CN107735737B

CN107735737B - Waypoint editing method, device, equipment and aircraft

Info

Publication number: CN107735737B
Application number: CN201680014268.8A
Authority: CN
Inventors: 陈超彬; 闫光
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2016-10-31
Filing date: 2016-10-31
Publication date: 2021-11-19
Anticipated expiration: 2036-10-31
Also published as: CN107735737A; WO2018076372A1

Abstract

A waypoint editing method, a waypoint editing device, waypoint editing equipment and an aircraft are provided, wherein the method comprises the following steps: receiving an instruction for editing waypoints in a waypoint sequence, wherein the edited instruction is sent by an external device (101); and responding to the edited command, editing the waypoints in the waypoint sequence, and generating an edited waypoint sequence (102). Efficient editing of waypoints can be achieved.

Description

Waypoint editing method, device, equipment and aircraft

Technical Field

The invention relates to the technical field of flight, in particular to a waypoint editing method, a waypoint editing device, waypoint editing equipment and an aircraft.

Background

With the continuous progress of science and technology, the functions of aircrafts such as Unmanned Aerial Vehicles (UAVs) are continuously enriched, and the application fields of the aircrafts are also continuously expanded, including professional Aerial photography, agricultural irrigation, electric power cruising, remote sensing mapping, public security monitoring and the like. The flight path of the aircraft is generally set through a ground flight control console, and the aircraft is controlled to fly according to the set flight path to complete corresponding tasks.

The flight path of the aircraft may specifically be composed of a plurality of waypoints, each waypoint has corresponding attribute parameters, including, for example, altitude, speed, position, and the like, before or during the flight of the aircraft according to the set flight path, it is likely that editing operations on the waypoints are required, such as modifying the attribute parameters of the waypoints, deleting the waypoints, and the like, whereas the existing waypoint editing methods cannot dynamically edit the waypoints, cannot operate the waypoints during the flight of the aircraft, and are generally inefficient.

Disclosure of Invention

The embodiment of the invention discloses a waypoint editing method, a waypoint editing device, equipment and an aircraft, which are used for realizing efficient editing of waypoints.

The first aspect of the embodiment of the invention discloses a waypoint editing method, which comprises the following steps:

receiving an instruction for editing waypoints in a waypoint sequence, wherein the edited instruction is sent by an external device.

And responding to the edited command, editing the waypoints in the waypoint sequence, and generating the edited waypoint sequence.

The second aspect of the embodiments of the present invention discloses a waypoint editing device, including:

the receiving module is used for receiving an instruction for editing the waypoints in the waypoint sequence, wherein the edited instruction is sent by external equipment.

And the control module is used for responding to the edited command, editing the waypoints in the waypoint sequence and generating the edited waypoint sequence.

A third aspect of the embodiments of the present invention discloses a waypoint editing apparatus, including:

the communication device is used for receiving an instruction for editing the waypoints in the waypoint sequence, wherein the edited instruction is sent by the external equipment.

And the processor is used for responding to the edited instruction, editing the waypoints in the waypoint sequence and generating the edited waypoint sequence.

A fourth aspect of an embodiment of the present invention discloses an aircraft, comprising,

and the power system is used for providing flight power for the aircraft.

The waypoint editing device of any of the third aspects for editing waypoints in a waypoint sequence.

According to the embodiment of the invention, by receiving the command sent by the external equipment for editing the waypoints in the waypoint sequence, responding to the edited command, editing the waypoints in the waypoint sequence, and generating the edited waypoint sequence, various operations on the waypoints can be realized, the operations of inserting, deleting, moving and the like are performed on the waypoints in the course in the flying process of the aircraft, the course is adjusted in real time, and the efficient editing of the waypoints can be realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic illustration of an aircraft control system according to an embodiment of the disclosure;

FIG. 2 is a schematic flow chart illustrating a waypoint editing method according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a waypoint insertion operation disclosed in an embodiment of the invention;

FIG. 4 is a schematic diagram of a waypoint deletion operation according to an embodiment of the disclosure;

FIG. 5 is a schematic diagram illustrating an operation of deleting waypoints and then inserting new waypoints in accordance with an embodiment of the disclosure;

FIG. 6 is a schematic diagram of a waypoint movement operation disclosed in an embodiment of the invention;

FIG. 7 is a diagram illustrating a delete executed waypoint and insert new waypoint operation in accordance with an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a breakpoint resume operation according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of a waypoint editing apparatus according to an embodiment of the disclosure;

fig. 10 is a schematic structural diagram of a waypoint editing device according to an embodiment of the disclosure.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.

The following description of the invention uses a drone as an example of an aircraft. It will be apparent to those skilled in the art that other types of aircraft may be used without limitation.

As shown in fig. 1, the structural diagram of a flight system according to an embodiment of the present invention includes an external device 101 and an aircraft 102, where the external device 101 is a ground-side remote control device, and the external device 101 may be one or more of a smartphone, a tablet computer, an aircraft ground control station, a watch, a bracelet, video glasses, and the like.

The route in which aircraft 102 is flying is referred to as a course, and the course includes a plurality of waypoints, which are referred to as a waypoint sequence, and in an embodiment of the present invention, a user may edit the waypoint sequence for aircraft 102 on a ground-side remote control device so that the aircraft can fly autonomously on the course.

When editing the waypoint sequence, the external device 101 presents an interactive interface including a map of a certain target area to the user, and the user can make points on the map as required, and the points are waypoints. In the course data, the waypoints are in the form of coordinates. In some cases, waypoints may include, in addition to coordinates: index ID of a waypoint, waypoint action information, route attributes associated with the waypoint, and the like, wherein the waypoint actions include, but are not limited to, pan-tilt control information, camera control information, wherein the route attributes associated with the waypoint may include, but are not limited to, a straight line flight mode, a coordinated turn mode, a POI, and the like flight modes.

The external device 101 determines the location of the user's point on the map of the interactive interface as the waypoint, the waypoint coordinates may be the GPS location coordinates of the points, and the flight altitude of the waypoint may be the default altitude value. Of course, the user may also dynamically configure the height of one or more waypoints in the external device 101 according to the need and the altitude of the actual location on the map. The setting of the route may also be in other manners, for example, the user inputs coordinates of only several positions as the waypoints in the external device 101, and a route is automatically generated by the external device 101 from the input coordinate points.

The route data generated by the external device 101 is transmitted to the aircraft 102 and includes a plurality of waypoints, each of which, as described above, may be comprised of GPS location coordinates and an altitude value, the altitude of the waypoint being a default altitude at which the aircraft 102 is flying and may also be specified by the user. Alternatively, the waypoint may also consist of GPS coordinates and altitude values. After receiving the course data, the aircraft 102 executes the course data, flying on the course represented by the course data. Specifically, the controller in the aircraft 102 controls the aircraft 102 to fly to the waypoints in turn according to the waypoints included in the flight path data, so as to realize the flight on the flight path indicated by the flight path data.

