WO2019183959A1 - 航点的更新方法及可移动平台 - Google Patents

航点的更新方法及可移动平台 Download PDF

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Publication number
WO2019183959A1
WO2019183959A1 PCT/CN2018/081448 CN2018081448W WO2019183959A1 WO 2019183959 A1 WO2019183959 A1 WO 2019183959A1 CN 2018081448 W CN2018081448 W CN 2018081448W WO 2019183959 A1 WO2019183959 A1 WO 2019183959A1
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WIPO (PCT)
Prior art keywords
waypoints
type
waypoint
mobile platform
preset
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PCT/CN2018/081448
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English (en)
French (fr)
Inventor
陈超彬
闫光
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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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 CN201880031873.5A priority Critical patent/CN111742290A/zh
Priority to PCT/CN2018/081448 priority patent/WO2019183959A1/zh
Publication of WO2019183959A1 publication Critical patent/WO2019183959A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers

Definitions

  • the present invention relates to the field of communications technologies, and in particular, to a method for updating a waypoint and a mobile platform.
  • mobile platforms such as drones, unmanned vehicles, unmanned ships, etc.
  • image shooting 3D mapping
  • agricultural plant protection or power inspection.
  • power inspection In the field.
  • the mobile platform can store the received waypoints in the local storage device of the mobile platform according to the waypoints received from the external device, and then move according to the waypoints stored in the local storage device. Due to the limited storage space of the local storage device, the mobile platform needs to update the waypoints already stored in the local storage device by using the newly received waypoints from the external device.
  • the existing update strategy is not intelligent enough.
  • the embodiment of the invention provides a method for updating a waypoint and a mobile platform for improving the intelligence degree and efficiency of the route update of the mobile platform.
  • a first aspect of the embodiments of the present invention provides a method for updating a waypoint, which is applied to a mobile platform.
  • the local storage device of the mobile platform is used to store a route, and the route includes a first type of waypoint and a current location of the mobile platform. a point and a second type of waypoint, wherein the waypoint where the movable platform is currently located is located between the first type of waypoint and the second type of waypoint in the direction of the route, the method comprising:
  • the number of second type of waypoints stored in the local storage device and the number of first type of waypoints satisfy a preset number relationship.
  • a second aspect of the embodiments of the present invention provides a mobile platform, where the mobile platform includes: a local storage device and one or more processors.
  • the local storage device is configured to store a route, where the route includes a first type of waypoint, a waypoint where the mobile platform is currently located, and a second type of waypoint, where the mobile station is currently at the waypoint Between the first type of waypoint and the second type of waypoint in the direction of the route;
  • the one or more processors working alone or in concert, are used to:
  • the number of second type of waypoints stored in the local storage device and the number of first type of waypoints satisfy a preset number relationship.
  • a third aspect of the embodiments of the present invention provides a readable storage medium, where the computer program is stored, and when the at least one processor of the mobile platform executes the computer program, the movable platform executes the first The method described in the aspects.
  • the mobile platform acquires the first type of waypoints from the external device, and uses the acquired first type of waypoints to store the waypoints of the local storage device.
  • the second type of waypoints are updated, so that the mobile platform can update the waypoints in time during the operation, and ensure that the mobile platform can meet the requirements of various work scenarios. Further, after updating the waypoint, the number of the first type of waypoints and the number of the second type of waypoints in the local storage device of the movable platform satisfy a preset quantity relationship.
  • the local storage device can still store certain data of the first type of waypoints, and the movable platform can still Continue to perform the job tasks normally, which increases the intelligence of the waypoint updates for the mobile platform.
  • FIG. 1 is a system architecture diagram corresponding to a method for updating a waypoint according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for updating a waypoint according to an embodiment of the present invention
  • FIG. 3 is a diagram showing an example of a route and a waypoint in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of updating a second type of waypoint stored in a local storage device using a first type of waypoint obtained from an external device according to an embodiment of the present invention
  • FIG. 5 is a schematic flowchart of obtaining a first type of waypoint from an external device according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of updating a second type of waypoint according to the number of waypoints between the waypoint currently located by the movable platform and the reference waypoint according to the embodiment of the present invention
  • FIG. 7 is a physical block diagram of a mobile platform according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the control terminal uploads the waypoint in the route to the mobile platform, and the number of the waypoints that the mobile platform can store is limited.
  • the mobile platform cannot complete the route task in one time.
  • multiple fruit trees need to be sprayed. Each fruit tree is sprayed in a spiral around it. Therefore, when the number of fruit trees is large, the number of waypoints required for the entire route will be more, and the storage capacity of the drone is limited, and the drone cannot complete the spraying task at one time.
  • the user often manually updates the waypoints in the mobile platform through the control terminal, or the control terminal splits the route into multiple segments, and uploads the segments to the mobile platform in stages, and then uploads another segment when the route is executed.
  • Routes however, the update strategies in the prior art are not sufficiently refined and intelligent, for example, the control of the number of waypoints that have been performed in the mobile platform and the number of waypoints that have not been executed cannot be refined.
  • the mobile platform may receive the user's instructions and move away from the route during the mobile process.
  • the update strategy in the prior art cannot meet the application scenario.
  • the embodiment of the present invention provides a method for updating a waypoint, which can update a waypoint in a mobile platform according to a preset quantity relationship, so that the mobile platform can update the waypoint information during the operation process.
  • the mobile platform is guaranteed to meet the requirements of various job scenarios.
  • FIG. 1 is a system architecture diagram corresponding to a method for updating a waypoint according to an embodiment of the present invention.
  • the system includes an external device 101 and a mobile platform 102.
  • the movable platform 102 refers to a device that moves by external force or moves through its own power system.
  • the movable platform may specifically be a drone, an unmanned vehicle, an unmanned ship, or the like.
  • the following embodiments of the present invention are described by taking an unmanned aerial vehicle as an example.
  • the external device 101 may be any device capable of establishing a communication connection with the mobile platform, and specifically may refer to a device that controls the movement of the movable platform by interacting with the mobile platform, and all the waypoints in the route are stored on the external device.
  • the external device sends the waypoint to the mobile platform, and after receiving the waypoint, the mobile platform can store the received waypoint in the local storage device 103 of the mobile platform, and the mobile platform can follow the local storage device.
  • the waypoint includes at least location information, and in some cases, the waypoint further includes an action instruction. For example, shooting action instructions, PTZ control commands, and so on.
  • the external device may be a control terminal physically separate from the mobile platform, which may include a remote control, a smart phone, a tablet, a laptop, a wearable device (watch, bracelet) One or more of them.
  • the external device may also be carried on a portable flat device that may have computing capabilities for data communication with the mobile platform.
  • the execution body of the method is the above-mentioned mobile platform, specifically a processor in the mobile platform. As shown in FIG. 2, the method includes:
  • the execution body of the update method provided by the embodiment of the present invention may be a mobile platform.
  • the execution body may be a processor of a mobile platform, where the processor may be a general purpose processor, or may be A dedicated processor, which may be one or more.
  • the mobile platform also includes a local storage device, and the local storage device of the mobile platform is used to store the route, and the route includes a first type of waypoint, a waypoint where the mobile platform is currently located, and a second type of waypoint.
  • the waypoint where the mobile platform is currently located is located between the first type of waypoint and the second type of waypoint in the direction of the route.
  • the waypoint that the mobile platform is currently located may be the closest waypoint to the mobile platform in the current time route, as shown in FIG. 3, the local storage device of the mobile platform stores 6 The waypoints are waypoint 1 to waypoint 6, respectively. If the current position of the movable platform 201 and the direction of the route are as shown in FIG. 3, the movable platform has passed the waypoint 3 and moved to the waypoint 4, and the movable platform is currently The waypoint is located at the waypoint 3 and the waypoint 4 which is closer to the movable platform.
  • the waypoint 3 is closer to the movable platform, and the current destination of the movable platform is the waypoint 3
  • the waypoint that the movable platform is currently located is the next target waypoint that the movable platform moves from the current position along the direction of the route, that is, the direction of the mobile platform from the current position along the route
  • the next waypoint for the mobile platform is waypoint 4
  • the current waypoint for the mobile platform is waypoint 4.
