three-dimensional map being drawn by the processor 710 based on the three-dimensional map data and the airspace data.

在本申请的一个实施例中，显示装置720呈现所述无人机位置周边预定区域内的场景的立体空域图，可以包括：在无人机飞行控制界面的第一人称视角界面上显示所述无人机位置周边预定区域内的场景的拍摄画面，所述拍摄画面是处理器710基于所述三维地图数据和所述空域数据绘制的。In an embodiment of the present application, the display device 720 presenting a three-dimensional airspace map of the scene in a predetermined area around the drone position may include: displaying the drone on the first-person view interface of the drone flight control interface. A shooting picture of a scene in a predetermined area around the human-machine position, the shooting picture being drawn by the processor 710 based on the three-dimensional map data and the airspace data.

在本申请的一个实施例中，所述设备还可以包括人机交互装置(未示出)，所述人机交互装置用于接收用户根据所呈现的立体空域图而输入的飞行路线、飞行高度和/或飞行方向的设置指令，并将所述设置指令传送至处理器710，处理器710还用于基于所述用户输入的设置指令控制所述无人机飞行。In an embodiment of the present application, the device may further include a human-computer interaction device (not shown), the human-computer interaction device is used to receive the flight route and the flight height input by the user according to the presented three-dimensional airspace map. And/or a setting instruction of the flight direction, and transmitting the setting instruction to the processor 710, and the processor 710 is further configured to control the drone to fly based on the setting instruction input by the user.

在本申请的一个实施例中，所述设备还可以包括人机交互装置(未示出)，所述人机交互装置用于接收用户对所述立体空域图的查看指令，并将所述查看指令传送至处理器710，处理器710还用于对所述立体空域图执行与所述查看指令对应的操作，以由显示装置720向用户呈现不同视角下的所述立体空域图或呈现所述立体空域图中所述操作所指向的信息。In an embodiment of the present application, the device may further include a human-computer interaction device (not shown), the human-computer interaction device is used to receive a user's instruction to view the three-dimensional airspace map, and to view the The instruction is transmitted to the processor 710, and the processor 710 is further configured to perform an operation corresponding to the viewing instruction on the three-dimensional airspace map, so that the display device 720 presents the three-dimensional airspace map in different perspectives to the user or presents the The information pointed to by the operation in the 3D airspace map.

在本申请的一个实施例中，所述查看指令可以包括以下中的至少一 项：点击、拖动、按压或多指操作。In an embodiment of the present application, the viewing instruction may include at least one of the following: click, drag, press, or multi-finger operation.

在本申请的一个实施例中，所述立体空域图是可编辑的，所述设备还可以包括人机交互装置(未示出)，所述人机交互装置用于接收用户对所述立体空域图的编辑指令，将所述编辑指令传送至处理器710，处理器710还用于对所述立体空域图执行与所述编辑指令对应的操作，以由显示装置720对所述立体空域图上的信息进行不同的呈现。In an embodiment of the present application, the three-dimensional airspace map is editable, and the device may further include a human-computer interaction device (not shown), and the human-computer interaction device is used to receive a user's feedback on the three-dimensional airspace. The editing instruction of the image is transmitted to the processor 710, and the processor 710 is further configured to perform an operation corresponding to the editing instruction on the three-dimensional airspace image, so that the display device 720 can perform an operation on the three-dimensional airspace image on the three-dimensional airspace image. The information is presented differently.

在本申请的一个实施例中，所述编辑指令可以包括以下中的至少一项：向所述立体空域图中添加信息、从所述立体空域图中删除信息、对所述立体空域图中的信息进行编辑。In an embodiment of the present application, the editing instruction may include at least one of the following: adding information to the three-dimensional airspace diagram, deleting information from the three-dimensional airspace diagram, and adding information to the three-dimensional airspace diagram. Information to be edited.

在本申请的一个实施例中，处理器710对所述立体空域图中的信息进行编辑，可以包括：对所述立体空域图中的不同空域元素进行区分性的操作，以对不同的空域进行区分。In an embodiment of the present application, the processor 710 editing the information in the three-dimensional airspace map may include: performing differentiated operations on different airspace elements in the three-dimensional airspace map to perform operations on different airspaces. distinguish.

