WO2023178492A1

WO2023178492A1 - Unmanned aerial vehicle route planning method, unmanned aerial vehicle route planning device, remote control device, and unmanned aerial vehicle

Info

Publication number: WO2023178492A1
Application number: PCT/CN2022/082105
Authority: WO
Inventors: 周伟; 陈超彬; 林佳浩
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2022-03-21
Filing date: 2022-03-21
Publication date: 2023-09-28

Abstract

An unmanned aerial vehicle route planning method, an unmanned aerial vehicle route planning device, a remote control device, an unmanned aerial vehicle, and a computer-readable storage medium. The unmanned aerial vehicle route planning method comprises: obtaining a first waypoint (301), a second waypoint (302) and a third waypoint (303), a first connecting line (311) between the first waypoint (301) and the second waypoint (302) and a second connecting line (312) between the second waypoint (302) and the third waypoint (303) forming a folding angle (313); and generating a route passing through the second waypoint (302), the route comprising a first transition section (321) and a second transition section (322), the first transition section (321) taking a point on the first connecting line (311) as a starting point and taking the second waypoint as a termination point, the second transition section (322) taking the second waypoint (302) as a starting point and taking a point on the second connecting line (312) as a termination point, and the first transition section (321) and the second transition section (322) being curved sections.

Description

无人机航线的规划方法、规划装置、遥控装置及无人机UAV route planning method, planning device, remote control device and UAV

技术领域Technical field

本申请涉及无人机航线规划的领域，具体涉及一种无人机航线的规划方法、规划装置、遥控装置以及无人机。This application relates to the field of UAV route planning, and specifically relates to a UAV route planning method, planning device, remote control device and UAV.

背景技术Background technique

在进行航线任务的规划时，通常需要获取航点，航点之间可以彼此连接生成连线，基于这些连线可以生成航线。When planning a route mission, it is usually necessary to obtain waypoints. Waypoints can be connected to each other to generate connections, and routes can be generated based on these connections.

如果一个航点两侧的连线呈一折角，则意味着无人机从该航点的一侧飞行到另一侧时需要进行转弯，如果需要无人机连续飞行而不在中途减速或者悬停，相关技术会规划一曲线段，以使无人机能够在维持一定的速度的前提下通过该曲线段完成转弯。If the line connecting both sides of a waypoint forms an angle, it means that the drone needs to make a turn when flying from one side of the waypoint to the other. If the drone needs to fly continuously without slowing down or hovering midway, , the relevant technology will plan a curve segment so that the drone can complete the turn through the curve segment while maintaining a certain speed.

图1中展示了一种相关技术中生成的航线的示意图，航点11两侧的连线呈一折角，所生成的航线包括位于航点11附近的一曲线段12，该曲线段12起始于航点11一侧连线上的点，终止于航点11另一侧连线上的点。其缺陷在于，无人机在该曲线段12上飞行时，将无法经过航点11，导致一些需要无人机在航点11所在的位置处执行的任务(例如定点拍摄任务、检修任务等)无法准确完成。Figure 1 shows a schematic diagram of a route generated in a related technology. The lines connecting both sides of the waypoint 11 form an angle. The generated route includes a curve segment 12 located near the waypoint 11. The curve segment 12 starts from A point on the line connecting one side of waypoint 11 and ending on a point on the line connecting the other side of waypoint 11. The defect is that when the drone flies on the curve section 12, it will not be able to pass the waypoint 11, resulting in some tasks that require the drone to perform at the location of the waypoint 11 (such as fixed-point shooting tasks, maintenance tasks, etc.) It cannot be done accurately.

图2中展示了另一种相关技术中生成的航线的示意图，航点21两侧的连线呈一折角，所生成的航线包括连接一该航点21和另一航点22的曲线段23。其缺陷在于，用户可能会期望所生成的航线能够尽可能的沿着航点之间的连线进行飞行，而无人机在该曲线段23上飞行后将直接到达另一航点22，远离航点21与航点22之间的连线。Figure 2 shows a schematic diagram of a route generated in another related technology. The lines connecting both sides of the waypoint 21 form an angle. The generated route includes a curve segment 23 connecting one waypoint 21 and another waypoint 22. . The disadvantage is that the user may expect the generated route to fly along the connection between waypoints as much as possible, and the drone will directly reach another waypoint 22 after flying on the curve segment 23, far away from The connection between waypoint 21 and waypoint 22.

发明内容Contents of the invention

鉴于上述问题，提出了本申请以便提供一种克服上述问题或者至少部分地解决上述问题的无人机航线的规划方法、无人机航线的规划装置、遥控装置、无人机以及计算机可读存储介质。In view of the above problems, this application is proposed to provide a UAV route planning method, a UAV route planning device, a remote control device, a UAV and a computer-readable storage that overcome the above problems or at least partially solve the above problems. medium.

根据本申请实施例的第一个方面，提供一种无人机航线的规划方法，所述方法包括：获取第一航点、第二航点和第三航点，所述第一航点和所述第二航点之间的第一连线与所述第二航点和所述第三航点之间的第二连线呈一折角；生成经过所述第二航点的航线，所述航线包括第一过渡段和第二过渡段，所述第一过渡段以所述第一连线上的点为起始点，以所述第二航点为终止点，所述第二过渡段以所述第二航点为起始点以所述第二连线上的点为终止点，所述第一过渡段和所述第二过渡段为曲线段。According to a first aspect of the embodiment of the present application, a method for planning a UAV route is provided. The method includes: obtaining a first waypoint, a second waypoint and a third waypoint, the first waypoint and The first connection line between the second waypoints and the second connection line between the second waypoint and the third waypoint form an angle; a route passing through the second waypoint is generated, so The route includes a first transition section and a second transition section. The first transition section takes a point on the first connecting line as a starting point and the second waypoint as an ending point. The second transition section Taking the second waypoint as the starting point and the point on the second connecting line as the ending point, the first transition section and the second transition section are curve sections.

根据本申请实施例的第二个方面，提供一种无人机航线的规划装置，包括：一个或多个处理器，所述一个或多个处理器用于：获取第一航点、第二航点和第三航点，所述第一航点和所述第二航点之间的第一连线与所述第二航点和所述第三航点之间的第二连线呈一折角；生成经过所述第二航点的航线，所述航线包括第一过渡段和第二过渡段，所述第一过渡段以所述第一连线上的点为起始点，以所述第二航点为终止点，所述第二过渡段以所述第二航点为起始点以所述第二连线上的点为终止点，所述第一过渡段和所述第二过渡段为曲线段。According to a second aspect of the embodiment of the present application, a device for planning a UAV route is provided, including: one or more processors, the one or more processors being configured to: obtain a first waypoint, a second waypoint, and a second waypoint. point and a third waypoint, the first connection line between the first waypoint and the second waypoint and the second connection line between the second waypoint and the third waypoint form a straight line. Corner; generate a route passing through the second waypoint. The route includes a first transition section and a second transition section. The first transition section takes the point on the first connection as a starting point and ends with the The second waypoint is the end point, and the second transition section takes the second waypoint as the starting point and the point on the second connecting line as the end point. The first transition section and the second transition section Segments are curve segments.

根据本申请实施例的第三个方面，提供一种遥控装置，所述遥控装置用于遥控无人机，所述遥控装置配置有如本申请实施例的第二个方面所述的无人机航线的规划装置。According to the third aspect of the embodiment of the present application, a remote control device is provided. The remote control device is used to control a drone. The remote control device is configured with a drone route as described in the second aspect of the embodiment of the present application. planning device.

根据本申请实施例的第四个方面，提供一种无人机，所述无人机配置有如本申请实施例的第二个方面所述的无人机航线的规划装置。According to a fourth aspect of the embodiment of the present application, a drone is provided, which is configured with the UAV route planning device described in the second aspect of the embodiment of the present application.

根据本申请实施例的第五个方面，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指令，所述计算机程序指令被计算机执行时，实现如本申请实施例的第一个方面所述的无人机航线的规划方法。According to a fifth aspect of the embodiment of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores computer program instructions. When the computer program instructions are executed by a computer, the embodiments of the present application are implemented. The UAV route planning method described in the first aspect.

根据本申请实施例的无人机航线的规划方法、无人机航线的规划装置、遥控装置、无人机以及计算机可读存储介质使得无人机能够在维持一定速度的前提下完成转弯，且能够在转弯时经过航点并在转弯后回到航点之间的连线上。According to the UAV route planning method, UAV route planning device, remote control device, UAV and computer-readable storage medium according to the embodiments of the present application, the UAV can complete the turn while maintaining a certain speed, and Ability to pass waypoints while turning and return to the line between waypoints after turning.

附图说明Description of the drawings

图1为一种相关技术中生成的航线的示意图；Figure 1 is a schematic diagram of a route generated in a related technology;

图2为另一种相关技术中生成的航线的示意图；Figure 2 is a schematic diagram of a route generated in another related technology;

图3为根据本申请实施例的无人机航线的规划方法生成的航线的示意图；Figure 3 is a schematic diagram of a route generated by a UAV route planning method according to an embodiment of the present application;

图4为根据本申请另一个实施例的无人机航线的规划方法生成的航线的示意图；Figure 4 is a schematic diagram of a route generated by a UAV route planning method according to another embodiment of the present application;

图5为根据本申请又一个实施例的无人机航线的规划方法生成的航线的示意图；Figure 5 is a schematic diagram of a route generated by a UAV route planning method according to another embodiment of the present application;

图6为根据本申请再一个实施例的无人机航线的规划方法生成的航线的示意图；Figure 6 is a schematic diagram of a route generated by a UAV route planning method according to another embodiment of the present application;

图7为根据本申请实施例的无人机航线的规划装置示意图；Figure 7 is a schematic diagram of a UAV route planning device according to an embodiment of the present application;

图8为根据本申请实施例的遥控装置的示意图；Figure 8 is a schematic diagram of a remote control device according to an embodiment of the present application;

图9为根据本申请实施例的无人机的示意图；Figure 9 is a schematic diagram of a drone according to an embodiment of the present application;

图10为根据本申请实施例的计算机可读存储介质的示意图。Figure 10 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.

