WO2018076372A1 - 一种航点编辑方法、装置、设备及飞行器 - Google Patents

一种航点编辑方法、装置、设备及飞行器 Download PDF

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Publication number
WO2018076372A1
WO2018076372A1 PCT/CN2016/104123 CN2016104123W WO2018076372A1 WO 2018076372 A1 WO2018076372 A1 WO 2018076372A1 CN 2016104123 W CN2016104123 W CN 2016104123W WO 2018076372 A1 WO2018076372 A1 WO 2018076372A1
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WIPO (PCT)
Prior art keywords
waypoint
sequence
instruction
deleted
aircraft
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PCT/CN2016/104123
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English (en)
French (fr)
Inventor
陈超彬
闫光
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680014268.8A priority Critical patent/CN107735737B/zh
Priority to PCT/CN2016/104123 priority patent/WO2018076372A1/zh
Publication of WO2018076372A1 publication Critical patent/WO2018076372A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft

Definitions

  • the present invention relates to the field of flight technology, and in particular, to a waypoint editing method, apparatus, device, and aircraft.
  • unmanned aerial vehicles UAVs
  • other aircraft are continuously enriched, and their application fields are also expanding, including professional aerial photography, agricultural irrigation, electric power cruise, remote sensing mapping, and public security monitoring.
  • the flight path of the aircraft is set through the ground flight control console, and the aircraft is controlled to fly according to the set route to complete the corresponding task.
  • the route of the aircraft may be composed of a plurality of waypoints, each of which has corresponding attribute parameters, including, for example, altitude, speed, position, etc., which may be required before the flight of the aircraft according to the set route or during the flight.
  • the point is edited, such as modifying the attribute parameters of the waypoint, deleting the waypoint, and the like, and the existing waypoint editing mode cannot dynamically edit the waypoint, and cannot operate the waypoint during the flight of the aircraft, generally Less efficient.
  • the embodiment of the invention discloses a waypoint editing method, device, device and aircraft for realizing efficient editing of waypoints.
  • a first aspect of the embodiment of the present invention discloses a waypoint editing method, including:
  • An instruction to edit a waypoint in a waypoint sequence is received, wherein the edited instruction is sent by an external device.
  • the waypoints in the waypoint sequence are edited to generate an edited waypoint sequence.
  • a second aspect of the embodiment of the present invention discloses a waypoint editing device, including:
  • a receiving module configured to receive an instruction to edit a waypoint in the sequence of the waypoint, wherein the edited instruction is sent by an external device.
  • control module configured to edit a waypoint in the sequence of the waypoints in response to the edited command, Generate an edited waypoint sequence.
  • a third aspect of the embodiment of the present invention discloses a waypoint editing device, including:
  • a communication device configured to receive an instruction to edit a waypoint in the waypoint sequence, wherein the edited instruction is sent by an external device.
  • the processor is configured to edit the waypoints in the waypoint sequence in response to the edited instruction to generate an edited waypoint sequence.
  • a fourth aspect of an embodiment of the present invention discloses an aircraft, including
  • a power system for providing flight power to the aircraft is
  • the waypoint editing device of any of the third aspects for editing a waypoint in a waypoint sequence.
  • the waypoint in the waypoint sequence is edited, and the edited waypoint sequence is generated. It can realize various operations on the waypoints, insert, delete, move and other waypoints in the route during the flight of the aircraft, and adjust the route in real time, which can realize efficient editing of the waypoints.
  • FIG. 1 is a schematic diagram of an aircraft control system disclosed in an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of a waypoint editing method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a waypoint insertion operation disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a waypoint deletion operation according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an operation of deleting a waypoint and then inserting a new waypoint according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of a waypoint moving operation disclosed in an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of deleting an executed waypoint insertion new waypoint according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a breakpoint continuous flying operation disclosed in an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a waypoint editing apparatus according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a waypoint editing device according to an embodiment of the present invention.
  • FIG. 1 it is a schematic structural diagram of a flight system according to an embodiment of the present invention.
  • the system includes an external device 101 as a ground-end remote control device and an aircraft 102.
  • the external device 101 can be a smart phone, a tablet computer, or an aircraft.
  • the route that the aircraft 102 flies is called a route.
  • the route includes a plurality of waypoints, and the plurality of waypoints are referred to as a waypoint sequence.
  • the user can edit the aircraft 102 on the ground end remote control device.
  • the sequence of points enables the aircraft to fly autonomously on the route.
  • the external device 101 When editing the waypoint sequence, the external device 101 presents the user with an interactive interface including a map of a certain target area, and the user can click on the map as needed, and these points are the waypoints.
  • waypoints exist in the form of coordinates.
  • the waypoint may include, in addition to the coordinates, an index ID of the waypoint, a waypoint action information, a route attribute associated with the waypoint, etc., wherein the waypoint action includes but is not limited to the pan/tilt control information.
  • shooting control information wherein the route attributes associated with the waypoint may include, but are not limited to, a flight mode of a straight flight mode, a coordinated turn mode, a POI, and the like.
  • the external device 101 determines the location where the user clicks on the map of the interactive interface as the waypoint, the waypoint coordinates may be the GPS position coordinates of the points, and the flight height of the waypoint may be the default height value.
  • the user can also dynamically configure the height of one or more waypoints in the external device 101 according to the needs and the altitude of the actual location on the map.
  • the route data generated by the external device 101 is transmitted to the aircraft 102.
  • the route data includes a plurality of waypoints.
  • each waypoint may be composed of GPS position coordinates and altitude values, and the height of the waypoint is one of the aircraft 102 flights. The default height can also be specified by the user.
  • waypoints can also consist of GPS coordinates and altitude values.
  • the aircraft 102 executes the route data and flies on the route indicated by the route data. Specifically, the controller in the aircraft 102 controls the aircraft 102 to fly to the waypoints according to the respective waypoints included in the route data to achieve flight on the route indicated by the route data.
  • the traditional waypoint of the flight control is limited by the embedded platform property of the flight control.
  • the number of supported waypoints is limited, and the waypoints uploaded to the flight control are not supported during the flight.
  • the number of flight control's internal waypoint waypoints and waypoint editing mode is not flexible enough to limit the flexibility of flight control in aerial photography, industrial applications, etc., as well as the friendliness of peripheral function support, which limits the user experience. Upgrade.
  • FIG. 1 is a schematic flowchart diagram of a waypoint editing method according to an embodiment of the present invention. Specifically, as shown in FIG. 1, the waypoint editing method of the embodiment of the present invention may include the following steps:
  • the external device may specifically include: a wearable device such as a watch or a wristband, a mobile terminal such as a smart phone or a tablet computer, a remote controller, and a ground control station and combinations thereof.
  • the user can input a waypoint editing instruction in the waypoint sequence on the interactive interface of the external device, and send the editing instruction to the aircraft.
  • the user can edit for a single waypoint in the waypoint sequence, or simultaneously edit multiple waypoints in the waypoint sequence.
  • the aircraft when the aircraft receives an instruction to edit the waypoint in the waypoint sequence of the external device, the aircraft responds to the instruction, edits the waypoint in the waypoint sequence, and completes the corresponding editing action, and then edits The subsequent waypoint sequence is refreshed to generate an edited waypoint sequence.
  • the aircraft can fly in the edited waypoint sequence, realize the dynamic operation of the waypoint sequence, adjust the waypoint sequence in real time, and change the route data executed by the aircraft in real time.
  • the waypoint sequence is a sequence of waypoints that are not executed by the aircraft.
  • the aircraft when the aircraft flies on the route sequence in the route data, the aircraft can receive an edit command of the external device to the waypoint in real time, wherein the waypoint is a waypoint that is not executed by the aircraft, and by editing the waypoint, The user can change the sequence of waypoints that have not been executed, and the user experience is good.
  • the edited instruction includes an insertion instruction
  • the response editing instruction edits the waypoint in the waypoint sequence, including: responding to the insertion instruction, inserting the received to-be-insert waypoint into the waypoint sequence Set the location.
  • the waypoint sequence includes four waypoints, namely, waypoint 1, waypoint 2, waypoint 3, and waypoint 4, and the traversal sequence of the aircraft to the waypoint sequence is: waypoint 1 ⁇ waypoint 2 ⁇ waypoint 3 ⁇ waypoint 4, when the aircraft receives the insertion command sent by the external device, the aircraft inserts the waypoint 5 to be inserted received from the external device between waypoint 2 and waypoint 3.
  • the aircraft refreshes the waypoint sequence after inserting the new waypoint, and generates the new waypoint sequence waypoint 1, waypoint 2, waypoint 5, waypoint 3, and waypoint 4 after the insertion. At this time, the aircraft is on the new waypoint sequence.
  • the traversal sequence of the aircraft to the waypoint sequence becomes waypoint 1 ⁇ waypoint 2 ⁇ waypoint 5 ⁇ waypoint 3 ⁇ waypoint 4.
  • the user can further insert other waypoints to be inserted into the waypoint sequence.
  • the user can simultaneously insert multiple waypoints to be inserted into the waypoint sequence, and multiple to be inserted.
  • Waypoints can be inserted continuously into a sequence of waypoints or inserted into different locations in the sequence of waypoints.
  • the preset location is located by one or more of coordinates, index IDs, associated waypoint actions, and associated waypoint attributes in the waypoint sequence.
  • Methods for locating the preset position in the waypoint sequence include, but are not limited to:
  • the preset position in the waypoint sequence may be determined by coordinates of two waypoints in the waypoint sequence, and the aircraft receives coordinates of two waypoints in the waypoint sequence sent by the external device, and the aircraft passes two flights.
  • the coordinates of the point are queried to the corresponding two waypoints, and the waypoints to be inserted are inserted between the two waypoints.
  • the preset position in the waypoint sequence may be determined by an index ID of two waypoints in the waypoint sequence, and the aircraft receives an index ID of two waypoints in the waypoint sequence sent by the external device, and the aircraft passes two The index ID of each waypoint is queried to the corresponding two waypoints, and the waypoint to be inserted is inserted between the two waypoints.
  • the preset position in the waypoint sequence may be indexed by two waypoints in the waypoint sequence.
  • the ID determines that the aircraft receives the index IDs of the two waypoints in the waypoint sequence sent by the external device, and the aircraft queries the corresponding two waypoints through the index IDs of the two waypoints, and inserts the waypoints to be inserted into the Between two waypoints.
  • the preset position in the waypoint sequence may be determined by a unique attribute of two waypoints in the waypoint sequence, and the aircraft receives the unique attribute of the two waypoints in the waypoint sequence sent by the external device, and the aircraft passes the two
  • the unique attributes of the waypoints are queried to the corresponding two waypoints, and the waypoints to be inserted are inserted between the two waypoints.
