Flight route generation method, terminal and unmanned aerial vehicle

文档序号：1189234 发布日期：2020-09-22 浏览：2次中文

阅读说明：本技术 飞行航线生成方法、终端和无人机 (Flight route generation method, terminal and unmanned aerial vehicle ) 是由贾向华黄振昊徐富于 2019-05-27 设计创作，主要内容包括：一种飞行航线生成方法、终端和无人机,该方法包括：获取作业区域(S201)；获取分割网格的参数信息(S202),其中,该参数信息与无人机的飞行范围相关；根据分割网格的参数信息,将作业区域划分为多个作业子块(S203)；在多个作业子块上分别生成飞行航线(S204)。该方法能够灵活地对作业区域进行划分,尽可能地使每个划分的作业子块与无人机的航线距离相适配,从而使得作业区域的划分更加合理,有效地提高了航测的工作效率。(A flight path generation method, a terminal and an unmanned aerial vehicle are provided, and the method comprises the following steps: acquiring a working area (S201); acquiring parameter information of the segmentation grid (S202), wherein the parameter information is related to the flight range of the unmanned aerial vehicle; dividing a work area into a plurality of work sub-blocks according to parameter information of the divided meshes (S203); flight paths are generated on the plurality of work sub-blocks, respectively (S204). The method can flexibly divide the operation area, and each divided operation sub-block is matched with the route distance of the unmanned aerial vehicle as far as possible, so that the division of the operation area is more reasonable, and the working efficiency of aerial survey is effectively improved.)

1. A flight path generation method is applied to a control terminal, and is characterized in that the control terminal is used for controlling at least one unmanned aerial vehicle, and the method comprises the following steps:

acquiring a working area;

acquiring parameter information of a segmentation grid, wherein the parameter information is related to the flight range of the unmanned aerial vehicle;

dividing the operation area into a plurality of operation sub-blocks according to the parameter information of the segmentation grids;

and respectively generating flight paths on the plurality of operation sub-blocks.

2. The method of claim 1, wherein the obtaining a work area comprises:

the work area is acquired on a background map.

3. The method of claim 2, wherein the obtaining the work area on the background map comprises:

acquiring a target flight task file, wherein the target flight task file comprises position information of a target waypoint;

and determining the operation area formed by the target waypoints according to the position information of the target waypoints.

4. The method of claim 3, wherein the work area is displayed on the background map.

5. The method of claim 2, wherein obtaining the work area on a background map comprises:

receiving a first instruction sent by a user;

determining a working area on the background map according to the first instruction; wherein the first instruction comprises: a click signal and/or a slide signal.

6. The method according to any of claims 1-5, wherein the parameter information comprises: a type of the segmentation mesh and/or an area of the segmentation mesh.

7. The method of any of claims 1-5, wherein the flight range of the drone is a range of a single flight of the drone.

8. The method according to any one of claims 1-5, wherein the obtaining parameter information of the segmentation mesh comprises:

and receiving parameter information of the segmentation grids input by a user.

9. The method according to any one of claims 1-5, wherein said obtaining parameter information of the segmentation mesh comprises:

and determining the parameter information of the segmentation grids according to the parameters of the unmanned aerial vehicle.

10. The method of claim 9, wherein determining the parameter information of the segmentation mesh according to the parameters of the drone comprises:

determining the endurance time and/or the route distance of the unmanned aerial vehicle according to the model of the unmanned aerial vehicle and the flight height of the unmanned aerial vehicle;

determining the range of single operation of the unmanned aerial vehicle according to the endurance time and/or the route distance;

and determining the parameter information of the segmentation grids according to the range of the single operation of the unmanned aerial vehicle.

11. The method of claim 2, wherein the obtaining parameter information of the segmentation mesh further comprises:

displaying the segmentation grids on the background map in a preset line type according to the parameter information; wherein the projection range of the segmentation grid on the background map covers the working area.

12. The method according to claim 2, before dividing the work area into a plurality of sub-blocks according to parameter information of the split grid, further comprising:

adjusting the position of the segmentation grid on the background map.

13. The method of claim 12, wherein said adjusting the position of the segmentation mesh on the background map comprises:

receiving a second instruction input by a user;

controlling the segmentation grid to perform any one or more of the following operations according to the second instruction:

moving to the left;

to the right;

moving upwards;

moving downwards;

rotating clockwise by a preset angle;

and rotating the rotary drum by a preset angle in the counterclockwise direction.

14. The method of claim 12, wherein said adjusting the position of the segmentation mesh on the background map comprises:

adjusting the position of the segmentation grid on the background map according to a preset strategy; wherein the preset strategy is as follows: the number of grids occupied by the working area is minimal.

15. The method of claim 1, wherein dividing the work area into a plurality of sub-blocks according to the parameter information of the split grid comprises:

dividing the operation area into a plurality of partitions according to the parameter information of the segmentation grids;

and merging the partitions to obtain the operation sub-blocks.

16. The method of claim 15, wherein said merging the plurality of partitions into the sub-block of the job comprises:

receiving a third instruction input by a user;

determining grids to be combined according to the third instruction;

and merging the partitions in the grid to be merged into a job sub-block.

17. The method of claim 16, further comprising, after the merging the plurality of partitions:

receiving a fourth instruction input by the user;

according to the fourth instruction, the merging of the partitions is undone.

18. The method of claim 15, wherein said merging the plurality of partitions into the sub-block of the job comprises:

traversing all the partitions, and if the area occupied by the partitions is smaller than that of the partition grid, merging the partitions and other adjacent partitions into a job sub-block; until the area of all the partitions is greater than 1/2 of the area of the segmentation grid.

19. The method of claim 15, wherein said merging the plurality of partitions into the sub-block of the job comprises:

and traversing all the partitions, and merging the partitions and the adjacent partitions if the areas occupied by the partitions are smaller than 1/4 of the areas of the partition grids and the total areas after the partitions are merged with the adjacent partitions are smaller than the total areas of the two partition grids.