At present, waypoints in the traditional flight control are limited by the attributes of an embedded platform of the flight control, the number of supported waypoints is limited, and the waypoints uploaded to the flight control are not edited in the flight process. The number of waypoints in the flight control and the inflexibility of the waypoint editing mode fundamentally limit the flexibility of the flight control in the application aspects of aerial photography, industrial application and the like, and the friendliness to the support of peripheral functions, and limit the improvement of user experience.

Fig. 1 is a schematic flow chart of a waypoint editing method according to an embodiment of the invention. Specifically, as shown in fig. 1, the waypoint editing method according to the embodiment of the present invention may include the following steps:

101. receiving an instruction for editing waypoints in a waypoint sequence, wherein the edited instruction is sent by an external device.

Specifically, the external device may specifically include: wearable devices such as watches and bracelets, mobile terminals such as smart phones and tablet computers, remote controllers, ground control stations and combinations thereof, and the like. The user can input a waypoint editing command in the waypoint sequence on an interactive interface of the external device and send the editing command to the aircraft. The user can edit a single waypoint in the waypoint sequence or can simultaneously edit a plurality of waypoints in the waypoint sequence.

102. And responding to the edited command, editing the waypoints in the waypoint sequence, and generating the edited waypoint sequence.

Specifically, when the aircraft receives an instruction of the external device for editing the waypoint in the waypoint sequence, the aircraft responds to the instruction to edit the waypoint in the waypoint sequence, and refreshes the edited waypoint sequence after the corresponding editing action is completed to generate the edited waypoint sequence. The aircraft can fly in the edited waypoint sequence, dynamic operation on the waypoint sequence is realized, the waypoint sequence is adjusted in real time, and the air route data executed by the aircraft is changed in real time.

Optionally, the waypoint sequence is a waypoint sequence that is not executed by the aircraft.

Specifically, when the aircraft flies on a waypoint sequence in the airline data, the aircraft can receive an edit instruction of the external device for the waypoint in real time, wherein the waypoint is a waypoint which is not executed by the aircraft, and by editing the waypoint, a user can change the unexecuted waypoint sequence, so that the user experience is good.

Optionally, the editing instruction includes an insertion instruction, and the editing of the waypoints in the waypoint sequence in response to the editing instruction includes: and responding to the insertion instruction, and inserting the received waypoint to be inserted into the preset position in the waypoint sequence.

Specifically, as shown in fig. 3, the waypoint sequence includes 4 waypoints, which are waypoint 1, waypoint 2, waypoint 3, and waypoint 4, and the traversal order of the aircraft to the waypoint sequence is: when the aircraft receives an insertion instruction sent by external equipment, the aircraft inserts a waypoint 5 to be inserted received from the external equipment between waypoint 2 and waypoint 3, refreshes a waypoint sequence after the new waypoint is inserted by the aircraft, generates a new waypoint sequence waypoint 1, waypoint 2, waypoint 5, waypoint 3 and waypoint 4 after the new waypoint is inserted, and flies on the new waypoint sequence at the moment, so that the traversing sequence of the waypoint sequence by the aircraft is changed into waypoint 1 → waypoint 2 → waypoint 5 → waypoint 3 → waypoint 4. Optionally, the user may further insert other waypoints to be inserted into the waypoint sequence, optionally, the user may insert a plurality of waypoints to be inserted into the waypoint sequence at the same time, and the plurality of waypoints to be inserted may be inserted into the waypoint sequence continuously or may be inserted into different positions in the waypoint sequence.

Optionally, the preset position is located by one or more of coordinates of waypoints in the waypoint sequence, an index ID, associated waypoint actions, and associated waypoint attributes. Methods of locating the preset position in the waypoint sequence include, but are not limited to:

specifically, the preset position in the waypoint sequence can be determined by coordinates of two waypoints in the waypoint sequence, the aircraft receives the coordinates of the two waypoints in the waypoint sequence sent by the external device, the aircraft queries the corresponding two waypoints by the coordinates of the two waypoints, and the waypoint to be inserted is inserted between the two waypoints.

Specifically, the preset position in the waypoint sequence may be determined by index IDs of two waypoints in the waypoint sequence, the aircraft receives the index IDs of the two waypoints in the waypoint sequence sent by the external device, the aircraft queries the corresponding two waypoints by using the index IDs of the two waypoints, and the waypoint to be inserted is inserted between the two waypoints.

Specifically, the preset position in the waypoint sequence can be determined by the specific attributes of two waypoints in the waypoint sequence, the aircraft receives the specific attributes of the two waypoints in the waypoint sequence sent by the external device, the aircraft inquires the corresponding two waypoints by the specific attributes of the two waypoints, and the waypoint to be inserted is inserted between the two waypoints. The unique waypoint attributes are attributes such as waypoint actions and route attributes which can be used for determining the positions of the two waypoints.

Specifically, the preset position in the waypoint sequence can be determined by the coordinates of one waypoint in the waypoint sequence, the aircraft receives the coordinates of one waypoint in the waypoint sequence sent by the external device, the aircraft inquires the corresponding waypoint through the coordinates of the waypoint, and the waypoint to be inserted is inserted in front of or behind the waypoint, so that in the inserted waypoint sequence, the waypoint to be inserted is used as the previous waypoint or the next waypoint inquired of the corresponding waypoint.

Specifically, the preset position in the waypoint sequence may be determined by an index ID of one waypoint in the waypoint sequence, the aircraft receives the index ID of one waypoint in the waypoint sequence sent by the external device, the aircraft queries the corresponding waypoint through the index ID of the waypoint, and inserts the waypoint to be inserted in front of or behind the waypoint, so that in the inserted waypoint sequence, the waypoint to be inserted is used as the previous waypoint or the next waypoint queried for the corresponding waypoint.

Specifically, the preset position in the waypoint sequence can be determined by the specific attribute of one waypoint in the waypoint sequence, the aircraft receives the specific attribute of one waypoint in the waypoint sequence sent by the external device, the aircraft inquires the corresponding waypoint through the specific attribute of the waypoint, and the waypoint to be inserted is inserted in front of or behind the waypoint, so that in the inserted waypoint sequence, the waypoint to be inserted is used as the previous waypoint or the next waypoint of the inquired corresponding waypoint; wherein the definition of the specific properties is not described in further detail.

Optionally, one or more of the coordinates of the waypoints in the sequence of waypoints, the index ID, the associated waypoint actions, and the associated waypoint attributes are received from an external device.