  • the unique waypoint attributes are the attributes of the waypoints, route attributes, etc. that can be used to determine the location of two waypoints.
  • the preset position in the waypoint sequence may be determined by coordinates of a waypoint in the waypoint sequence, and the aircraft receives coordinates of a waypoint in the waypoint sequence sent by the external device, and the aircraft passes the coordinates of the waypoint.
  • the waypoint to be inserted is used as the query to the corresponding waypoint in the inserted waypoint sequence The previous waypoint or the next waypoint.
  • the preset position in the waypoint sequence may be determined by an index ID of a waypoint in the waypoint sequence, and the aircraft receives an index ID of a waypoint in the waypoint sequence sent by the external device, and the aircraft passes the waypoint
  • the index ID is queried to the corresponding waypoint, and the waypoint to be inserted is inserted in front of or behind the waypoint.
  • the waypoint to be inserted is used as the query corresponding to the waypoint.
  • the preset position in the waypoint sequence may be determined by a unique attribute of a waypoint in the waypoint sequence, and the aircraft receives a unique attribute of a waypoint in the waypoint sequence sent by the external device, and the aircraft passes the waypoint
  • the unique attribute is queried to the corresponding waypoint, and the waypoint to be inserted is inserted in front of or behind the waypoint, and in the inserted waypoint sequence, the waypoint to be inserted is used as the query corresponding to The previous waypoint or the next waypoint of the waypoint; the definition of the unique attribute is not repeated here.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the method further includes determining validity of the insertion instruction.
  • the user is refused to insert, and optionally, the aircraft may also return the reason for rejecting the insertion; wherein the legality judgment of the insertion instruction includes but is not limited to:
  • the aircraft can also return the reason for rejecting the insertion.
  • the aircraft can also return the reason for rejecting the insertion.
  • the method further includes determining the legality of the preset location and/or the waypoint to be inserted. If it is determined to be illegal, the user is refused to insert, and optionally, the aircraft may also return the reason for rejecting the insertion; wherein the legality judgment of the preset position in the waypoint to be inserted and/or the sequence of the waypoint to be inserted includes But not limited to:
  • the aircraft may also return the reason for rejecting the insertion;
  • the user sends the coordinates of one waypoint in the waypoint sequence, and inserts the waypoint to be inserted into a waypoint in the waypoint sequence.
  • the coordinates of the waypoint can not be queried in the waypoint sequence.
  • the coordinates of one waypoint in the waypoint sequence sent by the user do not correspond to the waypoint in the waypoint sequence, and the waypoint that the user wants to query does not exist.
  • the interpretation can be applied to the case of sending an index ID, a unique attribute of a waypoint, and two waypoints, and details are not described herein again.
  • the aircraft may return the reason for rejecting the insertion;
  • the conflicts of the attributes include but are not limited to: the action of the waypoint to be inserted and the action of the two waypoints in the sequence of the waypoint before the insertion cannot be performed continuously or cannot be performed (for example, execution between two waypoints in the sequence of the waypoint before insertion)
  • the waypoint to be inserted is required to perform the photographing task, it is impossible to perform the photographing task to be inserted into the waypoint when the recording task is performed between the two waypoints in the pre-insert waypoint sequence; the waypoint to be inserted and the insertion
  • the distance between the previous waypoint or the next waypoint of the two waypoints in the preceding waypoint sequence is greater or less than the range allowed by the aircraft (such as the waypoint to be inserted and the
  • the aircraft may also return the reason for rejecting the insertion; wherein the unreachable area includes the height of the waypoint to be inserted. It is illegal and the location is illegal (for example, the coordinates of the waypoint are located in the flight limited area).
  • the edited instruction includes a delete instruction
  • the response edit instruction is to edit the waypoint in the waypoint sequence, including: responding to the delete command, deleting the waypoint in the waypoint sequence.
  • the waypoint sequence includes five waypoints, namely, waypoint 1, waypoint 2, waypoint 3, waypoint 4, and waypoint 5, and the traversal sequence of the aircraft to the waypoint sequence is : waypoint 1 ⁇ waypoint 2 ⁇ waypoint 3 ⁇ waypoint 4 ⁇ waypoint 5, when the aircraft receives the delete command sent by the external device, when the aircraft receives the delete command sent by the external device, the waypoint 3 can be Deleted in the waypoint sequence, the aircraft refreshes the waypoint sequence after deleting the waypoint, and generates the new waypoint sequence waypoint 1, waypoint 2, waypoint 4, and waypoint 5 after the insertion. At this time, the aircraft is at the new waypoint.
  • the traversal sequence of the aircraft to the waypoint sequence becomes waypoint 1 ⁇ waypoint 2 ⁇ waypoint 4 ⁇ waypoint 5.
  • the user can continue to delete the waypoint sequence after deleting the waypoint.
  • the user can delete multiple waypoints in the waypoint sequence at the same time, where multiple waypoints can be For continuous waypoints, it can also be a discontinuous waypoint, which is not specifically limited here.
  • the response deletion instruction deletes the waypoints in the waypoint sequence, including:
  • the association information is used to determine the location of the to-be-deleted waypoint in the waypoint sequence, determining the to-be-deleted waypoint by using the associated information, and deleting the to-be-deleted waypoint from the waypoint sequence .
  • the aircraft may determine the waypoint to be deleted in the waypoint sequence by using the associated information with the waypoint to be deleted, that is, according to the to-be-deleted flight
  • the associated information of the point is queried to the waypoint to be deleted, and it is determined which waypoint in the waypoint sequence is to be deleted. After the determination is completed, the waypoint is deleted from the waypoint sequence, and the waypoint sequence is refreshed to generate a new voyage. Point sequence.
  • the association information specifically includes: a location coordinate of the waypoint to be deleted, an index ID of the to-be-deleted waypoint in the waypoint sequence, a position of the to-be-deleted waypoint in the waypoint sequence, and/or a subsequent waypoint One or more of coordinate and/or index ID, waypoint action associated with the waypoint to be deleted, and route attribute associated with the waypoint to be deleted.
  • the association information may be a coordinate/index ID/specific attribute of the waypoint to be deleted (a waypoint action associated with the waypoint to be deleted and/or a waypoint route associated with the waypoint to be deleted), and the aircraft according to the coordinates
  • the /index ID/exclusive attribute queries the waypoint to be deleted in the waypoint sequence to determine the waypoint to be deleted.
  • the association information may be a coordinate/index ID/unique attribute of the previous waypoint of the waypoint to be deleted (a waypoint action associated with the waypoint to be deleted and/or a waypoint route associated with the waypoint to be deleted), Flying
  • the device queries the previous waypoint of the waypoint to be deleted in the waypoint sequence according to the index ID, and the aircraft can use the next waypoint of the previous waypoint as the waypoint to be deleted.
  • the association information may be a coordinate/index ID/unique attribute of the next waypoint of the waypoint to be deleted (a waypoint action associated with the waypoint to be deleted and/or a waypoint route associated with the waypoint to be deleted),
  • the aircraft queries the next waypoint of the waypoint to be deleted in the waypoint sequence according to the index ID, and the aircraft can use the previous waypoint of the next waypoint as the waypoint to be deleted.
  • the association information may be a coordinate/index ID/unique attribute of the previous waypoint of the waypoint to be deleted (a waypoint action associated with the waypoint to be deleted and/or a waypoint route associated with the waypoint to be deleted),
  • the coordinates/index ID/unique attribute of the next waypoint (the waypoint action associated with the waypoint to be deleted and/or the waypoint route associated with the waypoint to be deleted), using the coordinates/index ID/unique attribute to determine the waypoint respectively
  • the aircraft can use the waypoint between the previous waypoint and the next waypoint as the waypoint to be deleted.
  • the method further includes: determining validity of the deletion instruction. When it is determined that it is illegal, the user is refused to delete.
  • the aircraft may also return the reason for rejecting the deletion; wherein the legality judgment of the to-be-deleted instruction includes but is not limited to:
  • the aircraft may also return the reason for rejecting the deletion.
  • the aircraft may also return the reason for rejecting the deletion.
  • the method further includes determining the legality of the waypoint to be deleted.
  • the user is refused to delete.
  • the aircraft may also return the reason for rejecting the deletion; wherein the legality judgment of the to-be-deleted waypoint includes but is not limited to:
  • the waypoint to be deleted when the waypoint to be deleted is in the executing state, it is determined to be illegal, and optionally, the user is denied to delete, and the aircraft may also return the reason for rejecting the deletion; wherein, when the aircraft is flying to a waypoint, The waypoint is in the process of being executed.
  • the waypoint to be deleted does not exist, it is determined to be illegal, the user is rejected, and the reason for rejecting the deletion is returned; wherein, when the associated information of the waypoint to be deleted sent by the user cannot be queried, the sequence cannot be queried. When the corresponding waypoint is queried, the waypoint to be deleted does not exist.
  • the method further includes receiving, by the external device, a waypoint to be inserted, and waiting for The insertion waypoint is inserted into the preset position in the waypoint sequence.
  • the waypoint sequence includes five waypoints, namely, waypoint 1, waypoint 2, waypoint 3, waypoint 4, waypoint 5, and the traversal sequence of the aircraft to the waypoint sequence is : waypoint 1 ⁇ waypoint 2 ⁇ waypoint 3 ⁇ waypoint 4 ⁇ waypoint 5, when the aircraft receives the delete command sent by the external device, when the aircraft receives the delete command sent by the external device, the waypoint 3 can be The waypoint sequence is deleted. At this time, the waypoint sequence is waypoint 1, waypoint 2, waypoint 4, and waypoint 5. After receiving the waypoint 6 to be inserted sent by the external device, the waypoint 6 can be inserted.
  • the waypoint sequence is waypoint 1, waypoint 2, waypoint 4, waypoint 6 and waypoint 5, refreshing the waypoint sequence to generate a new waypoint sequence, this
  • the traversal order of the aircraft to the waypoint is waypoint 1 ⁇ waypoint 2 ⁇ waypoint 4 ⁇ waypoint 6 ⁇ waypoint 5.
  • the preset location is located by one or more of a coordinate of a waypoint in the waypoint sequence, an index ID, an associated waypoint action, and an associated route attribute.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the edited instruction includes a move instruction
  • the response edit instruction is to edit the waypoint in the waypoint sequence, including: moving the waypoint in the waypoint sequence in response to the move instruction.
  • the user can change the position of the waypoint in the waypoint sequence as needed, that is, the user can change the waypoint to be executed by the aircraft in the waypoint sequence. order of.
  • the responding to the movement instruction moves the waypoint in the waypoint sequence, including:
  • the to-be-moved waypoint is located, the waypoint to be moved is saved, the waypoint to be moved is deleted from the waypoint sequence, and the to-be-moved waypoint is inserted into the preset position in the waypoint sequence.
