Take-off and landing point determination method and device, equipment and medium

Abstract

The embodiment of the invention provides a take-off and landing point determination method and device, equipment and a medium, and relates to the technical field of automatic control, and the method comprises the steps: obtaining the current position of autonomous driving equipment before the autonomous driving equipment takes off at the current sortie, and determining the current position of the autonomous driving equipment based on the current position and the operation route related information of the previous sortie of the autonomous driving equipment; and determining whether the rising and landing point of the current sortie of the autonomous driving equipment meets an updating condition, determining a target rising and landing point based on whether the rising and landing point meets the updating condition, and controlling the current sortie of the autonomous driving equipment to start working at the target rising and landing point. Therefore, the accuracy and rationality of taking-off and landing point determination are improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a method, device, equipment and medium for determining a take-off and landing point. Background Art

[0002] Flight schedule planning is often involved in scenarios such as route planning, automatic control, and applications of autonomous vehicles. Reliable planning and execution of flight schedules are one of the important factors to ensure the accuracy and reliability of autonomous vehicle operations. However, the accuracy and rationality of determining take-off and landing points during take-off of autonomous vehicles needs to be improved. Summary of the invention

[0003] One of the purposes of the present invention includes, for example, providing a method, device, equipment and medium for determining take-off and landing points to at least partially improve the accuracy and rationality of the take-off and landing point determination.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, the present invention provides a method for determining a take-off and landing point, comprising:

[0006] Before the current autonomous driving device takes off, obtain the current position of the autonomous driving device;

[0007] Based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving device, determining whether the take-off and landing points of the current flight of the autonomous driving device meet the update conditions;

[0008] Based on whether the update condition is met, a target take-off and landing point is determined, and the current flight of the autonomous driving equipment is controlled to start operation at the target take-off and landing point.

[0009] In an optional implementation, the determining whether the take-off and landing points of the current flight of the autonomous driving device meet the update condition based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving device includes:

[0010] Comparing the current position, and determining difference information between the current position and the take-off and landing point of the last flight of the autonomous driving device based on the current position and information related to the operation route of the last flight of the autonomous driving device;

[0011] Determining whether the difference information reaches a first preset threshold;

[0012] When the first preset threshold is reached, determining the change information between the current position and the actual landing point of the last autonomous driving device;

[0013] Determining whether the change information reaches a second preset threshold;

[0014] When the second preset threshold is reached, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment meet the update condition.

[0015] In an optional embodiment, the method further comprises:

[0016] When the difference information does not reach the first preset threshold, determining that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update condition;

[0017] When the change information does not reach the second preset threshold, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update condition.

[0018] In an optional embodiment, the method further comprises:

[0019] Record the current position related information compared for each current flight, and use the latest current position related information compared to cover the current position related information compared for the previous flight, and use the recorded current position related information as the comparison object for the current position related information of the next flight of the autonomous driving device;

[0020] In response to a newly generated take-off and landing point request or a take-off and landing point update request, the take-off and landing point is updated, and the recorded current position related information is updated.

[0021] In an optional implementation, the determining whether the take-off and landing points of the current flight of the autonomous driving device meet the update condition based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving device includes:

[0022] In the case where there is information related to the current position compared by the last flight of the autonomous driving device, taking the current position compared by the last flight of the autonomous driving device as the take-off and landing point of the last flight of the autonomous driving device, and performing a step of comparing the current position to determine whether the difference information reaches a first preset threshold, so as to determine whether the take-off and landing point of the current flight of the autonomous driving device meets the update condition;

[0023] When the information related to the current position compared with the previous flight of the autonomous driving equipment is empty, the steps of determining the change information between the current position and the actual landing point of the previous flight of the autonomous driving equipment to judging whether the change information reaches the second preset threshold are directly executed to determine whether the take-off and landing point of the current flight of the autonomous driving equipment meets the update conditions.

[0024] In an optional implementation, when executing a new mission, generating a route, or updating a route, in the case where a judgment of whether an update condition is satisfied is triggered, determining the target take-off and landing point based on whether the update condition is satisfied includes:

[0025] When the update condition is met, the current position of the current flight is determined as the target take-off and landing point of the current flight;

[0026] When the update condition is not met, determine whether the distance between the take-off and landing point of the previous flight of the autonomous driving equipment and the current position is less than a preset distance; when it is less than the preset distance, determine the take-off and landing point of the previous flight of the autonomous driving equipment as the target take-off and landing point of the current flight; when it is greater than the preset distance or the take-off and landing point of the previous flight of the autonomous driving equipment is empty, determine the current position of the current flight as the target take-off and landing point of the current flight.

