WO2020010695A1 - 无人机系统中的模块升级方法及待升级模块 - Google Patents

无人机系统中的模块升级方法及待升级模块 Download PDF

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Publication number
WO2020010695A1
WO2020010695A1 PCT/CN2018/106558 CN2018106558W WO2020010695A1 WO 2020010695 A1 WO2020010695 A1 WO 2020010695A1 CN 2018106558 W CN2018106558 W CN 2018106558W WO 2020010695 A1 WO2020010695 A1 WO 2020010695A1
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Prior art keywords
module
upgraded
upgrade
version information
file
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PCT/CN2018/106558
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English (en)
French (fr)
Inventor
李昭早
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深圳市道通智能航空技术有限公司
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Publication of WO2020010695A1 publication Critical patent/WO2020010695A1/zh
Priority to US17/142,646 priority Critical patent/US11861344B2/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/40—Maintaining or repairing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV

Definitions

  • Embodiments of the present invention relate to the technical field of software upgrades, and in particular, to a module upgrade method and a module to be upgraded in a drone system.
  • UAV unmanned aerial vehicles
  • modules such as camera, gimbal, vision, 4 ESCs, smart batteries, ultrasound, flight control, aircraft video transmission and other modules on the aircraft side, and remote control single chip microcomputer, ground video transmission and remote control Panel and other modules.
  • Each module is an independent hardware and software system, connected through a serial port or network
  • Embodiments of the present invention provide a module upgrade method and a module to be upgraded in a drone system.
  • an embodiment of the present invention provides a method for upgrading a module in a drone system, which is applied to a module to be upgraded in the drone system and includes:
  • the determining whether the upgrade module is successfully upgraded includes:
  • the determining whether the upgrade module is successfully upgraded includes:
  • ending the upgrade of the module to be upgraded includes:
  • the module to be upgraded ends the upgrade.
  • the module to be upgraded communicates with a higher-level module through a serial interface, and the obtaining an upgrade file of the module to be upgraded includes:
  • the module to be upgraded does not include a storage unit, and the upper-level module includes a storage unit and is directly connected to the module to be upgraded through a serial interface.
  • the upgrade file of the module to be upgraded is sent after the upper-level module closes a serial communication link with other modules except the module to be upgraded.
  • re-obtaining an upgrade file of the module to be upgraded includes:
  • the module to be upgraded includes a storage unit, and the obtaining an upgrade file of the module to be upgraded includes:
  • re-obtaining an upgrade file of the module to be upgraded includes:
  • the method further includes:
  • the determining the upgrade status of the module to be upgraded according to the version information and / or the upgrade version information includes:
  • an embodiment of the present invention provides a module to be upgraded in a drone system, including:
  • An obtaining unit configured to obtain an upgrade file of the module to be upgraded
  • An upgrade unit configured to upgrade the module to be upgraded according to the upgrade file
  • a judging unit configured to judge whether the module to be upgraded is successfully upgraded
  • the obtaining unit is further configured to, if the determining unit determines that the upgrade of the module to be upgraded fails, re-obtain an upgrade file of the module to be upgraded;
  • the upgrade unit is further configured to upgrade the module to be upgraded according to the newly obtained upgrade file, until the module to be upgraded ends the upgrade.
  • the determination unit is specifically configured to determine whether the upgrade data in the module to be upgraded is successfully verified; if so, determine whether the restart of the module to be upgraded is successful; If yes, it is determined that the upgrade module is successfully upgraded.
  • ending the upgrade of the module to be upgraded includes:
  • the module to be upgraded ends the upgrade.
  • the module to be upgraded is communicatively connected to the upper-level module through a serial interface, and the obtained unit is specifically configured to obtain the upper-level through the serial interface.
  • An upgrade file of the module to be upgraded sent by the module.
  • the upgrade file of the module to be upgraded is sent after the upper-level module closes a serial communication link with other modules except the module to be upgraded.
  • the acquiring unit is further specifically configured to re-acquire the upper-level module when the number of upgrades of the module to be upgraded is greater than or equal to a second preset threshold.
  • the upgrade file of the module to be upgraded sent after closing the serial communication link with the other modules; wherein the second preset threshold is smaller than the first preset threshold.
  • the module to be upgraded includes a storage unit, and the obtaining unit is specifically configured to obtain an upgrade file of the module to be upgraded, and store the upgrade file to all It is described in the storage unit of the module to be upgraded.
  • the obtaining unit is further specifically configured to re-obtain an upgrade file of the module to be upgraded from the storage unit.
  • the apparatus further includes:
  • a storage unit configured to store upgrade information in an upgrade file of the module to be upgraded, where the upgrade information includes upgrade version information of the module to be upgraded;
  • the obtaining unit is further configured to obtain version information of the module to be upgraded after the upgrade of the module to be upgraded ends;
  • a determining unit configured to determine an upgrade status of the module to be upgraded according to the version information and / or the upgrade version information.
  • the determining unit is specifically configured to determine that an upgrade status of the module to be upgraded is not upgraded when the version information is not obtained; When the version information is the same as the upgraded version information, it is determined that the upgrade status of the module to be upgraded is that the upgrade is successful; when the version information is obtained, and the version information and the upgraded version information are not When the same, it is determined that the upgrade status of the module to be upgraded is an upgrade failure.
  • an embodiment of the present invention provides a module to be upgraded, including:
  • a processor configured to execute the computer program to implement the module upgrade method in the unmanned aerial system according to the first aspect.
  • an embodiment of the present invention provides a computer storage medium, characterized in that a computer program is stored in the storage medium, and the computer program, when executed, implements module upgrade in the drone system according to the first aspect. method.
  • the module upgrade method and the module to be upgraded in the unmanned aerial vehicle system obtained the upgrade file of the module to be upgraded, upgrade the module to be upgraded according to the upgrade file, and determine the module to be upgraded. Whether the upgrade is successful; if not, re-obtain the upgrade file of the module to be upgraded, and upgrade the module to be upgraded according to the newly obtained upgrade file, until the module to be upgraded ends the upgrade. That is, in this embodiment, the upgrade success rate of the module to be upgraded can be improved through multiple upgrades, and the upgrade method is simple, easy to implement, and highly reliable.
  • FIG. 1 is a schematic diagram of an application environment of a drone system according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a module upgrade method in an unmanned aerial vehicle system according to Embodiment 1 of the present invention
  • FIG. 3 is an application scenario diagram of a module upgrade method in a drone system provided by Embodiment 1 of the present invention.
  • FIG. 4 is a flowchart of a module upgrade method in an unmanned aerial vehicle system according to a second embodiment of the present invention.
  • FIG. 5 is a flowchart of a module upgrade method in an unmanned aerial vehicle system according to a third embodiment of the present invention.
  • FIG. 6 is a flowchart of a module upgrade method in an unmanned aerial vehicle system according to a fourth embodiment of the present invention.
  • FIG. 7 is a flowchart of a module upgrade method in an unmanned aerial vehicle system provided by Embodiment 5 of the present invention.
  • FIG. 8 is a flowchart of a module upgrade method in an unmanned aerial vehicle system provided in Embodiment 6 of the present invention.
  • FIG. 9 is a schematic structural diagram of a module to be upgraded in an unmanned aerial vehicle system according to Embodiment 1 of the present invention.
  • FIG. 10 is a schematic structural diagram of a module to be upgraded in an unmanned aerial vehicle system according to Embodiment 2 of the present invention.
  • FIG. 11 is a schematic structural diagram of a module to be upgraded according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of an application environment of a method for upgrading a module in a drone system according to an embodiment of the present invention.
  • the application environment includes: a drone system 100.
  • the drone system 100 includes a drone 10 and a ground station 20.
  • the drone 10 establishes a connection with the ground station 20 in order to upgrade the modules to be upgraded in the drone system 100.
  • the drone 10 includes a camera, vision, gimbal, 4 ESCs, smart battery, ultrasound, flight control, aircraft image transmission, etc. Module.
  • the ground station 20 of the drone system 100 includes modules such as a remote control single-chip microcomputer, ground image transmission, and a remote control panel. These modules may all be modules to be upgraded.
  • the aforementioned camera module, aircraft image transmission module, ground image transmission module, and remote control panel module are all provided with their own storage units, where the storage unit is used to store upgrade files, and the upgrade files are used to The modules to be upgraded in the human-machine system 100 are upgraded.
  • the drone 10 may be a fixed-wing drone, a multi-rotor drone, or the like.
  • the UAV may refer to an Unmanned Aerial Vehicle (UAV).