20. The method of claim 15, wherein said merging the plurality of partitions into the sub-block of the job comprises:

and traversing all the partitions, and if two or more adjacent partitions and the partitions meet the merging condition, merging the adjacent partitions with the minimum area with the partitions.

21. The method of any of claims 15-20, further comprising, after merging the partitions in the grid to be merged into a sub-block of a job:

determining whether an inflection point exists at a graph endpoint corresponding to the combined job subblock;

if there is an inflection point, the merge is undone.

22. The method of claim 1, wherein generating a flight path on each of a plurality of said work sub-blocks comprises:

determining a target task of each of the job sub-blocks;

and respectively generating flight routes on the plurality of operation sub-blocks according to the target tasks.

23. The method of claim 22, wherein the target task comprises at least one of: flight mode, pan-tilt parameters, camera parameters, flight altitude.

24. The method of claim 1, further comprising:

and numbering the operation sub-blocks, and determining flag bits corresponding to the numbers of the operation sub-blocks.

25. The method of claim 24, further comprising:

receiving aerial survey data sent by an unmanned aerial vehicle, wherein the aerial survey data comprises the serial number of the operation sub-block;

and setting a flag bit corresponding to the serial number of the operation sub-block.

26. The method of claim 25, wherein said setting flag bits corresponding to the number of the sub-blocks of the job comprises:

determining whether the aerial survey data was received successfully;

and if the aerial survey data is successfully received, setting a flag bit corresponding to the serial number of the operation sub-block.

27. The method of claim 26, further comprising:

reading the flag bit corresponding to each work sub-block;

if the unset zone bit exists, sending an instruction to the unmanned aerial vehicle corresponding to the operation sub-block, wherein the instruction is used for controlling the unmanned aerial vehicle to execute an aerial survey task of the operation sub-block corresponding to the unset zone bit;

and acquiring the flag bit corresponding to the next operation sub-block until the flag bits corresponding to all the operation sub-blocks are set.

28. The method of claim 27, wherein controlling the drone to perform an aerial survey task on the sub-block of jobs for which the flag bit is not set comprises:

determining whether the operation sub-block corresponding to the unset flag bit has the operation record of the unmanned aerial vehicle; the job record includes: the last flight ending position and/or the remaining flight path of the drone.

29. The method of claim 28, wherein determining whether a job record for the drone exists in the job sub-block corresponding to the unset flag bit comprises:

if the operation record of the unmanned aerial vehicle exists, taking the flight ending position of the unmanned aerial vehicle as a starting point, and executing the aerial survey task of the remaining flight routes;

and if the operation record of the unmanned aerial vehicle does not exist, executing the aerial surveying task according to the flight route of the operation sub-block.

30. A flight path generation method is applied to an unmanned aerial vehicle and is characterized by comprising the following steps:

acquiring a working area;

acquiring parameter information of a segmentation grid, wherein the parameter information is related to the flight range of the unmanned aerial vehicle;

dividing the operation area into a plurality of operation sub-blocks according to the parameter information of the segmentation grids;

and respectively generating flight paths on the plurality of operation sub-blocks.

31. The method of claim 30, wherein said obtaining a work area comprises:

acquiring a target flight task file, wherein the target flight task file comprises position information of a target waypoint;

and determining the operation area formed by the target waypoints according to the position information of the target waypoints.

32. The method of claim 30, wherein said obtaining a work area comprises:

selecting position information of a plurality of target waypoints on a flight track of the unmanned aerial vehicle;

and determining the operation area formed by the target waypoints according to the position information of the target waypoints.

33. The method according to any of claims 30-32, wherein the parameter information comprises: a type of the segmentation mesh and/or an area of the segmentation mesh.

34. The method of any of claims 30-32, wherein the flight range of the drone is a range of a single flight of the drone.

35. The method according to any one of claims 30-32, wherein said obtaining parameter information of the segmentation mesh comprises:

and receiving parameter information of the segmentation grids input by a user.

36. The method according to any one of claims 30-32, wherein said obtaining parameter information of said segmentation mesh comprises:

and determining the parameter information of the segmentation grids according to the parameters of the unmanned aerial vehicle.

37. The method of claim 36, wherein determining parameter information of the segmentation mesh according to the parameters of the drone comprises:

determining the endurance time and/or the route distance of the unmanned aerial vehicle according to the model of the unmanned aerial vehicle and the flight height of the unmanned aerial vehicle;

determining the range of single operation of the unmanned aerial vehicle according to the endurance time and/or the route distance;

and determining the parameter information of the segmentation grids according to the range of the single operation of the unmanned aerial vehicle.

38. The method of claim 30, wherein obtaining parameter information of the segmentation mesh further comprises:

displaying the segmentation grids on a background map in a preset line type according to the parameter information; wherein the projection range of the segmentation grid on the background map covers the working area.

39. The method according to claim 30, before dividing the work area into a plurality of sub-blocks according to parameter information of the split grid, further comprising:

and adjusting the position of the segmentation grid on the background map.

40. The method of claim 39, wherein said adjusting the position of the segmentation mesh on the background map comprises:

receiving a second instruction input by the control terminal;

controlling the segmentation grid to perform any one or more of the following operations according to the second instruction:

moving to the left;

to the right;

moving upwards;

moving downwards;

rotating clockwise by a preset angle;

and rotating the rotary drum by a preset angle in the counterclockwise direction.

41. The method of claim 39, wherein said adjusting the position of the segmentation mesh on the background map comprises:

42. The method of claim 30, wherein dividing the work area into a plurality of sub-blocks according to the parameter information of the split grid comprises:

dividing the operation area into a plurality of partitions according to the parameter information of the segmentation grids;

and merging the partitions to obtain the operation sub-blocks.