  • the waypoint that the movable platform is currently located is that the movable platform moves in the direction of the route to the previous waypoint passing by the current position, that is, the mobile platform moves to the current position along the route direction.
  • the last waypoint through which the mobile platform passes is waypoint 3, and the current waypoint of the mobile platform is waypoint 3. It can be understood that the definition of the waypoint where the mobile platform is currently located can be selected according to the needs of the person skilled in the art, and is not specifically limited herein.
  • the waypoint where the mobile platform is currently located is located between the first type of waypoint and the second type of waypoint in the direction of the route. That is, the first type of waypoints and the second type of waypoints stored in the local storage device are located on both sides of the waypoint where the movable platform is currently located in the direction of the route.
  • the first type of waypoint stored in the local storage device is a target waypoint that is to be traversed when the movable platform in the route moves from the currently located waypoint along the direction of the route, and the second type of navigation stored in the local storage device
  • the point is a waypoint in the route except the current waypoint of the mobile platform and the first type of waypoint.
  • the local storage device The first type of waypoints stored in the destination are waypoint 4 to waypoint 6, and the second type of waypoints stored in the local storage device are waypoint 1 and waypoint 2.
  • the mobile platform can establish wired or wireless with the external device.
  • the communication connection the mobile platform can obtain the first type of waypoint from the external device, and the first type of waypoint obtained from the external device is the target that the movable platform moves in the direction of the route from the current waypoint to be spread. Waypoint.
  • the mobile platform may use the acquired first type of waypoints to update the second type of waypoints stored in the local storage device, that is, the obtained The first type of waypoints cover the second type of waypoints stored in the local storage device.
  • the number of first type of waypoints stored in the local storage device and the number of second type of waypoints will change, resulting in the number of second type of waypoints stored in the local storage device and the number of first type of waypoints.
  • the quantity relationship between the two will change.
  • the number of the second type of waypoints stored in the local storage device and the number of the first type of waypoints satisfy the preset quantity relationship.
  • the number of first type of waypoints stored in the local storage device and the number of second type of waypoints can reach an equilibrium state.
  • the number of waypoints in the complete route is large, and the external device can store all the waypoints as shown in FIG. 4, and some routes in the complete route that the local storage device can store, as shown in FIG.
  • the part of the route includes: a first type of waypoint 401, a waypoint 402 where the movable platform is currently located, and a second type of waypoint 403.
  • the mobile platform acquires one or more first-type waypoints 404 from an external device, where two first-type waypoints are schematically illustrated, and the acquired first-type waypoints 404 are used to access the local storage device.
  • the second type of waypoints 405 in the stored waypoints are updated, so that the mobile platform overwrites the second type of waypoints 405 in the local storage device with the acquired first type of waypoints 404.
  • the number of the second type of waypoints stored in the local storage device and the number of the first type of waypoints satisfy a preset quantity relationship, and by such an update manner, after each update, in the local storage device
  • the number of stored second type of waypoints and the number of first type of waypoints satisfy the preset quantity relationship, thereby ensuring that the preset data is still stored in the local storage device when the drone suddenly changes direction of the route.
  • the second type of waypoints ensure that the mobile platform can perform the route normally.
  • the mobile platform acquires the first type of waypoints from the external device, and uses the acquired first type of waypoints to update the second type of waypoints in the waypoints stored by the local storage device, thereby making the movable
  • the platform can update the waypoints in time during the operation.
  • the number of the first type of waypoints and the number of the second type of waypoints in the local storage device of the movable platform satisfy the preset quantity relationship. Therefore, in the case that the UAV suddenly moves in the direction of the route, the second type of waypoints of the preset data are still stored in the local storage device, so that the movable platform can normally perform the route.
  • the preset quantity relationship is fixed.
  • the preset quantity relationship may be set by a user. Further, the preset data relationship may be set by a user before the mobile platform performs a job. In some cases, the user can set the preset data relationship by operating a control terminal of the mobile platform. Wherein, the preset data relationship is fixed once, or is not fixed until a period of time or before being set again. In some cases, the preset number relationship may not be maintained by a user setting, for example, the preset relationship is written into firmware of the mobile platform.
  • the preset quantity relationship may be, for example, a ratio of the number of the second type of waypoints to the number of the first type of waypoints, or a ratio of 1.5 or the like.
  • the preset quantity relationship is variable.
  • the preset relationship is adjusted in real time during the movement of the movable platform.
  • the preset quantity relationship may be determined by the movable platform according to at least one of a motion state of the movable platform, a communication state between the movable platform and the external device, that is, the mobile platform may be according to the motion state of the movable platform. At least one of a communication state between the mobile platform and the external device determines a preset quantity relationship.
  • the motion state of the movable platform may be all parameters describing the motion of the movable platform, and may specifically be one or more of a moving speed, a moving acceleration, a moving angular velocity, an angular acceleration, and a posture.
  • the communication state between the mobile platform and the external device may be a parameter describing communication between the mobile platform and the external device, and specifically, may be a bandwidth, a communication link of a communication link between the drone and the control terminal. One or more of a bit error rate and a communication distance.
  • the mobile platform may periodically or non-periodically determine the motion state of the mobile platform and/or the communication state between the drone and the control terminal.
  • the movable platform may determine a communication state with the motion state of the movable platform and/or a communication between the movable platform and the control terminal according to a motion state of the movable platform and/or a communication state between the movable platform and the control terminal.
  • the preset quantity relationship in which the states match.
  • the preset quantity relationship may be determined according to the moving speed, wherein the preset number The number of first type of waypoints in the quantity relationship is relatively large or the number of first type of waypoints accounts for a higher proportion of the number of all waypoints stored in the local storage device.
  • the bandwidth between the mobile platform and the external device determines the preset quantity relationship, wherein the number of the first type of waypoints in the preset quantity relationship is larger or the number of the first type of waypoints accounts for the number of all the waypoints stored in the local storage device. The proportion is higher. In this way, it can be ensured that the preset quantity relationship can conform to the current working state of the movable platform, and the rationality of the preset quantity relationship is ensured.
  • the embodiment relates to a specific method for the mobile platform to acquire the first type of waypoints from the external device.
  • the following may be specifically:
  • the first type of waypoint is acquired from the external device.
  • the mobile platform can acquire a first type of waypoint from the external device to update a second type of waypoint stored in the local storage device in real time, so as to It is ensured that the number of the first type of waypoints and the number of the second type of waypoints can satisfy the above-mentioned preset quantity relationship at any time. However, this will cause the mobile platform to interact too much with external devices, resulting in wasted link bandwidth. Therefore, in this embodiment, when the preset update condition is met, the mobile platform acquires the first type of waypoint from the external device to update the second type of waypoint stored in the local storage device.
  • the preset update condition may be fixed or variable.
  • the preset update condition may be determined according to at least one of a motion state of the movable platform and a communication state between the movable platform and the external device.
  • the motion state of the movable platform may be all parameters describing the motion of the movable platform, and may specifically be one or more of a moving speed, a moving acceleration, a moving angular velocity, an angular acceleration, and a posture.
  • the communication state between the mobile platform and the external device may be a parameter describing communication between the mobile platform and the external device, and specifically, may be a bandwidth, a communication link of a communication link between the drone and the control terminal. One or more of a bit error rate and a communication distance.
  • the mobile platform may determine whether the preset update condition is met according to the quantitative relationship between the first type of waypoint and the second waypoint; in some cases, the mobile platform may be based on the movable platform. The positional relationship between the currently located waypoint and the reference waypoint determines whether the preset update condition is met. The following description will be respectively made.
  • acquiring the first type of waypoint from the external device includes:
  • the mobile platform may periodically or aperiodically determine the current quantity relationship between the number of the second type of waypoints stored in the local storage device and the number of the first type of waypoints at the current time, that is, the current quantity relationship.
  • the quantity relationship may be a ratio of the number of the second type of waypoints stored in the local storage device to the number of the first type of waypoints.