Optionally, the method further includes determining validity of the insertion instruction. If the judgment result is illegal, rejecting the user to insert, and optionally returning the reason for rejecting the insertion by the aircraft; wherein the validity determination for the insert instruction includes but is not limited to:

specifically, if the aircraft does not have any waypoint, the user is rejected to insert the aircraft if the aircraft is judged to be illegal, and optionally, the aircraft can also return the reason for rejecting the insertion.

Specifically, if the aircraft inserts the waypoints to be inserted into the waypoint sequence and the total number of the waypoints in the waypoint sequence is greater than the total number of the waypoints allowed by the aircraft, the aircraft determines that the waypoint sequence is illegal, and rejects the user insertion, and optionally, the aircraft can return the reason for rejecting the insertion.

Optionally, the method further includes determining the validity of the preset position and/or the waypoint to be inserted. If the judgment result is illegal, the user is refused to insert, and optionally, the aircraft can return the reason for refusing the insertion; wherein the legality judgment on the waypoint to be inserted and/or the preset position in the waypoint sequence to be inserted includes but is not limited to:

specifically, if one or two waypoints used for determining the preset positions in the waypoint sequence do not exist, the waypoint sequence is judged to be illegal, the user insertion is rejected, and optionally, the aircraft can also return the reason for rejecting the insertion; for example, if the user sends the coordinate of one waypoint in the waypoint sequence and inserts the waypoint to be inserted into the waypoint in the waypoint sequence before the waypoint is inserted into the waypoint in the waypoint sequence, however, the waypoint in the waypoint sequence cannot be inquired through the sent coordinate of the waypoint, the coordinate of one waypoint in the waypoint sequence sent by the user does not correspond to the waypoint in the waypoint sequence, and the waypoint which the user wants to inquire does not exist. The explanation may apply to the case of sending the index ID, the unique attributes of the waypoints and the two waypoints, and will not be described here again.

Specifically, if the attribute of the waypoint to be inserted conflicts with the attributes of the two waypoints before and after the preset position, the attribute is judged to be illegal, the user is rejected to insert, and optionally, the aircraft can also return the reason for rejecting the insertion; wherein the attribute presence conflict includes, but is not limited to: the action of the waypoint to be inserted and the action of the two waypoints in the waypoint sequence before insertion cannot be continuously executed or cannot be executed (for example, a video recording task is executed between the two waypoints in the waypoint sequence before insertion, and a photographing task is executed when the waypoint to be inserted is required to execute the photographing task, so that the photographing task of the waypoint to be inserted cannot be executed when the video recording task is executed between the two waypoints in the waypoint sequence before insertion); the distance between the waypoint to be inserted and the waypoint that is before or after the two waypoints in the sequence of before-insertion waypoints is greater than or less than the allowable range of the aircraft (e.g., the distance between the waypoint to be inserted and the waypoint that is before the two waypoints in the sequence of before-insertion waypoints is greater than the reachable distance of the aircraft).

Specifically, if the waypoint to be inserted is located in the inaccessible area, the user is judged to be illegally rejected to insert, and optionally, the aircraft can also return the reason for rejecting the insertion; wherein the unreachable area includes an improper height and an improper position of the waypoint to be inserted (e.g., the coordinates of the waypoint are located within the flight-limited area).

Optionally, the editing instruction includes a delete instruction, and the editing of the waypoints in the waypoint sequence in response to the editing instruction includes: and responding to the deleting instruction, and deleting the waypoints in the waypoint sequence.

Specifically, as shown in fig. 4, the waypoint sequence includes 5 waypoints, which are waypoint 1, waypoint 2, waypoint 3, waypoint 4, and waypoint 5, and the aircraft has the following traversal order for the waypoint sequence: when the aircraft receives a deletion instruction sent by the external equipment, the aircraft can delete the waypoint 3 from the waypoint sequence, the aircraft refreshes the waypoint sequence after the waypoint deletion to generate new waypoint sequences waypoint 1, waypoint 2, waypoint 4 and waypoint 5 inserted after the waypoint deletion, and the aircraft flies on the new waypoint sequence at this time, so that the traversing sequence of the aircraft on the waypoint sequence is changed into waypoint 1 → waypoint 2 → waypoint 4 → waypoint 5. Optionally, the user may further continue to delete the waypoint in the waypoint sequence after deleting the waypoint, and optionally, the user may delete a plurality of waypoints in the waypoint sequence at the same time, where the plurality of waypoints may be continuous waypoints or discontinuous waypoints, which is not limited specifically herein.

Optionally, the responding to the deleting instruction to delete the waypoint in the waypoint sequence includes:

and receiving the associated information of the waypoint to be deleted, which is sent by the external equipment, wherein the associated information is used for determining the position of the waypoint to be deleted in the waypoint sequence, determining the waypoint to be deleted through the associated information, and deleting the waypoint to be deleted from the waypoint sequence.

Specifically, when the aircraft receives a deletion instruction sent from the outside and associated information of a waypoint to be deleted, the aircraft can determine the waypoint to be deleted in the waypoint sequence through the associated information of the waypoint to be deleted, namely, the waypoint to be deleted is inquired according to the associated information of the waypoint to be deleted, which waypoint in the waypoint sequence is to be deleted is determined, after the determination is completed, the waypoint is deleted from the waypoint sequence, the waypoint sequence is refreshed, and a new waypoint sequence is generated.

Optionally, the associated information specifically includes: the navigation point to be deleted comprises one or more of position coordinates of the navigation point to be deleted, index IDs of the navigation points to be deleted in the navigation point sequence, position coordinates and/or index IDs of a previous and/or next navigation point in the navigation point sequence, navigation point actions associated with the navigation point to be deleted, and airline attributes associated with the navigation point to be deleted.

Specifically, the association information may be coordinates/index ID/unique attributes of the waypoint to be deleted (waypoint actions associated with the waypoint to be deleted and/or waypoint routes associated with the waypoint to be deleted), and the aircraft queries the waypoint to be deleted in the waypoint sequence according to the coordinates/index ID/unique attributes, so as to determine the waypoint to be deleted.

Specifically, the association information may be coordinates/index ID/unique attribute of a waypoint before the waypoint to be deleted (waypoint action associated with the waypoint to be deleted and/or waypoint route associated with the waypoint to be deleted), and if the aircraft queries the waypoint before the waypoint to be deleted in the waypoint sequence according to the index ID, the aircraft may use a next waypoint of the previous waypoint as the waypoint to be deleted.

Specifically, the association information may be coordinates/index ID/unique attribute of a subsequent waypoint of the waypoint to be deleted (waypoint action associated with the waypoint to be deleted and/or waypoint route associated with the waypoint to be deleted), and if the aircraft queries the subsequent waypoint of the waypoint to be deleted in the waypoint sequence according to the index ID, the aircraft may use a waypoint previous to the subsequent waypoint as the waypoint to be deleted.