43. The method of claim 42, wherein said merging the plurality of partitions into the sub-block of the job comprises:

receiving a third instruction input by a user;

determining grids to be combined according to the third instruction;

and merging the partitions in the grid to be merged into a job sub-block.

44. The method of claim 43, further comprising, after the merging the plurality of partitions:

receiving a fourth instruction input by the user;

according to the fourth instruction, the merging of the partitions is undone.

45. The method of claim 42, wherein said merging the plurality of partitions into the sub-block of the job comprises:

46. The method of claim 42, wherein said merging the plurality of partitions into the sub-block of the job comprises:

47. The method of claim 42, wherein said merging the plurality of partitions into the sub-block of the job comprises:

and traversing all the partitions, and if two or more adjacent partitions and the partitions meet the merging condition, merging the adjacent partitions with the minimum area with the partitions.

48. The method of any of claims 42-47, further comprising, after merging the partitions in the grid to be merged into a sub-block of a job:

determining whether an inflection point exists at a graph endpoint corresponding to the combined job subblock;

if there is an inflection point, the merge is undone.

49. The method of claim 30, wherein generating a flight path on each of a plurality of said work sub-blocks comprises:

determining a target task of each of the job sub-blocks;

and respectively generating flight routes on the plurality of operation sub-blocks according to the target tasks.

50. The method of claim 49, wherein the target task comprises at least one of: flight mode, pan-tilt parameters, camera parameters, flight altitude.

51. The method of claim 30, further comprising:

and numbering the operation sub-blocks, and determining flag bits corresponding to the numbers of the operation sub-blocks.

52. The method of claim 51, further comprising:

sending aerial survey data to a control terminal, wherein the aerial survey data comprises the serial number of the operation sub-block; so that the control terminal sets the flag bit corresponding to the serial number of the operation sub-block.

53. The method of claim 52, wherein the control terminal sets a flag bit corresponding to the number of the work sub-block only when the aerial survey data is successfully received.

54. The method of claim 53, further comprising:

receiving a task instruction sent by the control terminal;

and executing the aerial survey task of the operation sub-block corresponding to the unset zone bit according to the task instruction.

55. The method of claim 54, wherein performing the aerial survey task for the sub-block of jobs for which the flag bit is not set comprises:

56. The method of claim 55, wherein determining whether the work record of the drone exists in the work sub-block corresponding to the unset flag bit comprises:

and if the operation record of the unmanned aerial vehicle does not exist, executing the aerial surveying task according to the flight route of the operation sub-block.

57. A control terminal, comprising: a processor, and a storage device coupled to the processor, the storage device configured to store operating instructions, the processor configured to perform the flight path generation method of any of claims 1-29 when the processor executes the operating instructions.

58. An unmanned aerial vehicle, comprising: a processor, and a storage device coupled to the processor, the storage device configured to store operating instructions, the processor configured to perform the flight path generation method of any of claims 30-56 when the processor executes the operating instructions.

59. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program, when executed, implementing a flight path generation method as claimed in any one of claims 1 to 29.

60. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program, when executed, implementing a flight path generation method as claimed in any one of claims 30 to 56.

Technical Field

The embodiment of the application relates to the technical field of flight control, in particular to a flight route generation method, a terminal and an unmanned aerial vehicle.

Background

With the development of unmanned aerial vehicle technology and measurement technology, unmanned aerial vehicle aerial survey is widely applied as a powerful supplement to the traditional aerial photogrammetry means. At present, before a user carries out aerial survey on a large aerial survey area, the aerial survey area is generally required to be divided, namely, a large task is divided into a plurality of sub-areas and sub-tasks, so that the large-area task can be better divided and managed.

However, the current scheme is generally to simply divide a large aerial survey area into a plurality of small areas, the division mode is inflexible, and the situation that the aerial survey area is unreasonably divided often occurs, and the current scheme cannot be optimally adapted according to the type of the airplane, so that the unmanned aerial vehicle is adapted to the aerial survey area, and thus the working efficiency of aerial survey is low, and the user experience is poor.

Disclosure of Invention

The embodiment of the application provides a flight route generation method, a terminal and an unmanned aerial vehicle, which can flexibly divide an operation area, and make each divided operation sub-block adapted to the route distance of the unmanned aerial vehicle as far as possible, so that the division of the operation area is more reasonable, and the working efficiency of aerial survey is effectively improved.

In a first aspect, an embodiment of the present application provides a flight path generation method, which is applied to a control terminal, where the control terminal is used to control at least one unmanned aerial vehicle, and the method includes:

acquiring a working area;

acquiring parameter information of a segmentation grid, wherein the parameter information is related to the flight range of the unmanned aerial vehicle;

dividing the operation area into a plurality of operation sub-blocks according to the parameter information of the segmentation grids;

and respectively generating flight paths on the plurality of operation sub-blocks.

In a second aspect, an embodiment of the present application provides a flight path generation method, which is applied to an unmanned aerial vehicle, and includes:

acquiring a working area;

acquiring parameter information of a segmentation grid, wherein the parameter information is related to the flight range of the unmanned aerial vehicle;

dividing the operation area into a plurality of operation sub-blocks according to the parameter information of the segmentation grids;

and respectively generating flight paths on the plurality of operation sub-blocks.

In a third aspect, an embodiment of the present application provides a control terminal, including: the flight path generating device comprises a processor and a storage device connected with the processor, wherein the storage device is used for storing operation instructions, and when the processor executes the operation instructions, the processor is used for executing the flight path generating method according to any one of the first aspect.

In a fourth aspect, an embodiment of the present application provides an unmanned aerial vehicle, including: the flight path generating device comprises a processor and a storage device connected with the processor, wherein the storage device is used for storing operation instructions, and when the processor executes the operation instructions, the processor is used for executing the flight path generating method according to any one of the first aspect.