  • the quantity relationship may be The difference between the number of second type of waypoints stored in the local storage device and the number of first type of waypoints.
  • the number of the second type of waypoints in the local storage device is 60
  • the number of the first type of waypoints is also 40
  • the number of the second type of waypoints and the number of the first type of waypoints are currently between
  • the ratio is 60:40, that is, the current quantitative relationship (ratio) is 1.5.
  • the movable platform may compare the current quantity relationship with the preset quantity relationship to determine The difference between the current quantitative relationship and the preset quantitative relationship.
  • the preset quantity relationship is 1, that is, the ratio of the number of the first type of waypoints in the local storage device to the number of the second type of waypoints is 50:50, if As mentioned above, the current quantitative relationship is 1.5, and the difference between the current quantitative relationship and the preset quantitative relationship is 0.5.
  • the mobile platform After determining the difference, comparing the difference with a preset difference threshold, determining whether the difference is greater than or equal to a preset difference threshold, and only when determining that the difference is greater than or equal to a preset difference threshold The mobile platform will then obtain the first type of waypoint from the external device. If it is determined that the difference is less than the preset difference threshold, the mobile platform does not acquire the first type of waypoint from the mobile device, which can save communication bandwidth between the mobile platform and the external device.
  • the foregoing quantity relationship is used as an example. For example, if the preset difference threshold is 0.5, it may be determined that the difference is equal to a preset difference threshold, and 10 first class carriers are acquired from an external device.
  • the preset quantity relationship is a target quantity relationship between the first type of waypoints stored in the local storage device and the second type of waypoints, and when the difference between the current quantity relationship and the preset quantity relationship is small, The mobile platform does not acquire the first type of waypoints from the external device.
  • the difference between the current quantity relationship and the preset quantity relationship is large, that is, after reaching or exceeding a preset difference threshold, at this time, the movable platform is movable.
  • the platform acquires the first type of waypoints from the external device and updates the second type of waypoints stored in the local storage device, so that the relationship between the second type of waypoints and the first type of waypoints in the updated local storage device is re-established. Meet the preset quantity relationship.
  • the preset difference threshold is fixed.
  • the difference threshold may be set by the user through the control terminal, and once the user is set, the modification is not allowed during the execution of the work task by the mobile platform.
  • the preset difference threshold can be solidified in the firmware of the mobile platform.
  • the preset difference threshold is variable.
  • the preset difference threshold is determined according to at least one of a motion state of the movable platform, a communication state between the movable platform and an external device.
  • the motion state of the movable platform may be all parameters describing the motion of the movable platform, and may specifically be one or more of a moving speed, a moving acceleration, a moving angular velocity, an angular acceleration, and a posture.
  • the communication state between the mobile platform and the external device may be a parameter describing communication between the mobile platform and the external device, and specifically, may be a bandwidth, a communication link of a communication link between the drone and the control terminal. One or more of a bit error rate and a communication distance.
  • the mobile platform can determine the motion state of the mobile platform and/or the communication state between the drone and the control terminal periodically or non-periodically.
  • the movable platform may determine a communication state with the motion state of the movable platform and/or a communication between the movable platform and the control terminal according to a motion state of the movable platform and/or a communication state between the movable platform and the control terminal.
  • the preset difference threshold that the state matches. For example, if the moving speed of the movable platform is large, the preset difference threshold may be lowered, which may increase the update frequency of the second type of waypoints in the local storage device and the second type in the local storage device. The waypoint is updated.
  • the preset difference threshold can be increased, which can reduce the update frequency of the second type of waypoints in the local storage device to save communication bandwidth. For another example, if the bandwidth between the mobile platform and the external device is small, the preset difference threshold is increased, so that the update frequency of the second type of waypoints in the local storage device can be reduced to save communication bandwidth, if When the current bandwidth is large, the preset difference threshold may be decreased, and the second type of waypoints in the storage device may be updated in time. In this way. In this way, it can be ensured that the preset difference threshold can conform to the current working state of the movable platform, and the rationality of the preset difference threshold is ensured.
  • the movable platform determines the current quantity relationship between the number of the second type of waypoints and the number of the first type of waypoints, and determines the difference between the current quantity relationship and the preset quantity relationship, and further, the difference And obtaining a first type of waypoint from an external device when the threshold is greater than or equal to the preset difference threshold, and updating the second type of waypoint stored in the local storage device by using the acquired first type of waypoint, thereby avoiding frequent
  • the interaction with the external device ensures that the number relationship between the number of the second type of waypoints in the local storage device and the number of the first type of waypoints can be adjusted to a preset quantity relationship in time after the update is completed.
  • acquiring the first type of waypoint from the external device includes determining, before updating, a waypoint currently stored by the mobile platform and a reference stored in the local storage device. The number of waypoints between the waypoints. When the number of the waypoints is greater than or equal to the first preset number threshold, the first type of waypoints are obtained from the external device.
  • the current waypoint of the movable platform changes along the direction of the waypoint, as shown in FIG. 6, if the current destination of the movable platform is navigation Point 601, there may be a reference waypoint 602 in the waypoint stored in the local storage device, and the movable platform may determine that the currently located waypoint is the number of waypoints between the waypoint 601 and the reference waypoint 602.
  • the first preset number threshold When the number of the separated waypoints is greater than or equal to the first preset number threshold, acquiring the first type of waypoints from the external device, and using the acquired first type of waypoints to the second type of waypoints in the storage device The update is performed, and when the number of the separated waypoints is less than the first preset number threshold, the first type of waypoints are not acquired from the external device.
  • the reference waypoint is determined according to the preset quantity relationship.
  • the local storage device stores 169 waypoints.
  • the preset quantity relationship is a ratio of 1
  • the 85th navigation in the direction of the route in the local storage device may be determined according to the preset number.
  • the reference point is a reference waypoint, and the reference waypoint can be understood as the ideal waypoint where the movable platform is located, that is, the desired movable platform is in the process of moving, and the current waypoint of the movable platform is always the reference waypoint. .
  • the movable platform determines the reference waypoint according to the preset quantity relationship, and then the movable platform may periodically or aperiodically determine the number of waypoints between the currently located waypoint and the reference waypoint, and The number of separated waypoints is compared to a first predetermined number threshold. For example, if the first preset number threshold is 5, when the mobile platform determines that there are 5 waypoints between the currently located waypoint and the reference waypoint, the mobile platform can obtain 5 first classes from the external device. The waypoints use these five first type of waypoints to update the second type of waypoints in the local storage.
  • the first preset number threshold is fixed.
  • the first preset number threshold may be set by the user through the control terminal, and once the user is set, the modification is not allowed in the process of the mobile platform performing a work task.
  • the first predetermined number threshold may be solidified in the firmware of the mobile platform.
  • the first preset number threshold is variable.
  • the first preset number threshold is determined according to at least one of a motion state of the movable platform, a communication state between the movable platform and an external device.
  • the motion state of the movable platform may be all parameters describing the motion of the movable platform, and may specifically be one or more of a moving speed, a moving acceleration, a moving angular velocity, an angular acceleration, and a posture.
  • the communication state between the mobile platform and the external device may be a parameter describing communication between the mobile platform and the external device, and specifically, may be a bandwidth, a communication link of a communication link between the drone and the control terminal. One or more of a bit error rate and a communication distance.
  • the mobile platform can determine the motion state of the mobile platform and/or the communication state between the drone and the control terminal periodically or non-periodically.
  • the movable platform may determine a communication state with the motion state of the movable platform and/or a communication between the movable platform and the control terminal according to a motion state of the movable platform and/or a communication state between the movable platform and the control terminal.
  • the first preset number threshold that matches the state. For example, if the moving speed of the movable platform is large, the first preset number threshold may be lowered, which may increase the update frequency of the second type of waypoints in the local storage device and the time in the local storage device. The second type of waypoints are updated.