Specifically, the association information may be a coordinate/index ID/unique attribute of a previous waypoint (waypoint motion associated with the waypoint to be deleted and/or waypoint route associated with the waypoint to be deleted) of the waypoint to be deleted, a coordinate/index ID/unique attribute of a next waypoint (waypoint motion associated with the waypoint to be deleted and/or waypoint route associated with the waypoint to be deleted), and the coordinate/index ID/unique attribute is used to determine the previous waypoint and the next waypoint in the sequence of waypoints, respectively, and the aircraft may use the waypoint between the previous waypoint and the next waypoint as the waypoint to be deleted.

Optionally, the method further includes: and judging the validity of the deleting instruction. If the judgment result is illegal, the user is refused to delete, and optionally, the aircraft can return the reason for refusing deletion; the validity judgment of the instruction to be deleted includes but is not limited to:

specifically, when the aircraft has no waypoint, the aircraft is judged to be illegal, the user is rejected to delete the waypoint, and optionally, the aircraft can also return the reason for rejecting deletion.

Specifically, when the number of waypoints in the waypoint sequence is 1, the waypoint sequence is judged to be illegal, deletion by the user is rejected, and optionally, the aircraft can also return the reason for rejecting deletion.

Optionally, the method further includes judging the validity of the waypoint to be deleted. If the judgment result is illegal, the user is refused to delete, and optionally, the aircraft can return the reason for refusing deletion; the legality judgment on the waypoint to be deleted includes but is not limited to:

specifically, when the waypoint to be deleted is in the executing state, the waypoint is judged to be illegal, optionally, the waypoint is rejected from the user for deletion, and the aircraft can also return the reason for rejecting deletion; wherein when the aircraft is flying toward a waypoint, the waypoint is in an executing state.

Specifically, when the waypoint to be deleted does not exist, the waypoint is judged to be illegal, the deletion of the user is rejected, and the reason for rejecting the deletion is returned; when the corresponding waypoint which cannot be inquired in the waypoint sequence cannot be inquired according to the associated information of the waypoint to be deleted, which is sent by the user, the waypoint to be deleted does not exist.

Optionally, the method further includes receiving a waypoint to be inserted sent by the external device, and inserting the waypoint to be inserted into a preset position in the waypoint sequence.

Specifically, as shown in fig. 5, the waypoint sequence includes 5 waypoints, which are waypoint 1, waypoint 2, waypoint 3, waypoint 4, and waypoint 5, and the aircraft has the following traversal order for the waypoint sequence: the method comprises the steps that a waypoint 1 → a waypoint 2 → a waypoint 3 → a waypoint 4 → a waypoint 5, when a deleting instruction sent by external equipment is received by an aircraft, the waypoint 3 can be deleted from a waypoint sequence when the deleting instruction sent by the external equipment is received by the aircraft, the waypoint sequence comprises the waypoint 1, the waypoint 2, the waypoint 4 and the waypoint 5, after a waypoint 6 to be inserted sent by the external equipment is received, the waypoint 6 can be inserted between the

waypoints

4 and 5, the waypoint sequence comprises the waypoint 1, the waypoint 2, the waypoint 4, the waypoint 6 and the waypoint 5, the waypoint sequence is refreshed, a new waypoint sequence is generated, and the traversing sequence of the waypoints by the aircraft is the waypoint 1 → the waypoint 2 → the waypoint 4 → the waypoint 6 → the waypoint 5.

Optionally, the preset position is located by one or more of coordinates of waypoints in the waypoint sequence, an index ID, associated waypoint actions and associated waypoint attributes.

Optionally, the editing instruction includes a move instruction, and the editing the waypoints in the waypoint sequence in response to the editing instruction includes: and moving the waypoints in the waypoint sequence in response to the movement command.

Specifically, when a waypoint in the sequence of waypoints has not been executed by the aircraft, the user may change the position of the waypoint in the sequence of waypoints as desired, i.e., the user may change the order in which the waypoints are executed by the aircraft in the sequence of waypoints.

Optionally, the moving the waypoints in the waypoint sequence in response to the movement instruction includes:

and positioning the waypoints to be moved, storing the waypoints to be moved, deleting the waypoints to be moved from the waypoint sequence, and inserting the waypoints to be moved into the preset positions in the waypoint sequence.

Specifically, as shown in fig. 6, the waypoint sequence includes 6 waypoints, which are waypoint 1, waypoint 2, waypoint 3, waypoint 4, waypoint 5, and waypoint 6, and the traversal order of the aircraft to the waypoint sequence is: when the aircraft receives a moving instruction sent by an external device and information associated with the moving instruction, the aircraft firstly inquires about a waypoint 3 to be moved in a waypoint sequence, stores the waypoint 3, deletes the waypoint from the waypoint sequence after the storage is finished, then inserts the stored waypoint 3 between the waypoint 5 and the waypoint 6, refreshes the waypoint sequence to generate a new waypoint sequence, wherein the waypoint sequence comprises the waypoint 1, the waypoint 2, the waypoint 4, the waypoint 5, the waypoint 3 and the waypoint 6, and the aircraft has the traversal sequence of the waypoint 1 → the waypoint 2 → the waypoint 4 → the waypoint 5 → the waypoint 3 → the waypoint 6.

Optionally, the method further includes determining validity of the instruction to be moved. If the judgment result is illegal, the user is refused to move, and optionally, the aircraft can return the reason for refusing to move; the validity judgment of the instruction to be moved includes but is not limited to:

specifically, when there is no waypoint in the aircraft, it is determined that the aircraft is illegal, and the user is rejected to move, and optionally, the aircraft may also return a reason for rejecting the movement.

Specifically, when the number of waypoints in the waypoint sequence is less than or equal to 2, the waypoint sequence is judged to be illegal, the user is rejected to move, and optionally, the aircraft can also return the reason for rejecting to move.

Optionally, the method further includes determining validity of the waypoint to be moved and/or the preset position. If the judgment result is illegal, the user is refused to move, and optionally, the aircraft can return the reason for refusing to move; the judging the validity of the waypoint to be moved and/or the preset position includes but is not limited to:

specifically, when the waypoint to be moved is in the executing state, the waypoint is judged to be illegal, optionally, the user is rejected to move, and the aircraft can also return the reason for rejecting the movement; wherein when the aircraft is flying toward a waypoint, the waypoint is in an executing state.

Specifically, when the waypoint to be moved does not exist, the waypoint is judged to be illegal, the user is rejected to move, and optionally, the reason for rejecting the movement is returned; when the corresponding waypoint cannot be inquired in the waypoint sequence according to the associated information (such as the coordinates, the index ID, the specific attributes and the like) of the waypoint to be moved sent by the user, the waypoint to be moved does not exist.

