Provided are a flight trajectory generation method, control devices (40, 60) and an unmanned aerial vehicle (100). The method comprises the steps of: acquiring a specific image (20) and a specific curve (21-22) (S101); translating the back projection point of each pixel point on the specific curve (21-22) (S101) on the ground to the flight height of the unmanned aerial vehicle to obtain a three-dimensional trajectory point set, the three-dimensional trajectory point set comprising three-dimensional trajectory points corresponding to pixel points corresponding to the specific curve (21-22) (S101) on the specific image (20) in a ground coordinate system; and generating a flight path according to the three-dimensional path point set, the flight path being used for controlling an unmanned aerial vehicle to fly along the flight path. Therefore, the unmanned aerial vehicle (100) can fly according to the specific curve (21-22) individually designed by the user, thereby realizing the individual design of the flight mode of the unmanned aerial vehicle (100), and improving the flexibility of the flight mode of the unmanned aerial vehicle (100).
一种飞行轨迹的生成方法、控制装置(40,60)及无人飞行器(100),该方法包括:获取特定图像(20)和特定曲线(21‑22)(S101);将特定曲线(21‑22)(S101)上每个像素点在地面的反投影点平移到无人飞行器的飞行高度,得到三维轨迹点集;三维轨迹点集包括:三维轨迹点集包括特定曲线(21‑22)(S101)在特定图像(20)上对应的各像素点分别在地面坐标系中对应的三维轨迹点;根据三维轨迹点集生成飞行轨迹,所述飞行轨迹用于控制无人飞行器沿着所述飞行轨迹飞行。从而使无人飞行器(100)可按照用户个性化设计的特定曲线(21‑22)飞行,实现了无人飞行器(100)的飞行模式的个性化设计,提高了无人飞行器(100)的飞行模式的灵活性。
Flight trajectory generation method, control devices and unmanned aerial vehicle
飞行轨迹的生成方法、控制装置及无人飞行器
2021-07-06
Patent
Elektronische Ressource
Chinesisch
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