具体实施方式Detailed ways

为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请实施例的附图，对本申请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的一个实施例，而不是全部的实施例。基于所描述的本申请的实施例，本领域普通技术人员在无需创造性劳动的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。In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiment is one embodiment of the present application, but not all embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

需要说明的是，除非另外定义，本申请使用的技术术语或者科学术语应当为本申请所属领域内具有一般技能的人士所理解的通常意义。若全文中涉及“第一”、“第二”等描述，则该“第一”、“第二”等描述仅用于区别类似的对象，而不能理解为指示或暗示其相对重要性、先后次序或者隐含指明所指示的技术特征的数量，应该理解为“第一”、“第二”等描述的数据在适当情况下可以互换。若全文中出现“和/或”，其含义为包括三个并列方案，以“A和/或B”为例，包括A方案，或B方案，或A和B同时满足的方案。It should be noted that, unless otherwise defined, the technical terms or scientific terms used in this application should have the usual meanings understood by those with ordinary skills in the field to which this application belongs. If descriptions such as "first" and "second" are involved in the full text, the descriptions such as "first" and "second" are only used to distinguish similar objects and cannot be understood as indicating or implying their relative importance or sequence. The order or implicit indication of the number of technical features indicated should be understood to mean that the data described by "first", "second", etc. can be interchanged under appropriate circumstances. If "and/or" appears in the entire text, it means that it includes three parallel plans. Taking "A and/or B" as an example, it includes plan A, or plan B, or a plan that satisfies both A and B at the same time.

本申请的实施例首先提供一种无人机航线的规划方法，该方法借助无人机上所配置的一个或多个处理器来实现，或者，借助无人机的遥控装置上所配置的一个或多个处理器来实现，又或者，借助其他能够与无人机通信连接的终端设备上所配置的一个或多个处理器来实现，对此不做限制。Embodiments of the present application first provide a method for planning a UAV route, which is implemented with the help of one or more processors configured on the UAV, or with the help of one or more processors configured on the remote control device of the UAV. It can be implemented by multiple processors, or it can be implemented by one or more processors configured on other terminal devices that can communicate with the drone, and there is no limit to this.

参照图3，根据本申请实施例的无人机航线的规划方法包括如下步骤：Referring to Figure 3, the UAV route planning method according to the embodiment of the present application includes the following steps:

获取第一航点301、第二航点302和第三航点303，第一航点301和第二航点302之间的第一连线311与第二航点302和第三航点303之间的第二连线312呈一折角313。Obtain the first waypoint 301, the second waypoint 302 and the third waypoint 303, the first connection 311 between the first waypoint 301 and the second waypoint 302 and the second waypoint 302 and the third waypoint 303. The second connection line 312 between them forms an angle 313.

生成经过第二航点302的航线，航线包括第一过渡段321和第二过渡段322，第一过渡段321以第一连线311上的点为起始点，以第二航点302为终止点，第二过渡段322以第二航点302为起始点，以第二连线312上的点为终止点，第一过渡段321和第二过渡段322为曲线段。Generate a route passing through the second waypoint 302. The route includes a first transition section 321 and a second transition section 322. The first transition section 321 starts from the point on the first connection line 311 and ends with the second waypoint 302. point. The second transition section 322 takes the second waypoint 302 as the starting point and the point on the second connection line 312 as the ending point. The first transition section 321 and the second transition section 322 are curve sections.

本申请实施例中第一连线311与第二连线312呈一折角313，是指第一连线311和第二连线312形成了一个小于180度(不包括180度)的夹角。In the embodiment of the present application, the first connection line 311 and the second connection line 312 form an angle 313, which means that the first connection line 311 and the second connection line 312 form an included angle less than 180 degrees (excluding 180 degrees).

在一些实施例中，可以基于用户的输入来获取第一航点301、第二航点302以及第三航点303。例如，可以基于用户输入的三个坐标获取第一航点301、第二航点302以及第三航点303。或者，可以基于用户对显示界面上三个位置或者三个航点的点选输入来获取第一航点301、第二航点302以及第三航点303。或者，可以从用户输入的多个航点中获取满足上述条件的三个航点(三个航点连接形成的两条连线呈一折角)作为第一航点301、第二航点302和第三航点303。In some embodiments, the first waypoint 301, the second waypoint 302, and the third waypoint 303 may be obtained based on user input. For example, the first waypoint 301, the second waypoint 302, and the third waypoint 303 can be obtained based on three coordinates input by the user. Alternatively, the first waypoint 301, the second waypoint 302, and the third waypoint 303 can be obtained based on the user's click input of three positions or three waypoints on the display interface. Alternatively, three waypoints that meet the above conditions (the two connecting lines formed by connecting the three waypoints form an angle) can be obtained from multiple waypoints input by the user as the first waypoint 301, the second waypoint 302 and the Third waypoint 303.

在另一些实施例中，可以获取自动生成的第一航点301、第二航点302以及第三航点303。例如，用户在显示界面上确定一块任务区域，基于该任务区域可以确定多个航点，多个航点中包括第一航点301、第二航点302以及第三航点303。In other embodiments, the automatically generated first waypoint 301, second waypoint 302, and third waypoint 303 may be obtained. For example, the user determines a task area on the display interface, and multiple waypoints can be determined based on the task area. The multiple waypoints include a first waypoint 301 , a second waypoint 302 , and a third waypoint 303 .

需要说明的是，本领域技术人员也可以采用其他合适的方式来获取第一航点301、第二航点302和第三航点303，对此不作限制。It should be noted that those skilled in the art can also use other suitable methods to obtain the first waypoint 301, the second waypoint 302 and the third waypoint 303, and there is no limit to this.

在获取到第一航点301、第二航点302和第三航点303后，生成经过第二航点302的航线，如图3中示出的，该航线包括第一过渡段321和第二过渡段322。无人机飞行到第一过渡段321在第一连线311上的起始点后，将会开始沿着第一过渡段321飞行到第二航点302并进入第二过渡段322，最终到达第二连线312上的第二过渡段322的终止点，从而，能够在保持一定速度的前提下经过第二航点302完成转弯，并在转弯结束后回到第二连线312上。After acquiring the first waypoint 301, the second waypoint 302 and the third waypoint 303, a route passing through the second waypoint 302 is generated. As shown in Figure 3, the route includes a first transition section 321 and a third waypoint 302. Second transition section 322. After the drone flies to the starting point of the first transition section 321 on the first connection line 311, it will start flying along the first transition section 321 to the second waypoint 302 and enter the second transition section 322, and finally reach the second waypoint 302. The end point of the second transition section 322 on the second connection line 312, so that the turn can be completed through the second waypoint 302 while maintaining a certain speed, and return to the second connection line 312 after the turn is completed.

生成该第一过渡段321和第二过渡段322的一种方法可以是，获取第一连线311上第一过渡段起始点的坐标，第二连线312上第二过渡段终止点的坐标，以及第二航点302的坐标。而后基于这三点的坐标进行曲线拟合以得到第一过渡段321和第二过渡段322。具体的生成方法将在下文的相关部分进行更加详细的描述，在此不再赘述。One method of generating the first transition section 321 and the second transition section 322 may be to obtain the coordinates of the starting point of the first transition section on the first connection line 311 and the coordinates of the end point of the second transition section on the second connection line 312. , and the coordinates of the second waypoint 302. Then, curve fitting is performed based on the coordinates of these three points to obtain the first transition section 321 and the second transition section 322. The specific generation method will be described in more detail in the relevant sections below, and will not be described again here.

根据本申请实施例的无人机航线的规划方法所生成的第一过渡段321和第二过渡段322能够使得无人机在保持一定速度的前提下完成转弯，并且，能够保证无人机在转弯时经过第二航点302并在转弯结束后回到第二连线312上。The first transition section 321 and the second transition section 322 generated by the UAV route planning method according to the embodiment of the present application can enable the UAV to complete the turn while maintaining a certain speed, and can ensure that the UAV is in When turning, it passes the second waypoint 302 and returns to the second connection line 312 after the turn.

在一些实施例中，所生成的航线还包括至少部分的第一连线311和至少部分的第二连线312，无人机在该航线上飞行时的速度保持恒定，或者减速幅度小于预设速度阈值。In some embodiments, the generated route also includes at least part of the first connection 311 and at least part of the second connection 312. When the drone flies on the route, the speed remains constant, or the deceleration amplitude is less than a preset value. Speed threshold.

具体地，该航线所包括的至少部分的第一连线311可以是第一连线311上的第一航点301和第一过渡段321的起始点之间的连线的部分或者全部，所包括的至少部分的第二连线312可以是第二连线312上的第二过渡段322的终止点和第三航点303之间的连线的部分或者全部。可以理解地，用户在指定航点时期望的飞行路线可能是沿着航点之间的连线飞行，而本实施例中所生成的航线能够尽可能的满足用户的这一需求。Specifically, at least part of the first connection 311 included in the route may be part or all of the connection between the first waypoint 301 on the first connection 311 and the starting point of the first transition section 321, so At least part of the included second connection line 312 may be part or all of the connection between the end point of the second transition section 322 and the third waypoint 303 on the second connection line 312 . It is understandable that the flight route desired by the user when specifying waypoints may be to fly along the connection between the waypoints, and the route generated in this embodiment can satisfy this user's demand as much as possible.

由于无人机本身机动性能的限制，如果需要无人机在一段较短的距离内完成一个航向变化较大的转弯，则无人机将不得不进行一定的减速。通过合理地调整第一过渡段321和/或第二过渡段322的长度、曲率等，可以实现无人机的飞行速度保持恒定，或者减速幅度小于预设速度阈值。例如，保持用户设置的期望速度，或者减速幅度小于用户设置的速度阈值。Due to the limitations of the UAV's maneuverability, if the UAV is required to complete a turn with a large course change within a short distance, the UAV will have to decelerate to a certain extent. By reasonably adjusting the length, curvature, etc. of the first transition section 321 and/or the second transition section 322, the flying speed of the drone can be maintained constant, or the deceleration amplitude can be less than the preset speed threshold. For example, maintaining the desired speed set by the user, or decelerating less than the speed threshold set by the user.

以下将对几种能够生成满足无人机的飞行速度保持恒定，或者减速幅度小于预设速度阈值的航线的方法进行描述，以下的实施例可以被单独地或者组合地使用来满足上述需求。The following will describe several methods that can generate a route that satisfies the UAV's flying speed to remain constant, or the deceleration amplitude is less than a preset speed threshold. The following embodiments can be used individually or in combination to meet the above requirements.