Specifically, if the attribute of the waypoint to be moved conflicts with the attributes of the two waypoints before and after the preset position, the attribute is judged to be illegal, the user insertion is rejected, and optionally, the reason for rejecting the movement is fed back. For the definition of attribute conflicts, please refer to the above-mentioned part, which is not described herein again.

Optionally, the waypoint to be inserted sent by the external device is received, the waypoint executed by the aircraft in the waypoint sequence is deleted, and the waypoint to be inserted is inserted into the preset position in the waypoint sequence which is not executed in the waypoint sequence.

Because the storage space of the internal memory of the aircraft is limited, the aircraft can only store a limited number of waypoints, at present, the number of the waypoints stored by the unmanned aerial vehicle is generally not more than 100, and after the unmanned aerial vehicle executes all the stored waypoints, all the waypoint sequences need to be deleted and then a new waypoint sequence needs to be uploaded, so that the mode of uploading the waypoints is not flexible, dynamic operation on the waypoint sequences is not supported, and the user experience is poor.

Specifically, in this embodiment, as shown in fig. 7, the current waypoint sequence includes 5 waypoints, which are waypoint 1, waypoint 2, waypoint 3, waypoint 4 and waypoint 5, respectively, where waypoint 1 and waypoint 2 are waypoints that have already been executed by the aircraft, and after waypoint 2 is executed, the next traversal order of the aircraft for the waypoints is the traversal order of the aircraft for the waypoint sequence: when the aircraft receives a to-be-inserted waypoint 6 sent by an external device, the aircraft deletes the executed waypoint 1 and waypoint 2, inserts the waypoint 6 between the waypoint 3 and the waypoint 4, refreshes a waypoint sequence after the new waypoint is inserted by the aircraft, generates a new waypoint sequence waypoint 3, waypoint 6, waypoint 4 and waypoint 5 after the new waypoint is inserted, flies on the new waypoint sequence at the moment, and changes the traversing sequence of the waypoint sequence of the aircraft into waypoint 3 → waypoint 6 → waypoint 4 → waypoint 5. Alternatively, waypoint 6 may be inserted behind waypoint 5 as the next waypoint for waypoint 5 to generate a new waypoint sequence of waypoints 3, waypoint 4, waypoint 5, waypoint 6 after insertion, when the aircraft flies on the new waypoint sequence and the sequence of the aircraft traversing the waypoint sequence becomes waypoint 3 → waypoint 4 → waypoint 5 → waypoint 6. Therefore, the user can send a control command in the flying process of the aircraft, delete the waypoints executed by the aircraft, clear available storage space and insert the new waypoints into the waypoint sequence, and by the method, the user uploads infinite waypoints into the waypoint sequence in the flying process of the aircraft without uploading the new waypoints until all the waypoints in the waypoint sequence are executed, so that the dynamic operation of the waypoints is realized, and good user experience is created.

Optionally, when the aircraft interrupts to execute the preset waypoint sequence, the interruption position of the aircraft is recorded, after the aircraft is powered on again, the preset waypoint sequence which is executed by interrupting and is sent by the external device is received, the starting position of the aircraft is determined according to the interruption position, and the aircraft is controlled to continue to execute the preset waypoint sequence which is executed by interrupting from the starting position.

Specifically, in the process of executing the waypoint sequence of the airline data, there may be an event that an emergency landing, a battery return, and the like are required, or an event that the aircraft needs to be manually operated to fly for a period of time and then return to the airline to continue to execute a flight task in the process of automatic flight, for example, when the aircraft flies to a certain waypoint of the planned waypoint sequence to take a picture, it is found that a picture also needs to be taken if the aircraft is not far away from the waypoint, and the aircraft needs to be temporarily controlled to fly to the non-far distance to take a picture. Once the above situation occurs, when the flight mission is interrupted, in order to ensure that the flight mission is completed by continuing to fly on the waypoint sequence of the preset airline data, breakpoint continuous flight processing needs to be executed. When the fact that the aircraft interrupts and executes the waypoint sequence in the preset airline data is detected, the interruption position of the aircraft is recorded, the starting position of the aircraft is determined according to the interruption position, and the aircraft is controlled to continue to execute the interrupted and executed preset waypoint sequence from the starting position.

Specifically, as shown in fig. 8, after the aircraft has executed waypoint 1, waypoint 2 and waypoint 3 in the waypoint sequence, the aircraft is low in power and the remaining power is not sufficient to support the aircraft to execute the remaining waypoint sequence, at this time, the aircraft interrupts execution of the remaining waypoint sequence (waypoint 4 and waypoint 5), the aircraft records the interruption position, returns to replace the battery, receives the unexecuted waypoint sequences (such as waypoint 4 and waypoint 5) again after the aircraft replaces the battery, determines the starting position of the aircraft according to the interruption position, and then executes the waypoint sequence (waypoint 4 and waypoint 5) of interrupted execution from the starting position, thereby realizing breakpoint continuous flight. Wherein the interruption position can be a GPS position when the aircraft interrupts execution of the waypoint sequence, the starting position can be a first waypoint (waypoint 4) in the waypoint sequence which is not executed, and in addition, the starting position can also be the GPS position as well as the interruption position; in addition, the interruption position may be the waypoint (waypoint 4) at which the aircraft is ready to execute when the aircraft interrupts execution of the sequence of waypoints, which waypoint may be taken as the starting position; in addition, the interruption position may be the last waypoint (waypoint 3) executed by the aircraft when the aircraft interrupts the execution of the waypoint sequence, and the waypoint may be used as the starting position, or the first waypoint (waypoint 4) in the unexecuted waypoint sequence may be used as the starting position; the embodiments of the present invention are not specifically limited herein.

The real-time planning of the air route can be realized through editing functions such as air point insertion, deletion and movement and a breakpoint cruising function, and the functions include but are not limited to: the aircraft acquires environment information through sensors such as vision and radar, plans an adjustment scheme (for example, insertion, deletion, movement and the like of waypoints, and determination of the preset position) for all waypoints or non-executed waypoints in the waypoint sequence according to the environment information, or feeds the environment information back to the external equipment, and the external equipment plans an adjustment scheme (for example, insertion, deletion, movement and the like of waypoints, and determination of the preset position) for all waypoints or non-executed waypoints in the waypoint sequence according to the environment information, so that planning obstacle avoidance, real-time navigation and the like are realized.

According to the embodiment of the invention, by receiving the command which is sent by the external equipment and used for editing the waypoints in the waypoint sequence, responding to the edited command, carrying out editing operations such as dynamic insertion, deletion and movement on the waypoints in the waypoint sequence, and generating the edited waypoint sequence, the efficient and dynamic editing of the waypoints can be realized, and meanwhile, the infinite waypoint flight and breakpoint cruising of the aircraft can also be realized.

An embodiment of the present invention further provides a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, part or all of the steps of the waypoint editing method in the embodiment corresponding to fig. 2 may be included.