  • the waypoint sequence includes six waypoints, namely, waypoint 1, waypoint 2, waypoint 3, waypoint 4, waypoint 5, waypoint 6, and aircraft-to-pointpoint sequence.
  • the traversal order is: waypoint 1 ⁇ waypoint 2 ⁇ waypoint 3 ⁇ waypoint 4 ⁇ waypoint 5 ⁇ waypoint 6 when the aircraft receives the movement instruction sent by the external device and the information associated with the movement instruction, the aircraft First, the waypoint 3 to be moved is searched in the waypoint sequence, and the waypoint 3 is saved. After the save is completed, the waypoint is deleted from the waypoint sequence, and then the saved waypoint 3 is inserted into the waypoint 5 and the waypoint 6 In the meantime, the waypoint sequence is refreshed to generate a new waypoint sequence.
  • the waypoint sequence is waypoint 1, waypoint 2, waypoint 4, waypoint 5, waypoint 3, waypoint 6, and aircraft navigation
  • the traversal order of the point sequence is waypoint 1 ⁇ waypoint 2 ⁇ waypoint 4 ⁇ waypoint 5 ⁇ waypoint 3 ⁇ waypoint 6.
  • the preset location is located by one or more of a coordinate of a waypoint in the waypoint sequence, an index ID, an associated waypoint action, and an associated route attribute.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the method further includes determining a legality of the mobile instruction.
  • the user is refused to move.
  • the aircraft may also return the reason for rejecting the movement; wherein the legality judgment of the to-be-moved instruction includes but is not limited to:
  • the aircraft may return the reason for rejecting the movement.
  • the aircraft may return the reason for rejecting the movement.
  • the method further includes determining a legitimacy of the waypoint and/or the preset location to be moved.
  • the legitimacy of the waypoint and/or the preset position to be moved includes, but is not limited to:
  • the waypoint to be moved when the waypoint to be moved is in the executing state, it is determined to be illegal, and optionally, the user is refused to move, and the aircraft may also return the reason for rejecting the movement; wherein, when the aircraft is flying toward a waypoint, The waypoint is in the process of being executed.
  • the waypoint to be moved does not exist, it is determined to be illegal, the user is refused to move, and optionally, the reason for rejecting the movement is returned; wherein, when the destination information of the to-be-moved waypoint is sent according to the user (for example, to be moved) If the coordinates of the waypoint, the index ID, the unique attribute, etc. cannot be queried in the waypoint sequence, the waypoint to be moved does not exist.
  • attribute conflicts if the attribute of the to-be-moved waypoint conflicts with the attributes of the two waypoints before and after the preset position, the determination is invalid, the user is rejected, and the reason for the feedback is rejected.
  • attribute conflicts please refer to the previous section, and details are not described here.
  • receiving a waypoint to be inserted sent by the external device deleting a waypoint that has been executed by the aircraft in the waypoint sequence, and inserting the to-be-insert waypoint into the preset of the waypoint sequence in the waypoint sequence that is not executed. position.
  • the aircraft can only store a limited number of waypoints.
  • the number of waypoints stored by the drone is generally less than 100, and the drone is performing all the saves. After the stored waypoints, all the waypoint sequences need to be deleted and a new waypoint sequence is uploaded, so that the way of uploading the waypoints is not flexible, and the dynamic operation of the waypoint sequences is not supported, and the user experience is poor.
  • the present embodiment includes five waypoints in the current waypoint sequence, namely, waypoint 1, waypoint 2, waypoint 3, waypoint 4, and waypoint 5, wherein waypoint 1 and navigation Point 2 is the waypoint that has been executed by the aircraft.
  • the traversal sequence of the aircraft to the waypoint is the traversal sequence of the aircraft to the waypoint sequence: waypoint 3 ⁇ waypoint 4 ⁇ waypoint 5.
  • the aircraft When the aircraft receives the waypoint 6 to be inserted sent by the external device, the aircraft deletes the waypoint 1 and the waypoint 2 that have been executed, and inserts the waypoint 6 between the waypoint 3 and the waypoint 4, the aircraft pair After the new waypoint is inserted, the sequence of the waypoint is refreshed, and the new waypoint sequence is inserted into the waypoint 3, waypoint 6, waypoint 4, and waypoint 5. At this time, the aircraft flies on the new waypoint sequence, and the aircraft pairs the waypoint The sequence of traversal of the sequence becomes waypoint 3 ⁇ waypoint 6 ⁇ waypoint 4 ⁇ waypoint 5.
  • the waypoint 6 can be inserted behind the waypoint 5 as the next waypoint of the waypoint 5, and generate a new waypoint sequence waypoint 3, waypoint 4, waypoint 5, and waypoint 6 after insertion.
  • the traversal sequence of the aircraft to the waypoint sequence becomes waypoint 3 ⁇ waypoint 4 ⁇ waypoint 5 ⁇ waypoint 6.
  • the user can send a control command during the flight of the aircraft, delete the waypoints that the aircraft has executed, clear out the available storage space, and insert the new waypoint into the waypoint sequence.
  • an unlimited number of waypoints are uploaded to the waypoint sequence. After all the waypoints in the waypoint sequence are executed, the new waypoints are uploaded, realizing the dynamic operation of the waypoints and creating a good user experience.
  • the preset location is located by one or more of a coordinate of a waypoint in the waypoint sequence, an index ID, an associated waypoint action, and an associated route attribute.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the aircraft when the aircraft interrupts the execution of the preset waypoint sequence, the aircraft is interrupted, and after the aircraft is powered on again, the preset route sequence executed by the interrupt sent by the external device is received, and the aircraft is determined according to the interruption position.
  • the starting position controls the aircraft to continue from the starting position to execute a preset sequence of waypoints that are interrupted.
  • the aircraft may have an event such as an emergency landing, a returning battery, or the like, or may need to manually operate the aircraft for a period of time during the automatic flight and then return to the route to continue the flight.
  • Events for example, flying on an aircraft to the planned
  • the breakpoint process needs to be performed.
  • the aircraft is insufficient in power, and the remaining amount of power is insufficient to support the aircraft to execute the remaining waypoint sequence.
  • the aircraft interrupts the execution of the remaining waypoint sequence (waypoint 4 and waypoint 5)
  • the aircraft records the interruption position, returns to replace the battery, and when the aircraft replaces the battery, re-receives the unexecuted waypoint sequence (such as waypoint 4 And waypoint 5)
  • the aircraft determines the starting position of the aircraft according to the interruption position, and then starts the execution of the sequence of the waypoints (the waypoint 4 and the waypoint 5) from the starting position to realize the breakpoint flight.
  • the interruption position may be the GPS position when the aircraft interrupts the execution of the waypoint sequence, and the starting position may be the first waypoint (waypoint 4) in the unexecuted waypoint sequence, and the starting position may also be the interrupted position.
  • the GPS position is; in addition, the interruption position may be the waypoint (waypoint 4) that the aircraft is ready to execute when the aircraft stops executing the waypoint sequence, and the waypoint can be used as the starting position; in addition, the interruption position can be The waypoint (the waypoint 3) that was last executed by the aircraft when the aircraft was interrupted to execute the waypoint sequence, the waypoint may be used as the starting position, or the first waypoint in the unexecuted waypoint sequence may be (the waypoint 4) is taken as the starting position; the embodiment of the present invention is not specifically limited herein.
  • the real-time planning of the route can be realized through the editing functions such as waypoint inserting, deleting, moving, and the breakpoint endurance function, including but not limited to: the aircraft acquires environmental information through sensors such as vision and radar, and the aircraft plans the route sequence according to the environmental information. All waypoints or adjustment schemes of the waypoints that have not been executed (for example, insertion, deletion, movement of the waypoint, etc., determination of the above preset position), or the aircraft feeds environmental information to the external device, and the external device according to the environmental information Plan the adjustment schemes for all the waypoints in the waypoint sequence or the unexecuted waypoints (for example, the insertion, deletion, movement, etc. of the waypoints, the determination of the above preset positions), thereby realizing planning obstacle avoidance, real-time navigation, and the like.
  • the editing functions such as waypoint inserting, deleting, moving, and the breakpoint endurance function, including but not limited to: the aircraft acquires environmental information through sensors such as vision and radar, and the aircraft plans the route sequence according
  • the waypoint in the waypoint sequence is dynamically inserted, deleted, and moved.
  • efficient and dynamic editing of the waypoint can be realized, and the aircraft's infinite waypoint flight and breakpoint endurance can also be realized.
  • the embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores program instructions, and the program may include some or all of the steps of the waypoint editing method in the corresponding embodiment of FIG. 2 .
  • FIG. 9 is a schematic structural diagram of a waypoint editing apparatus according to an embodiment of the present invention.
  • the waypoint editing device described in this embodiment includes:
  • the receiving module 201 receives an instruction to edit a waypoint in the waypoint sequence, wherein the edited instruction is sent by an external device.
  • the control module 202 in response to the edited instruction, edits the waypoints in the waypoint sequence to generate an edited waypoint sequence.
  • the waypoint sequence is a sequence of waypoints that are not executed by the aircraft.
  • the editing instruction includes an insertion instruction, where the control module 202 is configured to insert, according to the insertion instruction, a preset to be inserted into the waypoint sequence received by the receiving module 201. position.
  • control module 202 is further configured to determine validity of the to-be-inserted instruction.
  • the legality of the insertion instruction is determined, and if the to-be-inserted instruction is legal, the permission is allowed. Go to the next step.
  • control module 202 is further configured to determine the legality of the preset location and/or the waypoint to be inserted.
  • the preset location is located by one or more of a coordinate of a waypoint in the waypoint sequence, an index ID, an associated waypoint action, and an associated route attribute.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the editing instruction includes a deletion instruction
  • the control module 202 is specifically configured to delete a waypoint in the waypoint sequence in response to the deletion instruction.
  • the receiving module 201 is further configured to receive association information of the to-be-deleted waypoint sent by the external device, where the association information is used to determine a location of the to-be-deleted waypoint in the waypoint sequence .
  • the control module 202 is specifically configured to determine, by using the association information, the to-be-deleted waypoint, and delete the to-be-deleted waypoint from the waypoint sequence.
  • the association information includes: a location coordinate of the to-be-deleted waypoint, an index number ID of the to-be-deleted waypoint in the waypoint sequence, and the to-be-deleted waypoint in the waypoint sequence One or more of position coordinates and/or index IDs of the preceding and/or following waypoints, waypoint actions associated with the waypoints to be deleted, and route attributes associated with the waypoints to be deleted .
  • control module 202 is further configured to determine validity of the deletion instruction.
  • the receiving module 201 is further configured to determine validity of the to-be-deleted waypoint.
  • the receiving module is further configured to receive a waypoint to be inserted sent by the external device.
  • the control module is further configured to insert the to-be-inserted waypoint into a preset position in the waypoint sequence.