在一些实施例中，第一过渡段321的长度和第二过渡段322长度与无人机在该航线上飞行时的速度正相关。即，如果无人机在该航线上的飞行速度相对较高，则设置相对较长的第一过渡段321和第二过渡段322，来使得无人机的速度保持恒定或者减速幅度小于预设速度阈值。可以通过调整第一连线311和第二连线312上的点的坐标来获得相对较长的第一过渡段321和第二过渡段322，和/或，可以通过调整第一过渡段321和第二过渡段322的曲率来获得相对较长的第一过渡段321和第二过渡段322。In some embodiments, the length of the first transition section 321 and the length of the second transition section 322 are positively related to the speed of the UAV when flying on the route. That is, if the flying speed of the drone on the route is relatively high, a relatively long first transition section 321 and a second transition section 322 are set to keep the speed of the drone constant or the deceleration amplitude is smaller than the preset speed. Speed threshold. The relatively long first transition section 321 and the second transition section 322 can be obtained by adjusting the coordinates of the points on the first connection line 311 and the second connection line 312, and/or, by adjusting the first transition section 321 and The curvature of the second transition section 322 is used to obtain relatively long first transition section 321 and second transition section 322 .

在一些实施例中，第一过渡段321的曲率和第二过渡段322的曲率与折角的角度负相关。如果折角相对较小，意味着无人机从第二航点302的一侧飞行至另一侧的航向角变化相对较大，此时设置曲率相对较大的第一过渡段321和第二过渡段322，来使得无人机在航线上飞行时的速度保持恒定或者减速幅度小于预设速度阈值。In some embodiments, the curvature of the first transition section 321 and the curvature of the second transition section 322 are inversely related to the angle of the fold. If the folding angle is relatively small, it means that the heading angle of the drone flying from one side of the second waypoint 302 to the other side changes relatively large. At this time, the first transition section 321 and the second transition section 321 with relatively large curvature are set. Section 322, to keep the speed of the UAV constant when flying on the route or the deceleration amplitude is less than the preset speed threshold.

在一些实施例中，第一过渡段321的曲率和第二过渡段322的曲率与无人机在航线上飞行时的速度正相关。即，如果无人机在该航线上的飞行速度相对较高，则设置曲率相对较大的第一过渡段321和第二过渡段322，来使得无人机在航线上飞行时的速度保持恒定或者减速幅度小于预设速度阈值。In some embodiments, the curvature of the first transition section 321 and the curvature of the second transition section 322 are positively related to the speed of the UAV when flying on the route. That is, if the flying speed of the UAV on the route is relatively high, the first transition section 321 and the second transition section 322 with relatively large curvatures are set to keep the speed of the UAV constant when flying on the route. Or the deceleration amplitude is less than the preset speed threshold.

在一些实施例中，如果基于上述实施例中所提供的方法仍然无法生成满足上述要求的航线。例如，第一连线和第二连线的长度很短，或第一连线和第二连线之间的折角很小。则可以输出提示信息以提示用户降低期望保持恒定的速度值，或者增加减速幅度的预设速度阈值。In some embodiments, if it is still impossible to generate a route that meets the above requirements based on the method provided in the above embodiments. For example, the length of the first connection line and the second connection line is very short, or the angle between the first connection line and the second connection line is very small. Then prompt information can be output to prompt the user to reduce the speed value that is expected to remain constant, or to increase the preset speed threshold of the deceleration amplitude.

接下来将对一些生成第一过渡段321和第二过渡段322的几种方法进行描述，同样地，以下的实施例可以被单独地或组合地使用以生成第一过渡段321和第二过渡段322。Next, several methods of generating the first transition section 321 and the second transition section 322 will be described. Similarly, the following embodiments can be used individually or in combination to generate the first transition section 321 and the second transition section. Paragraph 322.

如上文中所描述的，为了生成第一过渡段321和第二过渡段322，可以确定第一连线311上的第一过渡段321的起始点的坐标，和第二连线312上的第二过渡段322的终止点的坐标。As described above, in order to generate the first transition section 321 and the second transition section 322, the coordinates of the starting point of the first transition section 321 on the first connection line 311 and the second start point on the second connection line 312 can be determined. The coordinates of the end point of transition section 322.

在一些实施例中，第一连线311上的第一过渡段321的起始点的坐标，和第二连线312上的第二过渡段322的终止点的坐标可以是自动生成的。例如，将第一连线的长度减去预设长度值再除以2，可以得到第一过渡段321的起始点到第二航点302的第一距离，基于第一距离可以得到第一过渡段321的起始点的坐标，同理，也可以基于该方法得到第二过渡段322的终止点的坐标。In some embodiments, the coordinates of the starting point of the first transition section 321 on the first connection line 311 and the coordinates of the end point of the second transition section 322 on the second connection line 312 can be automatically generated. For example, by subtracting the preset length value from the length of the first connection and dividing it by 2, the first distance from the starting point of the first transition section 321 to the second waypoint 302 can be obtained. Based on the first distance, the first transition can be obtained. In the same way as the coordinates of the starting point of the segment 321, the coordinates of the ending point of the second transition segment 322 can also be obtained based on this method.

在一些实施例中，第一连线311上的第一过渡段321的起始点的坐标，和第二连线312上的第二过渡段322的终止点的坐标可以是基于用户输入生成的。一种方法可以是由用户直接输入以上两点的坐标。另一种确定方法是用户输入第一过渡段321的起始点到第二航点302的第一距离，以及第二过渡段322的终止点到第二航点302的第二距离，基于第二航点302的坐标以及这两个距离获取到这两点的坐标。In some embodiments, the coordinates of the starting point of the first transition section 321 on the first connection line 311 and the coordinates of the end point of the second transition section 322 on the second connection line 312 may be generated based on user input. One method may be for the user to directly input the coordinates of the above two points. Another determination method is that the user inputs the first distance from the starting point of the first transition section 321 to the second waypoint 302, and the second distance from the end point of the second transition section 322 to the second waypoint 302, based on the second The coordinates of waypoint 302 and these two distances are used to obtain the coordinates of these two points.

在一些实施例中，第一过渡段321的起始点到第二航点302的第一距离小于或等于预设比例的第一连线311的长度，第二航点302到第二过渡段322的终止点的第二距离小于或等于预设比例的第二连线312的长度。以保证所生成的航线能够包括第一连线311的更多部分和第二连线312的更多部分。本实施例中，预设比例可以被设定为1/2、1/3、2/3，或者其他任意一个小于1的值，对此不作具体的限制。In some embodiments, the first distance from the starting point of the first transition section 321 to the second waypoint 302 is less than or equal to the length of the first connection line 311 in a preset proportion, and the second waypoint 302 to the second transition section 322 The second distance between the end points is less than or equal to the length of the second connecting line 312 of the preset ratio. This is to ensure that the generated route can include more parts of the first connection 311 and more parts of the second connection 312 . In this embodiment, the preset ratio can be set to 1/2, 1/3, 2/3, or any other value less than 1, and there is no specific limitation on this.

在一些实施例中，可以基于该预设比例确定第一距离和第二距离的取值范围，在该取值范围中确定第一距离和第二距离。In some embodiments, a value range of the first distance and the second distance may be determined based on the preset ratio, and the first distance and the second distance are determined within the value range.

在一些实施例中，第一过渡段321的起始点到第二航点302的第一距离与第二航点302到第二过渡段322终止点的第二距离之和小于第一连线311的长度或第二连线312的长度，以保证所生成的航线能够包括第一连线311的更多部分和第二连线312的更多部分。In some embodiments, the sum of the first distance from the starting point of the first transition section 321 to the second waypoint 302 and the second distance from the second waypoint 302 to the end point of the second transition section 322 is less than the first connecting line 311 or the length of the second connection 312 to ensure that the generated route can include more parts of the first connection 311 and more parts of the second connection 312 .

在一些实施例中，可以基于第一连线311的长度或第二连线312的长度来确定第一距离的取值范围和第二距离的取值范围。在该取值范围中确定第一距离和第二距离。In some embodiments, the value range of the first distance and the value range of the second distance may be determined based on the length of the first connection line 311 or the length of the second connection line 312 . The first distance and the second distance are determined within this value range.

在一些实施例中，取值范围的确定方法还可以是，根据无人机在航线上飞行时的速度确定第一距离的取值范围的最小值和第二距离的取值范围的最小值；和/或根据第一连线311的长度确定第一距离的取值范围的最大值，根据第二连线312的长度确定第二距离的取值范围的最大值。In some embodiments, the method for determining the value range may also be to determine the minimum value of the value range of the first distance and the minimum value of the value range of the second distance based on the speed of the UAV when flying on the route; And/or the maximum value of the value range of the first distance is determined according to the length of the first connection line 311 , and the maximum value of the value range of the second distance is determined according to the length of the second connection line 312 .

可以以无人机的飞行速度保持恒定，或者减速幅度小于预设速度阈值为前提来确定第一距离的取值范围的最小值和第二距离的取值范围的最小值。例如，可以基于用户所设定的期望速度和/或预设速度阈值来确定第一距离的取值范围的最小值和第二距离的取值范围的最小值，此外还可以进一步参考折角313的角度以及第一过渡段321和第二过渡段322的曲率可调节的范围来确定第一距离的取值范围的最小值和第二距离的取值范围的最小值。The minimum value of the value range of the first distance and the minimum value of the value range of the second distance can be determined on the premise that the flight speed of the UAV remains constant, or the deceleration amplitude is less than a preset speed threshold. For example, the minimum value of the value range of the first distance and the minimum value of the value range of the second distance may be determined based on the desired speed and/or the preset speed threshold set by the user. In addition, further reference may be made to the value range of the fold angle 313 The angle and the adjustable range of the curvature of the first transition section 321 and the second transition section 322 determine the minimum value of the value range of the first distance and the minimum value of the value range of the second distance.

在本实施例中，还可以根据第一连线311的长度和第二连线312的长度来确定取值范围的最大值，或者，也可以使用上述几种实施例中的方法来确定取值范围的最大值。In this embodiment, the maximum value of the value range can also be determined based on the length of the first connection 311 and the second connection 312, or the value can also be determined using the methods in the above embodiments. The maximum value of the range.