Fig. 9 is a schematic structural diagram of a waypoint editing apparatus according to an embodiment of the invention. The waypoint editing apparatus described in this embodiment includes:

the receiving module 201 receives an instruction for editing waypoints in the waypoint sequence, wherein the edited instruction is sent by an external device.

And the control module 202 is used for responding to the edited instruction, editing the waypoints in the waypoint sequence and generating an edited waypoint sequence.

Optionally, the editing instruction includes an insertion instruction, and the control module 202 is specifically configured to respond to the insertion instruction, and insert the waypoint to be inserted received by the receiving module 201 into a preset position in the waypoint sequence.

Optionally, the control module 202 is further configured to determine the validity of the instruction to be inserted.

Specifically, before the waypoint to be inserted received by the receiving module 201 is inserted into the preset position in the waypoint sequence, the validity of the insertion instruction is judged, and if the insertion instruction is legal, the next operation is allowed to be performed.

Optionally, the control module 202 is further configured to determine the validity of the preset position and/or the waypoint to be inserted.

Optionally, the editing instruction includes a deletion instruction, and the control module 202 is specifically configured to respond to the deletion instruction to delete the waypoint in the waypoint sequence.

Optionally, the receiving module 201 is further configured to receive associated information of a waypoint to be deleted, where the associated information is used to determine a position of the waypoint to be deleted in the waypoint sequence, and the waypoint to be deleted is sent by the external device.

The control module 202 is specifically configured to determine the waypoint to be deleted according to the associated information, and delete the waypoint to be deleted from the waypoint sequence.

Optionally, the associated information includes: the navigation point to be deleted comprises one or more of position coordinates of the navigation point to be deleted, index number IDs of the navigation point to be deleted in the navigation point sequence, position coordinates and/or index IDs of previous and/or next navigation points of the navigation point to be deleted in the navigation point sequence, navigation point actions associated with the navigation point to be deleted, and route attributes associated with the navigation point to be deleted.

Optionally, the control module 202 is further configured to determine the validity of the deleting instruction.

Optionally, the receiving module 201 is further configured to determine the validity of the waypoint to be deleted.

Optionally, the receiving module is further configured to receive the waypoint to be inserted, which is sent by the external device.

The control module is further used for inserting the waypoint to be inserted into the preset position in the waypoint sequence.

Optionally, the editing instruction includes a moving instruction, and the control module 202 is specifically configured to respond to the moving instruction to move the waypoint in the waypoint sequence.

Optionally, the control module 202 is specifically configured to locate a waypoint to be moved, store the waypoint to be moved, delete the waypoint to be moved from the waypoint sequence, and insert the waypoint to be moved into a preset position in the waypoint sequence.

Optionally, the control module 202 is further configured to determine the validity of the instruction to be moved.

Optionally, the control module 202 is further configured to determine the validity of the waypoint to be moved and/or the preset position.

Optionally, the receiving module 201 is further configured to receive the waypoint to be inserted, which is sent by the external device.

The control module 202 is further configured to delete a waypoint that has been executed by the aircraft in the waypoint sequence, and insert the waypoint to be inserted into a preset position in the waypoint sequence that is not executed in the waypoint sequence.

Optionally, the control module 202 includes an interrupt processing unit 203, where:

the interruption processing unit 203 is configured to record an interruption position of the aircraft when the aircraft interrupts an execution route.

The receiving module 201 is further configured to receive the interrupt execution route sent by the external device.

The interruption processing unit 203 is further configured to determine a starting location of the aircraft according to the interruption location, and control the aircraft to continue to execute the route of the interruption execution from the starting location.

It can be understood that the functions of the functional modules of the waypoint editing apparatus according to the embodiment of the present invention can be specifically implemented according to the method in the embodiment of the method, and the specific implementation process thereof can refer to the related description of the embodiment of the method, and is not described herein again.

Fig. 10 is a schematic structural diagram of a waypoint editing apparatus according to an embodiment of the invention. The waypoint editing apparatus described in this embodiment includes: communication device 301, processor 302, and memory 303. The communication device 301, the processor 302, and the memory 303 are connected by a bus.

The Processor 302 may be a Central Processing Unit (CPU), and may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 303, which may include both read-only memory and random access memory, provides instructions and data to the processor 302. A portion of memory 303 may also include non-volatile random access memory. Wherein:

a communication device 301, configured to receive an instruction to edit a waypoint in a sequence of waypoints, wherein the edited instruction is sent by an external apparatus.

And the processor 302 is configured to edit waypoints in the waypoint sequence in response to the edited instruction, and generate an edited waypoint sequence.

Optionally, the edited instruction includes an insertion instruction, and the processor 302 is specifically configured to insert the waypoint to be inserted received by the communication device 301 into a preset position in the waypoint sequence in response to the insertion instruction.

Optionally, the processor 302 is further configured to determine validity of the waypoint to be inserted, and insert the waypoint to be inserted into a preset position in the waypoint sequence if the waypoint to be inserted is valid.

Optionally, the processor 302 is further configured to determine the validity of the instruction to be inserted

Optionally, the processor 302 is further configured to determine the validity of the preset position and/or the waypoint to be inserted.

Optionally, the edited instruction includes a deletion instruction, and the processor 302 is specifically configured to delete the waypoint in the waypoint sequence in response to the deletion instruction.

Optionally, the communication device 301 is further configured to receive associated information of a waypoint to be deleted, where the associated information is used to determine a position of the waypoint to be deleted in the waypoint sequence, and the waypoint to be deleted is sent by the external device.

The processor 302 is specifically configured to determine the waypoint to be deleted through the associated information, and delete the waypoint to be deleted from the waypoint sequence.

Optionally, the associated information includes: one or more of the position coordinates of the waypoint to be deleted, the index ID of the waypoint to be deleted in the waypoint sequence, the position coordinates and/or the index ID of the previous and/or next waypoint of the waypoint to be deleted in the waypoint sequence, waypoint actions associated with the waypoint to be deleted, and airline attributes associated with the waypoint to be deleted.

Optionally, the processor 302 is further configured to determine the validity of the deletion instruction.

Optionally, the processor 302 is further configured to determine the validity of the waypoint to be deleted.

Optionally, the communication device 301 is further configured to receive a waypoint to be inserted, which is sent by the external device.

The processor 302 is further configured to insert the waypoint to be inserted into a preset position in the waypoint sequence.

Optionally, the editing instruction includes a moving instruction, and the processor 302 is specifically configured to move the waypoint in the waypoint sequence in response to the moving instruction.

Optionally, the processor 302 is specifically configured to locate a waypoint to be moved, store the waypoint to be moved, delete the waypoint to be moved from the waypoint sequence, and insert the waypoint to be moved into a preset position in the waypoint sequence.