  • the first preset number threshold may be increased, which may reduce the update frequency of the second type of waypoints in the local storage device to save communication bandwidth. For another example, if the bandwidth between the mobile platform and the external device is small, the first preset number threshold is increased, so that the update frequency of the second type of waypoints in the local storage device can be reduced to save communication bandwidth.
  • the first preset number threshold may be decreased, and the second type of waypoints in the storage device may be updated in time. In this way. In this way, it can be ensured that the preset difference threshold can conform to the current working state of the movable platform, and the rationality of the preset difference threshold is ensured.
  • the movable platform determines the reference waypoint, and determines the number of waypoints between the currently located waypoint and the reference waypoint of the movable platform, when the number of the separated waypoints exceeds the first preset number threshold.
  • the update is performed to avoid frequent interaction with external devices, and at the same time ensure that the quantitative relationship between the number of second type of waypoints in the local storage device and the number of first type of waypoints can be adjusted to the target number in time. relationship.
  • the number of waypoints in the route stored in the local storage device has reached the upper limit of the number of allowed waypoints stored in the local storage device. That is, the storage space of the local storage device is full, and the second type of waypoints in the local storage device are updated according to the method of the foregoing embodiment, that is, the acquired first type of waypoints are stored in the local storage device. The second type of waypoints are updated.
  • the first type of waypoints can be obtained according to a certain frequency.
  • the frequency of the request is related to the size of the remaining storage space. Specifically, the larger the remaining storage space, the lower the frequency of the request, and the smaller the remaining storage space, the higher the frequency of the request.
  • the number of waypoints between the first type of waypoints and the waypoints currently located by the movable platform is less than or equal to the second preset number threshold.
  • the waypoints are forbidden to be updated.
  • the existence of the protection area is due to the actual needs of the route planning algorithm, etc., when the mobile platform navigates to the area, the waypoints and some of its attributes in the area are not changed.
  • the partial attributes may be, for example, flight altitude, heading, and the like. Therefore, when the mobile platform updates the waypoint, the waypoint in the protected area, that is, the waypoint that is separated from the waypoint where the movable platform is currently located, is less than or equal to the second preset number threshold. It is forbidden to be updated, and only the waypoints outside the protected area should be updated.
  • FIG. 7 is a physical block diagram of a mobile platform according to an embodiment of the present invention. As shown in FIG. 7, the mobile platform includes a local storage device 701 and one or more processors 702. In Fig. 7, the processor 702 is taken as an example.
  • the local storage device 701 is configured to store a route, where the route includes a first type of waypoint, a waypoint where the mobile platform is currently located, and a second type of waypoint, where the currently located waypoint of the movable platform is on the route
  • the direction is between the first type of waypoint and the second type of waypoint.
  • One or more processors 702, working alone or in concert, are used to:
  • the second type of waypoints in the waypoints stored by the local storage device are updated using the acquired first type of waypoints.
  • the number of the second type of waypoints stored in the local storage device and the number of the first type of waypoints satisfy the preset quantity relationship after the update.
  • the preset quantity relationship is variable.
  • the preset quantity relationship is determined according to at least one of a motion state of the movable platform and a communication state between the movable platform and the external device.