在一些实施例中，可以确定第一过渡段321的起始点到第二航点302的第一距离的取值范围，以及第二航点302到第二过渡段322终止点的第二距离的取值范围，以供用户在第一距离的取值范围中确定第一距离，并在第二距离的取值范围中确定第二距离。第一距离和第二距离的取值范围可以是上述任意实施例或实施例的组合所描述的取值范围。取值范围可以被提供给用户，以供用户在从中确定第一距离和第二距离。例如，将第一距离和第二距离的取证范围显示在遥控装置的显示界面上，拖动相应的滑条可以输入第一距离和第二距离。In some embodiments, the value range of the first distance from the starting point of the first transition section 321 to the second waypoint 302 and the second distance from the second waypoint 302 to the end point of the second transition section 322 can be determined. The value range allows the user to determine the first distance within the value range of the first distance and determine the second distance within the value range of the second distance. The value ranges of the first distance and the second distance may be the value ranges described in any of the above embodiments or combinations of embodiments. The value range may be provided to the user for the user to determine the first distance and the second distance therefrom. For example, the evidence collection range of the first distance and the second distance is displayed on the display interface of the remote control device, and the first distance and the second distance can be input by dragging the corresponding slide bar.

在一些实施例中，如果在用户设置的期望速度或者速度阈值下，无法计算出对应的取值或取值范围使得无人机飞行时的速度保持恒定或者减速幅度小于预设速度阈值，则可以输出提示信息以提示用户降低期望保持恒定的速度值或者增加减速幅度的预设速度阈值。In some embodiments, if under the desired speed or speed threshold set by the user, the corresponding value or value range cannot be calculated so that the speed of the drone during flight remains constant or the deceleration amplitude is less than the preset speed threshold, you can Prompt information is output to prompt the user to reduce the speed value that is expected to remain constant or to increase the preset speed threshold value of the deceleration amplitude.

在一些实施例中，在基于上述三点的坐标生成第一过渡段321和第二过渡段322时，第一过渡段321和第二过渡段322位于折角313的外侧，并且第一过渡段321和第二过渡段322的曲率连续。第一过渡段321和第二过渡段322的曲率连续，是指第一过渡段321和第二过渡段322连接后形成的曲线段为一个曲率连续的曲线段。本领域技术人员可以采用多项式拟合等方法来基于上述三点的坐标生成第一过渡段321和第二过渡段322，对此不作限制。In some embodiments, when the first transition section 321 and the second transition section 322 are generated based on the coordinates of the above three points, the first transition section 321 and the second transition section 322 are located outside the corner 313, and the first transition section 321 It is continuous with the curvature of the second transition section 322 . The continuous curvature of the first transition section 321 and the second transition section 322 means that the curve segment formed after the first transition section 321 and the second transition section 322 are connected is a curve segment with continuous curvature. Those skilled in the art can use methods such as polynomial fitting to generate the first transition section 321 and the second transition section 322 based on the coordinates of the above three points, and there is no limit to this.

在实际进行航线规划的过程中，用户所输入的航点的数量通常不止三个，如果用户输入了更多个航点，则这些航点中的每一个满足条件的航点(两侧存在连线并且连线呈一折角的航点)均可以被获取为第二航点302，其两侧连线上的其他两个航点可以被获取为第一航点301和第三航点303，由此，这些航点可以被划分为若干组，其中，某一个航点可能在一组中作为第一航点301被获取，并在另一组中作为第二航点302或者第三航点303位获取，每一组航点均可以使用上文中所描述的无人机航线的规划方法来生成经过组中的第二航点302的航线，各组中所生成的航线集合后获得最终的航线。In the actual process of route planning, the number of waypoints input by the user is usually more than three. If the user inputs more waypoints, each of these waypoints meets the conditions (there are connections on both sides). The waypoints on the line and the connecting line forms an angle) can be obtained as the second waypoint 302, and the other two waypoints on the connecting lines on both sides can be obtained as the first waypoint 301 and the third waypoint 303. Therefore, these waypoints can be divided into several groups, wherein a certain waypoint may be obtained as the first waypoint 301 in one group, and as the second waypoint 302 or the third waypoint in another group. 303 is obtained. Each group of waypoints can use the UAV route planning method described above to generate a route passing through the second waypoint 302 in the group. The final route is obtained after aggregating the routes generated in each group. route.

在一些实施例中，可以选择上文中所描述的方法来对其中一些组航点进行规划，生成经过组中的第二航点302的航线，可以选择另一些航线规划方法，例如相关技术中的航线规划方法，来对另一些组航点进行规划，生成其他类型的经过组中的第二航点302的航线，或者，生成不经过组中的第二航点302的航线。从而，能够更好地满足用户的多样化需求。In some embodiments, the method described above can be selected to plan some groups of waypoints and generate a route passing the second waypoint 302 in the group. Other route planning methods can be selected, such as those in the related art. The route planning method is used to plan other groups of waypoints and generate other types of routes that pass through the second waypoint 302 in the group, or generate a route that does not pass through the second waypoint 302 in the group. Thus, the diverse needs of users can be better met.

下面将描述几种关于生成何种类型的航线的确定方法，以及其他几种类型的航线的生成方法。Several methods for determining what type of route to generate are described below, as well as methods for generating several other types of routes.

在一些实施例中，无人机航线的规划方法还可以包括：确定第二航点302的航点属性的步骤，航点属性可以包括：经过航点、不经过航点；生成经过第二航点302的航线，包括：若第二航点302的航点属性为经过航点，则生成经过第二航点302的航线。In some embodiments, the UAV route planning method may also include the step of determining the waypoint attributes of the second waypoint 302. The waypoint attributes may include: passing the waypoint, not passing the waypoint; generating a route passing through the second waypoint. The route of point 302 includes: if the waypoint attribute of the second waypoint 302 is a passing waypoint, then a route passing the second waypoint 302 is generated.

本实施例中，某一航点的航点属性为经过航点，是指所生成的航线需要经过该航点，某一航点的航点属性为不经过航点，是指所生成的航线不需要经过该航点。若第二航点302的属性被确定为经过航点，则生成经过第二航点302的航线，即，包括第一过渡段321和第二过渡段322的航线。In this embodiment, the waypoint attribute of a certain waypoint is a passing waypoint, which means that the generated route needs to pass through the waypoint; the waypoint attribute of a certain waypoint is not passing a waypoint, which means that the generated route needs to pass through the waypoint. No need to pass this waypoint. If the attribute of the second waypoint 302 is determined to be a passing waypoint, a route passing the second waypoint 302 is generated, that is, a route including the first transition section 321 and the second transition section 322 .

进一步的，在一些实施例中，若第二航点302的航点属性为不经过航点，则可以生成不经过第二航点302的航线。Furthermore, in some embodiments, if the waypoint attribute of the second waypoint 302 is not passing the waypoint, a route that does not pass the second waypoint 302 can be generated.

图4中示出了不经过第二航点302的航线的示意图。不经过第二航点302的航线可以包括第三过渡段323，第三过渡段323以第一连线311上的点为起始点，以第二连线312上的点为终止点，第三过渡段323为曲线段。在一些实施例中，第三过渡段323位于折角313的内侧。FIG. 4 shows a schematic diagram of a route that does not pass through the second waypoint 302 . The route that does not pass through the second waypoint 302 may include a third transition section 323. The third transition section 323 takes the point on the first connection line 311 as the starting point and the point on the second connection line 312 as the ending point. The transition section 323 is a curved section. In some embodiments, the third transition section 323 is located inside the corner 313 .

与相关技术中直接生成不经过第二航点302的航线的规划方法相比，本实施例中在生成航线之前还包括确定航点属性的步骤，仅在航点属性满足条件的情况下才生成不经过第二航点302的航线，从而能够更好地满足用户的定制化需求。在一些实施例中，无人机在不经过第二航点302的航线上飞行时的速度也能够保持恒定，或者减速幅度小于预设速度阈值。生成第三过渡段323的具体方法可以参照相关技术中的方法，对此不做具体的限定。Compared with the planning method in the related art that directly generates a route that does not pass through the second waypoint 302, this embodiment also includes the step of determining the waypoint attributes before generating the route, and only generates the route if the waypoint attributes meet the conditions. Routes that do not pass through the second waypoint 302 can better meet the customized needs of users. In some embodiments, the speed of the drone when flying on a route that does not pass the second waypoint 302 can also be maintained constant, or the deceleration amplitude is less than the preset speed threshold. The specific method of generating the third transition section 323 may refer to methods in the related art, and is not specifically limited.

在一些实施例中，航点属性还包括：在航点处悬停、不在航点处悬停；生成经过第二航点的航线，包括：若第二航点302的航点属性为经过航点、并且不在航点处悬停，则生成经过第二航点302的航线。In some embodiments, the waypoint attributes also include: hovering at the waypoint, not hovering at the waypoint; generating a route passing the second waypoint, including: if the waypoint attribute of the second waypoint 302 is a passing route point and does not hover at the waypoint, a route passing through the second waypoint 302 is generated.

某一航点的航点属性为在航点处悬停，是指无人机需要在该航点处或该航点附近停留，即，在该航点处的速度大致降为零。而不在航点处悬停，是指无人机需要保持一定的速度经过该航点或经过该航点附近，而不作停留。The waypoint attribute of a certain waypoint is to hover at the waypoint, which means that the drone needs to stay at or near the waypoint, that is, the speed at the waypoint is roughly reduced to zero. Rather than hovering at the waypoint, it means that the drone needs to maintain a certain speed and pass by the waypoint or pass near the waypoint without stopping.

本实施例中，若第二航点302的航点属性为经过航点、并且不在航点处悬停，则生成上文中所描述的包括第一过渡段321和第二过渡段322的经过第二航点302的航线。In this embodiment, if the waypoint attribute of the second waypoint 302 is a passing waypoint and the waypoint is not hovered, then the passing waypoint including the first transition section 321 and the second transition section 322 described above is generated. The route of the second waypoint 302.

在一些实施例中，若第二航点302的航点属性为经过航点、并且在航点处悬停，则生成经过第二航点302的航线，航线包括连接第二航点302的至少部分第一航线和至少部分第二航线。In some embodiments, if the waypoint attribute of the second waypoint 302 is a passing waypoint and you hover at the waypoint, then a route passing the second waypoint 302 is generated, and the route includes at least one connecting the second waypoint 302 Part of the first route and at least part of the second route.