  • UAV Unmanned Aerial Vehicle
  • it may also be another aircraft, such as an unmanned ship.
  • the ground station 20 may be any suitable device having a remote control function, such as a remote controller and the like.
  • the main purpose of the embodiments of the present invention is to provide a method for module upgrade in a drone system, which can improve the success rate of modules to be upgraded in the drone system 100.
  • the method for upgrading a module in a drone system is applied to a module to be upgraded in the drone system, such as the drone system shown in FIG. 3.
  • the module to be upgraded of the drone system can be implemented by software in combination with hardware.
  • the module to be upgraded can also be understood as an independent functional system.
  • the drone system includes a drone and a ground station.
  • the module to be upgraded can be a module in the drone or a module in the ground station.
  • an upgrade file of the module to be upgraded is first obtained, and then the module to be upgraded is upgraded according to the upgrade file. Then, it is determined whether the module to be upgraded is successfully upgraded. Upgrade the file, and upgrade the module to be upgraded according to the reacquired upgrade file until the module to be upgraded is upgraded, so that after multiple upgrades, the upgrade success rate of the module to be upgraded can be improved.
  • the upgrade result of the module to be upgraded is recorded, so that the upgrade result of the module to be upgraded is accurately checked.
  • FIG. 2 is a flowchart of a module upgrade method in an unmanned aerial vehicle system provided by Embodiment 1 of the present invention. As shown in FIG. 2, the method in this embodiment may include:
  • the upgrade file is generally stored in the storage unit of some of the modules to be upgraded.
  • the execution subject of this embodiment is a software upgrade device having a software upgrade function.
  • the software upgrade device may be a separate device.
  • the software upgrade device is communicatively connected to the module to be upgraded.
  • the software upgrade device in this embodiment may be a part of a module to be upgraded, for example, a CPU (Central Processing Unit) in the module to be upgraded.
  • a CPU Central Processing Unit
  • FIG. 3 is an application scenario diagram of a module upgrade method in an unmanned aerial vehicle system provided by Embodiment 1 of the present invention.
  • the UAV system shown in Figure 3 includes multiple modules to be upgraded.
  • the aircraft side includes modules such as camera, gimbal, vision, 4 ESCs, smart batteries, ultrasound, flight control, and aircraft image transmission.
  • the ground side there are modules such as a remote control single-chip computer, ground image transmission, and a remote control panel.
  • the UAV system shown in FIG. 3 there are two major types of modules to be upgraded.
  • the first type is a module to be upgraded with a storage unit, such as a remote control panel, and the other is a module to be upgraded without a storage unit. , Such as a flight control module.
  • the upgrade file of the module to be upgraded that has its own storage unit is stored in its own storage unit, for example, the upgrade file of the remote control panel is stored in the storage unit of the remote control panel. In this way, the remote control panel can directly read the upgrade file of the remote control panel from its own storage unit.
  • the upgrade file of the module to be upgraded without a storage unit itself can be stored in the module to be upgraded with a storage unit connected to the serial port of the module to be upgraded.
  • the flight control module and the aircraft image transmission module pass The serial port 2 is connected, and the upgrade file of the flight control module can be stored in the storage unit of the aircraft image transmission module. In this way, the flight control module can read its own upgrade file from the storage unit of the aircraft image transmission module through the serial port 2.
  • the upgrade file in this embodiment may be uploaded by the terminal device.
  • the terminal device is connected to the ground image transmission device in the drone system, and the ground image transmission device and the drone are connected.
  • the communication link between each device in the system sends the file of each module to be upgraded to each module to be upgraded.
  • the upgrade file can be directly stored in the storage unit of the module to be upgraded, and for a module to be upgraded that does not have a storage unit itself, the upgrade file can be stored in the module to be upgraded.
  • the serial port is connected to other modules to be upgraded with a storage unit.
  • each module to be upgraded is the same.
  • one module to be upgraded is used as an example for description, and other modules to be upgraded can be referred to.
  • the upgrade file of the module to be upgraded is first obtained, and then, the module to be upgraded is upgraded according to the upgrade file. For example, if the upgrade file is a full upgrade file, use the upgrade file to completely replace the upgrade file before the module to be upgraded. If the upgrade file includes only a patch file, the patch file is added to the module to be upgraded to supplement the upgrade file before the module to be upgraded.
  • software upgrade of the module to be upgraded according to the upgrade file is a common technical means in the field, and details are not described herein again.
  • the module to be upgraded in this embodiment includes an App area.
  • the module to be upgraded is specifically updated by updating the upgrade file to the App area of the module to be upgraded to complete the module to be upgraded. Upgrade.
  • the upgrade result of the module to be upgraded needs to be judged.
  • judging whether the module to be upgraded is successfully upgraded may be to verify the upgrade data in the module to be upgraded. If the verification is successful, it is determined that the module to be upgraded is successfully upgraded. If the verification fails, the module to be upgraded is determined to be upgraded. failure.
  • determining whether the module to be upgraded is successfully upgraded may be restarting the upgraded module to be upgraded. If the restart is successful, it is determined that the module to be upgraded is successfully upgraded. If the restart fails, it is determined that the module to be upgraded fails to be upgraded.
  • the upgrade file of the module to be upgraded is obtained again, and the upgrade module is upgraded again according to the newly obtained upgrade file. Then, S103 is re-executed to determine whether the module to be upgraded is successfully upgraded. If not, the upgrade file is continuously obtained again, and the upgraded module is upgraded again according to the newly obtained upgrade file, until the module to be upgraded ends the upgrade. In this way, after the above multiple upgrades, the upgrade success rate of the module to be upgraded can be improved.
  • the completion of the module to be upgraded described in the above S104 may include:
  • the module to be upgraded When the number of upgrades of the module to be upgraded is less than the first preset threshold, the module to be upgraded is successfully upgraded, and the upgrade ends.
  • the preset first preset threshold is n.
  • the upgrade of the module to be upgraded may be ended.
  • the module to be upgraded ends the upgrade.
  • the module to be upgraded may not be successfully upgraded, but at this time, in order to prevent the upgrade from continuing indefinitely, the upgrade of the module to be upgraded is stopped.
  • the method for upgrading a module in an unmanned aerial vehicle system obtains an upgrade file of a module to be upgraded, upgrades the module to be upgraded according to the upgrade file, and determines whether the module to be upgraded is successfully upgraded; If not, re-acquire the upgrade file of the module to be upgraded and upgrade the module to be upgraded according to the re-acquired upgrade file until the module to be upgraded ends the upgrade. That is, in this embodiment, the upgrade success rate of the module to be upgraded can be improved through multiple upgrades, and the upgrade method is simple, easy to implement, and highly reliable.
  • FIG. 4 is a flowchart of a module upgrade method in an unmanned aerial vehicle system provided in Embodiment 2 of the present invention. Based on the above embodiment, as shown in FIG. 4, the above S103 determining whether the upgrade module is successfully upgraded may include:
  • the verification of the upgrade data in the module to be upgraded in this embodiment may be to determine whether the upgrade data in the module to be upgraded matches the upgrade data in the upgrade file of the upgrade module, and if it matches, determine the upgrade data in the upgrade module. The verification is successful. If there is no match, it is determined that the upgrade data in the upgrade module is successfully verified.
  • the upgrade data saved in the module to be upgraded is first obtained, and for convenience of explanation, the upgrade data is recorded as the first upgrade data.
  • the upgrade data in the upgrade file of the module to be upgraded is obtained, and the upgrade data is recorded as the second upgrade data.
  • the first upgrade data and the second upgrade data may be the size of the corresponding upgrade data or a check code of the upgrade data.
  • the first upgrade data and the second upgrade data are both the size of the upgrade data, and the size of the second upgrade data is b.
  • the size of the first upgrade data obtained after the module to be upgraded is upgraded to be a. Judging that the size a of the first upgrade data does not match the size b of the second upgrade data, that is, a is not equal to b, it can be determined that the first upgrade of the module to be upgraded fails.
  • the module to be upgraded is restarted.
  • the Boot Loader of the module to be upgraded is started. If the Boot Loader can be started, the module to be upgraded is determined to be upgraded. success. If Boot Loader fails to start, it is determined that the upgrade of the module to be upgraded fails. At this time, the module to be upgraded needs to be upgraded again. Specifically, the upgrade file of the module to be upgraded is re-acquired, and the upgrade module is to be processed according to the newly obtained upgrade file. To upgrade, repeat the above steps until the restart of the module to be upgraded is successful.