  • the preset location is located by one or more of a coordinate of a waypoint in the waypoint sequence, an index ID, an associated waypoint action, and an associated route attribute.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the editing instruction includes a movement instruction
  • the control module 202 is configured to: in response to the movement instruction, move a waypoint in the sequence of the waypoints.
  • control module 202 is configured to locate a to-be-moved waypoint, save the to-be-moved waypoint, and delete the to-be-moved waypoint from the waypoint sequence, and set the to-be-moved waypoint Inserted into a preset position in the sequence of waypoints.
  • the preset location is located by one or more of a coordinate of a waypoint in the waypoint sequence, an index ID, an associated waypoint action, and an associated route attribute.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • control module 202 is further configured to determine validity of the to-be-moved instruction.
  • control module 202 is further configured to: the waypoint to be moved and/or the preset bit Judging the legitimacy of the placement.
  • the receiving module 201 is further configured to receive a waypoint to be inserted 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 to-be-inserted waypoint into a pre-set of the waypoint sequence in the waypoint sequence that is not executed. Set the location.
  • control module 202 includes an interrupt processing unit 203, where:
  • the interrupt processing unit 203 is configured to record an interruption position of the aircraft when the aircraft interrupts executing the route.
  • the receiving module 201 is further configured to receive the route that the interrupt is executed by the external device.
  • the interrupt processing unit 203 is further configured to determine a starting position of the aircraft according to the interrupted position, and control the aircraft to continue performing the interrupted execution route from the starting position.
  • the waypoint in the waypoint sequence is dynamically inserted, deleted, moved, and the like, and
  • efficient and dynamic editing of the waypoints can be achieved, and the aircraft's infinite waypoint flight and breakpoint endurance can also be achieved.
  • FIG. 10 is a schematic structural diagram of a waypoint editing device according to an embodiment of the present invention.
  • the waypoint editing device described in this embodiment includes: a communication device 301, a processor 302, and a memory 303.
  • the communication device 301, the processor 302, and the memory 303 described above are connected by a bus.
  • the processor 302 may be a central processing unit (CPU), and the processor may be another general-purpose processor, a digital signal processor (DSP), or an application specific integrated circuit (ASIC). ), a Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and the like.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the above-described memory 303 may include read only memory and random access memory, and provides instructions and data to the processor 302.
  • a portion of the memory 303 may also include a non-volatile random access memory. among them:
  • the communication device 301 is configured to receive an instruction to edit a waypoint in the waypoint sequence, wherein the edited instruction is sent by an external device.
  • the processor 302 is configured to edit the waypoints in the waypoint sequence in response to the edited instruction to generate an edited waypoint sequence.
  • the waypoint sequence is a sequence of waypoints that are not executed by the aircraft.
  • the edited instruction includes an insert instruction
  • the processor 302 is configured to insert, in response to the insert instruction, a pre-insert waypoint to be inserted into the waypoint sequence received by the communication device 301. Set the location.
  • the processor 302 is further configured to determine a legality of the to-be-enterted waypoint, and if the to-be-inserted waypoint is legal, insert the to-be-inserted waypoint into the waypoint sequence The default position in .
  • the processor 302 is further configured to determine validity of the to-be-inserted instruction
  • the processor 302 is further configured to determine the legality of the preset location and/or the waypoint to be inserted.
  • the preset location is located by one or more of a coordinate of a waypoint in the waypoint sequence, an index ID, an associated waypoint action, and an associated route attribute.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the edited instruction includes a delete instruction
  • the processor 302 is specifically configured to delete a waypoint in the waypoint sequence in response to the delete instruction.
  • the communication device 301 is further configured to receive association information of the to-be-deleted waypoint sent by the external device, where the association information is used to determine a location of the to-be-deleted waypoint in the waypoint sequence .
  • the processor 302 is configured to determine, by using the association information, the to-be-deleted waypoint, and delete the to-be-deleted waypoint from the waypoint sequence.
  • the association information includes: location coordinates of the to-be-deleted waypoint, and the to-be-deleted navigation An index ID of the point in the sequence of the waypoints, a position coordinate and/or an index ID of the preceding and/or succeeding waypoints of the to-be-deleted waypoint in the waypoint sequence, and the waypoint to be deleted One or more of an associated waypoint action, a route attribute associated with the waypoint to be deleted.
  • the processor 302 is further configured to determine validity of the deletion instruction.
  • the processor 302 is further configured to determine validity of the to-be-deleted waypoint.
  • the communication device 301 is further configured to receive a to-be-set waypoint sent by the external device.