[0027] In an optional implementation, when the judgment of whether the update condition is satisfied is triggered during takeoff, the step of determining the target take-off and landing point based on whether the update condition is satisfied includes:

[0028] In the case where the update condition is met, feedback is given to select whether to update the interactive information of the take-off and landing points, and in the case where a confirmation update instruction is received, the current position of the current flight is determined as the target take-off and landing point of the current flight;

[0029] When the update condition is not met, the take-off and landing point of the previous flight of the autonomous driving device is determined as the target take-off and landing point of the current flight.

[0030] In an optional embodiment, the method further comprises:

[0031] In the process of determining the change information between the current position and the actual landing point of the last autonomous driving device, if the actual landing point of the last autonomous driving device is not obtained, it is determined that the update condition determination fails;

[0032] When executing a new mission, generating a route, or updating a route, in the case of triggering a judgment on whether an update condition is satisfied, determining a target take-off and landing point based on whether the update condition is satisfied includes:

[0033] In the case where the update condition fails to be determined, the current position of the current flight is determined as the target take-off and landing point of the current flight;

[0034] When the determination of whether the update condition is satisfied is triggered during takeoff, the target take-off and landing point is determined based on whether the update condition is satisfied, including:

[0035] In the event that the update condition fails to be determined, determine whether the distance between the take-off and landing point of the previous flight of the autonomous driving equipment and the current position is less than a preset distance. If it is less than the preset distance, determine the take-off and landing point of the previous flight of the autonomous driving equipment as the target take-off and landing point of the current flight; if it is greater than the preset distance, feedback is given to select whether to update the interactive information of the take-off and landing point, and upon receiving a confirmation update instruction, determine the current position of the current flight as the target take-off and landing point of the current flight.

[0036] In a second aspect, an embodiment of the present invention provides a take-off and landing point determination device, including:

[0037] An information acquisition module, used to obtain the current position of the autonomous driving device before the current flight of the autonomous driving device takes off;

[0038] The information processing module is used to determine whether the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving equipment; based on whether the update conditions are met, determine the target take-off and landing points, and control the current flight of the autonomous driving equipment to start operation at the target take-off and landing points.

[0039] In a third aspect, the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for determining the take-off and landing points described in any one of the aforementioned implementations is implemented.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a computer program, and when the computer program is executed, the electronic device where the computer-readable storage medium is located is controlled to execute the method for determining the take-off and landing points described in any one of the aforementioned embodiments.

[0041] The beneficial effects of the embodiments of the present invention include, for example: by comparing and analyzing the real-time position (current position) of the current autonomous driving equipment before take-off and the relevant information of the operation route of the previous flight, it is determined whether the take-off and landing points of the autonomous driving equipment meet the update conditions, and the expected take-off and landing points are automatically generated and the operation is performed, thereby improving the accuracy and rationality of the take-off and landing point determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present invention is shown.

[0044] Figure 2 A schematic flow chart of a method for determining a take-off and landing point provided in an embodiment of the present invention is shown.

[0045] Figure 3 Another schematic flow chart of a method for determining a take-off and landing point provided by an embodiment of the present invention is shown.

[0046] Figure 4 An exemplary structural block diagram of a take-off and landing point determination device provided by an embodiment of the present invention is shown.

[0047] Icons: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 140 - take-off and landing point determination device; 141 - information acquisition module; 142 - information processing module. DETAILED DESCRIPTION

[0048] At present, the accuracy and rationality of the take-off and landing point determination during the take-off of autonomous vehicles needs to be improved. For example, when an autonomous vehicle takes off, the position coordinates at the time of take-off are often obtained as the take-off and landing point, or, in subsequent flights of the same mission, the take-off and landing point at the first take-off is kept as the take-off and landing point for all subsequent flights by default.