  • the method for upgrading a module in a drone system determines whether the upgrade data in the module to be upgraded is successfully verified; if so, determines whether the restart of the module to be upgraded is successful; if so, determines The upgrade module is successfully upgraded. In this way, after double judgment, the accurate judgment of the upgrade success of the module to be upgraded can be improved, thereby improving the reliability of the module to be upgraded.
  • FIG. 5 is a flowchart of a module upgrade method in an unmanned aerial vehicle system according to a third embodiment of the present invention. Based on the above embodiment, as shown in FIG. 5, if the module to be upgraded does not include a storage unit, the upgrade process of the upgrade module in this embodiment may include:
  • the upper-level module refers to a module including a storage unit and directly connected to the module to be upgraded through a serial interface.
  • the module to be upgraded is communicatively connected to a higher-level module through a serial interface.
  • the module to be upgraded does not include a storage unit itself, so the upgrade file of the module to be upgraded can be saved on a serial port connected to the module to be upgraded.
  • the upgrade file of the flight control module can be stored in the storage unit of the aircraft image transmission module, and the flight control module and the aircraft image transmission module communicate through the serial port 2.
  • the upgrade file of the flight control module is read from the storage unit of the aircraft image transmission module through the serial port 2.
  • the module to be upgraded without a storage unit includes two areas, namely, the area where the boot loader (Boot Loader) is located, and the App area. The area where the boot loader (Boot Loader) is located is recorded. Load area for boot.
  • the upgrade data in the flight control module does not match the upgrade data in the upgrade file of the flight control module. It is determined that the verification of the upgrade data in the module to be upgraded fails. At this time, the module to be upgraded continues to read the upgrade file of the flight control module from the aircraft image transmission module through the serial port 2, and refreshes the app area of the flight control module with the re-read upgrade file until the The upgrade data verification is successful.
  • this embodiment restarts the module to be upgraded. Specifically, the Boot Loader of the module to be upgraded is started. If the Boot Loader can be started, it is determined that the software of the module to be upgraded is successfully upgraded. If the Boot Loader fails to start, it is determined that the module to be upgraded fails the upgrade.
  • the upgrade module needs to be upgraded again, specifically, re-acquire the upgrade file of the module to be upgraded, refresh the re-acquired upgrade file to the App area of the module to be upgraded, and then return to step S303 until the Until the upgrade module starts successfully.
  • an upgrade file of the module to be upgraded sent by the upper-level module is obtained through the serial interface.
  • FIG. 6 is a flowchart of a module upgrade method in a drone system provided in Embodiment 4 of the present invention. Based on the above embodiment, for a module to be upgraded that does not include a storage unit itself, as shown in FIG. 6, its upgrade The process can also include:
  • the upgrade file of the module to be upgraded in this embodiment is sent after the upper-level module closes the serial communication link with other modules except the module to be upgraded.
  • the serial port is closed except the upgrade file Other communications to improve the upgrade success rate of the modules to be upgraded.
  • the serial communication link between the aircraft image module and the flight control module is opened through the serial port 2, and the aircraft image module and other modules (e.g., PTZ module, vision Modules).
  • the aircraft image module and other modules e.g., PTZ module, vision Modules.
  • the module to be upgraded in this embodiment may also perform information transmission with other modules during the upgrade process, so that the software to be upgraded in the module to be upgraded may be in a running state, and the software in the running state cannot be completely upgraded.
  • communication of the modules to be upgraded except the files to be upgraded needs to be closed to ensure the normal progress of the upgrade process and improve the success rate of the upgrade.
  • S406. Determine whether the number of upgrades of the module to be upgraded is greater than or equal to a second preset threshold.
  • the number of upgrades obtained in the above S405 is compared with a second preset threshold. If the number of upgrades exceeds the second preset threshold, the steps of S401 are performed, that is, shutting down and the modules except the module to be upgraded. Other communications and subsequent steps such as S402. If the number of upgrades does not exceed the second preset threshold, step S402 is performed, that is, the module to be upgraded is upgraded according to the upgrade file of the module to be upgraded.
  • the second preset threshold is set according to actual needs and is smaller than the first preset threshold.
  • step S401 is performed. If the number of upgrades does not exceed the second preset threshold, step S402 is performed, that is, the module to be upgraded is upgraded according to the upgrade file of the module to be upgraded.
  • the method for upgrading a module in a drone system determines whether to re-close the serial communication link between the upper-level module and other modules according to the number of upgrades of the module to be upgraded, or according to the to-be-upgraded
  • the module upgrade file upgrades the module to be upgraded, which further improves the accuracy and success rate of software upgrade of the module to be upgraded.
  • FIG. 7 is a flowchart of a module upgrade method in an unmanned aerial vehicle system provided by Embodiment 5 of the present invention. Based on the above embodiment, as shown in FIG. 7, if the module to be upgraded includes a storage unit, the upgrade process of this embodiment may include:
  • the module to be upgraded with the storage unit includes three areas, namely, the area where the boot loader (Boot Loader) is located, the App area, and the area where the storage unit is located, where the boot loader (Boot The area where the Loader is located is referred to as the boot load area, and an upgrade file is stored in the storage unit.
  • the module to be upgraded in this embodiment reads an upgrade file from its own storage unit to perform the upgrade.
  • the upgrade process is simple and the upgrade speed is fast.
  • the Boot Loader in the module to be upgraded can be controlled to read the upgrade file from the storage device, and the Boot Loader can be controlled to read the upgrade data of the module to be upgraded from the App area and read from the storage unit.
  • the upgrade file of the module to be upgraded determines whether the two types match.
  • a module upgrade method in an unmanned aerial vehicle system provided by an embodiment of the present invention, for a module to be upgraded including a storage unit, refreshing an upgrade file in the storage unit to an App area of the module to be upgraded, and from the App area Read the upgrade data of the module to be upgraded, read the upgrade file of the module to be upgraded from the storage unit, and determine whether the two types match.
  • the entire software upgrade process is simple, the upgrade speed is fast, and the rapid upgrade of the module to be upgraded is realized.
  • FIG. 8 is a flowchart of a module upgrade method in an unmanned aerial vehicle system provided in Embodiment 6 of the present invention. Based on the foregoing embodiment, as shown in FIG. 8, the method in this embodiment may include:
  • the upgrade information in the upgrade file is stored, such as the upgrade version information of the upgrade module.
  • S603. Determine an upgrade status of the module to be upgraded according to the version information and / or the upgrade version information.
  • this embodiment also needs to detect the upgrade status of the module to be upgraded. Specifically, according to the above steps, the upgrade version information and current version information of the module to be upgraded are obtained, and the upgrade status of the module to be upgraded is determined according to the upgrade version information and / or version information of the module to be upgraded, so as to realize the upgrade status of the module to be upgraded. Accurate determination.
  • the upgrade status of the module to be upgraded may include: no upgrade, upgrade failure, and upgrade failure.
  • the foregoing S503 may include:
  • the module to be upgraded is started. If the module to be upgraded is successfully started, the version information of the module to be upgraded is obtained. If the version information of the module to be upgraded is not obtained at this time, it can be determined that the upgrade status of the module to be upgraded is not upgraded.
  • the version information of the module to be upgraded is obtained, the version information of the module to be upgraded is matched with the upgrade version information of the module to be upgraded. If the version information of the module to be upgraded is the same as the upgrade version information, the upgrade status of the module to be upgraded is determined. For successful upgrade, if the version information of the module to be upgraded is different from the version information of the upgrade, it is determined that the upgrade status of the module to be upgraded is that the upgrade has failed.
  • the upgrade status of the module to be upgraded is saved to the storage unit of the module to be upgraded, for example, the above-mentioned upgrade result is stored in a section of flash of the drone system, and the section of flash will not be refreshed.
  • the identifier of the module to be upgraded when the above is saved, the identifier of the module to be upgraded, the version number of the module to be upgraded, and the upgrade status of the module to be upgraded are also saved.
  • This embodiment uses the above method to detect the upgrade status of the module to be upgraded, which further improves the accuracy of the upgrade detection.
  • the upgrade status of the modules to be upgraded is summarized and saved, which is convenient for checking the version information and upgrade results of the modules to be upgraded.
  • the module upgrade method in an unmanned aerial vehicle system stores the upgrade information in the upgrade file of the module to be upgraded, and obtains version information of the module to be upgraded after the module to be upgraded is finished upgrading;
  • the upgrade status of the modules to be upgraded is determined according to the version information and / or the upgrade version information, and an accurate check of software upgrade of each module to be upgraded is further implemented.