在本申请的一个实施例中，处理器710对所述立体空域图中的不同空域元素进行区分性的操作，可以包括：将所述立体空域图中的不同空域元素渲染成不同的颜色。In an embodiment of the present application, the processor 710 performing distinguishing operations on different airspace elements in the three-dimensional airspace map may include: rendering different airspace elements in the three-dimensional airspace map into different colors.

在本申请的一个实施例中，显示装置720和所述人机交互装置为同一装置。In an embodiment of the present application, the display device 720 and the human-computer interaction device are the same device.

在本申请的一个实施例中，所述地图数据和所述空域数据是从云端服务器获取的，或者是从本地存储获取的。In an embodiment of the present application, the map data and the airspace data are obtained from a cloud server, or obtained from local storage.

在本申请的一个实施例中，处理器710获取所述三维地图数据，进一步可以包括：从云端服务器获取二维地图数据，从无人机获取所述无人机采集的第三维度数据，并基于所述二维地图数据和所述第三维度数据生成所述三维地图数据。In an embodiment of the present application, the processor 710 acquiring the three-dimensional map data may further include: acquiring two-dimensional map data from a cloud server, acquiring third-dimensional data collected by the drone from the drone, and The three-dimensional map data is generated based on the two-dimensional map data and the third-dimensional data.

基于上面的描述，根据本申请实施例的无人机的飞行控制设备在控制无人机飞行时，基于三维地图数据和空域数据绘制并呈现无人机位置周边场景的立体空域图，能够给予无人机操作者更为清晰更为直观的空域展示，使得无人机操作者更加准确地判断空域情况，更加有利于其进行飞行规划和飞行控制。Based on the above description, when controlling the flight of the drone, the flight control device of the drone according to the embodiment of the present application draws and presents the three-dimensional airspace map of the surrounding scene of the drone location based on the three-dimensional map data and the airspace data, which can provide no The clearer and more intuitive airspace display for human-machine operators allows UAV operators to more accurately judge the airspace situation, which is more conducive to flight planning and flight control.

根据本申请的再一方面，还提供了一种无人机的飞行控制***。下面结合图8描述根据本申请又一方面提供的无人机的飞行控制***800的示 意性框图。如图8所示，无人机的飞行控制***800可以无人机810和飞行控制设备820，其中，飞行控制设备820与无人机810通信连接，用于控制无人机810飞行。飞行控制设备820可以是前文中所述的无人机的飞行控制设备700。According to another aspect of the present application, a flight control system for UAV is also provided. The following describes a schematic block diagram of a flight control system 800 for an unmanned aerial vehicle provided in accordance with another aspect of the present application in conjunction with FIG. 8. As shown in FIG. 8, the flight control system 800 of the drone can be a drone 810 and a flight control device 820, wherein the flight control device 820 is communicatively connected with the drone 810 for controlling the flight of the drone 810. The flight control device 820 may be the flight control device 700 of the drone described above.

根据本申请的再一方面，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上存储有计算机程序，所述计算机程序在由处理器运行时执行根据本申请实施例的无人机的飞行控制方法。所述计算机可读存储介质例如可以包括智能电话的存储卡、平板电脑的存储部件、个人计算机的硬盘、只读存储器(ROM)、可擦除可编程只读存储器(EPROM)、便携式紧致盘只读存储器(CD-ROM)、USB存储器、或者上述存储介质的任意组合。所述计算机可读存储介质可以是一个或多个计算机可读存储介质的任意组合。According to another aspect of the present application, there is also provided a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and the computer program, when run by a processor, executes the process according to the embodiment of the present application. Man-machine flight control method. The computer-readable storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk Read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

基于上面的描述，根据本申请实施例的无人机的飞行控制方法、设备、***和计算机可读存储介质在控制无人机飞行时，基于三维地图数据和空域数据绘制并呈现无人机位置周边场景的立体空域图，能够给予无人机操作者更为清晰更为直观的空域展示，使得无人机操作者更加准确地判断空域情况，更加有利于其进行飞行规划和飞行控制。Based on the above description, the drone flight control method, device, system, and computer-readable storage medium according to the embodiments of the present application draw and present the drone location based on three-dimensional map data and airspace data when controlling the drone flight The three-dimensional airspace map of the surrounding scenes can give the drone operator a clearer and more intuitive airspace display, allowing the drone operator to more accurately judge the airspace situation, which is more conducive to flight planning and flight control.

尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅仅是示例性的，并且不意图将本申请的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本申请的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本申请的范围之内。Although the exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described exemplary embodiments are merely exemplary, and are not intended to limit the scope of the present application thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。A person of ordinary skill in the art may realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for specific applications to implement the described functions, but such implementation should not be considered beyond the scope of this application.

在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个 设备，或一些特征可以忽略，或不执行。In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another device, or some features can be ignored or not implemented.

在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail, so as not to obscure the understanding of this specification.

类似地，应当理解，为了精简本申请并帮助理解各个发明方面中的一个或多个，在对本申请的示例性实施例的描述中，本申请的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本申请的方法解释成反映如下意图：即所要求保护的本申请要求比在权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中权利要求本身都作为本申请的单独实施例。Similarly, it should be understood that, in order to simplify this application and help understand one or more of the various aspects of the invention, in the description of the exemplary embodiments of this application, the various features of this application are sometimes grouped together into a single embodiment or figure. , Or in its description. However, the method of this application should not be interpreted as reflecting the intention that the claimed application requires more features than those clearly stated in the claims. More precisely, as reflected in the corresponding claims, the point of the invention is that the corresponding technical problems can be solved with features that are less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are thus clearly incorporated into the specific embodiment, wherein the claims themselves are all regarded as separate embodiments of the present application.

本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的特征可以由提供相同、等同或相似目的的替代特征来代替。Those skilled in the art can understand that in addition to mutual exclusion between the features, any combination of all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and any method or device disclosed in this manner can be used. Processes or units are combined. Unless expressly stated otherwise, the features disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by alternative features that provide the same, equivalent or similar purpose.

此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本申请的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。In addition, those skilled in the art can understand that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means that they are within the scope of the present application. Within and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的一些模块的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本申请的程序可以存储在计算机可读存储介质上，或者可以具有一个或者多个信号的形式。这样的信号可以 从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。The various component embodiments of the present application may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present application. This application can also be implemented as a device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present application may be stored on a computer-readable storage medium, or may have the form of one or more signals. Such signals can be downloaded from Internet websites, or provided on carrier signals, or provided in any other form.

应该注意的是上述实施例对本申请进行说明而不是对本申请进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be constructed as a limitation to the claims. The application can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied in the same hardware item. The use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

以上所述，仅为本申请的具体实施方式或对具体实施方式的说明，本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。本申请的保护范围应以权利要求的保护范围为准。The above are only specific implementations of this application or descriptions of specific implementations. The scope of protection of this application is not limited to this. Anyone familiar with the technical field within the technical scope disclosed in this application can easily Any change or replacement should be covered within the scope of protection of this application. The protection scope of this application shall be subject to the protection scope of the claims.

Claims (37)

1. 一种无人机的飞行控制方法，其特征在于，所述方法包括：A flight control method of an unmanned aerial vehicle, characterized in that the method includes:

   获取三维地图数据和空域数据；Obtain 3D map data and airspace data;

   在控制无人机飞行时，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图。When controlling the drone to fly, draw and present a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data.
2. 根据权利要求1所述的方法，其特征在于，所述基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，进一步包括：The method according to claim 1, wherein the drawing and presenting a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data further comprises:

   在无人机飞行之前，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划。Before the drone is flying, based on the three-dimensional map data and the airspace data, draw and present a three-dimensional airspace map of the scene in the first predetermined area around the location of the drone, so as to perform the operation on the drone. Flight planning.
3. 根据权利要求1所述的方法，其特征在于，所述基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，进一步包括：The method according to claim 1, wherein the drawing and presenting a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data further comprises:

   在无人机飞行过程中，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制。During the flight of the drone, based on the three-dimensional map data and the airspace data, draw and present a three-dimensional airspace map of the scene in the second predetermined area around the location of the drone, so as to be used to compare the drone. Perform flight control.
4. 根据权利要求1所述的方法，其特征在于，所述基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，进一步包括：The method according to claim 1, wherein the drawing and presenting a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data further comprises:

   在无人机飞行之前，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划；Before the drone is flying, based on the three-dimensional map data and the airspace data, draw and present a three-dimensional airspace map of the scene in the first predetermined area around the location of the drone, so as to perform the operation on the drone. Flight planning

   在所述无人机基于所述飞行规划自动飞行的过程中，响应于用户指令将所述无人机的飞行模式转变为手动飞行模式，并基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制。During the automatic flight of the drone based on the flight plan, the flight mode of the drone is converted to a manual flight mode in response to a user instruction, and the drone is drawn and merged based on the three-dimensional map data and the airspace data. A three-dimensional airspace map of a scene in a second predetermined area around the position of the drone is presented for flight control of the drone.
5. 根据权利要求1所述的方法，其特征在于，所述基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，进一步包括：The method according to claim 1, wherein the drawing and presenting a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data further comprises:

   在无人机基于手动飞行模式飞行的过程中，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制；During the flight of the drone based on the manual flight mode, based on the three-dimensional map data and the airspace data, draw and present a three-dimensional airspace map of the scene in the second predetermined area around the location of the drone for comparison. The UAV performs flight control;

   响应于用户指令，基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划；In response to a user instruction, based on the three-dimensional map data and the airspace data, draw and present a three-dimensional airspace map of the scene in the first predetermined area around the location of the drone for use in flight planning of the drone ；

   将所述无人机的飞行模式转变为自动飞行模式，并控制所述无人机基于所述飞行规划飞行。The flight mode of the drone is converted to an automatic flight mode, and the drone is controlled to fly based on the flight plan.
6. 根据权利要求1-5中的任一项所述的方法，其特征在于，所述立体空域图包括三维地图信息和空域信息，其中所述三维地图信息按照一定比例反映物理世界中的物体的真实三维尺寸，所述空域信息至少包括以下中的至少一项：地理标识、一个或更多个空域的限飞时间、限飞高度或限飞条件。The method according to any one of claims 1-5, wherein the three-dimensional airspace map comprises three-dimensional map information and airspace information, wherein the three-dimensional map information reflects the reality of objects in the physical world according to a certain scale. In a three-dimensional size, the airspace information at least includes at least one of the following: a geographic identifier, a flight restriction time of one or more airspaces, a flight restriction height, or a flight restriction condition.
7. 根据权利要求1-6中的任一项所述的方法，其特征在于，所述基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，包括：The method according to any one of claims 1-6, wherein the three-dimensional rendering of the scene in a predetermined area around the position of the drone is drawn and presented based on the three-dimensional map data and the airspace data. Airspace map, including:

   在无人机飞行控制界面的地图显示界面上显示所述无人机位置周边预定区域内的场景的三维地图，所述三维地图是基于所述三维地图数据和所述空域数据绘制的。A three-dimensional map of the scene in a predetermined area around the location of the drone is displayed on the map display interface of the drone flight control interface, the three-dimensional map being drawn based on the three-dimensional map data and the airspace data.
8. 根据权利要求1-6中的任一项所述的方法，其特征在于，所述基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，包括：The method according to any one of claims 1-6, wherein the three-dimensional rendering of the scene in a predetermined area around the position of the drone is drawn and presented based on the three-dimensional map data and the airspace data. Airspace map, including:

   在无人机飞行控制界面的第一人称视角界面上显示所述无人机位置周边预定区域内的场景的拍摄画面，所述拍摄画面是基于所述三维地图数据和所述空域数据绘制的。A shooting picture of a scene in a predetermined area around the position of the drone is displayed on the first-person perspective interface of the drone flight control interface, and the shooting picture is drawn based on the three-dimensional map data and the airspace data.
9. 根据权利要求1-8中的任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-8, wherein the method further comprises:

   接收用户根据所呈现的立体空域图而输入的飞行路线、飞行高度和/或飞行方向的设置指令，并基于所述用户输入的设置指令控制所述无人机飞行。Receive the setting instructions of the flight route, the flying height and/or the flight direction input by the user according to the presented three-dimensional airspace map, and control the drone to fly based on the setting instructions input by the user.
10. 根据权利要求1-9中的任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-9, wherein the method further comprises:

    接收用户对所述立体空域图的查看指令，并对所述立体空域图执行与所述查看指令对应的操作，以向用户呈现不同视角下的所述立体空域图或呈现所述立体空域图中所述操作所指向的信息。Receive a user's viewing instruction on the three-dimensional airspace map, and perform an operation corresponding to the viewing instruction on the three-dimensional airspace map to present the three-dimensional airspace map in different perspectives or the three-dimensional airspace map to the user The information pointed to by the operation.
11. 根据权利要求10所述的方法，其特征在于，所述查看指令包括以下中的至少一项：点击、拖动、按压或多指操作。The method according to claim 10, wherein the viewing instruction includes at least one of the following: click, drag, press, or multi-finger operation.
12. 根据权利要求1-11中的任一项所述的方法，其特征在于，所述立体空域图是可编辑的，所述方法还包括：The method according to any one of claims 1-11, wherein the three-dimensional airspace map is editable, and the method further comprises:

    接收用户对所述立体空域图的编辑指令，并对所述立体空域图执行与所述编辑指令对应的操作，以对所述立体空域图上的信息进行不同的呈现。Receive a user's editing instruction on the three-dimensional airspace map, and perform an operation corresponding to the editing instruction on the three-dimensional airspace map, so as to present different information on the three-dimensional airspace map.
13. 根据权利要求12所述的方法，其特征在于，所述编辑指令包括以下中的至少一项：向所述立体空域图中添加信息、从所述立体空域图中删除信息、对所述立体空域图中的信息进行编辑。The method according to claim 12, wherein the editing instruction includes at least one of the following: adding information to the three-dimensional airspace diagram, deleting information from the three-dimensional airspace diagram, and adding information to the three-dimensional airspace diagram. Edit the information in the figure.
14. 根据权利要求13所述的方法，其特征在于，所述对所述立体空域图中的信息进行编辑，包括：The method according to claim 13, wherein the editing the information in the three-dimensional spatial map comprises:

    对所述立体空域图中的不同空域元素进行区分性的操作，以对不同的空域进行区分。Distinguishing operations are performed on different airspace elements in the three-dimensional airspace map to distinguish different airspaces.
15. 根据权利要求14所述的方法，其特征在于，所述对所述立体空域图中的不同空域元素进行区分性的操作，包括：The method according to claim 14, characterized in that the performing distinguishing operations on different airspace elements in the three-dimensional airspace map comprises:

    将所述立体空域图中的不同空域元素渲染成不同的颜色。Rendering different airspace elements in the three-dimensional airspace map into different colors.
16. 根据权利要求1-15中的任一项所述的方法，其特征在于，所述三维地图数据和所述空域数据是从云端服务器获取的，或者是从本地存储获取的。The method according to any one of claims 1-15, wherein the three-dimensional map data and the airspace data are obtained from a cloud server, or obtained from local storage.
17. 根据权利要求1-15中的任一项所述的方法，其特征在于，所述获取所述三维地图数据包括：The method according to any one of claims 1-15, wherein the obtaining the three-dimensional map data comprises:

    从云端服务器获取二维地图数据，并基于所述二维地图数据和无人机采集的第三维度数据生成所述三维地图数据。Obtain two-dimensional map data from a cloud server, and generate the three-dimensional map data based on the two-dimensional map data and the third-dimensional data collected by the drone.
18. 一种无人机的飞行控制设备，其特征在于，所述设备包括处理器和显示装置，其中：An unmanned aerial vehicle flight control equipment, characterized in that the equipment includes a processor and a display device, wherein:

    所述处理器用于获取三维地图数据和空域数据，并在控制无人机飞行时，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边预定区域内的场景的立体空域图；The processor is used to obtain three-dimensional map data and airspace data, and when controlling the drone to fly, draw a three-dimensional airspace map of the scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data ；