[0049] Research has found that if the position coordinates of the autonomous driving device at takeoff are used as the take-off and landing points, the take-off and landing points may be inaccurate. For example, the autonomous driving device may deviate from the landing. If the autonomous driving device deviates from the landing, the take-off and landing points of the next flight will be wrong. If the deviates continuously, the cumulative offset of the take-off and landing points will be serious. If the take-off and landing points of the first take-off in each flight of the same mission are used as the take-off and landing points for all subsequent flights, the take-off and landing points may be inaccurate and unreasonable. For example, if the user moves the position of the autonomous driving device during the mission, the setting of the unchanged take-off and landing point will cause the next landing to return to the previous take-off and landing point, rather than landing at the position moved by the user, which is inconsistent with expectations.

[0050] Based on the above research, an embodiment of the present invention provides a take-off and landing point determination solution, which automatically generates the take-off and landing points of the autonomous driving equipment when taking off, by cleverly acquiring and analyzing various information of the autonomous driving equipment, thereby improving the accuracy and rationality of the take-off and landing point determination during the take-off of the autonomous driving equipment.

[0051] The defects existing in the above solutions are the results obtained by the inventors after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed in the embodiments of the present invention for the above problems below should all be the contributions made by the inventors in the invention process.

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0055] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0056] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0057] Please refer to Figure 1 , is a block diagram of an electronic device 100 provided in this embodiment. The electronic device 100 in this embodiment may be a server, a processing device, a processing platform, etc. capable of data interaction and processing. For example, the electronic device 100 may be, but is not limited to, an autonomous driving device, a server capable of communicating with an autonomous driving device, a terminal device, etc.

[0058] The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0059] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0060] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions.

[0061] The communication module 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through the network, and to send and receive data through the network.

[0062] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0063] Please refer to Figure 2 , which is a flow chart of a method for determining a take-off and landing point provided by an embodiment of the present invention, can be Figure 1 The electronic device 100 executes, for example, the processor 120 in the electronic device 100. The method for determining the take-off and landing points includes S110, S120 and S130.

[0064] S110, before the current flight of the autonomous driving device takes off, obtaining the current position of the autonomous driving device.

[0065] S120: Based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving device, determine whether the take-off and landing points of the current flight of the autonomous driving device meet the update conditions.

[0066] S130, determining a target take-off and landing point based on whether the update condition is met, and controlling the current autonomous driving device to start operation at the target take-off and landing point.

[0067] Based on the current position of the autonomous driving equipment before takeoff and the relevant information of the operation route of the previous flight, it is determined whether the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions, so as to automatically generate the expected take-off and landing points and perform the operation. This effectively improves the problems of take-off and landing point errors and discrepancies with expectations caused by landing deviation, moving autonomous driving equipment, etc. in the existing technology, and improves the accuracy and rationality of the take-off and landing point determination.

[0068] In S110, the autonomous driving device may be any type of device that supports automatic driving and flying, such as a drone.

[0069] In S120, the information related to the operation route of the last flight of the autonomous driving device may be multiple, for example, it may include at least one of the flight ID of the last flight, the actual take-off point of the last flight, the actual landing point of the last flight, the ideal take-off and landing point of the last flight, the route of the last flight, etc., or any combination of two or more. The flight ID, take-off and landing point, actual landing point, route, etc. of each flight may be stored in association, so that the corresponding flight and the information related to the operation route of the corresponding flight can be determined through the flight ID.

[0070] The method for determining whether the take-off and landing points of the current autonomous driving device meet the update conditions can be flexibly set. For example, the update conditions can be determined to be met when a take-off and landing point update instruction sent by the user is detected. For another example, whether the update conditions are met can be determined based on a set judgment logic.

[0071] The judgment logic may be set according to actual requirements in the scenario of multiple takeoffs of the autonomous driving device. For example, it may be determined whether the autonomous driving device has been moved by the user based on the distance between the current position of the autonomous driving device and the actual takeoff point, actual landing point, ideal takeoff and landing point, etc. of the previous flight. If it is determined that the autonomous driving device has been moved by the user, it is determined that the update condition is met.

[0072] In one implementation, see Figure 3 , provides an optional implementation of S120. Figure 3 As shown, S120 may include S121 to S126.

[0073] S121, comparing the current position, and determining difference information between the current position and the take-off and landing point of the previous autonomous driving device based on the current position and information related to the operation route of the previous autonomous driving device.

[0074] S122, determining whether the difference information reaches a first preset threshold. If the difference information reaches the first preset threshold, executing S123; if the difference information does not reach the first preset threshold, executing S126.

[0075] S123, determining the change information between the current position and the landing point of the last flight of the autonomous driving device.