In a fifth aspect, an embodiment of the present application provides a readable storage medium, on which a computer program is stored; the computer program, when executed, implements a flight path generation method as described in embodiments of the application in the first or second aspect.

In a sixth aspect, the present application provides a program product, the program product including a computer program stored in a readable storage medium, from which the computer program can be read by at least one processor of a drone, the at least one processor executing the computer program to cause the drone to implement a flight path generation method as described in the present application in the first or second aspect.

The flight route generation method, terminal and unmanned aerial vehicle that this application embodiment provided, through acquireing the operation region, acquire the parameter information who cuts apart the net, wherein, parameter information with unmanned aerial vehicle's flight range is relevant, according to the parameter information who cuts apart the net, will the operation region divides into a plurality of operation subblocks, and is a plurality of generate the flight route on the operation subblock respectively to can divide the operation region in a flexible way, make every operation subblock of dividing and unmanned aerial vehicle such as course distance, flight time adaptation as far as possible, thereby make the division in operation region more reasonable, improved the work efficiency of aerial survey effectively.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application;

FIG. 2 is a flow chart of a flight path generation method provided in an embodiment of the present application;

FIG. 3 is a schematic view of a work area provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a segmentation grid according to an embodiment of the present application;

FIG. 5 is a diagram illustrating an adjusted segmentation grid according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a job sub-block according to an embodiment of the present application;

FIG. 7 is a block diagram of numbered job blocks according to an embodiment of the present application;

FIG. 8 is a flow chart of a flight path generation method provided in another embodiment of the present application;

fig. 9 is a schematic structural diagram of a control terminal according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The embodiment of the application provides a flight path generation method, a terminal and an unmanned aerial vehicle. The following description of the present application uses a drone as an example. It will be apparent to those skilled in the art that other types of drones may be used without limitation, and embodiments of the present application may be applied to various types of drones. For example, the drone may be a small or large drone. In certain embodiments, the drone may be a rotary wing drone (rotorcraft), such as a multi-rotor drone propelled through the air by a plurality of propulsion devices, embodiments of the present application are not so limited, and the drone may be other types of drones, such as a fixed wing drone, or a combination of rotary wing drones and fixed wing drones.

Fig. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.

The unmanned flight system 100 can include a drone 110, a display device 130, and a control terminal 140. The drone 110 may include, among other things, a power system 150, a flight control system 160, a frame, and a pan-tilt 120 carried on the frame. The drone 110 may be in wireless communication with the control terminal 140 and the display device 130. It is understood that in one embodiment, the display device 130 may be disposed on the control terminal 140, that is, the control terminal 140 is disposed with the display device 130, which is not limited herein.

The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 110 lands.

The power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governors 151 and the propellers 153, the motors 152 and the propellers 153 are disposed on the horn of the drone 110; the electronic governor 151 is configured to receive a drive signal generated by the flight control system 160 and provide a drive current to the motor 152 based on the drive signal to control the rotational speed of the motor 152. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the drone 110, which power enables the drone 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a Roll axis (Roll), a Yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a dc motor or an ac motor. The motor 152 may be a brushless motor or a brush motor.

Flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure attitude information of the drone, i.e., position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, three-dimensional angular velocity, and the like. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the Global navigation satellite System may be a Global Positioning System (GPS) or an RTK (Real-time kinematic) carrier-phase differential Positioning System. The flight controller 161 is used to control the flight of the drone 110, for example, the flight of the drone 110 may be controlled according to attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 according to preprogrammed instructions, or may control the drone 110 in response to one or more control instructions from the control terminal 140.

The pan/tilt head 120 may include a motor 122. The pan and tilt head is used to carry a load 123 such as a camera, a sprinkler, a spreader, etc. For example in agricultural applications the load may be a pesticide spraying device or may be a seed sowing device or the like, further the load may comprise a holding tank, a conduit, a pump, a spray head. Wherein, one end of the conduit can extend into the containing box, the other end of the conduit is connected with the suction inlet of the pump, the discharge outlet of the pump is connected with the spray head, and thus, the object to be sprayed in the containing box can be sprayed out of the spray head through the conduit by using the pump. Flight controller 161 may control the movement of pan/tilt head 120 via motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan/tilt head 120 may be separate from the drone 110, or may be part of the drone 110. It should be understood that the motor 122 may be a dc motor or an ac motor. The motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located at the top of the drone, as well as at the bottom of the drone.

In one embodiment, the load 123 may be, for example, a camera, and further, the camera may be, for example, a device for capturing an image, such as a camera or a video camera, and the camera may communicate with and take a picture under the control of the flight controller. The image capturing Device of this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera can also be directly fixed on the drone 110, so that the pan-tilt 120 can be omitted.

The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used for displaying attitude information of the unmanned aerial vehicle 110. In addition, an image photographed by the photographing device may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the control terminal 140.

The control terminal 140 is located at the ground end of the unmanned aerial vehicle system 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely control the unmanned aerial vehicle 110. Specifically, the control terminal 140 may be a remote controller, a mobile phone, a tablet computer, a ground service station, and the like, and the control terminal may be connected to and communicate with the unmanned aerial vehicle through connection modes such as bluetooth, a cellular network, a wireless network, and the like, which is not limited herein.

It should be understood that the above-mentioned nomenclature for the components of the unmanned flight system is for identification purposes only, and should not be construed as limiting the embodiments of the present application.

Fig. 2 is a flowchart of a flight path generation method provided in an embodiment of the present application, and as shown in fig. 2, the method of this embodiment may be applied to a control terminal, where the control terminal is used to control at least one unmanned aerial vehicle, and the method of this embodiment may include:

s201, acquiring a working area.