  • the processor 302 is further configured to insert the to-be-inserted waypoint into a preset position in the sequence of the waypoints.
  • the preset location is located by one or more of a coordinate of a waypoint in the waypoint sequence, an index ID, an associated waypoint action, and an associated route attribute.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the editing instruction includes a movement instruction
  • the processor 302 is specifically configured to move a waypoint in the sequence of the waypoints in response to the movement instruction.
  • the processor 302 is configured to locate a to-be-moved waypoint, save the to-be-moved waypoint, and delete the to-be-moved waypoint from the waypoint sequence, and set the to-be-moved waypoint Inserted into a preset position in the sequence of waypoints.
  • the preset location is located by one or more of a coordinate of a waypoint in the waypoint sequence, an index ID, an associated waypoint action, and an associated route attribute.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the processor 302 is further configured to determine validity of the to-be-moved instruction.
  • the processor 302 is further configured to determine validity of the waypoint to be moved and/or the preset location.
  • the communication device 301 is further configured to receive a to-be-set waypoint sent by the external device.
  • the processor 302 is further configured to delete a waypoint in the waypoint sequence that has been executed by the aircraft, and insert the to-be-inserted waypoint into the pre-predetermined waypoint sequence in the waypoint sequence Set the location.
  • the preset location passes the coordinates, index ID, and associated point of the waypoint in the waypoint sequence.
  • One or more of the waypoint actions and associated route attributes are also possible.
  • one or more of the coordinates of the waypoint, the index ID, the associated waypoint action, and the associated route attribute in the waypoint sequence are received from an external device.
  • the processor 302 is further configured to record an interruption position of the aircraft when the aircraft interrupts executing the route.
  • the communication device 301 is further configured to receive the route that the interrupt is executed by the external device.
  • the processor 302 is further configured to determine a starting position of the aircraft according to the interruption position, and control the aircraft to continue performing the interrupted execution route from the starting position.
  • the communication device 301, the processor 302, and the memory 303 which are described in the embodiments of the present invention, may be implemented in the waypoint editing method provided in the embodiment of the present invention, and may also be implemented in the embodiment of the present invention.
  • the implementation of the waypoint editing device described in FIG. 9 is not described herein again.
  • An aircraft provided by an embodiment of the present invention includes:
  • Figure 10 provides any of the waypoint editing devices for editing a waypoint in a waypoint sequence.
  • the waypoint in the waypoint sequence is dynamically inserted, deleted, moved, and the like, and
  • efficient and dynamic editing of the waypoints can be achieved, and the aircraft's infinite waypoint flight and breakpoint endurance can also be achieved.
  • the program can be executed by instructing related hardware, and the program can be stored in a computer readable storage medium, and the storage medium can include: a flash disk, a read-only memory (ROM), a random access device. (Random Access Memory, RAM), disk or CD.
  • ROM read-only memory
  • RAM Random Access Memory

Abstract

一种航点编辑方法、装置、设备及飞行器，其中方法包括：接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送(101)；响应所述编辑的指令，对所述航点序列中的航点进行编辑，生成编辑后的航点序列(102)。可以实现航点的高效编辑。

Description

一种航点编辑方法、装置、设备及飞行器 技术领域
本发明涉及飞行技术领域，尤其涉及一种航点编辑方法、装置、设备及飞行器。
背景技术
随着科学技术的不断进步，无人机(Unmanned Aerial Vehicle，UAV)等飞行器的功能不断丰富，其应用领域也在不断扩展，包括专业航拍，农业灌溉，电力巡航，遥感测绘，治安监控等。一般通过地面飞行控制台设定飞行器的航线，控制飞行器按照设定的航线飞行以完成相应任务。
飞行器的航线具体可以由多个航点组成，每一个航点都有相应的属性参数，包括例如高度、速度、位置等，在飞行器按照设定航线飞行之前或飞行过程中，很可能需要对航点进行编辑操作，例如修改航点的属性参数，删除航点，等等，而现有的航点编辑方式不能对航点进行动态编辑，不能在飞行器飞行的过程中对航点进行操作，普遍效率较低。
发明内容
本发明实施例公开了一种航点编辑方法、装置、设备及飞行器，用于实现航点的高效编辑。
本发明实施例第一方面公开了一种航点编辑方法，包括：
接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送。
响应所述编辑的指令，对所述航点序列中的航点进行编辑，生成编辑后的航点序列。
本发明实施例第二方面公开了一种航点编辑装置，包括：
接收模块，用于接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送。
控制模块，用于响应所述编辑的令，对所述航点序列中的航点进行编辑， 生成编辑后的航点序列。
本发明实施例第三方面公开了一种航点编辑设备，包括：
通信装置，用于接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送。
处理器，用于响应所述编辑的指令，对所述航点序列中的航点进行编辑，生成编辑后的航点序列。
本发明实施例的第四方面公开了一种飞行器，包括，
动力系统，用于为所述飞行器提供飞行动力。
所述第三方面任一项的航点编辑设备，用于对航点序列中的航点进行编辑。
本发明实施例通过接收外部设备发送的对航点序列中的航点进行编辑的指令，响应该编辑的指令，对该航点序列中的航点进行编辑，并生成编辑后的航点序列，可以实现对航点的多种操作，在飞行器飞行的过程中对航线中的航点进行插入、删除、移动等操作，实时对航线进行调整，可以实现航点的高效编辑。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种飞行器控制系统的示意图；
图2是本发明实施例公开的一种航点编辑方法的流程示意图；
图3是本发明实施例公开的一种航点插入操作的示意图；
图4是本发明实施例公开的一种航点删除操作的示意图；
图5是本发明实施例公开的一种先删除航点再插入新航点操作的示意图；
图6是本发明实施例公开的一种航点移动操作的示意图；
图7是本发明实施例公开的一种删除已执行的航点插入新航点操作的示意图；
图8是本发明实施例公开的一种断点续飞操作的示意图；
图9是本发明实施例公开的一种航点编辑装置的结构示意图；
图10是本发明实施例公开的一种航点编辑设备的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
以下对本发明的描述使用无人机作为飞行器的示例。对于本领域技术人员将会显而易见的是，可以不受限制地使用其他类型的飞行器。
如图1所示，是本发明实施例的一种飞行系统的结构示意图，该系统包括作为地面端遥控设备的外部设备101和飞行器102，所述外部设备101可以为智能手机、平板电脑、飞行器地面控制站、手表、手环、视频眼镜等中的一种或多种。
飞行器102飞行的路线称之为航线，航线中包括了多个航点，将多个航点称为航点序列，在本发明实施例中，用户可以在地面端遥控设备上对飞行器102编辑航点序列，使得飞行器能够在该航线上自主飞行。
在编辑航点序列时，外部设备101向用户呈现包括某个目标区域的地图的交互界面，用户根据需要可以在地图上打点，这些点即为航点。在航线数据中，航点以坐标的形式存在。在某些情况下，航点除包括坐标以外还可以包括：航点的索引ID、航点动作信息、与该航点相关联的航线属性等，其中航点动作包括但不限于云台控制信息、拍摄控制信息，其中与该航点相关联的航线属性可以包括但不限于直线飞行模式、协调转弯模式、POI等飞行模式。
外部设备101将用户在交互界面的地图上打点的位置确定为航点，航点坐标可以是这些点的GPS位置坐标，而航点的飞行高度则可以为默认的高度值。当然用户也可以根据需要和地图上实际位置的海拔高度，来在外部设备101中动态配置一个或者多个航点的高度。航线的设置还可以有其他方式，例如，用户仅仅在外部设备101中输入几个位置的坐标作为航点，由外部设备101 自动根据输入的坐标点生成一条航线。
外部设备101生成的航线数据会发送给飞行器102，该航线数据包括多个航点，如上所述，每一个航点可以由GPS位置坐标和高度值组成，航点的高度为飞行器102飞行的一个默认高度，也可以由用户指定。或者，航点也可以由GPS坐标和高度值组成。飞行器102在接收到航线数据后，执行航线数据，在该航线数据所表示的航线上飞行。具体的，飞行器102中的控制器根据航线数据中包括的各个航点，控制飞行器102依次飞向这些航点，实现在航线数据所表示的航线上飞行。