[0076] S124, determining whether the change information reaches a second preset threshold. If the change information reaches the second preset threshold, executing S125; if the change information does not reach the second preset threshold, executing S126.

[0077] S125, determining whether the take-off and landing points of the current autonomous driving equipment meet the update conditions.

[0078] S126: Determine whether the take-off and landing points of the current autonomous driving device do not meet the update conditions.

[0079] The first preset threshold and the second preset threshold can be flexibly set. For example, the first preset threshold and the second preset threshold can be the same or different. For another example, in order to reduce the probability of being misjudged as meeting the update condition, the first preset threshold and the second preset threshold can be set to relatively large values. For another example, in order to better meet the user's personalized setting requirements, the first preset threshold and the second preset threshold can be set to relatively small values.

[0080] By comparing the current position of the current flight with the current position of the previous flight (actual take-off point), the difference information between the two is determined. In the case of a large difference (the difference information reaches the first preset threshold), the current position of the current flight is further compared with the actual landing point of the previous flight to determine the change information between the two. In the case of a large change (the change reaches the second preset threshold), it is determined that the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions. For example, if it is determined that the autonomous driving equipment has been moved and the take-off and landing points expected by the user have moved, the take-off and landing points need to be updated to meet user expectations and improve the rationality of the operation of the autonomous driving equipment. In the case of small difference information (the difference information does not reach the first preset threshold) or small change information (the change does not reach the second preset threshold), it is determined that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update conditions, so as to improve the accuracy of the take-off and landing point confirmation while ensuring the rationality of the take-off and landing point confirmation.

[0081] In order to further improve the convenience and rationality of the determination of the take-off and landing points, the information related to the current position compared by each current flight can be recorded, and the latest information related to the current position compared by the previous flight can be used to overwrite the information related to the current position compared by the previous flight, and the recorded information related to the current position can be used as the comparison object for the information related to the current position of the next flight of the autonomous driving device. Similarly, the updated current position that has been compared is realized, and when it is determined that the take-off and landing point meets the update conditions, such as when the autonomous driving device is moved, the compared current position is updated synchronously. In the case of a newly generated take-off and landing point request or an updated take-off and landing point request, the take-off and landing point is also updated, and the recorded information related to the current position is updated. This ensures the reliability, accuracy and rationality of the subsequent determination of the take-off and landing points.

[0082] Accordingly, in another implementation, S120 can be implemented in the following manner: in the presence of information related to the current position of the autonomous driving device compared with the previous flight, the current position of the autonomous driving device compared with the previous flight is used as the take-off and landing point of the previous flight of the autonomous driving device, and S121 to S126 are executed to determine whether the take-off and landing point of the current flight of the autonomous driving device meets the update conditions.

[0083] When the current position-related information compared with the last flight of the autonomous driving device is empty, S123 to S126 are directly executed to determine whether the take-off and landing points of the current flight of the autonomous driving device meet the update conditions.

[0084] Taking into account that in some scenarios, the acquisition of the landing point of the previous flight may fail. Accordingly, in the process of determining the change information between the current position and the actual landing point of the previous flight of the autonomous driving equipment, the actual landing point of the previous flight of the autonomous driving equipment may not be acquired. In this case, it can be determined that the update condition determination has failed.

[0085] On the basis of determining whether the take-off and landing points meet the update conditions in the above manner, in S130, the target take-off and landing points can be flexibly determined for different scenarios based on whether the update conditions are met.

[0086] For example, when executing a new mission, generating a route, or updating a route, the judgment of whether the update conditions are met is triggered. The target take-off and landing points are determined based on whether the update conditions are met, including: when the update conditions are met, the current position of the current flight is determined as the target take-off and landing point of the current flight.

[0087] When the update condition is not met, determine whether the distance between the take-off and landing point of the previous flight of the autonomous driving equipment and the current position is less than a preset distance; when it is less than the preset distance, determine the take-off and landing point of the previous flight of the autonomous driving equipment as the target take-off and landing point of the current flight; when it is greater than the preset distance or the take-off and landing point of the previous flight of the autonomous driving equipment is empty, determine the current position of the current flight as the target take-off and landing point of the current flight.

[0088] When the update condition fails to be determined, the current position of the current flight is determined as the target take-off and landing point of the current flight.