  • processor 702 is specifically configured to:
  • the first type of waypoint is acquired from the external device.
  • processor 702 is specifically configured to:
  • the current quantitative relationship between the number of second type of waypoints stored in the local storage device and the number of first type of waypoints is determined.
  • the first type of waypoint is acquired from the external device.
  • the preset difference threshold is fixed.
  • the preset difference threshold is variable.
  • the preset difference threshold is determined according to at least one of a motion state of the movable platform and a communication state between the movable platform and the external device.
  • processor 702 is specifically configured to:
  • the number of waypoints between the waypoints on which the mobile platform is currently located and the reference waypoints stored in the local storage device are determined.
  • the first type of waypoints are acquired from the external device.
  • the first preset number threshold is fixed.
  • the first preset number threshold is variable.
  • the first preset number threshold is determined according to at least one of a motion state of the movable platform and a communication state between the movable platform and the external device.
  • the reference waypoint is determined according to the preset quantity relationship.
  • the waypoints of the first type of waypoints that are separated from the waypoints at which the movable platform is currently located are less than or equal to the second preset number threshold, and the waypoints are prohibited from being updated.
  • the number of waypoints in the route stored in the local storage device has reached the upper limit of the number of allowed waypoints stored in the local storage device.
  • the embodiment of the present invention further provides a readable storage medium, where the readable storage medium stores a computer program.
  • the mobile platform executes the computer program, the mobile platform executes the foregoing method embodiment. The method described.

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Abstract

本发明实施例提供一种航点的更新方法及可移动平台，应用于可移动平台，可移动平台的本地存储装置用于存储航线，航线包括第一类航点、可移动平台当前所处的航点和第二类航点，其中，所述可移动平台当前所处的航点在所述航线的方向上位于第一类航点和第二类航点之间，所述方法包括：从外部设备获取第一类航点；利用所获取的第一类航点对所述本地存储装置存储的航点中的第二类航点进行更新，其中，在更新之后，本地存储装置中存储的第二类航点的数量和第一类航点的数量满足预设的数量关系。所述方法能保证可移动平台能够满足多种作业场景的要求，以及保证在可移动平台突然变换作业方向时能够继续正常执行作业任务。

Description

航点的更新方法及可移动平台 技术领域
本发明涉及通信技术领域，尤其涉及一种航点的更新方法及可移动平台。
背景技术
随着技术的不断发展，可移动平台(例如无人机、无人车、无人船等)的应用领域越来越广泛，例如可以应用在图像拍摄、三维测绘、农业植保、或电力巡检等领域中。
目前，可移动平台可以按照从外部设备接收的航点，将接收到的航点存储在可移动平台的本地存储装置中，然后按照本地存储装置中存储的航点移动。由于本地存储装置的存储空间有限，可移动平台需要利用从外部设备新接收到的航点对已经存储在本地存储装置中的航点进行更新，然而，现有的更新策略不够智能化。
发明内容
本发明实施例提供一种航点的更新方法及可移动平台，用于提高可移动平台的航线更新的智能化程度和效率。
本发明实施例第一方面提供一种航点的更新方法，应用于可移动平台，可移动平台的本地存储装置用于存储航线，航线包括第一类航点、可移动平台当前所处的航点和第二类航点，其中，所述可移动平台当前所处的航点在所述航线的方向上位于第一类航点和第二类航点之间，所述方法包括：
从外部设备获取第一类航点；
利用所获取的第一类航点对所述本地存储装置存储的航点中的第二类航点进行更新，其中，
在更新之后，本地存储装置中存储的第二类航点的数量和第一类航点的数量满足预设的数量关系。
本发明实施例第二方面提供一种可移动平台，所述可移动平台包括：本地存储装置及一个或多个处理器，
所述本地存储装置，用于存储航线，所述航线包括第一类航点、可移动平台当前所处的航点和第二类航点，其中，所述可移动平台当前所处的航点在所述航线的方向上位于第一类航点和第二类航点之间；
所述一个或多个处理器，单独或协同工作，用于：
从外部设备获取第一类航点；
利用所获取的第一类航点对所述本地存储装置存储的航点中的第二类航点进行更新，其中，
在更新之后，本地存储装置中存储的第二类航点的数量和第一类航点的数量满足预设的数量关系。
本发明实施例第三方面提供一种可读存储介质，所述可读存储介质中存储有计算机程序，当可移动平台的至少一个处理器执行所述计算机程序时，可移动平台执行上述第一方面所述的方法。
本发明实施例所提供的航点的更新方法及可移动平台，可移动平台从外部设备获取第一类航点，并利用所获取的第一类航点对本地存储装置存储的航点中的第二类航点进行更新，从而使得可移动平台在作业过程中可以及时更新航点，保证可移动平台能够满足多种作业场景的要求。进一步的，在更新航点之后，可移动平台的本地存储装置中的第一类航点的数量和第二类航点的数量满足预设的数量关系。通过这种方式从而保证在可移动平台沿着当前的航线方向移动时，即使可移动平台变换航线的方向移动，本地存储装置中依然可以存储有一定数据第一类航点，可移动平台依然能够继续正常执行作业任务，这样提高了可移动平台的航点更新的智能化程度。
附图说明
图1为本发明实施例提供的航点的更新方法对应的系统架构图；
图2为本发明实施例提供的航点的更新方法的流程示意图；
图3为本发明实施例中航线以及航点的示例图；
图4为本发明实施例中使用从外部设备获取的第一类航点对本地存储装置中存储的第二类航点更新的示意图；
图5为本发明实施例提供从外部设备获取第一类航点的流程示意图；
图6为本发明实施例中根据可移动平台当前所处的航点和参考航点之间 的间隔的航点数量来对第二类航点进行更新的示意图；
图7为本发明实施例提供的可移动平台的实体框图。
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地描述，显然，所描述的实施例仅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。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
现有技术中，当航线任务定义好之后，由控制终端将航线中的航点上传至可移动平台，而可移动平台可以存储的航点的数量有限，在一些实际应用场景中，当航线中的航点数量超过可移动平台的存储能力之后，可移动平台就无法一次性完成航线任务。以无人机在农业植保中的应用为例，在农业植保作业时，需要对多颗果树进行喷洒。每颗果树采取环绕螺旋的方式进行喷洒。因此，当果树数量较多时，整个航线需要的航点数量也会较多，而无人机的存储能力有限，无人机不能一次性完成喷洒任务。现有技术中，往往是用户通过控制终端对可移动平台中的航点进行手动更新，或者，控制终端将航线拆成多段，分段上传给可移动平台，当一段航线执行完毕再上传另一段航线，然而，现有技术中的更新策略不够精细化和智能化，例如，不能对可移动平台中已经执行过的航点数量和未被执行过的航点数量精细化的控制。另外，可移动平台在移动的过程中，可能接收用户的指令，背离航线的方向 移动，现有技术中的更新策略已经无法满足这种应用场景。