    所述显示装置用于呈现所述立体空域图。The display device is used to present the three-dimensional spatial map.
19. 根据权利要求18所述的设备，其特征在于，The device of claim 18, wherein:

    所述处理器基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，进一步包括：在无人机飞行之前，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第一预定区域内的场景的立体空域图；The processor draws and presents a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data, and further includes: before the drone flies, based on the three-dimensional map Data and the airspace data draw a three-dimensional airspace map of the scene in the first predetermined area around the drone location;

    所述显示装置呈现所述立体空域图，进一步包括：呈现所述第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划。The display device presenting the three-dimensional airspace map further includes: presenting the three-dimensional airspace map of the scene in the first predetermined area for use in flight planning of the drone.
20. 根据权利要求18所述的设备，其特征在于，The device of claim 18, wherein:

    所述处理器基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，进一步包括：在无人机飞行过程中，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第二预定区域内的场景的立体空域图；The processor draws and presents a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data, and further includes: during the flight of the drone, based on the three-dimensional Map data and the airspace data draw a three-dimensional airspace map of a scene in a second predetermined area around the drone location;

    所述显示装置呈现所述立体空域图，进一步包括：呈现所述第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制。The display device presenting the three-dimensional airspace map further includes: presenting the three-dimensional airspace map of the scene in the second predetermined area for flight control of the drone.
21. 根据权利要求18所述的设备，其特征在于，The device of claim 18, wherein:

    所述处理器基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，进一步包括：在无人机飞行之前，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第一预定区域内的场景的立体空域图；The processor draws and presents a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data, and further includes: before the drone flies, based on the three-dimensional map Data and the airspace data draw a three-dimensional airspace map of the scene in the first predetermined area around the drone location;

    所述显示装置呈现所述立体空域图，进一步包括：呈现所述第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划；The display device presenting the three-dimensional airspace map further includes: presenting a three-dimensional airspace map of the scene in the first predetermined area for use in flight planning of the drone;

    所述处理器还用于在所述无人机基于所述飞行规划自动飞行的过程中，响应于用户指令将所述无人机的飞行模式转变为手动飞行模式，并基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第二预定区域内的场景的立体空域图；The processor is further configured to change the flight mode of the drone to a manual flight mode in response to a user instruction during the automatic flight of the drone based on the flight plan, and based on the three-dimensional map data Drawing a three-dimensional airspace map of the scene in a second predetermined area around the location of the drone with the airspace data;

    所述显示装置还用于呈现所述第二预定区域内的场景的立体空域图， 以用于对所述无人机进行飞行控制。The display device is also used to present a three-dimensional airspace map of the scene in the second predetermined area, so as to perform flight control of the drone.
22. 根据权利要求18所述的设备，其特征在于，The device of claim 18, wherein:

    所述处理器基于所述三维地图数据和所述空域数据绘制并呈现所述无人机位置周边预定区域内的场景的立体空域图，进一步包括：在无人机基于手动飞行模式飞行的过程中，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第二预定区域内的场景的立体空域图；The processor draws and presents a three-dimensional airspace map of a scene in a predetermined area around the location of the drone based on the three-dimensional map data and the airspace data, and further includes: during the drone flying based on the manual flight mode Draw a three-dimensional airspace map of the scene in a second predetermined area around the location of the drone based on the three-dimensional map data and the airspace data;

    所述显示装置呈现所述立体空域图，进一步包括：呈现所述第二预定区域内的场景的立体空域图，以用于对所述无人机进行飞行控制；The display device presenting the three-dimensional airspace map further includes: presenting the three-dimensional airspace map of the scene in the second predetermined area, so as to perform flight control of the drone;

    所述处理器还用于响应于用户指令，基于所述三维地图数据和所述空域数据绘制所述无人机位置周边第一预定区域内的场景的立体空域图；The processor is further configured to draw a three-dimensional airspace map of a scene in a first predetermined area around the drone location based on the three-dimensional map data and the airspace data in response to a user instruction;

    所述显示装置还用于呈现所述第一预定区域内的场景的立体空域图，以用于对所述无人机进行飞行规划；The display device is also used to present a three-dimensional airspace map of the scene in the first predetermined area for use in flight planning of the drone;