  • FIG. 9 is a schematic structural diagram of a module to be upgraded in a drone system provided in Embodiment 1 of the present invention. As shown in FIG. 9, the module to be upgraded 100 in this embodiment may include:
  • An obtaining unit 110 configured to obtain an upgrade file of the module to be upgraded
  • An upgrade unit 120 configured to upgrade the module to be upgraded according to the upgrade file
  • a judging unit 130 configured to judge whether the module to be upgraded is successfully upgraded
  • the obtaining unit 110 is further configured to, if the determining unit 120 determines that the upgrade of the module to be upgraded fails, re-obtain an upgrade file of the module to be upgraded;
  • the upgrading unit 120 is further configured to upgrade the module to be upgraded according to the newly obtained upgrade file, until the module to be upgraded ends the upgrade.
  • the module to be upgraded in the embodiment of the present invention may be used to execute the technical solution of the method embodiment shown above, and its implementation principles and technical effects are similar, which are not described herein again.
  • the determining unit 130 is specifically configured to determine whether the upgrade data in the module to be upgraded is successfully verified; if so, determine whether the restart of the module to be upgraded is successful ; If yes, determine that the upgrade module is successfully upgraded.
  • the completion of the upgrade of the module to be upgraded includes:
  • the module to be upgraded ends the upgrade.
  • the module to be upgraded is communicatively connected to a higher-level module through a serial interface, and the obtaining unit 110 is specifically configured to obtain the previous one through the serial interface.
  • the upgrade file of the module to be upgraded sent by the first-level module.
  • the upgrade file of the module to be upgraded is sent after the upper-level module closes the serial communication link with other modules except the module to be upgraded.
  • the obtaining unit 110 is further specifically configured to, when the number of times of upgrading of the module to be upgraded is greater than or equal to a second preset threshold, obtain the upper level again.
  • the module to be upgraded includes a storage unit, and the obtaining unit 110 is specifically configured to obtain an upgrade file of the module to be upgraded, and store the upgrade file to The storage unit of the module to be upgraded.
  • the obtaining unit 110 is further specifically configured to re-obtain an upgrade file of the module to be upgraded from the storage unit.
  • FIG. 10 is a schematic structural diagram of a module to be upgraded in a drone system provided in Embodiment 2 of the present invention. Based on the above embodiment, as shown in FIG. 10, the module 100 to be upgraded in this embodiment may further include:
  • the storage unit 140 is configured to store upgrade information in an upgrade file of the module to be upgraded, where the upgrade information includes upgrade version information of the module to be upgraded;
  • the obtaining unit 110 is further configured to obtain version information of the module to be upgraded after the upgrade of the module to be upgraded ends;
  • a determining unit 150 is configured to determine an upgrade status of the module to be upgraded according to the version information and / or the upgrade version information.
  • the determining unit 150 is specifically configured to determine that an upgrade status of the module to be upgraded is not upgraded when the version information is not obtained; When the version information is the same as the upgraded version information, it is determined that the upgrade status of the module to be upgraded is that the upgrade is successful; when the version information is obtained, and the version information and the upgraded version information are not When the same, it is determined that the upgrade status of the module to be upgraded is an upgrade failure.
  • the module to be upgraded in the embodiment of the present invention may be used to execute the technical solution of the method embodiment shown above, and its implementation principles and technical effects are similar, which are not described herein again.
  • FIG. 11 is a schematic structural diagram of a module to be upgraded according to an embodiment of the present invention. As shown in FIG. 11, the module 30 to be upgraded in this embodiment includes:
  • the processor 32 is configured to execute the computer program to implement the module upgrading method in the UAV system, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the memory 10 may be the same as the storage device in the module to be upgraded in the above embodiment, or the memory 10 and the storage device are independent of each other, which is not limited herein.
  • the embodiment of the present invention also provides a computer storage medium for storing the software upgrade
  • Computer software instructions when run on a computer, enable the computer to execute the module upgrade methods in various possible drone systems in the above method embodiments.
  • the processes or functions according to the embodiments of the present invention may be generated in whole or in part.
  • the computer instructions may be stored in a computer storage medium, or transmitted from one computer storage medium to another computer storage medium, and the transmission may be wireless (for example, cellular communication, infrared, short-range wireless, microwave, etc.) to another A website site, computer, server, or data center.
  • the computer storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, and the like that includes one or more available medium integration.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, an SSD).

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Abstract

本发明实施例公开了一种无人机系统中的模块升级方法及待升级模块，所述方法包括：获取所述待升级模块的升级文件；根据所述升级文件，对所述待升级模块进行升级；判断所述待升级模块是否升级成功；若否，则重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级。这样通过多次升级的方式，可以提高待升级模块的升级成功率，且升级方法简便，易于实现，可靠性高。

Description

无人机系统中的模块升级方法及待升级模块
申请要求于2018年7月13日申请的、申请号为201810771968.2、申请名称为“无人机系统中的模块升级方法及待升级模块”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明实施例涉及软件升级技术领域，尤其涉及一种无人机系统中的模块升级方法及待升级模块。
背景技术
随着飞行技术的发展，无人驾驶飞机或称之为无人机(Unmanned Aerial Vehicle，UAV)得到了越来越广泛地应用。无人机包括的模块众多，例如飞机侧有相机、云台、视觉、4个电调、智能电池、超声、飞控、飞机端图传等模块，地面侧有遥控单片机、地面图传、遥控面板等模块。各个模块都是独立的硬件和软件系统，之间通过串口或者网络连接
由此可知，升级如此众多的模块，如何确保升级高成功率是本领域技术人员亟待解决的技术问题。
发明内容
本发明实施例提供一种无人机系统中的模块升级方法及待升级模块。
第一方面，本发明实施例提供一种无人机系统中的模块升级方法，应用于所述无人机系统中的待升级模块，包括：
获取所述待升级模块的升级文件；
根据所述升级文件，对所述待升级模块进行升级；
判断所述待升级模块是否升级成功；
若否，则重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级。
在第一方面的一种可能的实现方式中，所述判断所述升级模块是否升级成功，包括：
判断所述待升级模块中的升级数据是否校验成功；
若是，判断所述待升级模块的重新启动是否成功；
若是，则确定所述升级模块升级成功。
在第一方面的一种可能的实现方式中，所述判断所述升级模块是否升级成功，包括：
判断升级后的待升级模块是否重启成功；
若是，则确定所述升级模块升级成功。
在第一方面的另一种可能的实现方式中，所述待升级模块结束升级包括：
所述待升级模块的升级次数小于第一预设阈值时，所述待升级模块升级成功，结束升级；或者，
所述待升级模块的升级次数大于或等于所述第一预设阈值时，所述待升级模块结束升级。
在第一方面的另一种可能的实现方式中，所述待升级模块通过串行接口与上一级模块通信连接，所述获取所述待升级模块的升级文件，包括：
通过所述串行接口获取所述上一级模块发送的所述待升级模块的升级文件；
其中，所述待升级模块不包括存储单元，所述上一级模块包括存储单元且与所述待升级模块通过串行接口直接连接。
在第一方面的另一种可能的实现方式中，所述待升级模块的升级文件是所述上一级模块关闭除所述待升级模块外的与其他模块的串行通信链路后发送的。
在第一方面的另一种可能的实现方式中，所述重新获取所述待升级模块的升级文件，包括：
当所述待升级模块的升级次数大于或等于第二预设阈值时，重新获取所述上一级模块关闭与所述其他模块的串行通信链路后发送的所述待升级模块 的升级文件；其中，所述第二预设阈值小于所述第一预设阈值。
在第一方面的另一种可能的实现方式中，所述待升级模块包括存储单元，所述获取所述待升级模块的升级文件，包括：
获取所述待升级模块的升级文件，并将所述升级文件存储至所述待升级模块的存储单元中。
在第一方面的另一种可能的实现方式中，所述重新获取所述待升级模块的升级文件，包括：
从所述存储单元中，重新获取所述待升级模块的升级文件。
在第一方面的另一种可能的实现方式中，所述方法还包括：
存储所述待升级模块的升级文件中的升级信息，其中，所述升级信息包括所述待升级模块的升级版本信息；
当所述待升级模块结束升级后，获取所述待升级模块的版本信息；
根据所述版本信息和/或所述升级版本信息，确定所述待升级模块的升级状态。
在第一方面的另一种可能的实现方式中，所述根据所述版本信息和/或所述升级版本信息，确定所述待升级模块的升级状态，包括：
当未获取到所述版本信息时，确定所述待升级模块的升级状态为未升级；
当获取到所述版本信息，且所述版本信息与所述升级版本信息相同时，确定所述待升级模块的升级状态为升级成功；
当获取到所述版本信息，且所述版本信息与所述升级版本信息不相同时，确定所述待升级模块的升级状态为升级失败。
第二方面，本发明实施例提供一种无人机系统中的待升级模块，包括
获取单元，用于获取所述待升级模块的升级文件；
升级单元，用于根据所述升级文件，对所述待升级模块进行升级；
判断单元，用于判断所述待升级模块是否升级成功；
获取单元，还用于若所述判断单元判断所述待升级模块升级失败，则重新获取所述待升级模块的升级文件；
所述升级单元，还用于根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级。
在第二方面的一种可能的实现方式中，所述判断单元，具体用于判断所述待升级模块中的升级数据是否校验成功；若是，判断所述待升级模块的重新启动是否成功；若是，则确定所述升级模块升级成功。
在第二方面的另一种可能的实现方式中，所述待升级模块结束升级包括：
所述待升级模块的升级次数小于第一预设阈值时，所述待升级模块升级成功，结束升级；或者，
所述待升级模块的升级次数大于或等于所述第一预设阈值时，所述待升级模块结束升级。
在第二方面的另一种可能的实现方式中，所述待升级模块通过串行接口与上一级模块通信连接，所获取单元，具体用于通过所述串行接口获取所述上一级模块发送的所述待升级模块的升级文件。
在第二方面的另一种可能的实现方式中，所述待升级模块的升级文件是所述上一级模块关闭除所述待升级模块外的与其他模块的串行通信链路后发送的。
在第二方面的另一种可能的实现方式中，所述获取单元，还具体用于当所述待升级模块的升级次数大于或等于第二预设阈值时，重新获取所述上一级模块关闭与所述其他模块的串行通信链路后发送的所述待升级模块的升级文件；其中，所述第二预设阈值小于所述第一预设阈值。
在第二方面的另一种可能的实现方式中，所述待升级模块包括存储单元，所述获取单元，具体用于获取所述待升级模块的升级文件，并将所述升级文件存储至所述待升级模块的存储单元中。
在第二方面的另一种可能的实现方式中，所述获取单元，还具体用于从所述存储单元中，重新获取所述待升级模块的升级文件。
在第二方面的另一种可能的实现方式中，所述装置还包括：
存储单元，用于存储所述待升级模块的升级文件中的升级信息，其中，所述升级信息包括所述待升级模块的升级版本信息；
所述获取单元，还用于当所述待升级模块结束升级后，获取所述待升级模块的版本信息；
确定单元，用于根据所述版本信息和/或所述升级版本信息，确定所述待 升级模块的升级状态。
在第二方面的另一种可能的实现方式中，所述确定单元，具体用于当未获取到所述版本信息时，确定所述待升级模块的升级状态为未升级；当获取到所述版本信息，且所述版本信息与所述升级版本信息相同时，确定所述待升级模块的升级状态为升级成功；当获取到所述版本信息，且所述版本信息与所述升级版本信息不相同时，确定所述待升级模块的升级状态为升级失败。
第三方面，本发明实施例提供一种待升级模块，包括：
存储器，用于存储计算机程序；
处理器，用于执行所述计算机程序，以实现第一方面所述的无人机系统中的模块升级方法。
第四方面，本发明实施例提供一种计算机存储介质，其特征在于，所述存储介质中存储计算机程序，所述计算机程序在执行时实现第一方面所述的无人机系统中的模块升级方法。