[0089] The preset distance can be flexibly set according to the actual scenario. For example, in a scenario where the environment has a greater impact on the operation of the autonomous driving device, the preset distance can be set to a relatively large value. For another example, in a scenario where the environment has a smaller impact on the operation of the autonomous driving device, the preset distance can be set to a relatively small value. For another example, when using positioning modes with different accuracies to obtain the position, each preset threshold and preset distance can be set separately.

[0090] In this embodiment, the take-off and landing point is a general term for the set ideal take-off point and landing point, also known as the home point. During the actual operation of the autonomous driving equipment, due to the influence of various factors, the actual take-off point and landing point may be different from the set ideal take-off and landing point.

[0091] For another example, at takeoff, when a judgment is triggered as to whether an update condition is met, the target take-off and landing point is determined based on whether the update condition is met, including: when the update condition is met, feedback is given on interactive information for selecting whether to update the take-off and landing point, and when a confirmation update instruction is received, the current position of the current flight is determined as the target take-off and landing point of the current flight.

[0092] When the update condition is not met, the take-off and landing point of the previous flight of the autonomous driving device is determined as the target take-off and landing point of the current flight.

[0093] In the event that the update condition fails to be determined, determine whether the distance between the take-off and landing point of the previous flight of the autonomous driving equipment and the current position is less than a preset distance. If it is less than the preset distance, determine the take-off and landing point of the previous flight of the autonomous driving equipment as the target take-off and landing point of the current flight; if it is greater than the preset distance, feedback is given to select whether to update the interactive information of the take-off and landing point, and upon receiving a confirmation update instruction, determine the current position of the current flight as the target take-off and landing point of the current flight.

[0094] In order to more clearly explain the overall implementation process of this embodiment, the overall implementation of the take-off and landing point determination method is illustrated by taking the following scenario as an example.

[0095] In the RTK (Real Time Kinematic) autonomous operation mode, whether the autonomous driving device is moved is used as the basis for whether the update conditions are met. The electronic device records the current position of the autonomous driving device compared in the last flight, the flight ID of the last flight, the actual landing point of the last flight, and the take-off and landing point of the last flight. In the case that the current flight generates a new compared current position of the autonomous driving device, the new compared current position related information of the autonomous driving device will overwrite the recorded current position related information of the last flight, and so on. The latest compared current position related information of the autonomous driving device will be used as the comparison basis for the next flight. In the case of a new take-off and landing point being generated or updated, the compared current position is updated synchronously.

[0096] In the case of new tasks, route generation, and route update, the take-off and landing point determination plan is triggered to determine whether the take-off and landing points of the autonomous driving equipment have been moved (meeting the update conditions) through the following steps:

[0097] Compare the current position of the autonomous driving device before the current flight with the position compared with the previous flight. If the difference is greater than or equal to 40cm, the position has changed midway, or the position compared with the previous flight is empty, the current position is compared with the landing point of the previous flight. If the difference between the current position and the position compared with the previous flight is less than 40cm, and the position has not changed midway, it is determined that there is no movement (the update condition is not met).

[0098] If the difference between the current position and the last landing point is greater than or equal to 40 cm, it is determined that there is a move (the update condition is met); if the difference is less than 40 cm, it is determined that there is no move (the update condition is not met).

[0099] If the acquisition of the last landing point fails, it is determined that the move judgment has failed (the update condition judgment has failed).

[0100] If it has not been moved and the distance between the last take-off and landing point and the current position is less than 1m, the last take-off and landing point will be automatically used as the target take-off and landing point for this mission; if the last take-off and landing point is empty, or the distance between the last take-off and landing point and the current position is greater than 1m, the current position will be automatically taken as the target take-off and landing point.

[0101] If there is any movement, the current position will be automatically taken as the target take-off and landing point.

[0102] If the move judgment fails, the current position will be automatically taken as the target take-off and landing point.

[0103] During takeoff, including situations where the route has been generated and the flight continues, the take-off and landing point determination plan is triggered. The following steps are used to determine whether the take-off and landing points of the autonomous driving equipment have been moved (meeting the update conditions):

[0104] Compare the current position of the autonomous driving device before the current flight with the position compared with the previous flight. If the difference is greater than or equal to 40cm, the position has changed midway, or the position compared with the previous flight is empty, the current position is compared with the landing point of the previous flight. If the difference between the current position and the position compared with the previous flight is less than 40cm, and the position has not changed midway, it is determined that there is no movement (the update condition is not met).