    所述处理器还用于将所述无人机的飞行模式转变为自动飞行模式，并控制所述无人机基于所述飞行规划飞行。The processor is also used to convert the flight mode of the drone to an automatic flight mode, and control the drone to fly based on the flight plan.
23. 根据权利要求18-22中的任一项所述的设备，其特征在于，所述立体空域图包括三维地图信息和空域信息，其中所述三维地图信息按照一定比例反映物理世界中的物体的真实三维尺寸，所述空域信息至少包括以下中的至少一项：地理标识、一个或更多个空域的限飞时间、限飞高度或限飞条件。The device according to any one of claims 18-22, wherein the three-dimensional airspace map comprises three-dimensional map information and airspace information, wherein the three-dimensional map information reflects the reality of objects in the physical world according to a certain scale. In a three-dimensional size, the airspace information at least includes at least one of the following: a geographic identifier, a flight restriction time of one or more airspaces, a flight restriction height, or a flight restriction condition.
24. 根据权利要求18-23中的任一项所述的设备，其特征在于，所述显示装置呈现所述无人机位置周边预定区域内的场景的立体空域图，包括：The device according to any one of claims 18-23, wherein the display device presents a three-dimensional airspace map of a scene in a predetermined area around the position of the drone, comprising:

    在无人机飞行控制界面的地图显示界面上显示所述无人机位置周边预定区域内的场景的三维地图，所述三维地图是所述处理器基于所述三维地图数据和所述空域数据绘制的。A three-dimensional map of the scene in a predetermined area around the drone position is displayed on the map display interface of the drone flight control interface, and the three-dimensional map is drawn by the processor based on the three-dimensional map data and the airspace data of.
25. 根据权利要求18-23中的任一项所述的设备，其特征在于，所述显示装置呈现所述无人机位置周边预定区域内的场景的立体空域图，包括：The device according to any one of claims 18-23, wherein the display device presents a three-dimensional airspace map of a scene in a predetermined area around the position of the drone, comprising:

    在无人机飞行控制界面的第一人称视角界面上显示所述无人机位置周边预定区域内的场景的拍摄画面，所述拍摄画面是所述处理器基于所述三维地图数据和所述空域数据绘制的。On the first-person view interface of the drone flight control interface, a shooting picture of a scene in a predetermined area around the position of the drone is displayed, and the shooting picture is the processor based on the three-dimensional map data and the airspace data Drawn.
26. 根据权利要求18-25中的任一项所述的设备，其特征在于，所述 设备还包括人机交互装置，所述人机交互装置用于接收用户根据所呈现的立体空域图而输入的飞行路线、飞行高度和/或飞行方向的设置指令，并将所述设置指令传送至所述处理器，所述处理器还用于基于所述用户输入的设置指令控制所述无人机飞行。The device according to any one of claims 18-25, wherein the device further comprises a human-computer interaction device, and the human-computer interaction device is configured to receive input from the user according to the presented three-dimensional airspace map. The flight route, flight altitude, and/or flight direction setting instructions are transmitted to the processor, and the processor is also used to control the drone to fly based on the setting instructions input by the user.
27. 根据权利要求18-26中的任一项所述的设备，其特征在于，所述设备还包括人机交互装置，所述人机交互装置用于接收用户对所述立体空域图的查看指令，并将所述查看指令传送至所述处理器，所述处理器还用于对所述立体空域图执行与所述查看指令对应的操作，以由所述显示装置向用户呈现不同视角下的所述立体空域图或呈现所述立体空域图中所述操作所指向的信息。The device according to any one of claims 18-26, wherein the device further comprises a human-computer interaction device, and the human-computer interaction device is configured to receive a user's instruction to view the three-dimensional airspace map, And transmit the viewing instruction to the processor, and the processor is further configured to perform an operation corresponding to the viewing instruction on the three-dimensional airspace map, so that the display device presents the user with all viewing angles in different perspectives. The three-dimensional airspace map or the information pointed to by the operation in the three-dimensional airspace map is presented.
28. 根据权利要求27所述的设备，其特征在于，所述查看指令包括以下中的至少一项：点击、拖动、按压或多指操作。The device according to claim 27, wherein the viewing instruction comprises at least one of the following: click, drag, press, or multi-finger operation.
29. 根据权利要求18-28中的任一项所述的设备，其特征在于，所述立体空域图是可编辑的，所述设备还包括人机交互装置，所述人机交互装置用于接收用户对所述立体空域图的编辑指令，将所述编辑指令传送至所述处理器，所述处理器还用于对所述立体空域图执行与所述编辑指令对应的操作，以由所述显示装置对所述立体空域图上的信息进行不同的呈现。The device according to any one of claims 18-28, wherein the three-dimensional airspace map is editable, and the device further comprises a human-computer interaction device, and the human-computer interaction device is configured to receive a user The editing instruction for the three-dimensional airspace map is transmitted to the processor, and the processor is further configured to perform an operation corresponding to the editing instruction on the three-dimensional airspace map so as to be displayed by the display The device presents the information on the three-dimensional airspace map in different ways.
30. 根据权利要求29所述的设备，其特征在于，所述编辑指令包括以下中的至少一项：向所述立体空域图中添加信息、从所述立体空域图中删除信息、对所述立体空域图中的信息进行编辑。The device according to claim 29, wherein the editing instruction includes at least one of the following: adding information to the three-dimensional airspace map, deleting information from the three-dimensional airspace map, and adding information to the three-dimensional airspace map. Edit the information in the figure.
31. 根据权利要求30所述的设备，其特征在于，所述处理器对所述立体空域图中的信息进行编辑，包括：The device according to claim 30, wherein the processor editing the information in the three-dimensional spatial map comprises:

    对所述立体空域图中的不同空域元素进行区分性的操作，以对不同的空域进行区分。Distinguishing operations are performed on different airspace elements in the three-dimensional airspace map to distinguish different airspaces.
32. 根据权利要求31所述的设备，其特征在于，所述处理器对所述立体空域图中的不同空域元素进行区分性的操作，包括：The device according to claim 31, wherein the processor performs differentiated operations on different airspace elements in the three-dimensional airspace map, comprising:

    将所述立体空域图中的不同空域元素渲染成不同的颜色。Rendering different airspace elements in the three-dimensional airspace map into different colors.
33. 根据权利要求26-32中的任一项所述的设备，其特征在于，所述显示装置和所述人机交互装置为同一装置。The device according to any one of claims 26-32, wherein the display device and the human-computer interaction device are the same device.
34. 根据权利要求18-33中的任一项所述的设备，其特征在于，所述 地图数据和所述空域数据是从云端服务器获取的，或者是从本地存储获取的。The device according to any one of claims 18-33, wherein the map data and the airspace data are obtained from a cloud server or obtained from local storage.
35. 根据权利要求18-33中的任一项所述的设备，其特征在于，所述处理器获取所述三维地图数据，进一步包括：The device according to any one of claims 18-33, wherein the processor acquiring the three-dimensional map data further comprises:

    从云端服务器获取二维地图数据，从无人机获取所述无人机采集的第三维度数据，并基于所述二维地图数据和所述第三维度数据生成所述三维地图数据。Obtain two-dimensional map data from a cloud server, obtain third-dimensional data collected by the drone from a drone, and generate the three-dimensional map data based on the two-dimensional map data and the third-dimensional data.
36. 一种无人机的飞行控制***，其特征在于，所述***包括无人机和如权利要求18-35中的任一项所述的无人机的飞行控制设备，其中，所述飞行控制设备与所述无人机通信连接，用于控制所述无人机飞行。A flight control system of an unmanned aerial vehicle, characterized in that the system comprises an unmanned aerial vehicle and the flight control equipment of an unmanned aerial vehicle according to any one of claims 18-35, wherein the flight control The device is in communication connection with the UAV, and is used to control the flight of the UAV.
37. 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上存储有计算机程序，所述计算机程序在运行时执行如权利要求1-17中的任一项所述的无人机的飞行控制方法。A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and the computer program executes the drone according to any one of claims 1-17 during operation. Flight control method.

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