本发明实施例基于上述问题，提出一种航点的更新方法，能够按照预设的数量关系更新可移动平台中的航点，从而使得可移动平台可以在作业过程中实现航点信息的更新，保证了可移动平台能够满足各种作业场景的要求。
图1为本发明实施例提供的航点的更新方法对应的系统架构图，如图1所示，该系统包括外部设备101以及可移动平台102。其中，可移动平台102是指借助外力移动或者通过自身的动力系统进行移动的设备，可移动平台具体可以是无人机、无人车、无人船等。为便于理解，本发明以下实施例都以无人机为例进行说明。外部设备101可以是任何能够与可移动平台建立通信连接的设备，具体地，可以是指通过与可移动平台进行交互以控制可移动平台移动的设备，外部设备上存储航线中所有的航点，外部设备向可移动平台发送所述航点，可移动平台在接收到所述航点后，可以将接收到的航点存储在可移动平台的本地存储装置103中，移动平台可以按照本地存储装置中存储的航点来移动。其中，所述航点至少包括位置信息，在某些情况中，所述航点还包括动作指令。例如拍摄动作指令、云台控制指令等等。
在某些实施例种，外部设备可以是与可移动平台物理上分离的控制终端，所述控制终端可以包括遥控器、智能手机、平板电脑、膝上型电脑、穿戴式设备(手表、手环)中的一种或多种。在某些实施例中，外部设备也可以是为承载在可移动平的设备，该外部设备可以具有计算能力，用于与可移动平台进行数据通信。
图2为本发明实施例提供的航点的更新方法的流程示意图，该方法的执行主体为上述的可移动平台，具体为可移动平台中的处理器，如图2所示，该方法包括：
S201、从外部设备获取第一类航点。
具体地，本发明实施例的提供的更新方法的执行主体可以为可移动平台，进一步地，所述执行主体可以为可移动平台的处理器，其中，处理器可以是通用处理器，也可以是专用处理器，所述处理器可以为一个或多个。
可移动平台还包括本地存储装置，可移动平台的本地存储装置用于存储航线，航线包括第一类航点、可移动平台当前所处的航点以及第二类航点。其中，可移动平台当前所处的航点在该航线的方向上位于第一类航点和第二 类航点之间。
其中，在某些情况中，可移动平台当前所处的航点可以为当前时刻航线中距离可移动平台最近的航点，如图3所示，可移动平台的本地存储装置中存储有6个航点，分别是航点1至航点6，若可移动平台201的当前位置和航线的方向如图3所示，可移动平台已经经过航点3并向航点4移动，可移动平台当前所处的航点为航点3和航点4中距离可移动平台较近的那个航点，例如航点3距离可移动平台较近，则可移动平台当前所处的航点为航点3；在某些情况中，所述可移动平台当前所处的航点为可移动平台从当前位置沿着航线的方向移动的下一个目标航点，即可移动平台从当前位置沿着航线的方向移动，可移动平台的下一个航点是航点4，则可移动平台当前所处的航点为航点4。在某些情况中，所述可移动平台当前所处的航点为可移动平台沿着航线的方向移动到当前位置经过的上一个航点，即可移动平台沿着航线的方向移动到当前位置，可移动平台经过的上一个航点是航点3，则可移动平台当前所处的航点为航点3。可以理解的是，本领域技术人员可以根据需要选择可移动平台当前所处的航点的定义方式，在这里不作具体的限定。
进一步地，可移动平台当前所处的航点在该航线的方向上位于第一类航点和第二类航点之间。即本地存储装置中存储的第一类航点和第二类航点在航线的方向上位于可移动平台当前所处的航点的两侧。本地存储装置中存储的第一类航点为所述航线中可移动平台沿着航线的方向从当前所处的航点移动时将要遍历的目标航点，本地存储装置中存储的第二类航点为所述航线中除可移动平台当前所处的航点和第一类航点之外的航点。继续参考图3，若可移动平台当前所处的航点为航点3，则可移动平台沿着航线的方向移动时将要遍及的目标航点为航点4至航点6，则本地存储装置中存储的第一类航点为航点4至航点6，本地存储装置中存储的第二类航点为航点1和航点2。
在可移动平台沿着航线的方向移动的过程中，本地存储装置中存储的第一航点数目会减少，为了保障可移动平台的不间断移动，可移动平台可以与外部设备建立有线或者无线的通信连接，可移动平台可以从外部设备获取第一类航点，从外部设备获取的第一类航点为可移动平台沿着航线的方向从所述当前所处的航点移动将要遍及的目标航点。
S202、利用所获取的第一类航点对本地存储装置存储的航点中的第二类 航点进行更新，其中，在更新之后，本地存储装置中存储的第二类航点的数量和第一类航点的数量满足预设的数量关系。
具体地，可移动平台在从外部设备获取到第一类航点后，可以利用所获取的第一类航点对本地存储装置中存储的第二类航点进行更新，即用所述获取的第一类航点对本地存储装置中存储的第二类航点进行覆盖。在完成更新之后，本地存储装置中存储的第一类航点数量和第二类航点数量会产生变化，导致本地存储装置中存储的第二类航点的数量和第一类航点的数量之间的数量关系会产生变化，这里要求在更新之后，本地存储装置中存储的第二类航点的数量和第一类航点的数量满足预设的数量关系。这样，在每次完成更新之后，本地存储装置中存储的第一类航点数量和第二类航点数量就可以达到一种平衡状态。
如图4所示，完整的航线中的航点数量较多，外部设备可以存储如图4所示的所有航点，本地存储装置所能存储的完整航线中的部分航线，在图4所示航线的方向上，所述部分航线中包括：第一类航点401、可移动平台当前所处的航点402以及第二类航点403。可移动平台从外部设备获取一个或者多个第一类航点404，这里以两个第一类航点来进行示意性说明，并利用所获取的第一类航点404对所述本地存储装置存储的航点中的第二类航点405进行更新，即可移动平台用所获取到的第一类航点404覆盖本地存储装置中的第二类航点405。在完成更新之后，本地存储装置中存储的第二类航点的数量和第一类航点的数量满足预设的数量关系，通过这样的更新方式，则在每次更新之后，本地存储装置中存储第二类航点的数量和第一类航点的数量满足预设的数量关系，从而保证在无人机突然变换航线的方向移动的情况下，本地存储装置中依然存储预设数据的第二类航点，这样能够保证可移动平台正常执行航线。
本实施例中，可移动平台从外部设备获取第一类航点，并利用所获取的第一类航点对本地存储装置存储的航点中的第二类航点进行更新，从而使得可移动平台在作业过程中可以及时更新航点，在更新航点之后，可移动平台的本地存储装置中的第一类航点的数量和第二类航点的数量满足预设的数量关系。从而保证在无人机突然变换航线的方向移动的情况下，本地存储装置中依然存储预设数据的第二类航点，这样能够保证可移动平台正常执行航线。
在一种可选的实施方式中，上述预设的数量关系是固定不变的。
具体地，上述预设的数量关系可以由用户设置的，进一步地，所述预设数据关系可以在可移动平台进行作业之前由用户进行设置。在某些情况中，用户可以通过对可移动平台的控制终端进行操作来设置所述预设的数据关系。其中，所述预设的数据关系一旦设定，在一段时间或者在不被再次设置之前都固定不变。在某些情况，所述预设的数量关系可以不通过用户设置而保持固定值，例如所述预设关系是写入可移动平台的固件中。上述预设的数量关系例如可以为：第二类航点的数量和第一类航点的数量的比值为1，或者比值为1.5等。
在另一种可选的实施方式中，上述预设的数量关系是可变的。
具体的，所述预设关系在可移动平台移动的过程中实时性调整。例如，预设的数量关系可以由可移动平台根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个来确定，即可移动平台可以根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个来确定预设的数量关系。
可移动平台的运动状态可以为所有描述可移动平台运动的参数，其中，具体可以为移动速度、移动加速度、移动角速度、角加速度和姿态中的一种或多种。可移动平台与外部设备之间的通信状态可以为描述可移动平台与外部设备之间的通信的参数，具体地，可以为无人机与控制终端之间的通信链路的带宽、通信链路的误码率、通信距离中的一种或多种。
具体地，可移动平台可以周期性或者非周期性确定可移动平台的运动状态和/或无人机与控制终端之间的通信状态。可移动平台可以根据所述可移动平台的运动状态和/或可移动平台与控制终端之间的通信状态确定与所述可移动平台的运动状态和/或可移动平台与控制终端之间的通信状态相匹配的所述预设的数量关系。例如，如果可移动平台的移动速度较大时，可以认为可移动平台变换航线的方向移动的可能性较小，因此可以根据移动速度确定所述预设的数量关系，其中，所述预设的数量关系中第一类航点的数量较大或者第一类航点的数量占本地存储装置中存储的所有的航点的数量的比重较高。再例如，如果可移动平台与外部设备之间的带宽较大时，即使可移动平台切换航线的方向移动，按照当前带宽也可以快速地从外部设备获取所要遍 历的目标航点，因此可以根据当前带宽确定所述预设的数量关系，其中，所述预设的数量关系中第一类航点的数量较大或者第一类航点的数量占本地存储装置中存储的所有的航点的数量的比重较高。通过这种方式，可以保证上述预设的数量关系能够符合可移动平台当前的作业状态，保证上述预设的数量关系的合理性。
在上述实施例的基础上，本实施例涉及可移动平台从外部设备获取第一类航点的具体方法。
在一种可选的实施方式中，上述步骤S201中从外部设备获取第一类航点时，具体可以为：
当满足预设的更新条件时，从外部设备获取第一类航点。
具体地，在理想的情况下，可移动平台每经过一个航点，可移动平台可以实时从外部设备获取一个第一类航点对本地存储装置中存储的一个第二类航点进行更新，以保证第一类航点的数量和第二类航点的数量能够随时满足上述预设的数量关系。但是这样会导致可移动平台与外部设备的交互过于频繁，造成链路带宽的浪费。因此，在本实施例中，当满足预设的更新条件时，可移动平台才从外部设备获取第一类航点以对本地存储装置中存储的第二类航点进行更新。