可以理解地，在第二航点302的航点属性为经过航点、并且在航点处悬停这一场景中，无人机到达第二航点302后速度将会大致降为零，进一步的，无人机会重新加速向第三航点303飞行。因此，本实施例中可以生成连接第二航点302的至少部分第一航线和至少部分第二航线，第一航线和第二航线可以具有用户所期望的任意形态。Understandably, in the scenario where the waypoint attribute of the second waypoint 302 is a passing waypoint and the drone is hovering at the waypoint, the speed of the drone will drop to approximately zero after arriving at the second waypoint 302. Yes, the drone will accelerate to the third waypoint 303 again. Therefore, in this embodiment, at least part of the first route and at least part of the second route connecting the second waypoint 302 can be generated, and the first route and the second route can have any shape desired by the user.

在一些实施例中，无人机航线的规划方法还可以包括确定所述第二航点两侧航段的航段属性的步骤，航段属性可以包括：直线、曲线；生成经过第二航点的航线，包括：若第二航点302的航点属性为经过航点、不在航点处悬停，并且第二航点302两侧航段的航段属性为直线，则生成经过第二航点302的航线。In some embodiments, the UAV route planning method may also include the step of determining the segment attributes of the segments on both sides of the second waypoint. The segment attributes may include: straight lines, curves; generating segments passing through the second waypoint. route, including: if the waypoint attribute of the second waypoint 302 is a passing waypoint, not hovering at the waypoint, and the segment attributes of the segments on both sides of the second waypoint 302 are straight lines, then the route passing through the second waypoint 302 is generated. Point 302 route.

航段是指所生成的航线中位于某一航点以及该航点一侧的另一航点之间的一段航线，航段属性为直线是指，该段航线需要包括至少一段直线段，航段属性为曲线是指，该段航线可以全部为曲线段而不包括直线段。A flight segment refers to a segment of the generated route between a certain waypoint and another waypoint on one side of the waypoint. The segment attribute is a straight line, which means that the route needs to include at least one straight line segment. The segment attribute is curve means that the route segment can be all curve segments without including straight segments.

在本实施例中，若第二航点302的航点属性为经过航点、不在航点处悬停，并且第二航点302两侧航段的航段属性为直线，则生成上文中所描述的包括第一过渡段321和第二过渡段322的经过第二航点302的航线。In this embodiment, if the waypoint attributes of the second waypoint 302 are passing waypoints and not hovering at the waypoint, and the flight segment attributes of the segments on both sides of the second waypoint 302 are straight lines, then the above-mentioned method is generated. The route including the first transition section 321 and the second transition section 322 passing through the second waypoint 302 is described.

进一步的，参照图5，对于本组中的第一航点301和第三航点303而言，其在另一个组中可能会被作为第二航点302来获取，若第一航点301在另一组中作为第二航点302被获取并且也满足上述条件，则会生成经过本组中的第一航点301的航线，由此，对于本组而言，第一连线311上将会存在第一过渡段321的起始点，以及经过第一航点301的曲线段341(其在另一组中作为第二过渡段322被生成)的终止点，假设该曲线段341的终止点到第一航点301与之间的距离为第三距离，那么，需要进一步的保证，第一过渡段321的起始点与第二航点302之间的第一距离与该第三距离之和小于第一连线311的长度，从而满足该航段的航段属性要求。Further, referring to Figure 5, for the first waypoint 301 and the third waypoint 303 in this group, they may be obtained as the second waypoint 302 in another group. If the first waypoint 301 If it is obtained as the second waypoint 302 in another group and also meets the above conditions, a route passing through the first waypoint 301 in this group will be generated. Therefore, for this group, the first connection line 311 There will be a starting point of the first transition section 321, and an end point of the curve section 341 (which is generated in another group as the second transition section 322) passing the first waypoint 301, assuming that the end of the curve section 341 The distance between the first waypoint 301 and the first waypoint 301 is the third distance. Then, it is necessary to further ensure that the first distance between the starting point of the first transition section 321 and the second waypoint 302 is equal to the third distance. and is less than the length of the first connection 311, thereby meeting the segment attribute requirements of the segment.

在一些实施例中，参照图6，若第二航点302的航点属性为经过航点、不在航点处悬停，并且第二航点302与第三航点303之间航段的航段属性为曲线，则生成经过第二航点302的航线，航线包括连接第二航点302的至少部分第一航线和第四过渡段324，第四过渡段324以第二航点302为起始点，以第三航点303为终止点，第四过渡段324为曲线段。In some embodiments, referring to FIG. 6 , if the waypoint attribute of the second waypoint 302 is passing the waypoint and not hovering at the waypoint, and the route segment between the second waypoint 302 and the third waypoint 303 is If the segment attribute is a curve, a route passing through the second waypoint 302 is generated. The route includes at least part of the first route connecting the second waypoint 302 and a fourth transition section 324. The fourth transition section 324 starts from the second waypoint 302. The starting point is the third waypoint 303 as the ending point, and the fourth transition section 324 is the curve section.

本实施例中，由于第二航点302和第三航点303之间的航段属性为曲线，因此，可以直接生成第四过渡段324，并且，第四过渡段324为一段较长的曲线，在经过第二航点302后再开始转弯，而无需考虑在经过第二航点302之前开始转弯以满足无人机的速度保持恒定，或者减速幅度小于预设速度阈值。In this embodiment, since the attribute of the flight segment between the second waypoint 302 and the third waypoint 303 is a curve, the fourth transition section 324 can be directly generated, and the fourth transition section 324 is a longer curve. , start turning after passing the second waypoint 302, without considering starting the turn before passing the second waypoint 302 to ensure that the speed of the drone remains constant, or the deceleration amplitude is less than the preset speed threshold.

在一些实施例中，第四过渡段324位于折角313的外侧。In some embodiments, the fourth transition section 324 is located outside the corner 313 .

以上实施例中涉及到了确定航点属性的步骤以及确定所述第二航点两侧航段的航段属性的步骤，下面将描述一些确定航点属性和航段属性的方法。The above embodiments involve the steps of determining the waypoint attributes and the steps of determining the segment attributes of the segments on both sides of the second waypoint. Some methods of determining the waypoint attributes and segment attributes will be described below.

在一些实施例中，航点属性和航线属性是根据无人机的航线任务类型和/或用户输入确定的。In some embodiments, the waypoint attributes and route attributes are determined based on the route mission type of the drone and/or user input.

航线任务类型是指无人机沿着该航线飞行时需要完成的任务。可以根据航线任务类型来确定航点属性和航段属性。航线任务类型可以基于用户输入来确定。The route task type refers to the tasks that the drone needs to complete when flying along the route. Waypoint attributes and segment attributes can be determined according to the route task type. The route mission type may be determined based on user input.

可以直接基于用户输入来确定航点属性和航段属性，可以基于用户的输入来确定全部航点的航点属性和/或全部航段的航段属性，以提高航线规划的效率。可以基于用户针对每一航点和/或每一航段进行的输入来分别确定每一航点的航点属性和/或每一航段的航段属性，来满足用户的定制化需求。The waypoint attributes and flight segment attributes can be determined directly based on user input, and the waypoint attributes of all waypoints and/or the flight segment attributes of all flight segments can be determined based on user input to improve the efficiency of route planning. The waypoint attributes of each waypoint and/or the flight segment attributes of each flight segment can be determined based on the user's input for each waypoint and/or each flight segment to meet the user's customized needs.

在一些实施例中，可以根据航线任务类型来确定备选航点属性和备选航线属性；而后根据用户输入来在备选航点属性和备选航线属性中确定航点属性和航线属性。In some embodiments, the alternative waypoint attributes and the alternative route attributes can be determined according to the route task type; and then the waypoint attributes and the route attributes are determined among the alternative waypoint attributes and the alternative route attributes according to the user input.

可以理解的，通过提供航点属性和航段属性的选择，提高了航线规划的灵活性，可以有效使得规划得到的航线满足用户对于航线任务执行效率，准确度的需求。It is understandable that by providing the choice of waypoint attributes and segment attributes, the flexibility of route planning is improved, and the planned route can effectively meet the user's needs for route task execution efficiency and accuracy.

根据本申请的实施例还提供一种无人机航线的规划装置，其可以被配置在无人机上，或者无人机的遥控装置上，遥控装置可以是能够与无人机通信连接的遥控器、终端设备或者遥控器和终端设备的组合。According to embodiments of the present application, a UAV route planning device is also provided, which can be configured on the UAV or on the remote control device of the UAV. The remote control device can be a remote controller capable of communicating with the UAV. , terminal equipment or a combination of remote control and terminal equipment.

可以理解的，对于带有显示界面的遥控装置或终端设备，还可以在该显示界面上显示规划得到的航线，以便用户及时的观察生成的结果，如果不满意，可以进行及时的调整。It is understandable that for a remote control device or terminal device with a display interface, the planned route can also be displayed on the display interface so that the user can observe the generated results in a timely manner and make timely adjustments if not satisfied.

参照图7，无人机航线的规划装置70可以包括一个或多个处理器71，一个或多个处理器71用于：获取第一航点、第二航点和第三航点，第一航点和第二航点之间的第一连线与第二航点和第三航点之间的第二连线呈一折角；生成经过第二航点的航线，航线包括第一过渡段和第二过渡段，第一过渡段以第一连线上的点为起始点，以第二航点为终止点，第二过渡段以第二航点为起始点以第二连线上的点为终止点，第一过渡段和第二过渡段为曲线段。Referring to Figure 7, the UAV route planning device 70 may include one or more processors 71, and the one or more processors 71 are used to: obtain the first waypoint, the second waypoint and the third waypoint, the first waypoint, the second waypoint, and the third waypoint. The first connection line between the waypoint and the second waypoint forms an angle with the second connection line between the second waypoint and the third waypoint; a route passing through the second waypoint is generated, and the route includes the first transition section and the second transition section. The first transition section takes the point on the first connection as the starting point and the second waypoint as the ending point. The second transition section takes the second waypoint as the starting point and ends on the second connection. The point is the end point, and the first transition section and the second transition section are curve sections.

在一些实施例中，航线还包括至少部分的第一连线和至少部分的第二连线，无人机在航线上飞行时的速度保持恒定，或者减速幅度小于预设速度阈值。In some embodiments, the route also includes at least part of the first connection and at least part of the second connection, and the speed of the drone while flying on the route remains constant, or the deceleration amplitude is less than a preset speed threshold.

在一些实施例中，第一过渡段的长度和第二过渡段的长度与无人机在航线上飞行时的速度正相关。In some embodiments, the length of the first transition section and the length of the second transition section are positively related to the speed of the UAV when flying on the route.