目前，传统的飞控内部的waypoint受限于飞控的嵌入式平台属性，支持的航点个数有限，飞行过程中也不支持对上传到飞控的航点进行编辑。飞控内部waypoint航点个数以及航点编辑模式的不够灵活，从根源上限制了飞控在航拍、行业应用等应用方面的灵活性，以及对周边功能支持的友好性，限制了用户体验的提升。
请参阅图1，为本发明实施例提供的一种航点编辑方法的流程示意图。具体的，如图1所示，本发明的实施例的所述航点编辑方法可以包括以下步骤：
101、接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送。
具体的，外部设备具体可以包括：手表、手环等穿戴式设备，智能手机、平板电脑等移动终端，遥控器，以及地面控制站及其组合等。用户可以在外部设备的交互界面上输入对航点序列中的航点编辑指令，将所述编辑指令发送给飞行器。用户可以针对航点序列中单个航点进行编辑，也可以同时对航点序列中的多个航点同时进行编辑。
102、响应所述编辑的指令，对所述航点序列中的航点进行编辑，生成编辑后的航点序列。
具体的，飞行器在收到外部设备的对航点序列中的航点进行编辑的指令时，飞行器响应所述指令，对航点序列中的航点进行编辑，完成相应的编辑动作以后，对编辑后的航点序列进行刷新，生成编辑后的航点序列。飞行器则可以在编辑后的航点序列中飞行，实现对航点序列的动态操作，实时调整航点序列，实时改变飞行器执行的航线数据。
可选的，航点序列为未被飞行器执行的航点序列。
具体地，飞行器在航线数据中航点序列上飞行时，飞行器可以实时接收外部设备对航点的编辑指令，其中所述航点为未被飞行器执行的航点，通过对所述航点进行编辑，用户可以改变未被执行的航点序列，用户体验好。
可选的，编辑的指令包括插入指令，所述响应编辑的指令，对航点序列中的航点进行编辑，包括：响应插入指令，将接收的待插入航点插入到航点序列中的预设位置。
具体地，如图3所示，航点序列中包括4个航点，分别为航点1、航点2、航点3、航点4，飞行器对航点序列的遍历顺序为：航点1→航点2→航点3→航点4，当飞行器接收到外部设备发送的插入指令时，飞行器将从外部设备接收到的待插入的航点5插入航点2和航点3之间，飞行器对插入新航点以后的航点序列进行刷新，生成插入以后的新航点序列航点1、航点2、航点5、航点3、航点4，此时飞行器在新的航点序列上飞行，飞行器对航点序列的遍历顺序变成了航点1→航点2→航点5→航点3→航点4。可选的，用户还可以将其他待插入的航点继续插入到该航点序列中，可选的，用户可以同时将多个待插入的航点插入到航点序列中，多个待插入的航点可以连续地插入航点序列中，也可以插入航点序列中的不同位置。
可选的，所述预设的位置通过航点序列中航点的坐标、索引ID、关联的航点动作，关联的航点属性中的一种或多种定位。定位航点序列中所述预设的位置的方法包括但不限于：
具体地，所述航点序列中的预设位置可以通过航点序列中两个航点的坐标来确定，飞行器接收外部设备发送的航点序列中两个航点的坐标，飞行器通过两个航点的坐标查询到对应的两个航点，将待插入的航点插入到所述两个航点之间。
具体地，所述航点序列中的预设位置可以通过航点序列中两个航点的索引ID来确定，飞行器接收外部设备发送的航点序列中两个航点的索引ID，飞行器通过两个航点的索引ID查询到对应的两个航点，将待插入的航点插入到所述两个航点之间。
具体地，所述航点序列中的预设位置可以通过航点序列中两个航点的索引 ID来确定，飞行器接收外部设备发送的航点序列中两个航点的索引ID，飞行器通过两个航点的索引ID查询到对应的两个航点，将待插入的航点插入到所述两个航点之间。
具体地，所述航点序列中的预设位置可以通过航点序列中两个航点的特有属性来确定，飞行器接收外部设备发送的航点序列中两个航点的特有属性，飞行器通过两个航点的特有属性查询到对应的两个航点，将待插入的航点插入到所述两个航点之间。其中，特有的航点属性为航点动作、航线属性等可以用于确定两个航点位置的属性。
具体地，所述航点序列中的预设位置可以通过航点序列中一个航点的坐标来确定，飞行器接收外部设备发送的航点序列中一个航点的坐标，飞行器通过该航点的坐标查询到对应的航点，将待插入的航点插入到该航点的前面或后面，则在插入后的航点序列中，所述待插入的航点即作为所述查询到对应的航点的前一个航点或后一个航点。
具体地，所述航点序列中的预设位置可以通过航点序列中一个航点的索引ID来确定，飞行器接收外部设备发送的航点序列中一个航点的索引ID，飞行器通过该航点的索引ID查询到对应的航点，将待插入的航点插入到该航点的前面或后面，则在插入后的航点序列中，所述待插入的航点即作为所述查询到对应的航点的前一个航点或后一个航点。
具体地，所述航点序列中的预设位置可以通过航点序列中一个航点的特有属性来确定，飞行器接收外部设备发送的航点序列中一个航点的特有属性，飞行器通过该航点的特有属性查询到对应的航点，将待插入的航点插入到该航点的前面或后面，则在插入后的航点序列中，所述待插入的航点即作为所述查询到对应的航点的前一个航点或后一个航点；其中特有属性的定义不再赘述。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从外部设备接收的。
可选的，所述方法还包括，对插入指令进行合法性判断。当判断为不合法，拒绝用户插入，可选的，飞行器还可以返回拒绝插入的原因；其中对插入指令的合法性判断包括但不限于：
具体的，若飞行器中没有任何航点，如判断为不合法，拒绝用户插入，可 选的，飞行器还可以返回拒绝插入的原因。
具体的，若飞行器将待插入的航点插入到航点序列后，航点序列中航点的总数大于飞行器所允许的航点总个数时，判断为不合法，拒绝用户插入，可选的，飞行器还可以返回拒绝插入的原因。
可选的，所述方法还包括，对所述预设位置和/或所述待插入的航点的合法性进行判断。判断为不合法，拒绝用户插入，可选的，飞行器还可以返回拒绝插入的原因；其中对所述待插入的航点和/或待插入的航点序列中的预设位置的合法性判断包括但不限于：
具体的，若用于确定航点序列中预设位置的一个或两个航点不存在时，判断为不合法，拒绝用户插入，可选的，飞行器还可以返回拒绝插入的原因；其中，比如用户发送了航点序列中一个航点的坐标，向将待插入的航点插入所述航点序列中一个航点之前，然而，通过发送的航点的坐标无法查询到航点序列中的该航点，则用户发送的航点序列中一个航点的坐标并不对应航点序列中的航点，用户想要查询的航点不存在。所述解释可以运用于发送索引ID、航点的特有属性和两个航点的情况，此处不再赘述。
具体的，若待插入航点的属性与预设位置前后的两个航点的属性存在冲突时，判断为不合法，拒绝用户插入，可选的，飞行器还可以返回拒绝插入的原因；其中所述属性存在冲突包括但不限于：待插入的航点的动作与插入前航点序列中两个航点的动作无法连续执行或无法执行(比如插入前航点序列中两个航点之间执行录像任务，待插入的航点要求执行拍照任务，则不可能在插入前航点序列中两个航点之间执行录像任务时执行待插入航点的拍照任务)；待插入的航点与插入前航点序列中两个航点的前一个航点或后一个航点之间的距离大于或者小于飞行器允许的范围(比如待插入的航点与插入前航点序列中两个航点的前一个航点之间的距离大于飞行器可达的距离)。
具体的，若待插入的航点位于不可达区域时，判断为不合法拒绝用户插入，可选的，飞行器还可以返回拒绝插入的原因；其中所述位于不可达区域包括待插入航点的高度不合法、位置不合法(比如航点的坐标位于限飞区域内)。
可选的，编辑的指令包括删除指令，所述响应编辑的指令，对航点序列中的航点进行编辑，包括：响应删除指令，对航点序列中的航点进行删除。
具体地，如图4所示，航点序列中包括5个航点，分别为航点1、航点2、航点3、航点4、航点5，飞行器对航点序列的遍历顺序为：航点1→航点2→航点3→航点4→航点5，当飞行器接收到外部设备发送的删除指令时，飞行器接收到外部设备发送的删除指令时，可以将航点3从航点序列中删除，飞行器对删除航点以后的航点序列进行刷新，生成插入以后的新航点序列航点1、航点2、航点4、航点5，此时飞行器在新的航点序列上飞行，飞行器对航点序列的遍历顺序变成了航点1→航点2→航点4→航点5。可选的，用户还可以继续在删除航点以后的航点序列中继续进行删除的操作，可选的，用户可以同时将航点序列中的多个航点删除中，其中多个航点可以为连续的航点，也可以为不连续的航点，在此不作具体的限定。
可选的，所述响应删除指令，对航点序列中的航点进行删除，包括：
接收外部设备发送的待删除航点的关联信息，关联信息用于确定待删除航点在航点序列中的位置，通过关联信息确定待删除航点，将待删除航点从航点序列中删除。
具体的，飞行器在接收到外部发送的删除指令和与待删除航点的关联信息时，可以通过与待删除航点的关联信息确定航点序列中待删除的航点，即根据与待删除航点的关联信息查询到待删除的航点，确定是航点序列中哪个航点将要被删除，完成确定以后，将该航点从航点序列中删除，并刷新航点序列，生成新的航点序列。
可选的，关联信息具体包括：待删除航点的位置坐标、待删除航点在航点序列中的索引ID、待删除航点在航点序列中的前和/或后一个航点的位置坐标和/或索引ID、与待删除航点关联的航点动作、与待删除航点关联的航线属性中的一种或多种。
具体的，关联信息可以为待删除航点的坐标/索引ID/特有属性(与待删除航点关联的航点动作和/或与待删除航点关联的航点航线)，飞行器根据所述坐标/索引ID/特有属性查询到航点序列中待删除的航点，从而确定待删除的航点。
具体的，关联信息可以为待删除航点的前一个航点的坐标/索引ID/特有属性(与待删除航点关联的航点动作和/或与待删除航点关联的航点航线)，飞行 器根据所述索引ID查询到航点序列中待删除的航点的前一个航点，则飞行器可以将所述前一个航点的下个航点作为待删除航点。
具体的，关联信息可以为待删除航点的后一个航点的坐标/索引ID/特有属性(与待删除航点关联的航点动作和/或与待删除航点关联的航点航线)，飞行器根据所述索引ID查询到航点序列中待删除的航点的后一个航点，则飞行器可以将所述后一个航点的前一个航点作为待删除航点。
具体的，关联信息可以为待删除航点的前一个航点的坐标/索引ID/特有属性(与待删除航点关联的航点动作和/或与待删除航点关联的航点航线)、后一个航点的坐标/索引ID/特有属性(与待删除航点关联的航点动作和/或与待删除航点关联的航点航线)，分别利用坐标/索引ID/特有属性确定航点序列中的前一个航点和后一个航点，飞行器可以将所述前一个航点和后一个航点之间的航点作为待删除的航点。
可选的，所述方法还包括：对所述删除指令的合法性进行判断。当判断为不合法，拒绝用户删除，可选的，飞行器还可以返回拒绝删除的原因；其中对所述待删除指令的合法性判断包括但不限于：
具体的，当飞行器中没有任何航点时，判断为不合法，拒绝用户删除，可选的，飞行器还可以返回拒绝删除的原因。
具体的，当航点序列中航点个数为1时，判断为不合法，拒绝用户删除，可选的，飞行器还可以返回拒绝删除的原因。
可选的，所述方法还包括，对待删除航点的合法性进行判断。当判断为不合法，拒绝用户删除，可选的，飞行器还可以返回拒绝删除的原因；其中对所述待删除航点的合法性判断包括但不限于：
具体的，当待删除的航点为处于正在执行状态时，判断为不合法，可选的，拒绝用户删除，飞行器还可以返回拒绝删除的原因；其中，当飞行器正向一个航点飞行时，该航点就处于正在执行状态。
具体的，当待删除的航点不存在时，判断为不合法，拒绝用户删除，并返回拒绝删除的原因；其中，当根据用户发送的待删除航点的关联信息无法查询无法在航点序列中查询到对应的航点时，则待删除的航点不存在。
可选的，所述方法还包括，接收外部设备发送的待插入航点，并将所待 插入航点插入到航点序列中的预设位置。
具体地，如图5所示，航点序列中包括5个航点，分别为航点1、航点2、航点3、航点4、航点5，飞行器对航点序列的遍历顺序为：航点1→航点2→航点3→航点4→航点5，当飞行器接收到外部设备发送的删除指令时，飞行器接收到外部设备发送的删除指令时，可以将航点3从航点序列中删除，此时，航点序列为航点1、航点2、航点4和航点5，在接收到外部设备发送的待插入的航点6后，可以将航点6插入到航点4和5之间，此时航点序列为航点1、航点2、航点4、航点6和航点5，对航点序列进行刷新，生成新的航点序列，此时飞行器对航点的遍历顺序为航点1→航点2→航点4→航点6→航点5。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从外部设备接收的。
可选的，编辑的指令包括移动指令，所述响应编辑的指令，对航点序列中的航点进行编辑，包括：响应移动指令，对航点序列中的航点进行移动。
具体的，当航点序列中的航点还没被飞行器执行时，用户可以根据需要改变该航点在航点序列中的位置，即用户可以改变该航点在航点序列中的被飞行器执行的顺序。
可选的，所述响应移动指令，对航点序列中的航点进行移动，包括：
定位待移动航点，保存待移动航点，将待移动航点从航点序列中删除，将待移动航点插入到航点序列中的预设位置。
具体的，如图6所示，航点序列中包括6个航点，分别为航点1、航点2、航点3、航点4、航点5、航点6，飞行器对航点序列的遍历顺序为：航点1→航点2→航点3→航点4→航点5→航点6，当飞行器接收到外部设备发送的移动指令和与移动指令相关联的信息时，飞行器首先在航点序列中查询到待移动的航点3，保存航点3，保存完成后将航点从航点序列中删除，然后将保存的航点3插入到航点5和航点6之间，对航点序列进行刷新，生成新的航点序列，此时，航点序列为航点1、航点2、航点4、航点5、航点3、航点6，飞行器对航点序列的遍历顺序为航点1→航点2→航点4→航点5→航点3→航点6。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从外部设备接收的。
可选的，所述方法还包括，对待移动指令的合法性进行判断。当判断为不合法，拒绝用户移动，可选的，飞行器还可以返回拒绝移动的原因；其中对所述待移动指令的合法性判断包括但不限于：
具体的，当飞行器中没有任何航点时，判断为不合法，拒绝用户移动，可选的，飞行器还可以返回拒绝移动的原因。
具体的，当航点序列中航点个数小于或等于2时，判断为不合法，拒绝用户移动，可选的，飞行器还可以返回拒绝移动的原因。