Optionally, the processor 302 is further configured to determine the validity of the instruction to be moved.

Optionally, the processor 302 is further configured to determine the validity of the waypoint to be moved and/or the preset position.

The processor 302 is further configured to delete a waypoint in the waypoint sequence that has been executed by the aircraft, and insert the waypoint to be inserted into a preset position in the waypoint sequence that is not executed in the waypoint sequence.

Optionally, the processor 302 is further configured to record an interruption position of the aircraft when the aircraft interrupts an execution route.

The communication device 301 is further configured to receive a route sent by the external device for interrupting execution.

The processor 302 is further configured to determine a starting location of the aircraft according to the interruption location, and control the aircraft to continue executing the route of the interruption execution from the starting location.

In a specific implementation, the communication device 301, the processor 302, and the memory 303 described in this embodiment of the present invention may execute the implementation manner described in the waypoint editing method provided in fig. 2 in the embodiment of the present invention, and may also execute the implementation manner of the waypoint editing apparatus described in fig. 9 in the embodiment of the present invention, which is not described herein again.

An aircraft provided in an embodiment of the present invention includes:

the power system is used for providing flight power for the aircraft;

FIG. 10 provides any one of the waypoint editing devices for editing waypoints in a waypoint sequence.

It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The method, the device, the equipment and the aircraft provided by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A waypoint editing apparatus characterized in that an aircraft comprises the waypoint editing apparatus, wherein the apparatus comprises:

the system comprises a receiving module, a processing module and a display module, wherein the receiving module is used for receiving an instruction for editing waypoints in a waypoint sequence which are not executed by an aircraft in airline data, the edited instruction is sent to the aircraft by external equipment, the airline data is generated by the external equipment and sent to the aircraft, and the external equipment comprises one or more of a smart phone, a tablet computer, an aircraft ground control station, a watch, a bracelet and video glasses;

and the control module is used for responding to the edited instruction, editing the waypoints which are not executed by the aircraft in the process that the aircraft flies on the airline represented by the airline data, and generating an edited waypoint sequence, wherein the aircraft flies in the edited waypoint sequence, and the editing comprises one or more of insertion, deletion and movement.

2. The apparatus of claim 1, wherein the edited instructions comprise insertion instructions;

the control module is specifically configured to respond to the insertion instruction, and insert the waypoint to be inserted received by the receiving module into a preset position in the waypoint sequence in the flight process of the aircraft.

3. The apparatus of claim 2,

the control module is also used for judging the legality of the insertion instruction.

4. The apparatus of claim 2,

the control module is further used for judging the legality of the preset position and/or the waypoint to be inserted.

5. The apparatus of claim 1, wherein the edited instructions comprise a delete instruction;

the control module is specifically configured to respond to the deletion instruction, and delete waypoints in the waypoint sequence in the flight process of the aircraft.

6. The apparatus of claim 5,

the receiving module is further configured to receive associated information of a waypoint to be deleted, which is sent by the external device, where the associated information is used to determine a position of the waypoint to be deleted in the waypoint sequence;

the control module is specifically configured to determine the waypoint to be deleted through the associated information, and delete the waypoint to be deleted from the waypoint sequence.

7. The apparatus of claim 6,

the associated information includes: the navigation point to be deleted comprises one or more of position coordinates of the navigation point to be deleted, index number IDs of the navigation point to be deleted in the navigation point sequence, position coordinates and/or index IDs of previous and/or next navigation points of the navigation point to be deleted in the navigation point sequence, navigation point actions associated with the navigation point to be deleted, and route attributes associated with the navigation point to be deleted.

8. The apparatus of claim 5,

the control module is also used for judging the validity of the deleting instruction.

9. The apparatus of claim 6,

and the control module is also used for judging the legality of the waypoint to be deleted.

10. The apparatus of claim 5,

the receiving module is further configured to receive the waypoint to be inserted sent by the external device;

11. The apparatus of claim 1, wherein the edited instructions comprise movement instructions;

the control module is specifically configured to respond to the movement instruction, and move the waypoints in the waypoint sequence in the process of flying the aircraft.

12. The apparatus of claim 11,

the control module is specifically configured to locate a waypoint to be moved, store the waypoint to be moved, delete the waypoint to be moved from the waypoint sequence, and insert the waypoint to be moved into a preset position in the waypoint sequence.

13. The apparatus of claim 11,

the control module is further configured to determine the validity of the movement instruction.

14. The apparatus of claim 12,

the control module is further used for judging the legality of the waypoint to be moved and/or the preset position.

15. The apparatus of claim 1,

the control module is further configured to delete waypoints that have been executed by the aircraft in the waypoint sequence in the course of flying of the aircraft, and insert the waypoint to be inserted into a preset position in the waypoint sequence that is not executed in the waypoint sequence.

16. The apparatus of claim 1, wherein the control module comprises an interrupt handling unit, wherein:

the interrupt processing unit is used for recording the interrupt position of the aircraft when the aircraft interrupts the execution airline;

the receiving module is further configured to receive the interrupt execution route sent by the external device;

the interruption processing unit is further configured to determine a starting position of the aircraft according to the interruption position, and control the aircraft to continue to execute the route of the interruption execution from the starting position.

17. The apparatus of any one of claims 2, 10, 12 and 15,

the preset position is located by one or more of coordinates of waypoints in the sequence of waypoints, an index ID, associated waypoint actions, and associated waypoint attributes.

18. The apparatus of claim 17,

one or more of the coordinates of the waypoints in the sequence of waypoints, the index ID, the associated waypoint actions, and the associated route attributes are received from the external device.

19. A waypoint editing method comprising:

the method comprises the steps that an aircraft receives an instruction for editing waypoints in a waypoint sequence which are not executed by the aircraft in airline data, wherein the edited instruction is sent to the aircraft by external equipment, the airline data are generated by the external equipment and sent to the aircraft, and the external equipment comprises one or more of a smart phone, a tablet computer, an aircraft ground control station, a watch, a bracelet and video glasses;

the aircraft responds to the edited instruction, edits the waypoints which are not executed by the aircraft in the flight process of the airline represented by the airline data, and generates an edited waypoint sequence, wherein the editing comprises one or more of insertion, deletion and movement;

the aircraft flies in the edited waypoint sequence.

20. The method of claim 19, wherein the compiled instructions include insertion instructions, and wherein the aircraft, in response to the compiled instructions, compiles waypoints in the sequence of waypoints during flight including:

and the aircraft responds to the insertion instruction and inserts the received waypoint to be inserted into a preset position in the waypoint sequence in the flight process.

21. The method of claim 20, further comprising:

and the aircraft judges the legality of the insertion instruction.

22. The method of claim 20, further comprising:

and the aircraft judges the legality of the preset position and/or the waypoint to be inserted.