[0105] If the difference between the current position and the last landing point is greater than or equal to 40 cm, it is determined that there is a move (the update condition is met); if the difference is less than 40 cm, it is determined that there is no move (the update condition is not met).

[0106] If the acquisition of the last landing point fails, it is determined that the move judgment has failed (the update condition judgment has failed).

[0107] If there is no movement, the take-off and landing point remains unchanged; if the movement judgment fails and the distance between the current take-off and landing point and the current position is less than 1m, the take-off and landing point remains unchanged.

[0108] If the distance between the current take-off and landing point and the current position is greater than 1m, a pop-up window will be displayed to confirm the interaction with the user.

[0109] If there is a move, a pop-up window will indicate whether the take-off and landing points need to be updated due to the aircraft move. If the take-off and landing points are updated, a pop-up window will confirm the take-off and landing point locations and inbound and outbound routes.

[0110] It is understandable that the above is only for illustration, and the various implementation methods and parameters can be flexibly selected according to the actual scenario, different modes, etc. For example, based on the accuracy considerations in different modes, in GPS (Global Positioning System) mode, when taking off, the distance between the current position and the take-off and landing point is compared. If it exceeds 3m, the user is prompted whether to update the take-off and landing point. For another example, in VRTK (Virtual Reality Toolkit) mode, when taking off, the distance between the current position and the take-off and landing point is compared. If it exceeds 3m, the user is prompted whether to update the take-off and landing point. This embodiment does not give examples one by one.

[0111] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing a take-off and landing point determination device is provided below. Figure 4 , Figure 4 A functional module diagram of a take-off and landing point determination device 140 provided in an embodiment of the present invention, the take-off and landing point determination device 140 can be applied to Figure 1The electronic device 100 is shown. It should be noted that the basic principle and technical effect of the take-off and landing point determination device 140 provided in this embodiment are the same as those of the above embodiment. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiment. The take-off and landing point determination device 140 includes an information acquisition module 141 and an information processing module 142.

[0112] The information acquisition module 141 is used to obtain the current position of the autonomous driving device before the current flight of the autonomous driving device takes off.

[0113] The information processing module 142 is used to determine whether the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving equipment; based on whether the update conditions are met, determine the target take-off and landing points, and control the current flight of the autonomous driving equipment to start operation at the target take-off and landing points.

[0114] On the basis of the above, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium includes a computer program, and when the computer program is executed, the electronic device where the computer-readable storage medium is located is controlled to execute the above-mentioned method for determining take-off and landing points.

[0115] By using the above scheme in the embodiment of the present invention, by comparing the last take-off point, the last landing point, and the current real-time position of the autonomous driving device, it is determined whether the take-off and landing points of the autonomous driving device meet the update conditions, such as whether they have been moved manually, so as to obtain the take-off and landing points that meet the user's expectations or the take-off and landing point related update guidance, such as guiding the user to update the take-off and landing point positions and the inbound and outbound route positions. This improves the accuracy and rationality of the take-off and landing point confirmation.

[0116] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0117] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0118] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0119] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for determining a take-off and landing point, characterized in that: include: Before the current autonomous driving device takes off, obtain the current position of the autonomous driving device; Based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving device, determining whether the take-off and landing points of the current flight of the autonomous driving device meet the update conditions; Based on whether the update condition is met, a target take-off and landing point is determined, and the current flight of the autonomous driving equipment is controlled to start operation at the target take-off and landing point.

2. The method for determining the take-off and landing points according to claim 1, characterized in that: The determining, based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving device, whether the take-off and landing points of the current flight of the autonomous driving device meet the update conditions includes: Comparing the current position, and determining difference information between the current position and the take-off and landing point of the last flight of the autonomous driving device based on the current position and information related to the operation route of the last flight of the autonomous driving device; Determining whether the difference information reaches a first preset threshold; When the first preset threshold is reached, determining the change information between the current position and the actual landing point of the last autonomous driving device; Determining whether the change information reaches a second preset threshold; When the second preset threshold is reached, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment meet the update condition.

3. The method for determining the take-off and landing points according to claim 2, characterized in that: The method further comprises: When the difference information does not reach the first preset threshold, determining that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update condition; When the change information does not reach the second preset threshold, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update condition.

4. The method for determining the take-off and landing points according to claim 2, characterized in that: The method further comprises: Record the current position related information compared for each current flight, and use the latest current position related information compared to cover the current position related information compared for the previous flight, and use the recorded current position related information as the comparison object for the current position related information of the next flight of the autonomous driving device; In response to a newly generated take-off and landing point request or a take-off and landing point update request, the take-off and landing point is updated, and the recorded current position related information is updated.