在一些实施例中，第一过渡段的曲率和第二过渡段的曲率与折角的角度负相关。In some embodiments, the curvature of the first transition section and the curvature of the second transition section are inversely related to the angle of the fold.

在一些实施例中，第一过渡段的曲率和第二过渡段的曲率与无人机在航线上飞行时的速度正相关。In some embodiments, the curvature of the first transition section and the curvature of the second transition section are positively related to the speed of the UAV when flying on the route.

在一些实施例中，第一过渡段的起始点到第二航点的第一距离小于或等于预设比例的第一连线的长度，第二航点到第二过渡段的终止点的第二距离小于或等于预设比例的第二连线的长度。In some embodiments, the first distance from the starting point of the first transition section to the second waypoint is less than or equal to the length of the first connection line of a preset ratio, and the first distance from the second waypoint to the end point of the second transition section is The distance between the two distances is less than or equal to the length of the second connecting line of the preset ratio.

在一些实施例中，第一过渡段的起始点到第二航点的第一距离与第二航点到第二过渡段终止点的第二距离之和小于第一连线的长度或第二连线的长度。In some embodiments, the sum of the first distance from the starting point of the first transition section to the second waypoint and the second distance from the second waypoint to the end point of the second transition section is less than the length of the first connecting line or the second distance. The length of the connection.

在一些实施例中，一个或多个处理器71还用于：确定第一过渡段的起始点到第二航点的第一距离的取值范围，以及第二航点到第二过渡段终止点的第二距离的取值范围，以供用户在第一距离的取值范围中确定第一距离，并在第二距离的取值范围中确定第二距离。In some embodiments, the one or more processors 71 are further configured to: determine the value range of the first distance from the starting point of the first transition section to the second waypoint, and from the second waypoint to the end of the second transition section. The value range of the second distance of the point allows the user to determine the first distance within the value range of the first distance and determine the second distance within the value range of the second distance.

在一些实施例中，一个或多个处理器71还用于：根据无人机在航线上飞行时的速度确定第一距离的取值范围的最小值和第二距离的取值范围的最小值；和/或根据第一连线的长度确定第一距离的取值范围的最大值，根据第二连线的长度确定第二距离的取值范围的最大值。In some embodiments, the one or more processors 71 are further configured to: determine the minimum value of the value range of the first distance and the minimum value of the value range of the second distance according to the speed of the drone flying on the route. ; and/or determine the maximum value of the value range of the first distance based on the length of the first connection, and determine the maximum value of the value range of the second distance based on the length of the second connection.

在一些实施例中，第一过渡段和第二过渡段位于折角的外侧，并且第一过渡段和第二过渡段的曲率连续。In some embodiments, the first transition section and the second transition section are located outside the folded corner, and the curvatures of the first transition section and the second transition section are continuous.

在一些实施例中，一个或多个处理器71还用于：确定第二航点的航点属性，航点属性包括：经过航点、不经过航点；生成经过第二航点的航线，包括：若第二航点的航点属性为经过航点，则生成经过第二航点的航线。In some embodiments, one or more processors 71 are further configured to: determine the waypoint attributes of the second waypoint, where the waypoint attributes include: passing the waypoint, not passing the waypoint; generating a route passing the second waypoint, Including: If the waypoint attribute of the second waypoint is a passing waypoint, generate a route passing the second waypoint.

在一些实施例中，一个或多个处理器71还用于：若第二航点的航点属性为不经过航点，则生成不经过第二航点的航线，航线包括第三过渡段，第三过渡段以第一连线上的点为起始点，以第二连线上的点为终止点，第三过渡段为曲线段。In some embodiments, one or more processors 71 are also configured to: if the waypoint attribute of the second waypoint is not passing the waypoint, generate a route that does not pass the second waypoint, and the route includes a third transition section, The third transition section takes the point on the first connection as the starting point, the point on the second connection as the ending point, and the third transition section is a curve segment.

在一些实施例中，第三过渡段位于折角的内侧。In some embodiments, the third transition section is located inside the folded corner.

在一些实施例中，航点属性还包括：在航点处悬停、不在航点处悬停；生成经过第二航点的航线，包括：若第二航点的航点属性为经过航点、并且不在航点处悬停，则生成经过第二航点的航线。In some embodiments, the waypoint attributes also include: hovering at the waypoint, not hovering at the waypoint; generating a route passing the second waypoint, including: if the waypoint attribute of the second waypoint is a passing waypoint , and does not hover at the waypoint, a route passing through the second waypoint will be generated.

在一些实施例中，所述一个或多个处理器还用于：若第二航点的航点属性为经过航点、并且在航点处悬停，则生成经过第二航点的航线，航线包括连接第二航点的至少部分第一航线和至少部分第二航线。In some embodiments, the one or more processors are further configured to: if the waypoint attribute of the second waypoint is a passing waypoint and the user hovers at the waypoint, generate a route passing the second waypoint, The route includes at least part of the first route and at least part of the second route connecting the second waypoint.

在一些实施例中，一个或多个处理器71还用于：确定所述第二航点两侧航段的航段属性，航段属性包括：直线、曲线；生成经过第二航点的航线，包括：若第二航点的航点属性为经过航点、不在航点处悬停，并且第二航点两侧航段的航段属性为直线，则生成经过第二航点的航线。In some embodiments, one or more processors 71 are further configured to: determine the flight segment attributes of the segments on both sides of the second waypoint, where the segment attributes include: straight lines and curves; and generate a route passing through the second waypoint. , including: if the waypoint attribute of the second waypoint is passing waypoint, not hovering at the waypoint, and the segment attributes of the segments on both sides of the second waypoint are straight lines, then a route passing the second waypoint is generated.

在一些实施例中，一个或多个处理器71还用于：若第二航点的航点属性为经过航点、不在航点处悬停，并且第二航点与第三航点之间航段的航段属性为曲线，则生成经过第二航点的航线，航线包括连接第二航点的至少部分第一航线和第四过渡段，第四过渡段以第二航点为起始点，以第三航点为终止点，第四过渡段为曲线段。In some embodiments, the one or more processors 71 are also configured to: if the waypoint attribute of the second waypoint is a passing waypoint, not hovering at the waypoint, and between the second waypoint and the third waypoint If the segment attribute of the flight segment is a curve, a route passing through the second waypoint is generated. The route includes at least part of the first route connecting the second waypoint and a fourth transition section. The fourth transition section starts from the second waypoint. , with the third waypoint as the end point, and the fourth transition section as the curve section.

在一些实施例中，第四过渡段位于折角的外侧。In some embodiments, the fourth transition section is located outside the folded corner.

在一些实施例中，一个或多个处理器71还用于：根据航线任务类型，确定备选航点属性和备选航线属性；根据用户输入，在备选航点属性和备选航线属性中确定航点属性和航线属性。In some embodiments, one or more processors 71 are also configured to: determine alternative waypoint attributes and alternative route attributes according to the route task type; and determine among the alternative waypoint attributes and alternative route attributes based on user input. Determine waypoint attributes and route attributes.

以上实施例中所描述的无人机航线的规划装置70在实现相关功能时的具体技术细节可以参照上文中所描述的无人机航线的规划方法，在此不再赘述。The specific technical details of the UAV route planning device 70 described in the above embodiments when implementing relevant functions may refer to the UAV route planning method described above, and will not be described again here.

根据本申请的实施例还提供一种遥控装置81，参照图8，遥控装置81用于遥控无人机82，遥控装置81配置有无人机航线的规划装置811，该规划装置811可以为如上任一实施例中所描述的无人机航线的规划装置70。According to an embodiment of the present application, a remote control device 81 is also provided. Referring to FIG. 8 , the remote control device 81 is used to control a drone 82 . The remote control device 81 is configured with a planning device 811 for a drone route. The planning device 811 can be as follows: The UAV route planning device 70 described in any of the above embodiments.

根据本申请的实施例还提供一种无人机90，参照图9，无人机90配置有无人机航线的规划装置91，该规划装置91可以为如上任一实施例中所描述的无人机航线的规划装置70。According to an embodiment of the present application, a drone 90 is also provided. Referring to FIG. 9 , the drone 90 is configured with a drone route planning device 91 . The planning device 91 may be a wireless drone as described in any of the above embodiments. Man-machine route planning device 70.

根据本申请的实施例还提供一种计算机可读存储介质100，参照图10，计算机可读存储介质100存储有计算机程序指令101，计算机程序指令101被计算机执行时，实现如上任一实施例中所描述的无人机航线的规划方法。According to an embodiment of the present application, a computer-readable storage medium 100 is also provided. Referring to Figure 10, the computer-readable storage medium 100 stores computer program instructions 101. When the computer program instructions 101 are executed by the computer, the same as in any of the above embodiments is achieved. The described UAV route planning method.

就本说明书而言，"计算机可读存储介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行***、装置或设备或结合这些指令执行***、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。For the purposes of this specification, a "computer-readable storage medium" may be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device . More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wires (electronic device), portable computer disk cartridges (magnetic device), random access memory (RAM), Read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, and subsequently edited, interpreted, or otherwise suitable as necessary. process to obtain the program electronically and then store it in computer memory.

应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来执行。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行***执行的软件或固件来执行。例如，如果用硬件来执行，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来执行：具有用于对数据信号执行逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。It should be understood that portions of the present application may be executed in hardware, software, firmware, or a combination thereof. In the embodiments described above, various steps or methods may be performed using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it may be implemented with any one or a combination of the following technologies known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

本技术领域的普通技术人员可以理解执行上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。Those of ordinary skill in the art can understand that all or part of the steps involved in executing the above implementation method can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. When the program is executed When, one of the steps of the method embodiment or a combination thereof is included.

此外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式执行，也可以采用软件功能模块的形式执行。所述集成的模块如果以软件功能模块的形式执行并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。In addition, each functional unit in various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated modules can be executed in the form of hardware or software function modules. If the integrated module is executed in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。It can be understood that the above-mentioned embodiments are illustrative and should not be construed as limitations of the present invention. Those of ordinary skill in the art can make changes, modifications, replacements and modifications to the above-mentioned embodiments within the scope of the present invention.