可选的，所述方法还包括，对待移动的航点和/或预设位置的合法性进行判断。当判断为不合法，拒绝用户移动，可选的，飞行器还可以返回拒绝移动的原因；其中对待移动的航点和/或预设位置的合法性进行判断包括但不限于：
具体的，当待移动的航点为处于正在执行状态时，判断为不合法，可选的，拒绝用户移动，飞行器还可以返回拒绝移动的原因；其中，当飞行器正向一个航点飞行时，该航点就处于正在执行状态。
具体的，当待移动的航点不存在时，判断为不合法，拒绝用户移动，可选的，返回拒绝移动的原因；其中，当根据用户发送的待移动航点的关联信息(比如待移动的航点的坐标、索引ID、特有属性等)无法在航点序列中查询到对应的航点时，则待移动的航点不存在。
具体的，若待移动航点的属性与预设位置前后的两个航点的属性存在冲突时，判断为不合法，拒绝用户插入，可选的，反馈拒绝移动的原因。其中属性冲突的定义请参见前述部分，在此不再赘述。
可选的，接收外部设备发送的待插入航点，删除航点序列中已经被飞行器执行过的航点，将待插入航点插入到航点序列中未被执行的航点序列中的预设位置。
由于飞行器的内部的存储器的存储空间有限，飞行器只能存储有限个航点，目前，无人机存储的航点个数一般不超过100个，无人机在执行完所有存 储的航点以后，需要将所有的航点序列删除再上传新的航点序列，这样上传航点的方式不太灵活，不支持对航点序列的动态操作，用户体验较差。
具体的，本实施例如图7所示，当前航点序列中包括5个航点，分别为航点1、航点2、航点3、航点4、航点5，其中航点1和航点2为已经被飞行器执行过的航点，在执行完航点2以后，飞行器接下来对航点的遍历顺序为飞行器对航点序列的遍历顺序为：航点3→航点4→航点5，当飞行器接收到外部设备发送的待插入航点6时，飞行器将已经执行过的航点1和航点2删除，将航点6插入到航点3和航点4之间，飞行器对插入新航点以后的航点序列进行刷新，生成插入以后的新航点序列航点3、航点6、航点4、航点5，此时飞行器在新的航点序列上飞行，飞行器对航点序列的遍历顺序变成了航点3→航点6→航点4→航点5。可选地，可以将航点6插入到航点5后面，作为航点5的下一个航点，生成插入以后的新航点序列航点3、航点4、航点5、航点6，此时飞行器在新的航点序列上飞行，飞行器对航点序列的遍历顺序变成了航点3→航点4→航点5→航点6。这样，用户可以在飞行器飞行的过程中，发送控制指令，将飞行器已经执行过的航点删除，清理出可用的存储空间，将新的航点插入到航点序列中，通过这种方式，用户在飞行器飞行的过程将无限个航点上传到航点序列中，不用等到航点序列中所有的航点被执行完才上传新的航点，实现了对航点的动态操作，营造了良好的用户体验。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从外部设备接收的。
可选的，当飞行器中断执行预设的航点序列时，记录飞行器的中断位置，在飞行器再次上电后，接收外部设备发送的中断执行的预设的航点序列，根据中断位置确定飞行器的起始位置，控制飞行器从起始位置继续执行中断执行的预设的航点序列。
具体的，飞行器在执行航线数据的航点序列的过程中，可能存在需要紧急降落、返航换电池等事件，或者在自动飞行的过程中需要手动操作飞行器飞行一段时间再返回航线继续执行飞行任务的事件，例如，在飞行器飞行到所规划 航点序列的某个航点拍照时，发现离该航点不远处也需要拍照，则需要临时控制飞行器飞行到不远处进行拍照。一旦出现上述情况，导致飞行任务中断时，为了保证在预设的航线数据的航点序列上继续飞行完成飞行任务，需要执行断点续飞处理。当检测到飞行器中断执行预设的航线数据中的航点序列时，记录飞行器的中断位置，根据所述中断位置确定飞行器的起始位置，控制飞行器从起始位置继续执行被中断执行的预设的航点序列。
具体的，如图8所示，飞行器在执行完航点序列中的航点1、航点2和航点3之后，飞行器电量不足，剩余的电量不足以支撑飞行器执行剩余的航点序列，此时，飞行器中断执行剩下的航点序列(航点4和航点5)，飞行器记录中断位置，返回更换电池，当飞行器更换电池以后，重新接收未被执行的航点序列(比如航点4和航点5)，飞行器根据中断位置确定飞行器的起始位置，然后从起始位置开始执行中断执行的航点序列(航点4和航点5)，实现断点续飞。其中中断位置可以为飞行器中断执行航点序列时的GPS位置，起始位置可以为未被执行的航点序列中的第一个航点(航点4)，另外起始位置也可以与中断位置一样，都是所述GPS位置；另外，中断位置可以为飞行器中断执行航点序列时飞行器准备执行的那个航点(航点4)，可以将该航点作为起始位置；另外，中断位置可以为飞行器中断执行航点序列时被飞行器最后执行完的那个航点(航点3)，可以将该航点作为起始位置，也可以将未被执行的航点序列中的第一个航点(航点4)作为起始位置；本发明的实施例在这里不作具体的限定。
其中，通过航点插入、删除、移动等编辑功能和断点续航功能可以实现航线实时规划，包括但不限于：飞行器通过视觉、雷达等传感器获取环境信息，飞行器根据环境信息规划对航点序列中的全部航点或者未被执行航点的调整方案(例如，航点的插入、删除、移动等，上述预设位置的确定)，或者，飞行器将环境信息反馈给外部设备，外部设备根据环境信息规划对航点序列中的全部航点或者未被执行航点的调整方案(例如，航点的插入、删除、移动等，上述预设位置的确定)，从而实现规划避障、实时导航等。
本发明实施例通过接收外部设备发送的对航点序列中的航点进行编辑的指令，响应该编辑的指令，对该航点序列中的航点进行动态插入、删除、移动 等编辑操作，并生成编辑后的航点序列，可以实现航点的高效、动态编辑，同时还可以实现飞行器的无限航点飞行和断点续航。
本发明实施例还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括如图2对应实施例中的航点编辑方法的部分或全部步骤。
请参阅图9，为本发明实施例提供的一种航点编辑装置的结构示意图。本实施例中所描述的航点编辑装置，包括：
接收模块201，接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送。
控制模块202，响应所述编辑的指令，对所述航点序列中的航点进行编辑，生成编辑后的航点序列。
可选的，所述航点序列为未被飞行器执行的航点序列。
可选的，所述编辑指令包括插入指令，所述控制模块202，具体用于响应所述插入指令，将所述接收模块201接收的待插入航点插入到所述航点序列中的预设位置。
可选的，所述控制模块202，还用于对所述待插入指令的合法性进行判断。
具体的，将所述接收模块201接收的待插入航点插入到所述航点序列中的预设位置之前，对所述插入指令的合法性进行判断，若所述待插入指令合法，则允许进行下一步操作。
可选的，所述控制模块202，还用于对所述预设位置和/或所述待插入的航点的合法性进行判断。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种从外部设备接收的。
可选的，所述编辑指令包括删除指令，所述控制模块202，具体用于响应所述删除指令，对所述航点序列中的航点进行删除。
可选的，所述接收模块201，还用于接收所述外部设备发送的待删除航点的关联信息，所述关联信息用于确定所述待删除航点在所述航点序列中的位置。
所述控制模块202，具体用于通过所述关联信息确定所述待删除航点，将所述待删除航点从所述航点序列中删除。
可选的，所述关联信息包括：所述待删除航点的位置坐标、所述待删除航点在所述航点序列中的索引编号ID、所述待删除航点在所述航点序列中的前和/或后一个航点的位置坐标和/或索引ID、与所述待删除航点关联的航点动作、与所述待删除航点关联的航线属性中的一种或多种。
可选的，所述控制模块202，还用于对所述删除指令的合法性进行判断。
可选的，所述接收模块201，还用于对所述待删除航点的合法性进行判断。
可选的，所述接收模块，还用于接收所述外部设备发送的待插入航点。
所述控制模块，还用于将所述待插入航点插入到所述航点序列中的预设位置。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种从外部设备接收的。
可选的，所述编辑指令包括移动指令，所述控制模块202，具体用于响应所述移动指令，对所述航点序列中的航点进行移动。
可选的，所述控制模块202，具体用于定位待移动航点，保存所述待移动航点，将所述待移动航点从所述航点序列中删除，将所述待移动航点插入到所述航点序列中的预设位置。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从外部设备接收的。
可选的，所述控制模块202，还用于对所述待移动指令的合法性进行判断。
可选的，所述控制模块202，还用于对所述待移动的航点和/或所述预设位 置的合法性进行判断。
可选的，所述接收模块201，还用于接收所述外部设备发送的待插入航点。
所述控制模块202，还用于删除所述航点序列中已经被飞行器执行过的航点，将所述待插入航点插入到所述航点序列中未被执行的航点序列中的预设位置。
可选的，所述控制模块202包括中断处理单元203，其中：
所述中断处理单元203，用于当飞行器中断执行航线时，记录所述飞行器的中断位置。
所述接收模块201，还用于接收所述外部设备发送的所述中断执行的航线。
所述中断处理单元203，还用于根据所述中断位置确定所述飞行器的起始位置，控制所述飞行器从所述起始位置继续执行所述中断执行的航线。
可以理解的是，本发明实施例的航点编辑装置的各功能模块的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。
本发明实施例通过接收外部设备发送的对航点序列中的航点进行编辑的指令，响应该编辑的指令，对该航点序列中的航点进行动态插入、删除、移动等编辑操作，并生成编辑后的航点序列，可以实现航点的高效、动态编辑，同时还可以实现飞行器的无限航点飞行和断点续航。
请参阅图10，为本发明实施例提供的一种航点编辑设备的结构示意图。本实施例中所描述的航点编辑设备，包括：通信装置301、处理器302和存储器303。上述通信装置301、处理器302和存储器303通过总线连接。
上述处理器302可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
上述存储器303可以包括只读存储器和随机存取存储器，并向处理器302提供指令和数据。存储器303的一部分还可以包括非易失性随机存取存储器。其中：
通信装置301，用于接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送。
处理器302，用于响应所述编辑的指令，对所述航点序列中的航点进行编辑，生成编辑后的航点序列。
可选的，所述航点序列为未被飞行器执行的航点序列。
可选的，所述编辑的指令包括插入指令，所述处理器302，具体用于响应所述插入指令，将所述通信装置301接收的待插入航点插入到所述航点序列中的预设位置。
可选的，所述处理器302，还用于对所述待插入航点的合法性进行判断，若所述待插入航点合法，则将所述待插入航点插入到所述航点序列中的预设位置。
可选的，所述处理器302，还用于对所述待插入指令的合法性进行判断
可选的，所述处理器302，还用于对所述预设位置和/或所述待插入的航点的合法性进行判断。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从外部设备接收的。
可选的，所述编辑的指令包括删除指令，所述处理器302，具体用于响应所述删除指令，对所述航点序列中的航点进行删除。
可选的，所述通信装置301，还用于接收所述外部设备发送的待删除航点的关联信息，所述关联信息用于确定所述待删除航点在所述航点序列中的位置。
所述处理器302，具体用于通过所述关联信息确定所述待删除航点，将所述待删除航点从所述航点序列中删除。
可选的，所述关联信息包括：所述待删除航点的位置坐标、所述待删除航 点在所述航点序列中的索引ID、所述待删除航点在所述航点序列中的前和/或后一个航点的位置坐标和/或索引ID、与所述待删除航点关联的航点动作、与所述待删除航点关联的航线属性中的一种或多种。
可选的，所述处理器302，还用于对所述删除指令的合法性进行判断。
可选的，所述处理器302，还用于对所述待删除航点的合法性进行判断。
可选的，所述通信装置301，还用于接收所述外部设备发送的待插入航点。
所述处理器302，还用于将所述待插入航点插入到所述航点序列中的预设位置。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从外部设备接收的。
可选的，所述编辑指令包括移动指令，所述处理器302，具体用于响应所述移动指令，对所述航点序列中的航点进行移动。
可选的，所述处理器302，具体用于定位待移动航点，保存所述待移动航点，将所述待移动航点从所述航点序列中删除，将所述待移动航点插入到所述航点序列中的预设位置。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从外部设备接收的。
可选的，所述处理器302，还用于对所述待移动指令的合法性进行判断。
可选的，所述处理器302，还用于对所述待移动的航点和/或所述预设位置的合法性进行判断。
可选的，所述通信装置301，还用于接收所述外部设备发送的待插入航点。
所述处理器302，还用于删除所述航点序列中已经被飞行器执行过的航点，将所述待插入航点插入到所述航点序列中未被执行的航点序列中的预设位置。
可选的，所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的 航点动作和关联的航线属性中的一种或多种定位。
可选的，所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从外部设备接收的。
可选的，所述处理器302，还用于当飞行器中断执行航线时，记录所述飞行器的中断位置。
所述通信装置301，还用于接收所述外部设备发送的所述中断执行的航线。
所述处理器302，还用于根据所述中断位置确定所述飞行器的起始位置，控制所述飞行器从所述起始位置继续执行所述中断执行的航线。