5. The method for determining the take-off and landing points according to claim 4, characterized in that: The determining, based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving device, whether the take-off and landing points of the current flight of the autonomous driving device meet the update conditions includes: In the case where there is information related to the current position compared by the last flight of the autonomous driving device, taking the current position compared by the last flight of the autonomous driving device as the take-off and landing point of the last flight of the autonomous driving device, and performing a step of comparing the current position to determine whether the difference information reaches a first preset threshold, so as to determine whether the take-off and landing point of the current flight of the autonomous driving device meets the update condition; When the information related to the current position compared with the previous flight of the autonomous driving equipment is empty, the steps of determining the change information between the current position and the actual landing point of the previous flight of the autonomous driving equipment to judging whether the change information reaches the second preset threshold are directly executed to determine whether the take-off and landing point of the current flight of the autonomous driving equipment meets the update conditions.

6. The method for determining the take-off and landing points according to any one of claims 1 to 5, characterized in that: When executing a new mission, generating a route, or updating a route, in the case of triggering a judgment on whether an update condition is satisfied, determining a target take-off and landing point based on whether the update condition is satisfied includes: When the update condition is met, the current position of the current flight is determined as the target take-off and landing point of the current flight; When the update condition is not met, determine whether the distance between the take-off and landing point of the previous flight of the autonomous driving equipment and the current position is less than a preset distance; when it is less than the preset distance, determine the take-off and landing point of the previous flight of the autonomous driving equipment as the target take-off and landing point of the current flight; when it is greater than the preset distance or the take-off and landing point of the previous flight of the autonomous driving equipment is empty, determine the current position of the current flight as the target take-off and landing point of the current flight.

7. The method for determining the take-off and landing points according to any one of claims 1 to 5, characterized in that: When the determination of whether the update condition is satisfied is triggered during takeoff, the target take-off and landing point is determined based on whether the update condition is satisfied, including: In the case where the update condition is met, feedback is given to select whether to update the interactive information of the take-off and landing points, and in the case where a confirmation update instruction is received, the current position of the current flight is determined as the target take-off and landing point of the current flight; When the update condition is not met, the take-off and landing point of the previous flight of the autonomous driving device is determined as the target take-off and landing point of the current flight.

8. The method for determining the take-off and landing points according to any one of claims 1 to 5, characterized in that: The method further comprises: In the process of determining the change information between the current position and the actual landing point of the last autonomous driving device, if the actual landing point of the last autonomous driving device is not obtained, it is determined that the update condition determination fails; When executing a new mission, generating a route, or updating a route, in the case of triggering a judgment on whether an update condition is satisfied, determining a target take-off and landing point based on whether the update condition is satisfied includes: In the case where the update condition fails to be determined, the current position of the current flight is determined as the target take-off and landing point of the current flight; When the determination of whether the update condition is satisfied is triggered during takeoff, the target take-off and landing point is determined based on whether the update condition is satisfied, including: In the event that the update condition fails to be determined, determine whether the distance between the take-off and landing point of the previous flight of the autonomous driving equipment and the current position is less than a preset distance. If it is less than the preset distance, determine the take-off and landing point of the previous flight of the autonomous driving equipment as the target take-off and landing point of the current flight; if it is greater than the preset distance, feedback is given to select whether to update the interactive information of the take-off and landing point, and upon receiving a confirmation update instruction, determine the current position of the current flight as the target take-off and landing point of the current flight.

9. A take-off and landing point determination device, characterized in that: include: An information acquisition module, used to obtain the current position of the autonomous driving device before the current flight of the autonomous driving device takes off; An information processing module, configured to determine whether the take-off and landing points of the current flight of the autonomous driving device meet the update conditions based on the current position and the relevant information of the operation route of the previous flight of the autonomous driving device; Based on whether the update condition is met, a target take-off and landing point is determined, and the current flight of the autonomous driving equipment is controlled to start operation at the target take-off and landing point.

10. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for determining the take-off and landing points according to any one of claims 1 to 8 when executing the program.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a computer program, and when the computer program is executed, the electronic device where the computer-readable storage medium is located is controlled to execute the method for determining the take-off and landing points according to any one of claims 1 to 8.

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