In the embodiment, in the aerial survey process, a user often faces a large-scale aerial survey area, the aerial survey area needs to be divided for a large aerial survey area, a large task is divided into a plurality of sub-areas and sub-tasks, and the large-scale task can be divided and managed better. Therefore, the work area needs to be acquired on the background map, and the work area may be acquired in various manners, such as acquiring the work area from a target mission file, such as a KML file, or setting the work area manually by a user on the control terminal. Fig. 3 is a schematic view of a working area provided in an embodiment of the present application, where the area shown in fig. 3 is a large-scale aerial survey area, and needs to be divided, and a flight line of the unmanned aerial vehicle is generated in the divided area.

Optionally, acquiring the work area on the background map includes: acquiring a target flight task file, wherein the target flight task file comprises position information of a target waypoint; and determining the operation area formed by the target waypoints according to the position information of the target waypoints. Alternatively, the work area may also be displayed on a background map.

In some embodiments, the target flight mission file includes position information of the target waypoints from which the work area formed by the target waypoints may be determined. Therefore, the control terminal can acquire the work area from the target flight mission file and finally display the work area on the background map. For example, the target flight mission file may be a Keyhole Markup navigation (KML) file that includes location information of the target waypoint; in another embodiment, the KML file may further include action information and/or parameter information, such as actions or parameters to be performed by the drones in the work area, and the like, which is not limited herein.

Optionally, acquiring the work area on the background map includes: receiving a first instruction sent by a user; determining a working area on a background map according to a first instruction; wherein the first instruction comprises: a click signal and/or a slide signal.

In some embodiments, the work area may also be acquired according to a manual operation by the user. For example, the user sets target waypoints on the background map by an operation method such as clicking or sliding, and these target waypoints constitute the work area. The user may set boundary lines of the work area on the background map by an operation method such as clicking, sliding, or the like, and these boundary lines constitute the work area.

S202, acquiring parameter information of the segmentation grids. Wherein the parameter information is related to the flight range of the drone.

In this embodiment, there is great influence on duration and flight range of unmanned aerial vehicle by the model, flight altitude and other parameters of unmanned aerial vehicle. Therefore, the segmentation grid parameters can be determined according to the model parameters of the unmanned aerial vehicle and the like, and the segmentation grid parameters can also be manually set by a user. Wherein, the parameter information of the segmentation grids comprises: the type of segmentation mesh and/or the area of the segmentation mesh. The flight range of the unmanned aerial vehicle refers to the range of single flight of the unmanned aerial vehicle. Of course, the flight range of the drone may also be set autonomously by the user as required. For example, when the user desires the flight range of the drone to be a certain range, the segmentation mesh parameters may be manually set as needed, which is not limited herein.

Optionally, user-input parameter information of the segmentation mesh is received.

In some embodiments, user input of parameter information for the segmentation mesh may be received. For example, when the user employs manual input of the grid area, the grid area is entered by the user (e.g., 0.5 km)²) Generating a grid with corresponding length, planning and dividing the shape into a square by default, and directly numbering the area input by a user, for example, setting the area to be 0.5km by the user²The side length of the segmented square is 0.707 km. It should be noted that other types of meshes, such as rectangle, triangle, circle, etc., may be required by the user. The user can also determine the area of the segmentation grid by setting the side length, the radius and the like. For example, the grid type is selected as a rectangle, the side lengths are set to be 1km and 0.5km respectively, and the area of the divided grid is set to be 0.5km²。

Optionally, the parameter information of the segmentation grid is determined according to the parameters of the unmanned aerial vehicle.

In some embodiments, the model, flight height and other parameters of the unmanned aerial vehicle have a great influence on the endurance and flight range of the unmanned aerial vehicle. Therefore, the parameters of the segmentation grids can be automatically determined according to the parameters of the unmanned aerial vehicle.

Optionally, determining parameter information of the segmentation mesh according to parameters of the drone, including: determining the endurance time and/or the route distance of the unmanned aerial vehicle according to the type of the unmanned aerial vehicle and the flight height of the unmanned aerial vehicle; determining the range of single operation of the unmanned aerial vehicle according to the endurance time and/or the route distance; and determining the parameter information of the segmentation grid according to the range of single operation of the unmanned aerial vehicle.

In some embodiments, the relative altitude of the flight relative to the ground may be set in the flight plan App, ground station software, which may be considered the altitude at which the aircraft needs to ascend. The flight control module calculates the length of a flight line which can be flown by the airplane in one rack according to the airplane type and the battery type and the set ground relative height (namely the height which the airplane needs to ascend in the sub-area). After the length of the single secondary route is planned, the route can be planned according to the square route, and the area related to the square route which is planned to be related is used as the area of the subblock.

Further, before unmanned aerial vehicle calculates the fairway length that the aircraft can fly in an establishment, can be earlier through the height of setting for and unmanned aerial vehicle's model, calculate this unmanned aerial vehicle at the in-process power consumption that rises and descend, and then obtain the accurate fairway length that can fly in an establishment.

In another embodiment, when the unmanned aerial vehicle flies from the flying point to the working area, the electric quantity required by the unmanned aerial vehicle to fly from the flying point to the starting point of the working area and the electric quantity required to return to the flying point from the end point of the working area can be calculated. For example, the round-trip distance from the center of the circumscribed rectangle to the flying starting point is calculated by taking the circumscribed rectangle of the working area as a boundary, then the distance and the model are used for calculation, the power consumption of the distance in the horizontal round-trip is obtained, and the more accurate length of the flight line capable of flying in one rack is obtained.

Of course, the estimated power consumption may also be adjusted according to external environmental factors, such as weather. For example, when the wind speed is greater than a certain preset threshold, the calculated power consumption may be adjusted, for example, the power consumption of the unmanned aerial vehicle during ascending and descending processes is appropriately increased, or the power consumption of the unmanned aerial vehicle during round trip from a starting point to a working area is appropriately increased.

Optionally, the obtaining parameter information of the segmentation mesh further includes: displaying the segmentation grids on the background map in a preset linear mode according to the parameter information; wherein, the projection range of the segmentation grid on the background map covers the operation area.