Claims

一种无人机航线的规划方法，其特征在于，所述方法包括：A method for planning UAV routes, characterized in that the method includes:

获取第一航点、第二航点和第三航点，所述第一航点和所述第二航点之间的第一连线与所述第二航点和所述第三航点之间的第二连线呈一折角；Obtain the first waypoint, the second waypoint and the third waypoint, the first connection between the first waypoint and the second waypoint and the second waypoint and the third waypoint The second connecting line between them forms an angle;

生成经过所述第二航点的航线，所述航线包括第一过渡段和第二过渡段，所述第一过渡段以所述第一连线上的点为起始点，以所述第二航点为终止点，所述第二过渡段以所述第二航点为起始点，以所述第二连线上的点为终止点，所述第一过渡段和所述第二过渡段为曲线段。Generate a route passing through the second waypoint. The route includes a first transition section and a second transition section. The first transition section takes a point on the first connection as a starting point and ends with the second The waypoint is the end point, the second transition section takes the second waypoint as the starting point, and the point on the second connecting line as the end point, the first transition section and the second transition section is a curve segment.
根据权利要求1所述的方法，其特征在于，所述航线还包括至少部分的第一连线和至少部分的第二连线，所述无人机在所述航线上飞行时的速度保持恒定，或者减速幅度小于预设速度阈值。The method according to claim 1, wherein the route further includes at least part of the first connection and at least part of the second connection, and the speed of the drone remains constant when flying on the route. , or the deceleration amplitude is less than the preset speed threshold.
根据权利要求1所述的方法，其特征在于，所述第一过渡段的长度和所述第二过渡段的长度与所述无人机在所述航线上飞行时的速度正相关。The method according to claim 1, characterized in that the length of the first transition section and the length of the second transition section are positively related to the speed of the UAV when flying on the route.
根据权利要求1所述的方法，其特征在于，所述第一过渡段的曲率和所述第二过渡段的曲率与所述折角的角度负相关。The method of claim 1, wherein the curvature of the first transition section and the curvature of the second transition section are inversely related to the angle of the folded angle.
根据权利要求1所述的方法，其特征在于，所述第一过渡段的曲率和所述第二过渡段的曲率与所述无人机在所述航线上飞行时的速度正相关。The method according to claim 1, wherein the curvature of the first transition section and the curvature of the second transition section are positively related to the speed of the UAV when flying on the route.
根据权利要求1所述的方法，其特征在于，所述第一过渡段的起始点到所述第二航点的第一距离小于或等于预设比例的所述第一连线的长度，所述第二航点到所述第二过渡段的终止点的第二距离小于或等于预设比例的所述第二连线的长度。The method of claim 1, wherein the first distance from the starting point of the first transition section to the second waypoint is less than or equal to a preset proportion of the length of the first connecting line, so The second distance from the second waypoint to the end point of the second transition section is less than or equal to a preset proportion of the length of the second connection line.
根据权利要求1所述的方法，其特征在于，所述第一过渡段的起始点到所述第二航点的第一距离与所述第二航点到所述第二过渡段终止点的第二距离之和小于所述第一连线的长度或所述第二连线的长度。The method according to claim 1, characterized in that the first distance from the starting point of the first transition section to the second waypoint is equal to the distance from the second waypoint to the end point of the second transition section. The sum of the second distances is less than the length of the first connection line or the length of the second connection line.
根据权利要求1所述的方法，其特征在于，所述方法还包括：The method of claim 1, further comprising:

确定所述第一过渡段的起始点到所述第二航点的第一距离的取值范围，以及所述第二航点到所述第二过渡段终止点的第二距离的取值范围，以供用户在所述第一距离的取值范围中确定所述第一距离，并在所述第二距离的取值范围中确定所述第二距离。Determine the value range of the first distance from the starting point of the first transition section to the second waypoint, and the value range of the second distance from the second waypoint to the end point of the second transition section. , so that the user can determine the first distance within the value range of the first distance, and determine the second distance within the value range of the second distance.
根据权利要求8所述的方法，其特征在于，所述方法还包括：The method of claim 8, further comprising:

根据所述无人机在所述航线上飞行时的速度确定所述第一距离的取值范围的最小值和所述第二距离的取值范围的最小值；和/或Determine the minimum value of the value range of the first distance and the minimum value of the value range of the second distance according to the speed of the drone flying on the route; and/or

根据所述第一连线的长度确定所述第一距离的取值范围的最大值，根据所述第二连线的长度确定所述第二距离的取值范围的最大值。The maximum value of the value range of the first distance is determined according to the length of the first connection line, and the maximum value of the value range of the second distance is determined according to the length of the second connection line.
根据权利要求1所述的方法，其特征在于，所述第一过渡段和所述第二过渡段位于所述折角的外侧，并且所述第一过渡段和所述第二过渡段的曲率连续。The method of claim 1, wherein the first transition section and the second transition section are located outside the folded corner, and the curvatures of the first transition section and the second transition section are continuous. .
根据权利要求1-10中任一项所述的方法，其特征在于，还包括：The method according to any one of claims 1-10, further comprising:

确定所述第二航点的航点属性，所述航点属性包括：经过航点、不经过航点；Determine the waypoint attributes of the second waypoint, where the waypoint attributes include: passing the waypoint, not passing the waypoint;

所述生成经过所述第二航点的航线，包括：The generating of a route passing the second waypoint includes:

若所述第二航点的航点属性为经过航点，则生成所述经过所述第二航点的航线。If the waypoint attribute of the second waypoint is a passing waypoint, the route passing the second waypoint is generated.
根据权利要求11所述的方法，其特征在于，所述方法还包括：The method according to claim 11, characterized in that, the method further includes:

若所述第二航点的航点属性为不经过航点，则生成不经过所述第二航点的航线，所述航线包括第三过渡段，所述第三过渡段以所述第一连线上的点为起始点，以所述第二连线上的点为终止点，所述第三过渡段为曲线段。If the waypoint attribute of the second waypoint is that it does not pass through the waypoint, then a route that does not pass through the second waypoint is generated, and the route includes a third transition section, and the third transition section starts with the first waypoint. The point on the connecting line is the starting point, the point on the second connecting line is the ending point, and the third transition section is a curve segment.
根据权利要求12所述的方法，其特征在于，所述第三过渡段位于所述折角的内侧。The method of claim 12, wherein the third transition section is located inside the folded corner.
根据权利要求11所述的方法，其特征在于，所述航点属性还包括：在航点处悬停、不在航点处悬停；The method according to claim 11, wherein the waypoint attributes further include: hovering at the waypoint, not hovering at the waypoint;

所述生成经过所述第二航点的航线，包括：The generating of a route passing the second waypoint includes:

若所述第二航点的航点属性为经过航点、并且不在航点处悬停，则生成所述经过所述第二航点的航线。If the waypoint attribute of the second waypoint is a passing waypoint and the user does not hover at the waypoint, the route passing the second waypoint is generated.
根据权利要求14所述的方法，其特征在于，所述方法还包括：The method of claim 14, further comprising:

若所述第二航点的航点属性为经过航点、并且在航点处悬停，则生成经过所述第二航点的航线，所述航线包括连接所述第二航点的至少部分第一航线和至少部分第二航线。If the waypoint attribute of the second waypoint is a passing waypoint and you hover at the waypoint, a route passing the second waypoint is generated, and the route includes at least part of the route connecting the second waypoint. The first route and at least part of the second route.
根据权利要求11所述的方法，其特征在于，所述方法还包括：The method according to claim 11, characterized in that, the method further includes:

确定所述第二航点两侧航段的航段属性，所述航段属性包括：直线、曲线；Determine the flight segment attributes of the segments on both sides of the second waypoint, where the segment attributes include: straight lines and curves;

所述生成经过所述第二航点的航线，包括：The generating of a route passing the second waypoint includes:

若所述第二航点的航点属性为经过航点、不在航点处悬停，并且所述第二航点两侧航段的航段属性为直线，则生成所述经过所述第二航点的航线。If the waypoint attribute of the second waypoint is passing through the waypoint and not hovering at the waypoint, and the route attributes of the legs on both sides of the second waypoint are straight lines, then the route passing through the second waypoint is generated. The route to the waypoint.
根据权利要求16所述的方法，其特征在于，所述方法还包括：The method of claim 16, further comprising:

若所述第二航点的航点属性为经过航点、不在航点处悬停，并且所述第二航点与所述第三航点之间航段的航段属性为曲线，则生成经过所述第二航点的航线，所述航线包括连接所述第二航点的至少部分第一航线和第四过渡段，所述第四过渡段以所述第二航点为起始点，以所述第三航点为终止点，所述第四过渡段为曲线段。If the waypoint attribute of the second waypoint is passing waypoint and not hovering at the waypoint, and the route attribute of the route between the second waypoint and the third waypoint is a curve, then generate A route passing through the second waypoint, the route including at least part of the first route connecting the second waypoint and a fourth transition section, the fourth transition section taking the second waypoint as a starting point, Taking the third waypoint as the end point, the fourth transition section is a curve section.
根据权利要求17所述的方法，其特征在于，所述第四过渡段位于所述折角的外侧。The method of claim 17, wherein the fourth transition section is located outside the folded corner.
根据权利要求14所述的方法，其特征在于，所述航点属性和航线属性是根据无人机的航线任务类型和/或用户输入确定的。The method according to claim 14, characterized in that the waypoint attributes and route attributes are determined according to the route mission type of the UAV and/or user input.
根据权利要求19所述的方法，其特征在于，还包括：The method of claim 19, further comprising:

根据所述航线任务类型，确定备选航点属性和备选航线属性；Determine alternative waypoint attributes and alternative route attributes according to the route task type;

根据所述用户输入，在所述备选航点属性和备选航线属性中确定所述航点属性和所述航线属性。According to the user input, the waypoint attribute and the route attribute are determined among the alternative waypoint attributes and the alternative route attributes.
一种无人机航线的规划装置，其特征在于，所述无人机的航线规划装置包括：A UAV route planning device, characterized in that the UAV route planning device includes:

一个或多个处理器，所述一个或多个处理器用于：One or more processors used to:

获取第一航点、第二航点和第三航点，所述第一航点和所述第二航点之间的第一连线与所述第二航点和所述第三航点之间的第二连线呈一折角；Obtain the first waypoint, the second waypoint and the third waypoint, the first connection between the first waypoint and the second waypoint and the second waypoint and the third waypoint The second connecting line between them forms an angle;