本发明实施例提供的无人机系统中的模块升级方法及待升级模块，通过获取待升级模块的升级文件，根据所述升级文件，对所述待升级模块进行升级，判断所述待升级模块是否升级成功；若否，则重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级。即本实施例，通过多次升级的方式，可以提高待升级模块的升级成功率，且升级方法简便，易于实现，可靠性高。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图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为本发明实施例提供的一种无人机系统应用环境示意图；
图2为本发明实施例一提供的无人机系统中的模块升级方法流程图；
图3为本发明实施例一提供的无人机系统中的模块升级方法的应用场景图；
图4为本发明实施例二提供的无人机系统中的模块升级方法的流程图；
图5为本发明实施例三提供的无人机系统中的模块升级方法的流程图；
图6为本发明实施例四提供的无人机系统中的模块升级方法的流程图；
图7为本发明实施例五提供的无人机系统中的模块升级方法的流程图；
图8为本发明实施例六提供的无人机系统中的模块升级方法的流程图；
图9为本发明实施例一提供的无人机系统中的待升级模块的结构示意图；
图10为本发明实施例二提供的无人机系统中的待升级模块的结构示意图；
图11为本发明实施例提供的待升级模块的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，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作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。
图1是本发明实施例提供的无人机系统中的模块升级方法的其中一种应用环境的示意图。其中，该应用环境中包括：无人机系统100。该无人机系统100包括无人机10以及地面站20。在无人机系统100中的模块进行升级时，该无人机10与地面站20建立连接，以便实现对无人机系统100中的待升级模块进行升级。
在一个实施例中，对于无人机系统100的无人机10来说，该无人机10包括相机、视觉、云台、4个电调、智能电池、超声、飞控、飞机图传等模块。对于无人机系统100的地面站20来说，该地面站20包括遥控单片机、地面图传和遥控面板等模块，这些模块都有可能是待升级模块。
在一个实施例中，上述的相机模块、飞机图传模块、地面图传模块和遥控面板模块都设有自身的存储单元，所述存储单元用于存储升级文件，所述升级文件用于对无人机系统100中的待升级模块进行升级。
本申请实施例中，无人机10可以为固定翼无人机、多旋翼无人机等。在此，无人机可以是指无人飞行器(Unmanned Aerial Vehicle，UAV)。在一些其它实施例中，还可以是其他飞行器，如无人船等。
地面站20可以为任何合适的具有遥控功能的设备，如遥控器等。
为了使得无人机系统100可以更好的满足用户的需求或者提高无人机系统100的稳定性，通常需要对无人机系统100中的待升级模块进行模块升级，以优化无人机系统100的功能，让用户能有更好的体验。由于无人机系统中的模块众多，目前的升级方式无法确保待升级模块的成功率。
结合上述应用场景，本发明实施例主要目的在于提供一种无人机系统中的模块升级方法，可以提高无人机系统100中待升级模块的成功率。
下面结合附图，对本发明实施例作进一步阐述。
本发明实施例提供的无人机系统中的模块升级方法，应用于所述无人机系统中的待升级模块，例如如图3所示的无人机系统。其中，无人机系统的待升级模块可以由软件结合硬件实现，在此，待升级模块也可以理解为一个独立地功能系统。无人机系统包括无人机和地面站，待升级模块可以是无人机中的模块，或者是地面站中的模块。
本实施例的技术方案，首先获取待升级模块的升级文件，接着，根据该升级文件对待升级模块进行升级，然后，判断待升级模块是否升级成功，若否，则重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级，这样经过多次升级，可以提高待升级模块的升级成功率。
同时，本实施例通过对待升级模块的升级结果进行记录，实现对待升级模块的升级结果的准确检查。
下面以具体地实施例对本发明的技术方案进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。
图2为本发明实施例一提供的无人机系统中的模块升级方法流程图。该如图2所示，本实施例的方法可以包括：
S101、获取所述待升级模块的升级文件。
升级文件一般保存在部分待升级模块自身的存储单元中。
S102、根据所述升级文件，对所述待升级模块进行升级。
本实施例的执行主体为具有软件升级功能的软件升级装置，该软件升级装置可以是单独的设备，此时软件升级装置与待升级模块通信连接。
可选的，本实施例的软件升级装置可以为待升级模块中的一部分，例如为待升级模块中的CPU(Central Processing Unit，中央处理器)。
图3为本发明实施例一提供的无人机系统中的模块升级方法的应用场景图。如图3所示的无人机系统，包括多个待升级模块，例如，飞机侧包括有相机、云台、视觉、4个电调、智能电池、超声、飞控、飞机端图传等模块，地面侧包括有遥控单片机、地面图传、遥控面板等模块。
如图3所示的无人机系统中，待升级模块包括两大类，第一类是自身具有存储单元的待升级模块，如遥控面板，另一种是自身不具有存储单元的待升级模块，例如飞控模块。
其中，自身具有存储单元的待升级模块的升级文件保存在自身的存储单元中，例如遥控面板的升级文件保存在遥控面板的存储单元中。这样，遥控面板可以直接从自身的存储单元中读取遥控面板的升级文件。
而自身没有存储单元的待升级模块的升级文件，可以保存在与该待升级模块串口连接的具有存储单元的待升级模块中，例如，如图3所示，飞控模块与飞机图传模块通过串口2连接，飞控模块的升级文件可以保存在飞机图传模块的存储单元中。这样，飞控模块可以通过串口2从飞机图传模块的存储单元中读取自身的升级文件。
可选的，本实施例的升级文件可以是终端设备上传的，例如，如图3所述，终端设备与无人机系统中的地面图传设备连接，通过地面图传设备，以及无人机系统中各设备之间的通信链路，将各待升级模块的文件发送给各待升级模块。具体是，对于自身具有存储单元的待升级模块，可以将升级文件直接存储在该待升级模块的存储单元中，对于自身不具有存储单元的待升级模块，可以将升级文件存储在与待升级模块串口连接的其他具有存储单元的待升级模块中。
本实施例中，各待升级模块的软件升级过程一致，本实施例以一个待升级模块为例进行说明，其他待升级模块参照即可。
本步骤中，首先获取待升级模块的升级文件，接着，根据该升级文件，对待升级模块进行升级。例如，若升级文件为全升级文件，则使用该升级文件完全替换待升级模块之前的升级文件。若升级文件只包括补丁文件，则将该补丁文件添加至待升级模块中，用于补充待升级模块之前的升级文件。其中，根据升级文件对待升级模块进行软件升级为本领域的常用技术手段，在此不再赘述。
在本实施例的一种可能的实现方式中，本实施例的待升级模块包括App区域，本步骤对待升级模块进行升级具体可以是将升级文件刷新至待升级模块的App区域，完成待升级模块的升级。
S103、判断所述待升级模块是否升级成功。
根据上述步骤，对待升级模块进行升级之后，需要对待升级模块的升级结果进行判断。
在一种示例中，判断待升级模块是否升级成功可以是对待升级模块中的升级数据进行校验，若校验成功，则确定待升级模块升级成功，若校验失败，则确定待升级模块升级失败。
在另一示例中，判断待升级模块是否升级成功可以是重启升级后的待升级模块，若重启成功，则确定待升级模块升级成功，若重启失败，则确定待升级模块升级失败。
S104、若否，则重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级。
本实施例，根据上述步骤，若判断待升级模块升级失败，则重新获取该待升级模块的升级文件，并根据重新获取的升级文件对该升级模块重新进行升级。接着，重新执行上述S103判断待升级模块是否升级成功，若否，则继续重新获取升级文件，并根据重新获取的升级文件对待升级模块再次升级，直到待升级模块结束升级为止。这样，经过上述多次升级，可以提高待升级模块的升级成功率。
在本实施例的一种可能的实现方式中，上述S104中所述待升级模块结束 升级可以包括：
所述待升级模块的升级次数小于第一预设阈值时，所述待升级模块升级成功，结束升级。例如，预设的第一预设阈值为n，当待升级模块的升级次数小于n，且该待升级模块升级成功，则可以结束对该待升级模块的升级。
或者，所述待升级模块的升级次数大于或等于所述第一预设阈值时，所述待升级模块结束升级。例如，当待升级模块的升级次数大于或等于n时，待升级模块可能还未升级成功，但此时，为了防止升级无限循环下去，则停止对待升级模块的升级。
本发明实施例提供的无人机系统中的模块升级方法，通过获取待升级模块的升级文件，根据所述升级文件，对所述待升级模块进行升级，判断所述待升级模块是否升级成功；若否，则重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级。即本实施例，通过多次升级的方式，可以提高待升级模块的升级成功率，且升级方法简便，易于实现，可靠性高。
图4为本发明实施例二提供的无人机系统中的模块升级方法的流程图。在上述实施例的基础上，如图4所示，上述S103判断所述升级模块是否升级成功可以包括：
S201、判断所述待升级模块中的升级数据是否校验成功。
本实施例中对待升级模块中的升级数据进行校验可以是，判断待升级模块中的升级数据与该升级模块的升级文件中的升级数据是否匹配，若匹配则确定该升级模块中的升级数据校验成功，若不匹配，则确定该升级模块中的升级数据校验成功。
具体的，首先获取待升级模块升级后的其中保存的升级数据，为了便于阐述，将该升级数据记为第一升级数据。同时，获取该待升级模块的升级文件中的升级数据，将该升级数据记为第二升级数据。
其中，第一升级数据和第二升级数据均可以是对应的升级数据的大小或升级数据的校验码等。
接着，判断第一升级数据与第二升级数据是否匹配，若匹配，则确定待 升级模块中的升级数据校验成功。若不匹配，则确定待升级模块中的升级数据校验失败，需要重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对所述待升级模块进行升级。