具体实现中，本发明实施例中所描述的通信装置301、处理器302和存储器303可执行本发明实施例图2提供的航点编辑方法中所描述的实现方式，也可执行本发明实施例图9所描述的航点编辑装置的实现方式，在此不再赘述。
本发明实施例提供的一种飞行器，本实施例中所描述的飞行器，包括：
动力系统，用于为飞行器提供飞行动力；
图10提供的航点编辑设备中的任一项，用于对航点序列中的航点进行编辑。
本发明实施例通过接收外部设备发送的对航点序列中的航点进行编辑的指令，响应该编辑的指令，对该航点序列中的航点进行动态插入、删除、移动等编辑操作，并生成编辑后的航点序列，可以实现航点的高效、动态编辑，同时还可以实现飞行器的无限航点飞行和断点续航。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本申请，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步 骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
以上对本发明实施例所提供的一种航点编辑方法、装置、设备及飞行器进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (58)

  1. 一种航点编辑装置，其特征在于，包括：
    接收模块，用于接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送；
    控制模块，用于响应所述编辑的指令，对所述航点序列中的航点进行编辑，生成编辑后的航点序列。
  2. 根据权利要求1所述的装置，其特征在于，
    所述航点序列为未被飞行器执行的航点序列。
  3. 根据权利要求1或2所述的装置，其特征在于，所述编辑指令包括插入指令；
    所述控制模块，具体用于响应所述插入指令，将所述接收模块接收的待插入航点插入到所述航点序列中的预设位置。
  4. 根据权利要求3所述的装置，其特征在于，
    所述控制模块，还用于对所述插入指令的合法性进行判断。
  5. 根据权利要求3所述的装置，其特征在于，
    所述控制模块，还用于对所述预设位置和/或所述待插入航点的合法性进行判断。
  6. 根据权利要求1或2所述的装置，其特征在于，所述编辑指令包括删除指令；
    所述控制模块，具体用于响应所述删除指令，对所述航点序列中的航点进行删除。
  7. 根据权利要求6所述的装置，其特征在于，
    所述接收模块，还用于接收所述外部设备发送的待删除航点的关联信息， 所述关联信息用于确定所述待删除航点在所述航点序列中的位置；
    所述控制模块，具体用于通过所述关联信息确定所述待删除航点，将所述待删除航点从所述航点序列中删除。
  8. 根据权利要求7所述的装置，其特征在于，
    所述关联信息包括：所述待删除航点的位置坐标、所述待删除航点在所述航点序列中的索引编号ID、所述待删除航点在所述航点序列中的前和/或后一个航点的位置坐标和/或索引ID、与所述待删除航点关联的航点动作、与所述待删除航点关联的航线属性中的一种或多种。
  9. 根据权利要求6所述的装置，其特征在于，
    所述控制模块，还用于对所述删除指令的合法性进行判断。
  10. 根据权利要求7所述的装置，其特征在于，
    所述控制模块，还用于对所述待删除航点的合法性进行判断。
  11. 根据权利要求6所述的装置，其特征在于，
    所述接收模块，还用于接收所述外部设备发送的待插入航点；
    所述控制模块，还用于将所述待插入航点插入到所述航点序列中的预设位置。
  12. 根据权利要求1或2所述的装置，其特征在于，所述编辑指令包括移动指令；
    所述控制模块，具体用于响应所述移动指令，对所述航点序列中的航点进行移动。
  13. 根据权利要求12所述的装置，其特征在于，
    所述控制模块，具体用于定位待移动航点，保存所述待移动航点，将所述待移动航点从所述航点序列中删除，将所述待移动航点插入到所述航点序列中 的预设位置。
  14. 根据权利要求12所述的装置，其特征在于，
    所述控制模块，还用于对所述移动指令的合法性进行判断。
  15. 根据权利要求13所述的装置，其特征在于，
    所述控制模块，还用于对所述待移动航点和/或所述预设位置的合法性进行判断。
  16. 根据权利要求1所述的装置，其特征在于，
    所述接收模块，还用于接收所述外部设备发送的待插入航点；
    所述控制模块，还用于删除所述航点序列中已经被飞行器执行过的航点，将所述待插入航点插入到所述航点序列中未被执行的航点序列中的预设位置。
  17. 根据权利要求1所述的装置，其特征在于，所述控制模块包括中断处理单元，其中：
    所述中断处理单元，用于当飞行器中断执行航线时，记录所述飞行器的中断位置；
    所述接收模块，还用于接收所述外部设备发送的所述中断执行的航线；
    所述中断处理单元，还用于根据所述中断位置确定所述飞行器的起始位置，控制所述飞行器从所述起始位置继续执行所述中断执行的航线。
  18. 根据权利要求3、11、13和16中任一项所述的装置，其特征在于，
    所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
  19. 根据权利要求18所述的装置，其特征在于，
    所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从所述外部设备接收的。
  20. 一种航点编辑方法，其特征在于，包括：
    接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送；
    响应所述编辑的指令，对所述航点序列中的航点进行编辑，生成编辑后的航点序列。
  21. 根据权利要求20所述的方法，其特征在于，
    所述航点序列为未被飞行器执行的航点序列。
  22. 根据权利要求20或21所述的方法，其特征在于，所述编辑的指令包括插入指令，所述响应所述编辑的指令，对所述航点序列中的航点进行编辑，包括：
    响应所述插入指令，将接收的待插入航点插入到所述航点序列中的预设位置。
  23. 根据权利要求22所述的方法，其特征在于，所述方法还包括：
    对所述插入指令的合法性进行判断。
  24. 根据权利要求22所述的方法，其特征在于，所述方法还包括：
    对所述预设位置和/或所述待插入航点的合法性进行判断。
  25. 根据权利要求20或21所述的方法，其特征在于，所述编辑的指令包括删除指令，所述响应所述编辑的指令，对所述航点序列中的航点进行编辑，包括：
    响应所述删除指令，对所述航点序列中的航点进行删除。
  26. 根据权利要求25所述的方法，其特征在于，所述响应所述删除指令，对所述航点序列中的航点进行删除，包括：
    接收所述外部设备发送的待删除航点的关联信息，所述关联信息用于确定所述待删除航点在所述航点序列中的位置；
    通过所述关联信息确定所述待删除航点，将所述待删除航点从所述航点序列中删除。
  27. 根据权利要求26所述的方法，其特征在于，
    所述关联信息包括：所述待删除航点的位置坐标、所述待删除航点在所述航点序列中的索引ID、所述待删除航点在所述航点序列中的前和/或后一个航点的位置坐标和/或索引ID、与所述待删除航点关联的航点动作、与所述待删除航点关联的航线属性中的一种或多种。
  28. 根据权利要求25所述的方法，其特征在于，所述方法还包括：
    对所述删除指令的合法性进行判断。
  29. 根据权利要求26所述的方法，其特征在于，所述方法还包括：
    对所述待删除航点的合法性进行判断。
  30. 根据权利要求25所述的方法，其特征在于，所述方法还包括：
    接收所述外部设备发送的待插入航点；
    将所述待插入航点插入到所述航点序列中的预设位置。
  31. 根据权利要求20或21所述的方法，其特征在于，所述编辑的指令包括移动指令，所述响应所述编辑的指令，对所述航点序列中的航点进行编辑，包括：
    响应所述移动指令，对所述航点序列中的航点进行移动。
  32. 根据权利要求31所述的方法，其特征在于，所述响应所述移动指令，对所述航点序列中的航点进行移动，包括：
    定位待移动航点，保存所述待移动航点；
    将所述待移动航点从所述航点序列中删除，将所述待移动航点插入到所述航点序列中的预设位置。
  33. 根据权利要求31所述的方法，其特征在于，所述方法还包括：
    对所述移动指令的合法性进行判断。
  34. 根据权利要求32所述的方法，其特征在于，所述方法还包括：
    对所述待移动航点和/或所述预设位置的合法性进行判断。
  35. 根据权利要求20所述的方法，其特征在于，所述方法还包括：
    接收所述外部设备发送的待插入航点；
    删除所述航点序列中已经被飞行器执行过的航点，将所述待插入航点插入到所述航点序列中未被执行的航点序列中的预设位置。
  36. 根据权利要求20所述的方法，其特征在于，所述方法还包括：
    当飞行器中断执行航线时，记录所述飞行器的中断位置；
    接收所述外部设备发送的所述中断执行的航线；
    根据所述中断位置确定所述飞行器的起始位置，控制所述飞行器从所述起始位置继续执行所述中断执行的航线。
  37. 根据权利要求22、30、32和35中任一项所述的方法，其特征在于，
    所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
  38. 根据权利要求37所述的方法，其特征在于，
    所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从所述外部设备接收的。
  39. 一种航点编辑设备，其特征在于，包括：
    通信装置，用于接收对航点序列中的航点进行编辑的指令，其中，所述编辑的指令由外部设备发送；
    处理器，用于响应所述编辑的指令，对所述航点序列中的航点进行编辑，生成编辑后的航点序列。
  40. 根据权利要求39所述的设备，其特征在于，
    所述航点序列为未被飞行器执行的航点序列。
  41. 根据权利要求39或40所述的设备，其特征在于，所述编辑的指令包括插入指令；
    所述处理器，具体用于响应所述插入指令，将所述通信装置接收的待插入航点插入到所述航点序列中的预设位置。
  42. 根据权利要求41所述的设备，其特征在于，
    所述处理器，还用于对所述插入指令的合法性进行判断。
  43. 根据权利要求41所述的设备，其特征在于，
    所述处理器，还用于对所述预设位置和/或所述待插入航点的合法性进行判断。
  44. 根据权利要求39或40所述的设备，其特征在于，所述编辑的指令包括删除指令；
    所述处理器，具体用于响应所述删除指令，对所述航点序列中的航点进行删除。
  45. 根据权利要求44所述的设备，其特征在于，
    所述通信装置，还用于接收所述外部设备发送的待删除航点的关联信息，所述关联信息用于确定所述待删除航点在所述航点序列中的位置；
    所述处理器，具体用于通过所述关联信息确定所述待删除航点，将所述待 删除航点从所述航点序列中删除。
  46. 根据权利要求45所述的设备，其特征在于，
    所述关联信息包括：所述待删除航点的位置坐标、所述待删除航点在所述航点序列中的索引ID、所述待删除航点在所述航点序列中的前和/或后一个航点的位置坐标和/或索引ID、与所述待删除航点关联的航点动作、与所述待删除航点关联的航线属性中的一种或多种。
  47. 根据权利要求44所述的设备，其特征在于，
    所述处理器，还用于对所述删除指令的合法性进行判断。
  48. 根据权利要求45所述的设备，其特征在于，
    所述处理器，还用于对所述待删除航点的合法性进行判断。
  49. 根据权利要求44所述的设备，其特征在于，
    所述通信装置，还用于接收所述外部设备发送的待插入航点；
    所述处理器，还用于将所述待插入航点插入到所述航点序列中的预设位置。
  50. 根据权利要求39或40所述的设备，其特征在于，所述编辑指令包括移动指令；
    所述处理器，具体用于响应所述移动指令，对所述航点序列中的航点进行移动。
  51. 根据权利要求50所述的设备，其特征在于，
    所述处理器，具体用于定位待移动航点，保存所述待移动航点，将所述待移动航点从所述航点序列中删除，将所述待移动航点插入到所述航点序列中的预设位置。
  52. 根据权利要求50所述的设备，其特征在于，
    所述处理器，还用于对所述移动指令的合法性进行判断。
  53. 根据权利要求50所述的设备，其特征在于，
    所述处理器，还用于对所述待移动航点和/或所述预设位置的合法性进行判断。
  54. 根据权利要求39所述的设备，其特征在于，
    所述通信装置，还用于接收所述外部设备发送的待插入航点；
    所述处理器，还用于删除所述航点序列中已经被飞行器执行过的航点，将所述待插入航点插入到所述航点序列中未被执行的航点序列中的预设位置。
  55. 根据权利要求39所述的设备，其特征在于，
    所述处理器，还用于当飞行器中断执行航线时，记录所述飞行器的中断位置；
    所述通信装置，还用于接收所述外部设备发送的所述中断执行的航线；
    所述处理器，还用于根据所述中断位置确定所述飞行器的起始位置，控制所述飞行器从所述起始位置继续执行所述中断执行的航线。
  56. 根据权利要求41、49、51和54中任一项所述的设备，其特征在于，
    所述预设位置通过所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种定位。
  57. 根据权利要求56所述的设备，其特征在于，
    所述航点序列中航点的坐标、索引ID、关联的航点动作和关联的航线属性中的一种或多种是从所述外部设备接收的。
  58. 一种飞行器，其特征在于，包括：
    动力系统，用于为所述飞行器提供飞行动力；
    权利要求39-57中任一项所述的航点编辑设备，用于对航点序列中的航点进行编辑。
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