23. The method of claim 19, wherein the edited instructions comprise a delete instruction, and wherein editing waypoints in the sequence of waypoints during flight by the aircraft in response to the edited instruction comprises:

and the aircraft responds to the deleting instruction and deletes the waypoints in the waypoint sequence in the flight process.

24. The method of claim 23, wherein the aircraft, in response to the deletion instruction, deletes waypoints in the sequence of waypoints during flight comprising:

the aircraft receives the associated information of the waypoint to be deleted, which is sent by the external equipment, wherein the associated information is used for determining the position of the waypoint to be deleted in the waypoint sequence;

and the aircraft determines the waypoints to be deleted through the associated information, and deletes the waypoints to be deleted from the waypoint sequence in the flight process.

25. The method of claim 24,

the associated information includes: one or more of the position coordinates of the waypoint to be deleted, the index ID of the waypoint to be deleted in the waypoint sequence, the position coordinates and/or the index ID of the previous and/or next waypoint of the waypoint to be deleted in the waypoint sequence, waypoint actions associated with the waypoint to be deleted, and airline attributes associated with the waypoint to be deleted.

26. The method of claim 23, further comprising:

and the aircraft judges the legality of the deleting instruction.

27. The method of claim 24, further comprising:

and the aircraft judges the legality of the waypoint to be deleted.

28. The method of claim 23, further comprising:

the aircraft receives a waypoint to be inserted sent by the external equipment;

and the aircraft inserts the waypoints to be inserted into preset positions in the waypoint sequence in the flight process.

29. The method of claim 19, wherein the compiled instructions include movement instructions, and wherein the aircraft, in response to the compiled instructions, compiles waypoints in the sequence of waypoints during flight including:

and the aircraft responds to the movement instruction and moves the waypoints in the waypoint sequence in the flight process.

30. The method of claim 29, wherein the aircraft moving waypoints in the sequence of waypoints during flight in response to the movement instructions comprises:

the aircraft positions a waypoint to be moved and stores the waypoint to be moved;

and deleting the waypoint to be moved from the waypoint sequence by the aircraft in the flying process, and inserting the waypoint to be moved into a preset position in the waypoint sequence.

31. The method of claim 29, further comprising:

and the aircraft judges the legality of the movement instruction.

32. The method of claim 30, further comprising:

and the aircraft judges the legality of the waypoint to be moved and/or the preset position.

33. The method of claim 19, further comprising:

the aircraft receives a waypoint to be inserted sent by the external equipment;

and deleting the waypoints executed by the aircraft in the waypoint sequence in the flying process of the aircraft, and inserting the waypoint to be inserted into a preset position in the waypoint sequence which is not executed in the waypoint sequence.

34. The method of claim 19, further comprising:

when the aircraft breaks an execution route, the aircraft records the breaking position of the aircraft;

the aircraft receives the interrupt execution route sent by the external equipment;

and the aircraft determines a starting position of the aircraft according to the interruption position, and controls the aircraft to continuously execute the route of the interruption execution from the starting position.

35. The method of any one of claims 20, 28, 30 and 33,

36. The method of claim 35,

37. A waypoint editing device characterized in that an aircraft comprises the waypoint editing device, wherein the device comprises:

the communication device is used for receiving an instruction for editing waypoints in a waypoint sequence which is not executed by an aircraft in the airline data, wherein the edited instruction is sent to the aircraft by external equipment, the airline data is generated by the external equipment and sent to the aircraft, and the external equipment comprises one or more of a smart phone, a tablet computer, an aircraft ground control station, a watch, a bracelet and video glasses;

a processor, configured to, in response to the editing instructions, edit waypoints not performed by the aircraft during flight of the aircraft on a course represented by the course data, and generate an edited sequence of waypoints in which the aircraft is flying, the editing including one or more of inserting, deleting, and moving.

38. The apparatus of claim 37, wherein the edited instructions comprise insert instructions;

the processor is specifically configured to insert, in response to the insertion instruction, the waypoint to be inserted, received by the communication device, into a preset position in the waypoint sequence during flight of the aircraft.

39. The apparatus of claim 38,

the processor is further configured to determine the validity of the insertion instruction.

40. The apparatus of claim 38,

the processor is further configured to determine the validity of the preset position and/or the waypoint to be inserted.

41. The apparatus of claim 37, wherein the edited instructions comprise a delete instruction;

the processor is specifically configured to respond to the deletion instruction, and delete waypoints in the waypoint sequence in the process of flying the aircraft.

42. The apparatus of claim 41,

the communication device is further configured to receive associated information of a waypoint to be deleted, which is sent by the external device, where the associated information is used to determine a position of the waypoint to be deleted in the waypoint sequence;

the processor is specifically configured to determine the waypoint to be deleted through the associated information, and delete the waypoint to be deleted from the waypoint sequence.

43. The apparatus of claim 42,

44. The apparatus of claim 41,

the processor is further configured to determine validity of the delete instruction.

45. The apparatus of claim 42,

the processor is further configured to determine the validity of the waypoint to be deleted.

46. The apparatus of claim 41,

the communication device is also used for receiving the waypoint to be inserted sent by the external equipment;

the processor is further configured to insert the waypoint to be inserted into a preset position in the waypoint sequence.

47. The apparatus of claim 37, wherein the edited instructions comprise movement instructions;

the processor is specifically configured to move a waypoint in the sequence of waypoints during flight of the aircraft in response to the movement instruction.

48. The apparatus of claim 47,

the processor is specifically configured to locate a waypoint to be moved, store the waypoint to be moved, delete the waypoint to be moved from the waypoint sequence, and insert the waypoint to be moved into a preset position in the waypoint sequence.

49. The apparatus of claim 47,

the processor is further configured to determine validity of the movement instruction.

50. The apparatus of claim 48,

the processor is further configured to judge the validity of the waypoint to be moved and/or the preset position.

51. The apparatus of claim 37,

the processor is further configured to delete waypoints that have been executed by the aircraft in the waypoint sequence in the course of flying of the aircraft, and insert the waypoint to be inserted into a preset position in the waypoint sequence that is not executed in the waypoint sequence.

52. The apparatus of claim 37,

the processor is further used for recording the interruption position of the aircraft when the aircraft interrupts the execution airline;

the communication device is also used for receiving the interrupt execution route sent by the external equipment;

the processor is further used for determining a starting position of the aircraft according to the interruption position and controlling the aircraft to continuously execute the interrupt execution route from the starting position.

53. The apparatus of any one of claims 38, 46, 48 and 51,

54. The apparatus of claim 53,

55. An aircraft, characterized in that it comprises:

the power system is used for providing flight power for the aircraft;

the waypoint editing device of any of claims 37-54 for editing waypoints in a sequence of waypoints during flight of the aircraft.