生成经过所述第二航点的航线，所述航线包括第一过渡段和第二过渡段，所述第一过渡段以所述第一连线上的点为起始点，以所述第二航点为终止点，所述第二过渡段以所述第二航点为起始点以所述第二连线上的点为终止点，所述第一过渡段和所述第二过渡段为曲线段。Generate a route passing through the second waypoint. The route includes a first transition section and a second transition section. The first transition section takes a point on the first connection as a starting point and ends with the second The waypoint is the end point, the second transition section takes the second waypoint as the starting point and the point on the second connecting line as the end point, the first transition section and the second transition section are curve segment.
根据权利要求21所述的装置，其特征在于，所述航线还包括至少部分的第一连线和至少部分的第二连线，所述无人机在所述航线上飞行时的速度保持恒定，或者减速幅度小于预设速度阈值。The device according to claim 21, wherein the route further includes at least part of the first connection line and at least part of the second connection line, and the speed of the drone remains constant when flying on the route. , or the deceleration amplitude is less than the preset speed threshold.
根据权利要求21所述的装置，其特征在于，所述第一过渡段的长度和所述第二过渡段的长度与所述无人机在所述航线上飞行时的速度正相关。The device according to claim 21, wherein the length of the first transition section and the length of the second transition section are positively related to the speed of the UAV when flying on the route.
根据权利要求21所述的装置，其特征在于，所述第一过渡段的曲率和所述第二过渡段的曲率与所述折角的角度负相关。The device according to claim 21, wherein the curvature of the first transition section and the curvature of the second transition section are inversely related to the angle of the folding angle.
根据权利要求21所述的装置，其特征在于，所述第一过渡段的曲率和所述第二过渡段的曲率与所述无人机在所述航线上飞行时的速度正相关。The device according to claim 21, wherein the curvature of the first transition section and the curvature of the second transition section are positively related to the speed of the UAV when flying on the route.
根据权利要求21所述的装置，其特征在于，所述第一过渡段的起始点到所述第二航点的第一距离小于或等于预设比例的所述第一连线的长度，所述第二航点到所述第二过渡段的终止点的第二距离小于或等于预设比例的所述第二连线的长度。The device according to claim 21, wherein the first distance from the starting point of the first transition section to the second waypoint is less than or equal to a preset proportion of the length of the first connecting line, so The second distance from the second waypoint to the end point of the second transition section is less than or equal to a preset proportion of the length of the second connection line.
根据权利要求21所述的装置，其特征在于，所述第一过渡段的起始点到所述第二航点的第一距离与所述第二航点到所述第二过渡段终止点的第二距离之和小于所述第一连线的长度或所述第二连线的长度。The device according to claim 21, characterized in that the first distance from the starting point of the first transition section to the second waypoint is equal to the distance from the second waypoint to the end point of the second transition section. The sum of the second distances is less than the length of the first connection line or the length of the second connection line.
根据权利要求21所述的装置，其特征在于，所述一个或多个处理器还用于：The device of claim 21, wherein the one or more processors are further configured to:

确定所述第一过渡段的起始点到所述第二航点的第一距离的取值范围，以及所述第二航点到所述第二过渡段终止点的第二距离的取值范围，以供用户在所述第一距离的取值范围中确定所述第一距离，并在所述第二距离的取值范围中确定所述第二距离。Determine the value range of the first distance from the starting point of the first transition section to the second waypoint, and the value range of the second distance from the second waypoint to the end point of the second transition section. , so that the user can determine the first distance within the value range of the first distance, and determine the second distance within the value range of the second distance.
根据权利要求28所述的装置，其特征在于，所述一个或多个处理器还用于：The apparatus of claim 28, wherein the one or more processors are further configured to:

根据所述无人机在所述航线上飞行时的速度确定所述第一距离的取值范围的最小值和所述第二距离的取值范围的最小值；和/或Determine the minimum value of the value range of the first distance and the minimum value of the value range of the second distance according to the speed of the drone flying on the route; and/or

根据所述第一连线的长度确定所述第一距离的取值范围的最大值，根据所述第二连线的长度确定所述第二距离的取值范围的最大值。The maximum value of the value range of the first distance is determined according to the length of the first connection line, and the maximum value of the value range of the second distance is determined according to the length of the second connection line.
根据权利要求21所述的装置，其特征在于，所述第一过渡段和所述第二过渡段位于所述折角的外侧，并且所述第一过渡段和所述第二过渡段的曲率连续。The device according to claim 21, wherein the first transition section and the second transition section are located outside the folded corner, and the curvatures of the first transition section and the second transition section are continuous. .
根据权利要求21-30中任一项所述的装置，其特征在于，所述一个或多个处理器还用于：The device according to any one of claims 21-30, characterized in that the one or more processors are also used for:

确定所述第二航点的航点属性，所述航点属性包括：经过航点、不经过航点；Determine the waypoint attributes of the second waypoint, where the waypoint attributes include: passing the waypoint, not passing the waypoint;

所述生成经过所述第二航点的航线，包括：The generating of a route passing the second waypoint includes:

若所述第二航点的航点属性为经过航点，则生成所述经过所述第二航点的航线。If the waypoint attribute of the second waypoint is a passing waypoint, the route passing the second waypoint is generated.
根据权利要求31所述的装置，其特征在于，所述一个或多个处理器还用于：The device of claim 31, wherein the one or more processors are further configured to:

若所述第二航点的航点属性为不经过航点，则生成不经过所述第二航点的航线，所述航线包括第三过渡段，所述第三过渡段以所述第一连线上的点为起始点，以所述第二连线上的点为终止点，所述第三过渡段为曲线段。If the waypoint attribute of the second waypoint is that it does not pass through the waypoint, then a route that does not pass through the second waypoint is generated, and the route includes a third transition section, and the third transition section starts with the first waypoint. The point on the connecting line is the starting point, the point on the second connecting line is the ending point, and the third transition section is a curve segment.
根据权利要求32所述的装置，其特征在于，所述第三过渡段位于所述折角的内侧。The device of claim 32, wherein the third transition section is located inside the folded corner.
根据权利要求31所述的装置，其特征在于，所述航点属性还包括：在航点处悬停、不在航点处悬停；The device according to claim 31, wherein the waypoint attributes further include: hovering at the waypoint, not hovering at the waypoint;

所述生成经过所述第二航点的航线，包括：The generating of a route passing the second waypoint includes:

若所述第二航点的航点属性为经过航点、并且不在航点处悬停，则生成所述经过所述第二航点的航线。If the waypoint attribute of the second waypoint is a passing waypoint and the user does not hover at the waypoint, the route passing the second waypoint is generated.
根据权利要求34所述的装置，其特征在于，所述一个或多个处理器还用于：The apparatus of claim 34, wherein the one or more processors are further configured to:

若所述第二航点的航点属性为经过航点、并且在航点处悬停，则生成经过所述第二航点的航线，所述航线包括连接所述第二航点的至少部分第一航线和至少部分第二航线。If the waypoint attribute of the second waypoint is a passing waypoint and you hover at the waypoint, a route passing the second waypoint is generated, and the route includes at least part of the route connecting the second waypoint. The first route and at least part of the second route.
根据权利要求31所述的装置，其特征在于，所述一个或多个处理器还用于：The device of claim 31, wherein the one or more processors are further configured to:

确定所述第二航点两侧航段的航段属性，所述航段属性包括：直线、曲线；Determine the flight segment attributes of the segments on both sides of the second waypoint, where the segment attributes include: straight lines and curves;

所述生成经过所述第二航点的航线，包括：The generating of a route passing the second waypoint includes:

若所述第二航点的航点属性为经过航点、不在航点处悬停，并且所述第二航点两侧航段的航段属性为直线，则生成所述经过所述第二航点的航线。If the waypoint attribute of the second waypoint is passing through the waypoint and not hovering at the waypoint, and the route attributes of the legs on both sides of the second waypoint are straight lines, then the route passing through the second waypoint is generated. The route to the waypoint.
根据权利要求36所述的装置，其特征在于，所述一个或多个处理器还用于：The apparatus of claim 36, wherein the one or more processors are further configured to:

若所述第二航点的航点属性为经过航点、不在航点处悬停，并且所述第二航点与所述第三航点之间航段的航段属性为曲线，则生成经过所述第二航点的航线，所述航线包括连接所述第二航点的至少部分第一航线和第四过渡段，所述第四过渡段以所述第二航点为起始点，以所述第三航点为终止点，所述第四过渡段为曲线段。If the waypoint attribute of the second waypoint is passing waypoint and not hovering at the waypoint, and the route attribute of the route between the second waypoint and the third waypoint is a curve, then generate A route passing through the second waypoint, the route including at least part of the first route connecting the second waypoint and a fourth transition section, the fourth transition section taking the second waypoint as a starting point, Taking the third waypoint as the end point, the fourth transition section is a curve section.
根据权利要求37所述的装置，其特征在于，所述第四过渡段位于所述折角的外侧。The device of claim 37, wherein the fourth transition section is located outside the folded corner.
根据权利要求34所述的装置，其特征在于，所述航点属性和航线属性是根据无人机的航线任务类型和/或用户输入确定的。The device according to claim 34, wherein the waypoint attributes and route attributes are determined according to the route mission type of the UAV and/or user input.
根据权利要求39所述的装置，其特征在于，所述一个或多个处理器还用于：The device of claim 39, wherein the one or more processors are further configured to:

根据所述航线任务类型，确定备选航点属性和备选航线属性；Determine alternative waypoint attributes and alternative route attributes according to the route task type;

根据所述用户输入，在所述备选航点属性和备选航线属性中确定所述航点属性和所述航线属性。According to the user input, the waypoint attribute and the route attribute are determined among the alternative waypoint attributes and the alternative route attributes.
一种遥控装置，所述遥控装置用于遥控无人机，其特征在于，所述遥控装置配置有如权利要求21-40中任一项所述的无人机航线的规划装置。A remote control device, the remote control device is used to control a drone, characterized in that the remote control device is configured with the drone route planning device according to any one of claims 21-40.
一种无人机，其特征在于，所述无人机配置有如权利要求21-40中任一项所述的无人机航线的规划装置。An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is configured with the unmanned aerial vehicle route planning device according to any one of claims 21-40.
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指令，所述计算机程序指令被计算机执行时，实现如权利要求1-20中任一项所述的无人机航线的规划方法。A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer program instructions. When the computer program instructions are executed by a computer, the wireless operation as described in any one of claims 1-20 is realized. Methods for planning human-machine routes.