举例说明，假设第一升级数据和第二升级数据均为升级数据的大小，其中第二升级数据的大小为b。这样，根据升级文件对待升级模块进行第一次升级之后，获取待升级模块升级后的第一升级数据的大小为a。判断第一升级数据的大小a与第二升级数据的大小b不匹配，即a不等于b，则可以确定待升级模块的第一次升级失败。接着，重新获取升级文件，并根据重新获取的升级文件对待升级模块重新升级，继续判断第二次升级后的待升级模块的第一升级数据的大小a是否等于第二升级数据的大小b，若不相等，则继续重新获取升级文件，并根据重新获取的升级文件对待升级模块再次升级，直到待升级数据的大小与第二升级数据的大小相等为止。
S202、若是，判断所述待升级模块的重新启动是否成功。
S203、若是，则确定所述升级模块升级成功。
为了实现对待升级模块升级成功的准确判断，则若待升级模块中的升级数据校验成功后，还需要判断待升级模块是否可以重新启动。
具体是，待升级模块升级之后，若判断待升级模块中升级数据校验成功，则重新启动待升级模块，例如，启动待升级模块的Boot Loader，若Boot Loader可以启动，则确定待升级模块升级成功。若Boot Loader启动不成功，则确定待升级模块此次升级失败，此时，需要重新对待升级模块进行升级，具体是，重新获取待升级模块的升级文件，根据重新获取的升级文件对待升级模块进行升级，重复上述步骤，直到所述待升级模块重新启动成功为止。
本发明实施例提供的无人机系统中的模块升级方法，通过判断所述待升级模块中的升级数据是否校验成功；若是，判断所述待升级模块的重新启动是否成功；若是，则确定所述升级模块升级成功。这样经过双重判断，可以提高对待升级模块升级成功性的准确判断，进而提高了待升级模块升级的可靠性。
图5为本发明实施例三提供的无人机系统中的模块升级方法的流程图。 在上述实施例的基础上，如图5所示，若所述待升级模块不包括存储单元，则本实施例的升级模块的升级过程可以包括：
S301、通过所述串行接口获取所述上一级模块发送的所述待升级模块的升级文件。
本实施例中，上一级模块是指包括存储单元且与所述待升级模块通过串行接口直接连接的模块。所述待升级模块通过串行接口与上一级模块通信连接，所述待升级模块自身不包括存储单元，因此所述待升级模块的升级文件可以保存在与所述待升级模块串口连接的上一级模块的存储单元中，例如图3所示，飞控模块的升级文件可以保存在飞机图传模块的存储单元中，飞控模块与飞机图传模块通过串口2通信。
在飞控模块升级的过程中，通过串口2从飞机图传模块的存储单元中的读取飞控模块的升级文件。
S302、根据所述升级文件，对所述待升级模块进行升级。
具体的，如表1所示，没有存储单元的待升级模块包括两个区域，分别为引导加载单元(Boot Loader)所在的区域、App区域，其中将引导加载单元(Boot Loader)所在的区域记为引导加载区域。
表1
引导加载区域 App区域
参照上述例子，将上述从串口2接收到的飞控模块的升级文件刷新至飞控模块的App区域。其具体过程参照上述实施例的描述，在此不再赘述。
S303、判断所述待升级模块中的升级数据是否校验成功。
若是，则执行S304，若否，返回执行上述S301。
参照上述例子，以待升级模块为飞控模块为例，如图3所示，若待飞控模块升级后，飞控模块中的升级数据与飞控模块的升级文件中升级数据不匹配，则确定待升级模块中的升级数据校验失败。此时，待升级模块继续通过串口2，从飞机图传模块中重新读取飞控模块的升级文件，并使用重新读取的升级文件重新刷新飞控模块的App区域，直到飞控模块中的升级数据校验成功为止。
S304、判断所述待升级模块的重新启动是否成功。
若是，则执行S305，若否，则执行上述S301。
在实际应用中，当升级文件自身错误时，升级后待升级模块的Boot Loader无法正常启动，因此，本实施例为了避免这样问题的发生，在上述待升级模块中的升级数据校验成功后，为了进一步提高软件升级检测的准确性，则本实施例重新启动待升级模块。具体是，启动待升级模块的Boot Loader，若Boot Loader可以启动，则确定待升级模块软件升级成功。若Boot Loader启动不成功，则确定待升级模块此次升级失败。此时，需要重新对待升级模块进行升级，具体是，重新获取待升级模块的升级文件，将重新获取的升级文件刷新至待升级模块的App区域，接着，返回执行S303的步骤，直到所述待升级模块成功启动为止。
S305、升级结束。
本发明实施例提供的无人机系统中的模块升级方法，对于自身不包括存储单元的待升级模块，通过所述串行接口获取所述上一级模块发送的所述待升级模块的升级文件，判断所述待升级模块是否升级成功，若否，则重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级，进而提高了对自身不包括存储单元的待升级模块的检测准确性，进一步提高了软件升级的成功率。
图6为本发明实施例四提供的无人机系统中的模块升级方法的流程图，在上述实施例的基础上，对于自身不包括存储单元的待升级模块，如图6所示，其升级过程还可以包括：
S401、关闭上一级模块除待升级模块外的与其他模块的串行通信链路。
本实施例的待升级模块的升级文件是所述上一级模块关闭除所述待升级模块外的与其他模块的串行通信链路后发送的。
本实施例，若待升级模块通过串口从其他模块中获取待升级模块的升级文件时，则为了保证串口可以高效准确地将升级文件发送给待升级模块，则关闭串口中除该升级文件之外的其他通信，提高待升级模块的升级成功率。
例如，如图3所示，在升级飞控模块时，通过串口2开启飞机图像模块与飞控模块之间的串行通信链路，关闭飞机图像模块与其他模块(例如，云 台模块、视觉模块)之间的串行通信链路。
同时，本实施例的待升级模块在升级的过程中可能还与其他模块进行信息传输，这样使得待升级模块中的待升级的软件可能处于运行状态，而对于运行状态的软件无法实现完全升级。此时，需要关闭待升级模块除待升级文件之外的其他通信，以保证升级过程的正常进行，提高升级的成功率。
S402、通过所述串行接口获取所述上一级模块发送的所述待升级模块的升级文件。
S403、根据所述升级文件，对所述待升级模块进行升级。
S404、判断所述待升级模块中的升级数据是否校验成功。
若是，则执行S407，若否，则执行S405。
S405、获取所述待升级模块的升级次数。
S406、判断所述待升级模块的升级次数是否大于或等于第二预设阈值。
若是，则返回执行S401、若否，则执行S402。
即本实施例，当所述待升级模块的升级次数大于或等于第二预设阈值时，重新获取所述上一级模块关闭与所述其他模块的串行通信链路后发送的所述待升级模块的升级文件；其中，所述第二预设阈值小于所述第一预设阈值。
具体的，将上述S405获取的升级次数与第二预设阈值进行比对，若升级次数超过了第二预设阈值，则执行S401的步骤，即关闭上以及模块除除待升级模块之外的其他通信，并执行后续的S402等步骤。若升级次数没有超过第二预设阈值，则执行S402的步骤，即根据待升级模块的升级文件，对待升级模块进行升级。
其中第二预设阈值根据实际需要进行设定，且小于上述第一预设阈值。
S407、判断所述待升级模块的重新启动是否成功。
若是，则执行S408，若否则执行S405。
具体的，若待升级模块中的升级数据校验成功，则启动待升级模块的Boot Loader，若Boot Loader启动成功，则执行S408软件升级成功。若Boot Loader启动不成功，执行下述S405，获取所述待升级模块的升级次数。若升级次数超过了第二预设阈值，则执行S401的步骤。若升级次数没有超过第二预设阈值，则执行S402的步骤，即根据待升级模块的升级文件，对待升级模块进行 升级。
S408、升级结束。
本实施例提供的无人机系统中的模块升级方法，根据待升级模块的升级次数，来确定是重新关闭上一级模块与其他模块之间的串行通信链路，还是根据所述待升级模块的升级文件，对所述待升级模块进行升级，进一步提高了待升级模块的软件升级的准确性和成功率。
图7为本发明实施例五提供的无人机系统中的模块升级方法的流程图。在上述实施例的基础上，如图7所示，若所述待升级模块包括存储单元，则本实施例的升级过程可以包括：
S501、获取所述待升级模块的升级文件，并将所述升级文件存储至所述待升级模块的存储单元中。
S502、根据所述升级文件，对所述待升级模块进行升级。
S503、判断所述待升级模块是否升级成功。
S504、若否，从所述存储单元中，重新获取所述待升级模块的升级文件。
具体的，如表2所示，具有存储单元的待升级模块包括三个区域，分别为引导加载单元(Boot Loader)所在的区域、App区域和存储单元所在的区域，其中将引导加载单元(Boot Loader)所在的区域记为引导加载区域，存储单元中保存有升级文件。
表2
引导加载区域 App区域 存储单元
在实际升级过程中，获取所述待升级模块的升级文件，并将所述升级文件存储至所述待升级模块的存储单元中，接着，从存储单元中读取该待升级模块的升级文件，将该升级文件刷新至待升级模块的App区域。
然后，判断待升级模块是否升级成功。其具体过程参照上述描述。若判断待升级模块升级失败时，则从所述存储单元中，重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对待升级模块进行升级，重复上述步骤，直到待升级模块结束升级为止。
本实施例的待升级模块，从自身的存储单元中读取升级文件进行升级， 其升级过程简单，升级速度快。
可选的，本实施例中，可以控制待升级模块中的Boot Loader从存储设备中读取升级文件，以及控制Boot Loader从App区域中读取待升级模块的升级数据，从存储单元中读取待升级模块的升级文件，判断两种是否匹配。
本发明实施例提供的无人机系统中的模块升级方法，对于包括存储单元的待升级模块，将所述存储单元中的升级文件刷新至所述待升级模块的App区域，从所述App区域中读取所述待升级模块的升级数据，从存储单元中读取待升级模块的升级文件，并判断两种是否匹配。其整个软件升级过程简单，升级速度快，实现对待升级模块的快速升级。
图8为本发明实施例六提供的无人机系统中的模块升级方法的流程图，在上述实施例的基础上，如图8所示，本实施例的方法可以包括：
S601、存储所述待升级模块的升级文件中的升级信息，其中，所述升级信息包括所述待升级模块的升级版本信息。
具体的，在获得待升级模块的升级文件之后，存储该升级文件中的升级信息，例如该升级模块的升级版本信息。
S602、当所述待升级模块结束升级后，获取所述待升级模模块的版本信息。
S603、根据所述版本信息和/或所述升级版本信息，确定所述待升级模块的升级状态。
本实施例中，对待升级模块进行多次升级之后，本实施例还需要检测待升级模块的升级状态。具体是，根据上述步骤，获得待升级模块的升级版本信息和当前的版本信息，并根据待升级模块的升级版本信息和/或版本信息来确定待升级模块的升级状态，实现对待升级模块升级状态的准确确定。
其中，待升级模块的升级状态可以包括：未升级、升级失败和升级失败三种。
在本实施例的一种可能的实现方式中，上述S503可以包括：