In some embodiments, the segmentation mesh may also be displayed in a preset line type on the background map. Fig. 4 is a schematic diagram of a divided grid according to an embodiment of the present application, and as shown in fig. 4, a screen is a grid according to the size of a planned work sub-area, and the grid is represented by a dotted line and covers the entire work area. However, the division mesh only realizes the preliminary division of the working area, the boundary line of the division mesh and the working area is not well attached, and the division mesh is adjusted subsequently.

And S203, dividing the work area into a plurality of work sub-blocks according to the parameter information of the divided grids.

In the embodiment, the division of the grids realizes the preliminary division of the operation area, but the boundary lines of the division grids and the operation area are not well attached, so that the division of operation sub-blocks is influenced, and further the efficiency of air route planning of the unmanned aerial vehicle is influenced. Therefore, before dividing the work area into a plurality of work sub-blocks according to the parameter information of the divided grid, the method further includes: and adjusting the position of the segmentation grid on the background map. The position of the segmentation grid on the background map is adjusted, manual adjustment can be performed through a control instruction input by a user, and automatic adjustment can also be performed according to a preset strategy.

Fig. 5 is a schematic diagram of the adjusted split grid according to an embodiment of the present application, and as shown in fig. 5, the lower interface and the right boundary of the work area coincide with the boundary line of the split grid, so that the grid shape and distribution can be maximally fitted to the target work area.

Optionally, adjusting the position of the segmentation mesh on the background map includes: receiving a second instruction input by a user; according to the second instruction, controlling the segmentation grid to perform any one or more of the following operations: moving to the left; to the right; moving upwards; moving downwards; rotating clockwise by a preset angle; and rotating the rotary drum by a preset angle in the counterclockwise direction.

In some embodiments, the divided grids are moved, rotated and the like through instructions input by a user, and the positions of the divided grids on the background map are adjusted so that the boundary lines of the divided grids coincide with the working area, so that the grid shapes and the distribution can be fitted to the target working area to the maximum extent.

Optionally, adjusting the position of the segmentation mesh on the background map includes: adjusting the position of the segmentation grid on the background map according to a preset strategy; wherein, the preset strategy is as follows: the number of grids occupied by the work area is minimal.

In some embodiments, the positions of the split grids can be automatically adjusted according to a preset strategy, so that the number of the grids occupied by the operation area is minimum, and the operation sub-blocks can be more conveniently and quickly defined.

Optionally, dividing the job area into a plurality of job sub-blocks according to the parameter information of the divided grid includes: dividing the operation area into a plurality of subareas according to the parameter information of the segmentation grids; and merging the plurality of partitions to obtain the operation sub-blocks.

In this embodiment, the operation area may be divided into a plurality of partitions according to the parameter information of the divided grid, so as to obtain a preliminary division result. Then, the adjacent partitions may be merged or unmerged, and the job sub-block is finally obtained. The merging processing of the adjacent partitions may be performed according to an instruction input by a user, or may be performed according to a preset merging strategy. Fig. 6 is a schematic diagram of a job subblock according to an embodiment of the present application, and as shown in fig. 6, after a plurality of partitions are obtained according to a split grid, partial adjacent partitions are merged, and finally 6 job subblocks are obtained. The boundaries are distinguished by solid lines between job sub-blocks.

Optionally, after the merging process is performed on the multiple partitions, the method further includes: receiving a fourth instruction input by the user; according to a fourth instruction, the merging of the partitions is undone.

In some embodiments, the user may choose to merge or undo the merge for adjacent sub-blocks. The partition merging can be performed according to an operation instruction input by a user, or the merging of the partitions can be cancelled after the partitions are merged, so that the flexibility of the partitions can be increased.

Optionally, merging the partitions to obtain a job sub-block, including: traversing all the partitions, and if the area occupied by the partitions is smaller than that of the partition grids, merging the partitions and other adjacent partitions into a job subblock; until the area of all the partitions is greater than 1/2 of the area of the segmentation grid.

In some embodiments, for adjacent partitions, automatic partition merging may be performed according to a preset policy. For example, a search is performed in accordance with the area of the grid (the completeness) starting from the whole grid region in order, and when the area occupied by the partition is smaller than the area of the divided grid, the partition and other adjacent partitions are merged into one job sub-block. All partitions are traversed until the area of all partitions is greater than 1/2 for the split mesh area.

Optionally, merging the partitions to obtain a job sub-block, including: and traversing all the partitions, and merging the partitions and the adjacent partitions if the occupied area of the partitions is smaller than 1/4 of the areas of the partition grids and the total area after the partitions are merged with the adjacent partitions is smaller than the total area of the two partition grids.

In some embodiments, for adjacent partitions, automatic partition merging may be performed according to a preset policy. For example, a search is performed in terms of the area of the mesh (the degree of completeness) starting from the whole mesh area in order, and when the area occupied by a partition is smaller than 1/4 of the area of the split mesh and the total area after the partition is merged with the adjacent partition is smaller than the total area of two split meshes, the partition is merged with the adjacent partition. All partitions are traversed until the area of all partitions is greater than 1/4 for the split mesh area.

Optionally, merging the partitions to obtain a job sub-block, including: and traversing all the partitions, and if two or more adjacent partitions and partitions meet the merging condition, merging the adjacent partitions and partitions with the minimum area.

In some embodiments, for adjacent partitions, automatic partition merging may be performed according to a preset policy. For example, a search is performed in accordance with the grid area (completeness) sequentially from the entire grid area, and when two or more adjacent partitions and partitions meet the merging condition, the partition and partition having the smallest adjacent area are merged. All partitions are traversed until all partitions do not meet the merge condition.

Optionally, after merging the partitions in the grid to be merged into one job sub-block, the method further includes: determining whether an inflection point exists at a graph endpoint corresponding to the operation sub-blocks obtained by combination; if there is an inflection point, the merge is undone.