可选的，上述预设的更新条件可以是固定不变的，也可以是可变的。当上述预设的更新条件可变时，上述预设的更新条件可以根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个来确定。
可移动平台的运动状态可以为所有描述可移动平台运动的参数，其中，具体可以为移动速度、移动加速度、移动角速度、角加速度和姿态中的一种或多种。可移动平台与外部设备之间的通信状态可以为描述可移动平台与外部设备之间的通信的参数，具体地，可以为无人机与控制终端之间的通信链路的带宽、通信链路的误码率、通信距离中的一种或多种。
在某些情况中，可移动平台可以根据第一类航点和第二航点之间的数量关系来确定是否满足预设的更新条件；在某些情况中，可移动平台可以基于可移动平台当前所处的航点与参考航点之间的位置关系来确定是否满足预设的更新条件。以下分别进行说明。
如图5所示，所述当满足预设的更新条件时，从外部设备获取第一类航 点包括：
S501、在更新前，确定本地存储装置中存储的第二类航点的数量和第一类航点的数量之间当前的数量关系。
具体地，可移动平台可以周期性或非周期性地确定当前时刻本地存储装置中存储的第二类航点的数量和第一类航点的数量之间当前的数量关系，即当前的数量关系。其中，在某些情况中，所述数量关系可以为本地存储装置中存储的第二类航点的数量和第一类航点的数量的比值，在某些情况中，所述数量关系可以是本地存储装置中存储的第二类航点的数量和第一类航点的数量的差值。例如，在当前时刻，本地存储装置中第二类航点的数量为60，第一类航点的数量也为40，则第二类航点的数量和第一类航点的数量之间当前的比例为60：40，即当前的数量关系(比值)为1.5。
S502、确定当前的数量关系和预设的数量关系之间的差异。
具体地，可移动平台在确定了本地存储装置中存储的第一类航点和第二类航点之间当前的数量关系之后，可以将当前的数量关系和预设的数量关系进行比较以确定当前的数量关系与预设的数量关系之间的差异。如前所述，若所述数量关系为比值，预设的数量关系为1，即要求本地存储装置中第一类航点的数量和第二类航点的数量的比例为50：50，若如前所述，当前的数量关系为1.5，则当前的数量关系和预设的数量关系之间的差异为0.5。
S503、当上述差异大于或等于预设的差异阈值时，从外部设备获取第一类航点。
具体地，在确定了所述差异之后，将所述差异与预设的差异阈值进行比较，确定所述差异是否大于或等于预设的差异阈值，只有当确定差异大于或等于预设的差异阈值时，可移动平台才会从外部设备获取第一类航点。如果确定差异小于预设的差异阈值时，可移动平台不会从可移动设备获取第一类航点，这样可以节省可移动平台与外部设备之间的通信带宽。如前所述，以上述数量关系为比值为例，例如所述预设的差异阈值为0.5，则可以确定所述差异已经等于预设的差异阈值，则从外部设备获取10个第一类航点对本地存储装置中存储的10个第二类航点进行更新，在更新完成后，本地存储装置中存储的第一类航点与第二航点的数量分别为50和50，即满足第一类航点与第二类航点的数量的比值为1。
预设的数量关系为本地存储装置中存储的第一类航点和第二类航点之间的目标数量关系，当所述当前的数量关系与预设的数量关系之间的差异较小时，可移动平台不从外部设备获取第一类航点，当所述当前的数量关系与所述预设的数量关系的差异较大，即达到或超过预设的差异阈值之后，此时，可移动平台才从外部设备获取第一类航点并对本地存储装置中存储的第二类航点更新，使得更新后的本地存储装置中的第二类航点和第一类航点的数量关系重新满足预设的数量关系。
可选地，所述预设的差异阈值是固定不变的。例如，所述差异阈值可以由用户通过控制终端来设置，一旦用户设置之后，在可移动平台执行一次工作任务的过程中都不允许修改。再例如，所述预设的差异阈值可以被固化在可移动平台的固件中。
可选地，所述预设的差异阈值是可变的。例如，所述预设的差异阈值是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
可移动平台的运动状态可以为所有描述可移动平台运动的参数，其中，具体可以为移动速度、移动加速度、移动角速度、角加速度和姿态中的一种或多种。可移动平台与外部设备之间的通信状态可以为描述可移动平台与外部设备之间的通信的参数，具体地，可以为无人机与控制终端之间的通信链路的带宽、通信链路的误码率、通信距离中的一种或多种。
如前所述，可移动平台可以周期性或者非周期性确定可移动平台的运动状态和/或无人机与控制终端之间的通信状态。可移动平台可以根据所述可移动平台的运动状态和/或可移动平台与控制终端之间的通信状态确定与所述可移动平台的运动状态和/或可移动平台与控制终端之间的通信状态相匹配的所述预设的差异阈值。例如，如果可移动平台的移动速度较大时，可以将预设的差异阈值降低，这样可以增大对本地存储装置中第二类航点的更新频率以及时对本地存储装置中的第二类航点进行更新，如果可移动平台的移动速度较小时，可以将预设的差异阈值增大，这样可以降低对本地存储装置中第二类航点的更新频率以节省通信带宽。再例如，如果可移动平台与外部设备之间的带宽较小时，将所述预设的差异阈值增大，这样可以降低对本地存储装置中第二类航点的更新频率以节省通信带宽，如果当前带宽较大时，可 以将预设的差异阈值减小，以及时对存储装置中的第二类航点进行更新。通过这种方式。通过这种方式，可以保证上述预设的差异阈值能够符合可移动平台当前的作业状态，保证上述预设的差异阈的合理性。
本实施例中，可移动平台确定第二类航点的数量和第一类航点的数量之间当前的数量关系，并确定当前的数量关系与预设的数量关系之前的差异，进而在差异大于等于预设的差异阈值时从外部设备获取第一类航点，并使用所述获取的第一类航点对本地存储装置中存储的第二类航点进行更新，从而既避免了频繁的与外部设备交互，同时又保证了在完成更新之后，本地存储装置中的第二类航点的数量和第一类航点的数量之间的数量关系能够及时调整到预设的数量关系。
另一实施例中，所述当满足预设的更新条件时，从外部设备获取第一类航点包括：在更新前，确定可移动平台当前所处的航点与本地存储装置中存储的参考航点之间间隔的航点数量，当间隔的航点数量大于或等于第一预设的数量阈值时，则从外部设备获取第一类航点。
具体地，随着可移动平台沿航线的方向移动，可移动平台当前所处的航点会沿着航点的方向变化，如图6所示，若可移动平台当前所处的航点为航点601，本地存储装置中存储的航点中可以存在一个参考航点602，可移动平台可以确定当前所处的航点为航点601与所述参考航点602之间间隔的航点数量，当间隔的航点数量大于或等于第一预设的数量阈值时，则从外部设备获取第一类航点，并利用所述获取的第一类航点对存储装置中的第二类航点进行更新，当间隔的航点数量小于第一预设的数量阈值时，则不从外部设备获取第一类航点。
可选地，参考航点是根据上述预设的数量关系确定。例如，本地存储装置中存储169个航点，如前所述，所述预设的数量关系为比值1，则可以根据所述预设的数量确定本地存储装置中沿航线方向的第85个航点为参考航点，所述参考航点可以理解为可移动平台所处的理想航点，即期望可移动平台在移动的过程中，希望可移动平台当前所处的航点始终为参考航点。可移动平台根据上述预设的数量关系确定所述参考航点，然后可移动平台可以周期性或者非周期性地确定当前所处的航点与参考航点之间所间隔的航点数量，将所述间隔的航点数量与第一预设的数量阈值进行比较。例如，假设第一预 设的数量阈值为5，当可移动平台确定当前所处的航点与参考航点之间间隔了5个航点，可移动平台可以从外部设备获取5个第一类航点并用这5个第一类航点对本地存储装置中的第二类航点进行更新。
可选地，所述第一预设的数量阈值是固定不变的。例如，所述第一预设的数量阈值可以由用户通过控制终端来设置，一旦用户设置之后，在可移动平台执行一次工作任务的过程中都不允许修改。再例如，所述第一预设的数量阈值可以被固化在可移动平台的固件中。
可选地，所述第一预设的数量阈值是可变的。例如，所述第一预设的数量阈值是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
可移动平台的运动状态可以为所有描述可移动平台运动的参数，其中，具体可以为移动速度、移动加速度、移动角速度、角加速度和姿态中的一种或多种。可移动平台与外部设备之间的通信状态可以为描述可移动平台与外部设备之间的通信的参数，具体地，可以为无人机与控制终端之间的通信链路的带宽、通信链路的误码率、通信距离中的一种或多种。
如前所述，可移动平台可以周期性或者非周期性确定可移动平台的运动状态和/或无人机与控制终端之间的通信状态。可移动平台可以根据所述可移动平台的运动状态和/或可移动平台与控制终端之间的通信状态确定与所述可移动平台的运动状态和/或可移动平台与控制终端之间的通信状态相匹配的第一预设的数量阈值。例如，如果可移动平台的移动速度较大时，可以将第一预设的数量阈值降低，这样可以增大对本地存储装置中第二类航点的更新频率以及时对本地存储装置中的第二类航点进行更新，如果可移动平台的移动速度较小时，可以将第一预设的数量阈值增大，这样可以降低对本地存储装置中第二类航点的更新频率以节省通信带宽。再例如，如果可移动平台与外部设备之间的带宽较小时，将第一预设的数量阈值增大，这样可以降低对本地存储装置中第二类航点的更新频率以节省通信带宽，如果当前带宽较大时，可以将第一预设的数量阈值减小，以及时对存储装置中的第二类航点进行更新。通过这种方式。通过这种方式，可以保证上述预设的差异阈值能够符合可移动平台当前的作业状态，保证上述预设的差异阈的合理性。
本实施例中，可移动平台确定参考航点，并确定可移动平台当前所处的 航点与参考航点之间间隔的航点数量，当间隔的航点数量超出第一预设的数量阈值时进行更新，从而既避免了频繁的与外部设备交互，同时又保证了本地存储装置中的第二类航点的数量和第一类航点的数量之间的数量关系能够及时调整到目标数量关系。
针对上述实施例，在可移动平台进行航点更新之前，本地存储装置中存储的航线中航点的数量已经达到本地存储装置中允许存储航点的上限数量。即，本地存储装置的存储空间已存满，此时才按照上述实施例的方法更新本地存储装置中的第二类航点，即用获取到的第一类航点对本地存储装置中存储的第二类航点进行更新。