当未获取到所述版本信息时，确定所述待升级模块的升级状态为未升级；
当获取到所述版本信息，且所述版本信息与所述升级版本信息相同时， 确定所述待升级模块的升级状态为升级成功；
当获取到所述版本信息，且所述版本信息与所述升级版本信息不相同时，确定所述待升级模块的升级状态为升级失败。
具体的，启动待升级模块，若待升级模块启动成功，则获取待升级模块的版本信息，若此时未获取待升级模块的版本信息，则可以确定待升级模块的升级状态为未升级。
若可以获得待升级模块的版本信息，则将待升级模块的版本信息与待升级模块的升级版本信息进行匹配，若待升级模块的版本信息与升级版本信息相同，则确定待升级模块的升级状态为升级成功，若待升级模块的版本信息与升级版本信息不相同，则确定待升级模块的升级状态为升级失败。
最后，将待升级模块的升级状态保存至待升级模块的存储单元中，例如，将上述升级结果保存在无人机系统的一段Flash中，该段Flash不会被刷新掉。
可选的，上述在保存时，还保存有待升级模块的标识、待升级模块的版本版本号，以及待升级模块的升级状态，例如，用Un表示升级状态标识，Un＝0表示未升级，Un＝1表示升级成功，Un＝2表示升级失败。
继续参照图3所示，根据上述方法可以确定无人机系统中各待升级模块的升级结果如表3所示：
表3
Figure PCTCN2018106558-appb-000001
本实施例通过上述方法，对待升级模块的升级状态进行检测，进一步提高了升级检测的准确性。同时，对待升级模块的升级状态进行汇总和保存，便于检查待升级模块的版本信息和升级结果。
本发明实施例提供的无人机系统中的模块升级方法，存储所述待升级模块的升级文件中的升级信息，当所述待升级模块结束升级后，获取所述待升级模块的版本信息；根据所述版本信息和/或所述升级版本信息，确定所述待升级模块的升级状态，进一步实现对各待升级模块的软件升级的准确检查。
图9为本发明实施例一提供的无人机系统中的待升级模块的结构示意图。如图9所示，本实施例的待升级模块100可以包括：
获取单元110，用于获取所述待升级模块的升级文件；
升级单元120，用于根据所述升级文件，对所述待升级模块进行升级；
判断单元130，用于判断所述待升级模块是否升级成功；
所述获取单元110，还用于若所述判断单元120判断所述待升级模块升级失败，则重新获取所述待升级模块的升级文件；
所述升级单元120，还用于根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级。
本发明实施例的待升级模块，可以用于执行上述所示方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
在本实施例的一种可能的实现方式中，所述判断单元130，具体用于判断所述待升级模块中的升级数据是否校验成功；若是，判断所述待升级模块的重新启动是否成功；若是，则确定所述升级模块升级成功。
在本实施例的另一种可能的实现方式中，所述待升级模块结束升级包括：
所述待升级模块的升级次数小于第一预设阈值时，所述待升级模块升级成功，结束升级；或者，
所述待升级模块的升级次数大于或等于所述第一预设阈值时，所述待升级模块结束升级。
在本实施例的另一种可能的实现方式中，所述待升级模块通过串行接口与上一级模块通信连接，所获取单元110，具体用于通过所述串行接口获取所述上一级模块发送的所述待升级模块的升级文件。
在本实施例的另一种可能的实现方式中，所述待升级模块的升级文件是所述上一级模块关闭除所述待升级模块外的与其他模块的串行通信链路后发送的。
在本实施例的另一种可能的实现方式中，所述获取单元110，还具体用于当所述待升级模块的升级次数大于或等于第二预设阈值时，重新获取所述上一级模块关闭与所述其他模块的串行通信链路后发送的所述待升级模块的升级文件；其中，所述第二预设阈值小于所述第一预设阈值。
在本实施例的另一种可能的实现方式中，所述待升级模块包括存储单元，所述获取单元110，具体用于获取所述待升级模块的升级文件，并将所述升级文件存储至所述待升级模块的存储单元中。
在本实施例的另一种可能的实现方式中，所述获取单元110，还具体用于从所述存储单元中，重新获取所述待升级模块的升级文件。
图10为本发明实施例二提供的无人机系统中的待升级模块的结构示意图。在上述实施例的基础上，如图10所示，本实施例的待升级模块100还可以包括：
存储单元140，用于存储所述待升级模块的升级文件中的升级信息，其中，所述升级信息包括所述待升级模块的升级版本信息；
所述获取单元110，还用于当所述待升级模块结束升级后，获取所述待升级模块的版本信息；
确定单元150，用于根据所述版本信息和/或所述升级版本信息，确定所述待升级模块的升级状态。
在本实施例的一种可能的实现方式中，所述确定单元150，具体用于当未获取到所述版本信息时，确定所述待升级模块的升级状态为未升级；当获取到所述版本信息，且所述版本信息与所述升级版本信息相同时，确定所述待升级模块的升级状态为升级成功；当获取到所述版本信息，且所述版本信息与所述升级版本信息不相同时，确定所述待升级模块的升级状态为升级失败。
本发明实施例的待升级模块，可以用于执行上述所示方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图11为本发明实施例提供的待升级模块的结构示意图，如图11所示，本实施例的待升级模块30包括：
存储器31，用于存储计算机程序；
处理器32，用于执行所述计算机程序，以实现上述无人机系统中的模块升级方法，其实现原理和技术效果类似，此处不再赘述。
在此，存储器10可以与上述实施例中待升级模块中的存储设备相同，或者，存储器10与上述存储设备相互独立，在此不予限定。
进一步的，当本发明实施例中无人机系统中的模块升级方法的至少一部分功能通过软件实现时，本发明实施例还提供一种计算机存储介质，计算机存储介质用于储存为上述软件升级的计算机软件指令，当其在计算机上运行时，使得计算机可以执行上述方法实施例中各种可能的无人机系统中的模块升级方法。在计算机上加载和执行所述计算机执行指令时，可全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机指令可以存储在计算机存储介质中，或者从一个计算机存储介质向另一个计算机存储介质传输，所述传输可以通过无线(例如蜂窝通信、红外、短距离无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如SSD)等。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (13)

  1. 一种无人机系统中的模块升级方法，应用于所述无人机系统中的待升级模块，其特征在于，包括：
    获取所述待升级模块的升级文件；
    根据所述升级文件，对所述待升级模块进行升级；
    判断所述待升级模块是否升级成功；
    若否，则重新获取所述待升级模块的升级文件，并根据重新获取的升级文件对所述待升级模块进行升级，直至所述待升级模块结束升级。
  2. 根据权利要求1所述的方法，其特征在于，所述判断所述升级模块是否升级成功，包括：
    判断所述待升级模块中的升级数据是否校验成功；
    若是，判断所述待升级模块的重新启动是否成功；
    若是，则确定所述升级模块升级成功。
  3. 根据权利要求1所述的方法，其特征在于，所述判断所述升级模块是否升级成功，包括：
    判断升级后的待升级模块是否重启成功；
    若是，则确定所述升级模块升级成功。
  4. 根据权利要求1所述的方法，其特征在于，所述待升级模块结束升级包括：
    所述待升级模块的升级次数小于第一预设阈值时，所述待升级模块升级成功，结束升级；或者，
    所述待升级模块的升级次数大于或等于所述第一预设阈值时，所述待升级模块结束升级。
  5. 根据权利要求4所述的方法，其特征在于，所述待升级模块通过串行接口与上一级模块通信连接，所述获取所述待升级模块的升级文件，包括：
    通过所述串行接口获取所述上一级模块发送的所述待升级模块的升级文件；
    其中，所述待升级模块不包括存储单元，所述上一级模块包括存储单元且与所述待升级模块通过串行接口直接连接。
  6. 根据权利要求5所述的方法，其特征在于，所述待升级模块的升级文件是所述上一级模块关闭除所述待升级模块外的与其他模块的串行通信链路后发送的。
  7. 根据权利要求6所述的方法，其特征在于，所述重新获取所述待升级模块的升级文件，包括：
    当所述待升级模块的升级次数大于或等于第二预设阈值时，重新获取所述上一级模块关闭与所述其他模块的串行通信链路后发送的所述待升级模块的升级文件；其中，所述第二预设阈值小于所述第一预设阈值。
  8. 根据权利要求4所述的方法，其特征在于，所述待升级模块包括存储单元，所述获取所述待升级模块的升级文件，包括：
    获取所述待升级模块的升级文件，并将所述升级文件存储至所述待升级模块的存储单元中。
  9. 根据权利要求8所述的方法，其特征在于，所述重新获取所述待升级模块的升级文件，包括：
    从所述存储单元中，重新获取所述待升级模块的升级文件。
  10. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    存储所述待升级模块的升级文件中的升级信息，其中，所述升级信息包括所述待升级模块的升级版本信息；
    当所述待升级模块结束升级后，获取所述待升级模块的版本信息；
    根据所述版本信息和/或所述升级版本信息，确定所述待升级模块的升级状态。
  11. 根据权利要求10所述的方法，其特征在于，所述根据所述版本信息和/或所述升级版本信息，确定所述待升级模块的升级状态，包括：
    当未获取到所述版本信息时，确定所述待升级模块的升级状态为未升级；
    当获取到所述版本信息，且所述版本信息与所述升级版本信息相同时，确定所述待升级模块的升级状态为升级成功；
    当获取到所述版本信息，且所述版本信息与所述升级版本信息不相同时，确定所述待升级模块的升级状态为升级失败。
  12. 一种待升级模块，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述计算机程序，以实现如权利要求1-11中任一项所述的无人机系统中的模块升级方法。
  13. 一种计算机存储介质，其特征在于，所述存储介质中存储计算机程序，所述计算机程序在执行时实现如权利要求1-11中任一项所述的无人机系统中的模块升级方法。
PCT/CN2018/106558 2018-07-13 2018-09-19 无人机系统中的模块升级方法及待升级模块 WO2020010695A1 (zh)

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