In some embodiments, no corners are allowed to appear through the endpoints of the merged graph. And when the combined graph endpoint is an inflection point, removing the combination. Specifically, whether each end point after merging is an inflection point may be calculated by a slope, a derivation method, or the like.

And S204, generating flight routes on the plurality of operation sub-blocks respectively.

In this embodiment, after obtaining the plurality of work sub-blocks, generating flight paths on the plurality of work sub-blocks respectively includes: determining a target task of each job sub-block; and respectively generating flight routes on the plurality of operation sub-blocks according to the target tasks. Optionally, the target task comprises at least one of: flight mode, pan-tilt parameters, camera parameters, flight altitude.

In some embodiments, for each independent sub-block, camera parameter route planning can be independently performed inside the independent sub-block, and a set route is generated. How to generate the flight path according to the target mission can be referred to the description of the related art, and the description is omitted here. When setting the target task, the entire setting may be performed, or each work sub-block may be individually set. For example, whether to use the ground imitating flight function for the whole area or whether to perform the ground imitating flight function for a single area may be set when the user does not need to perform ground imitating flight for the whole area. The drones within each job sub-block may perform the same or different target tasks, and are not limited herein.

Optionally, the method further comprises: and numbering the operation sub-blocks, and determining the zone bits corresponding to the numbers of the operation sub-blocks.

In some embodiments, the job sub-blocks may be numbered sequentially, from 1 to N. Fig. 7 is a schematic view of the numbered work sub-blocks provided in an embodiment of the present application, and as shown in fig. 7, the work sub-blocks are numbered, so that the numbers of the work sub-blocks can be added to the aerial survey data sent by the unmanned aerial vehicle, and management is facilitated. And a flag bit can be set for the sub-block support of the operation to indicate whether the operation of the block is operated, the operation progress and breakpoint continuous flight functions are additionally increased, and the breakpoint continuous flight can be executed if the operation is not executed at one time.

Optionally, the method further comprises: receiving aerial survey data sent by the unmanned aerial vehicle, wherein the aerial survey data comprises the serial number of the operation sub-block; and setting a flag bit corresponding to the serial number of the operation sub-block. Optionally, setting the flag bit corresponding to the number of the job sub-block includes: determining whether the aerial survey data is successfully received; and if the aerial survey data is successfully received, setting the zone bit corresponding to the serial number of the operation sub-block.

Optionally, the method further comprises: reading a flag bit corresponding to each operation sub-block; if the unset zone bit exists, sending an instruction to the unmanned aerial vehicle corresponding to the operation sub-block, wherein the instruction is used for controlling the unmanned aerial vehicle to execute an aerial survey task of the operation sub-block corresponding to the unset zone bit; and acquiring the flag bit corresponding to the next operation sub-block until the flag bits corresponding to all the operation sub-blocks are set.

Optionally, controlling the unmanned aerial vehicle to execute an aerial survey task on the operation sub-block corresponding to the unset flag bit includes: determining whether the operation sub-block corresponding to the unset flag bit has the operation record of the unmanned aerial vehicle; the job record includes: the last flight ending position and/or the remaining flight path of the drone.

Optionally, determining whether the job subblock corresponding to the unset flag bit has a job record of the unmanned aerial vehicle includes: if the operation record of the unmanned aerial vehicle exists, taking the flight ending position of the unmanned aerial vehicle as a starting point, and executing aerial surveying tasks of the rest flight routes; and if the operation record of the unmanned aerial vehicle does not exist, executing the aerial surveying task according to the flight route of the operation sub-block.

In some embodiments, after receiving the aerial survey data of the drone, determining whether the aerial survey data was received successfully; and if the aerial survey data is successfully received, setting the zone bit corresponding to the serial number of the operation sub-block. And if the unset zone bit exists, sending an instruction to the unmanned aerial vehicle corresponding to the operation sub-block, so as to control the unmanned aerial vehicle to execute the aerial survey task of the operation sub-block corresponding to the unset zone bit. If the operation sub-block which is not set has the operation record of the unmanned aerial vehicle, the flight ending position of the unmanned aerial vehicle at the previous time is taken as a starting point, and aerial survey tasks of the rest flight routes are executed; and if the operation record of the unmanned aerial vehicle does not exist, executing the aerial surveying task according to the flight route of the operation sub-block. Therefore, the operation progress is monitored, functions such as breakpoint continuous flight and the like are achieved, the working efficiency is improved, and the user experience is optimized.

Fig. 8 is a flowchart of a flight path generation method according to another embodiment of the present application, and as shown in fig. 8, the method according to this embodiment may be applied to an unmanned aerial vehicle, and the method according to this embodiment may include:

s801, acquiring a work area.

In the embodiment, in the aerial survey process, a user often faces a large-scale aerial survey area, the aerial survey area needs to be divided for a large aerial survey area, a large task is divided into a plurality of sub-areas and sub-tasks, and the large-scale task can be divided and managed better. Therefore, the work area needs to be acquired on the background map, and there are various manners for acquiring the work area, for example, the work area may be acquired from the target flight mission file, or the work area may be set in the form of manually circling the ground on the unmanned aerial vehicle. Fig. 3 is a schematic view of a working area provided in an embodiment of the present application, where the area shown in fig. 3 is a large-scale aerial survey area, which needs to be segmented and a flight path of the unmanned aerial vehicle is generated.

Optionally, acquiring a work area comprises: acquiring a target flight task file, wherein the target flight task file comprises position information of a target waypoint; and determining the operation area formed by the target waypoints according to the position information of the target waypoints.

In some embodiments, the target flight mission file includes position information of the target waypoints from which the work area formed by the target waypoints may be determined. Therefore, the unmanned aerial vehicle can acquire the operation area from the target flight mission file. For example, the drone may acquire a target flight mission file, such as a KML file, from a control terminal.