而在另一种情况下，当本地存储装置的存储空间未存满时，可以按照一定的频率来获取第一类航点。其中，请求的频率与剩余的存储空间大小相关。具体的，剩余的存储空间越大，则请求的频率越低，剩余的存储空间越小，则请求的频率越高。
另外需要说明的是，在根据上述实施例进行航点更新时，第一类航点中与可移动平台当前所处的航点之间间隔的航点数量小于或等于第二预设的数量阈值的航点禁止被更新。
具体的，以可移动平台当前所处的航点为中心，前后的若干个航点共同组成了一个“保护区域”。该保护区域的存在是出于航线规划算法等的实际需要，是的可移动平台航行到该区域时，该区域内的航点及其部分属性不被改变。该部分属性例如可以是飞行高度、航向等。因此，当可移动平台更新航点时，对于保护区域内的航点，即与可移动平台当前所处的航点之间间隔的航点数量小于或等于第二预设的数量阈值的航点禁止被更新，而仅应该更新保护区域之外的航点。
图7为本发明实施例提供的可移动平台的实体框图，如图7所示，该可移动平台包括本地存储装置701及一个或多个处理器702。图7中以处理器702为一个进行示例。
本地存储装置701用于存储航线，航线包括第一类航点、可移动平台当前所处的航点和第二类航点，其中，所述可移动平台当前所处的航点在所述航线的方向上位于第一类航点和第二类航点之间。
一个或多个处理器702，单独或协同工作，用于：
从外部设备获取第一类航点。
利用所获取的第一类航点对所述本地存储装置存储的航点中的第二类航点进行更新。
其中，在更新之后，本地存储装置中存储的第二类航点的数量和第一类航点的数量满足预设的数量关系。
进一步的，所述预设的数量关系是固定不变的。
进一步的，所述预设的数量关系是可变的。
进一步的，所述预设的数量关系是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
进一步的，处理器702具体用于：
当满足预设的更新条件时，从外部设备获取第一类航点。
进一步的，处理器702具体用于：
在更新前，确定本地存储装置中存储的第二类航点的数量和第一类航点的数量之间当前的数量关系。
确定当前的数量关系和预设的数量关系之间的差异。
当所述差异大于或等于预设的差异阈值时，从外部设备获取第一类航点。
进一步的，所述预设的差异阈值是固定不变的。
进一步的，所述预设的差异阈值是可变的。
进一步的，所述预设的差异阈值是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
进一步的，处理器702具体用于：
在更新前，确定可移动平台当前所处的航点与本地存储装置中存储的参考航点之间间隔的航点数量。
当所述间隔的航点数量大于或等于第一预设的数量阈值时，从外部设备获取第一类航点。
进一步的，所述第一预设的数量阈值是固定不变的。
进一步的，所述第一预设的数量阈值是可变的。
进一步的，所述第一预设的数量阈值是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
进一步的，所述参考航点是根据所述预设的数量关系确定的。
进一步的，所述第一类航点中与可移动平台当前所处的航点之间间隔的航点数量小于或等于第二预设的数量阈值的航点禁止被更新。
进一步的，在更新之前，本地存储装置中存储的航线中航点的数量已经达到本地存储装置中允许存储航点的上限数量。
本发明实施例另提供一种可读存储介质，所述可读存储介质中存储有计算机程序，当可移动平台的至少一个处理器执行所述计算机程序时，可移动平台执行上述方法实施例中的所述的方法。

Claims (33)

  1. 一种航点的更新方法，应用于可移动平台，可移动平台的本地存储装置用于存储航线，航线包括第一类航点、可移动平台当前所处的航点和第二类航点，其中，所述可移动平台当前所处的航点在所述航线的方向上位于第一类航点和第二类航点之间，其特征在于，包括：
    从外部设备获取第一类航点；
    利用所获取的第一类航点对所述本地存储装置存储的航点中的第二类航点进行更新，其中，
    在更新之后，本地存储装置中存储的第二类航点的数量和第一类航点的数量满足预设的数量关系。
  2. 根据权利要求1所述的方法，其特征在于，所述预设的数量关系是固定不变的。
  3. 根据权利要求1所述的方法，其特征在于，所述预设的数量关系是可变的。
  4. 根据权利要求3所述的方法，其特征在于，所述预设的数量关系是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述从外部设备获取第一类航点包括：
    当满足预设的更新条件时，从外部设备获取第一类航点。
  6. 根据权利要求5所述的方法，其特征在于，所述当满足预设的更新条件时，从外部设备获取第一类航点，包括：
    在更新前，确定本地存储装置中存储的第二类航点的数量和第一类航点的数量之间当前的数量关系；
    确定当前的数量关系和预设的数量关系之间的差异；
    当所述差异大于或等于预设的差异阈值时，从外部设备获取第一类航点。
  7. 根据权利要求6所述的方法，其特征在于，所述预设的差异阈值是固定不变的。
  8. 根据权利要求6所述的方法，其特征在于，所述预设的差异阈值是可变的。
  9. 根据权利要求8所述的方法，其特征在于，所述预设的差异阈值是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
  10. 根据权利要求5所述的方法，其特征在于，所述当满足预设的更新条件时，从外部设备获取第一类航点，包括：
    在更新前，确定可移动平台当前所处的航点与本地存储装置中存储的参考航点之间间隔的航点数量；
    当所述间隔的航点数量大于或等于第一预设的数量阈值时，从外部设备获取第一类航点。
  11. 根据权利要求10所述的方法，其特征在于，所述第一预设的数量阈值是固定不变的。
  12. 根据权利要求10所述的方法，其特征在于，所述第一预设的数量阈值是可变的。
  13. 根据权利要求12所述的方法，其特征在于，所述第一预设的数量阈值是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
  14. 根据权利要求10-13任一项所述的方法，其特征在于，所述参考航点是根据所述预设的数量关系确定的。
  15. 根据权利要求1所述的方法，其特征在于，所述第一类航点中与可移动平台当前所处的航点之间间隔的航点数量小于或等于第二预设的数量阈值的航点禁止被更新。
  16. 根据权利要求1-15任一项所述的方法，其特征在于，在更新之前，本地存储装置中存储的航线中航点的数量已经达到本地存储装置中允许存储航点的上限数量。
  17. 一种可移动平台，其特征在于，包括：本地存储装置及一个或多个处理器，其中，
    所述本地存储装置，用于存储航线，航线包括第一类航点、可移动平台当前所处的航点和第二类航点，其中，所述可移动平台当前所处的航点在所述航线的方向上位于第一类航点和第二类航点之间；
    所述一个或多个处理器，单独或协同工作，用于：
    从外部设备获取第一类航点；
    利用所获取的第一类航点对所述本地存储装置存储的航点中的第二类航点进行更新，其中，
    在更新之后，本地存储装置中存储的第二类航点的数量和第一类航点的数量满足预设的数量关系。
  18. 根据权利要求17所述的可移动平台，其特征在于，所述预设的数量关系是固定不变的。
  19. 根据权利要求17所述的可移动平台，其特征在于，所述预设的数量关系是可变的。
  20. 根据权利要求19所述的可移动平台，其特征在于，所述预设的数量关系是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
  21. 根据权利要求17-20任一项所述的可移动平台，其特征在于，所述处理器具体用于：
    当满足预设的更新条件时，从外部设备获取第一类航点。
  22. 根据权利要求21所述的可移动平台，其特征在于，所述处理器具体用于：
    在更新前，确定本地存储装置中存储的第二类航点的数量和第一类航点的数量之间当前的数量关系；
    确定当前的数量关系和预设的数量关系之间的差异；
    当所述差异大于或等于预设的差异阈值时，从外部设备获取第一类航点。
  23. 根据权利要求22所述的可移动平台，其特征在于，所述预设的差异阈值是固定不变的。
  24. 根据权利要求22所述的可移动平台，其特征在于，所述预设的差异阈值是可变的。
  25. 根据权利要求24所述的可移动平台，其特征在于，所述预设的差异阈值是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
  26. 根据权利要求21所述的可移动平台，其特征在于，所述处理器具体用于：
    在更新前，确定可移动平台当前所处的航点与本地存储装置中存储的参考航点之间间隔的航点数量；
    当所述间隔的航点数量大于或等于第一预设的数量阈值时，从外部设备获取第一类航点。
  27. 根据权利要求26所述的可移动平台，其特征在于，所述第一预设的数量阈值是固定不变的。
  28. 根据权利要求26所述的可移动平台，其特征在于，所述第一预设的数量阈值是可变的。
  29. 根据权利要求28所述的可移动平台，其特征在于，所述第一预设的数量阈值是根据可移动平台的运动状态、可移动平台与外部设备之间的通信状态中的至少一个确定的。
  30. 根据权利要求26-29任一项所述的可移动平台，其特征在于，所述参考航点是根据所述预设的数量关系确定的。
  31. 根据权利要求17所述的可移动平台，其特征在于，所述第一类航点中与可移动平台当前所处的航点之间间隔的航点数量小于或等于第二预设的数量阈值的航点禁止被更新。
  32. 根据权利要求17-31任一项所述的可移动平台，其特征在于，在更新之前，本地存储装置中存储的航线中航点的数量已经达到本地存储装置中允许存储航点的上限数量。
  33. 一种可读存储介质，其特征在于，所述可读存储介质中存储有计算机程序，当可移动平台的至少一个处理器执行所述计算机程序时，可移动平台执行权利要求1-16任一项所述的方法。
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