Optionally, acquiring a work area comprises: selecting position information of a plurality of target waypoints on a flight track of the unmanned aerial vehicle; and determining the operation area formed by the target waypoints according to the position information of the target waypoints.

In some embodiments, the work area may also be acquired according to a manual operation by the user. For example, position information of a plurality of target waypoints is selected on the flight trajectory of the unmanned aerial vehicle by a direct unmanned aerial vehicle flight mode, and the target waypoints form a working area.

S802, acquiring parameter information of the segmentation grids, wherein the parameter information is related to the flight range of the unmanned aerial vehicle.

Optionally, obtaining parameter information of the segmentation mesh includes: and receiving parameter information of the segmentation grids input by a user.

Optionally, obtaining parameter information of the segmentation mesh includes: and determining the parameter information of the segmentation grids according to the parameters of the unmanned aerial vehicle.

Further, before the unmanned aerial vehicle calculates the length of the flight line that the aircraft can fly in one rack, the power consumption of the unmanned aerial vehicle in the ascending and descending processes or the round-trip power consumption from the starting point to the operation area is properly increased, and the like, so that the more accurate length of the flight line that can fly in one rack is obtained, and the description is omitted.

And S803, dividing the work area into a plurality of work sub-blocks according to the parameter information of the divided grids.

Optionally, adjusting the position of the segmentation mesh on the background map includes: receiving a second instruction input by the control terminal; according to the second instruction, controlling the segmentation grid to perform any one or more of the following operations: moving to the left; to the right; moving upwards; moving downwards; rotating clockwise by a preset angle; and rotating the rotary drum by a preset angle in the counterclockwise direction.

Optionally, merging the partitions to obtain a job sub-block, including: receiving a third instruction input by a user; determining grids to be combined according to the third instruction; and merging the partitions in the grid to be merged into a job sub-block. Optionally, after the merging process is performed on the multiple partitions, the method further includes: receiving a fourth instruction input by the user; according to a fourth instruction, the merging of the partitions is undone.

In some embodiments, for adjacent partitions, automatic partition merging may be performed according to a preset policy. For example, a search is performed in accordance with the grid area (completeness) sequentially from the entire grid area, and when two or more adjacent partitions and partitions meet the merging condition, the partition and partition having the smallest adjacent area are merged. All partitions are traversed until all partitions do not meet the merge condition.

And S804, generating flight routes on the plurality of operation sub-blocks respectively.

Optionally, the method further comprises: and numbering the operation sub-blocks, and determining the zone bits corresponding to the numbers of the operation sub-blocks.

Fig. 9 is a schematic structural diagram of a control terminal according to an embodiment of the present application, and as shown in fig. 9, the control terminal 90 according to this embodiment may include: a processor 91 and a memory 92.

A memory 92 for storing programs; the Memory 92 may include a volatile Memory (RAM), such as a Static Random Access Memory (SRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), and the like; the memory may also comprise a non-volatile memory, such as a flash memory. The memory 92 is used to store computer programs (e.g., applications, functional modules, etc. that implement the above-described methods), computer instructions, etc., which may be stored in one or more of the memories 92 in a partitioned manner. And the above-mentioned computer program, computer instructions, data, etc. can be called by the processor 91.

The computer programs, computer instructions, etc. described above may be stored in one or more memories 92 in partitions. And the above-mentioned computer program, computer instructions, data, etc. can be called by the processor 91.

A processor 91 for executing the computer program stored in the memory 92 to implement the steps of the method according to the above embodiments.

Reference may be made in particular to the description relating to the preceding method embodiment.

The processor 91 and the memory 92 may be separate structures or may be an integrated structure integrated together. When the processor 91 and the memory 92 are separate structures, the memory 92 and the processor 91 may be coupled by a bus 93.

The control terminal 90 of this embodiment may execute the technical solution in the method shown in fig. 2, and for the specific implementation process and technical principle, reference is made to the relevant description in the method shown in fig. 2, which is not described herein again.

Fig. 10 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present application, as shown in fig. 10, the unmanned aerial vehicle 1000 of this embodiment may include: a processor 1001 and a memory 1002.

A memory 1002 for storing programs; the Memory 1002 may include a volatile Memory (RAM), such as a Random Access Memory (SRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), and the like; the memory may also comprise a non-volatile memory, such as a flash memory. The memory 1002 is used to store computer programs (e.g., applications, functional modules, etc. that implement the above-described methods), computer instructions, etc., which may be stored in one or more of the memories 1002 in a partitioned manner. And the above-described computer program, computer instructions, data, and the like can be called by the processor 1001.

The computer programs, computer instructions, etc. described above may be stored in one or more memories 1002 in a partitioned manner. And the above-described computer program, computer instructions, data, and the like can be called by the processor 1001.

A processor 1001 for executing the computer program stored in the memory 1002 to implement the steps of the method according to the above embodiments.

Reference may be made in particular to the description relating to the preceding method embodiment.

The processor 1001 and the memory 1002 may be separate structures or may be an integrated structure integrated together. When the processor 1001 and the memory 1002 are separate structures, the memory 1002 and the processor 1001 may be coupled through a bus 1003.

The unmanned aerial vehicle 1000 of this embodiment may execute the technical solution in the method shown in fig. 8, and for specific implementation processes and technical principles thereof, reference is made to the relevant description in the method shown in fig. 8, which is not described herein again.

In addition, embodiments of the present application further provide a computer-readable storage medium, in which computer-executable instructions are stored, and when at least one processor of the user equipment executes the computer-executable instructions, the user equipment performs the above-mentioned various possible methods.

Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. Additionally, the ASIC may reside in user equipment. Of course, the processor and the storage medium may reside as discrete components in a communication device.

The present application further provides a program product comprising a computer program stored in a readable storage medium, from which the computer program can be read by at least one processor of a server, the execution of the computer program by the at least one processor causing the server to carry out the method of any of the embodiments of the invention described above.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

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