CN112236985A

CN112236985A - Data processing method, system, equipment and storage medium

Info

Publication number: CN112236985A
Application number: CN201980034411.3A
Authority: CN
Inventors: 王远; 黄振昊; 孙伟杰
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; SZ DJI Innovations Technology Co Ltd
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2021-01-15
Also published as: WO2021081892A1

Abstract

An embodiment of the application provides a data processing method, device, system and storage medium, wherein the system comprises: the system comprises an autonomous mobile device, a data management device and a plurality of data processing servers; an autonomous mobile device for providing the collected data and the received satellite observation data to the data management device; the data management equipment is used for determining a target data processing server corresponding to the data acquired by the autonomous mobile equipment according to the satellite observation data provided by the autonomous mobile equipment; uploading data acquired by the autonomous mobile equipment to a target data processing server; and a plurality of data processing servers for processing the data collected by the autonomous mobile device if the target data processing server is determined. Accordingly, the security of data can be improved.

Description

Data processing method, system, equipment and storage medium

Technical Field

The present application relates to the field of data security technologies, and in particular, to a data processing method, system, device, and storage medium.

Background

In the application of the unmanned aerial vehicle, a precision positioning technology is increasingly applied to processing stages such as map construction, task planning and data analysis, so that the precision and reliability of a positioning result in the flight process of the unmanned aerial vehicle are improved.

Among them, Post-processing differential (PPK) measurement technology can provide higher precision and reliability than Real Time Kinematic (RTK) measurement technology, so the PPK measurement technology is more popular with users.

At present, a PPK solution service provider provides PPK solution services for each user, and data security risks may exist in the process.

Disclosure of Invention

Aspects of the present application provide a data processing method, system, device and system for improving data processing security.

An embodiment of the present application provides a data processing method, including:

acquiring data acquired by autonomous mobile equipment and satellite observation data received by the autonomous mobile equipment;

determining a target processor corresponding to the data acquired by the autonomous mobile equipment according to the satellite observation data received by the autonomous mobile equipment; and

uploading the data collected by the autonomous mobile device to the target processor for processing the data collected by the autonomous mobile device.

An embodiment of the present application further provides a data processing method, including:

when data are collected, receiving or generating at least one piece of identification information according to the collected data;

associating first identification information with at least a portion of the acquired data, wherein the first identification information is included in the at least one identification information;

and providing the acquired data associated with the first identification information to a target processor corresponding to the first identification information for data processing.

The embodiment of the application also provides a computing device, which comprises a memory, a processor and a communication component;

the memory is to store one or more computer instructions;

the processor, coupled with the memory and the communication component, to execute the one or more computer instructions to:

determining a target data processing server corresponding to the data acquired by the autonomous mobile equipment according to the satellite observation data received by the autonomous mobile equipment; and

and uploading the data collected by the autonomous mobile equipment to the target data processing server through the communication assembly so as to process the data collected by the autonomous mobile equipment.

The embodiment of the present application further provides an autonomous mobile device, which is characterized by comprising a memory, a processor and a communication component;

the memory is to store one or more computer instructions;

and providing the acquired data associated with the first identification information to a target data processing server corresponding to the first identification information for data processing.

An embodiment of the present application further provides a data processing system, including: the system comprises an autonomous mobile device, a data management device and a plurality of data processing servers;

the autonomous mobile device to provide the collected data and the received satellite observations to the data management device;

the data management equipment is used for determining a target data processing server corresponding to the data acquired by the autonomous mobile equipment according to the satellite observation data provided by the autonomous mobile equipment; uploading data collected by the autonomous mobile equipment to the target data processing server;

the plurality of data processing servers are used for processing the data collected by the autonomous mobile equipment under the condition of being determined as a target data processing server.

In the embodiment of the application, a target data processing server corresponding to data acquired by the autonomous mobile device can be determined based on satellite observation data received by the autonomous mobile device in the data acquisition process, and the data acquired by the autonomous mobile device is uploaded to the target data processing server for processing. Therefore, different data acquired by different autonomous mobile devices can be distributed to a proper data processing server according to satellite observation data, so that data can be isolated from the position area dimension, privacy of the data is guaranteed, and safety of the data is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1a is a block diagram of a data processing system according to an embodiment of the present application;

fig. 1b is a schematic diagram of an application scenario provided in an embodiment of the present application;

fig. 2 is a schematic view of a service scope of a data processing server according to an embodiment of the present application;

fig. 3 is a schematic diagram illustrating a scheme for determining a working location when an autonomous mobile device collects data according to an embodiment of the present application;

fig. 4 is a schematic flowchart of a data processing method according to another embodiment of the present application;

FIG. 5 is a schematic flow chart diagram illustrating another data processing method according to another embodiment of the present application;

FIG. 6 is a schematic block diagram of a computing device according to yet another embodiment of the present application;

fig. 7 is a schematic structural diagram of an autonomous mobile device according to another embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

At present, a PPK solution service provider provides PPK solution services for each user, and data security risks may exist in the process. To solve the problems of the prior art, in some embodiments of the present application: the target data processing server corresponding to the data acquired by the autonomous mobile equipment can be determined based on satellite observation data received by the autonomous mobile equipment in the data acquisition process, and the data acquired by the autonomous mobile equipment is uploaded to the target data processing server for processing. Therefore, different data acquired by different autonomous mobile devices can be distributed to a proper data processing server according to satellite observation data, so that data are isolated and processed, privacy of the data is guaranteed, and safety of the data is improved.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1a is a schematic structural diagram of a data processing system according to an embodiment of the present application. As shown in fig. 1a, the system comprises: an autonomous mobile device 10, a data management device 20, and a plurality of data processing servers 30.

The data processing system provided by the embodiment can be applied to various data processing scenarios, and is used for uploading data to the most appropriate data processing server 30 for data processing. For example, PPK resolves service scenarios, etc. The present embodiment does not limit the application scenario.

In this embodiment, the autonomous mobile device 10 may provide data it collects and satellite observations received during the collection of the data. The autonomous mobile device 10 may be a drone or an unmanned automobile, etc., and the present embodiment is not limited thereto.

The autonomous mobile unit 10 will maintain contact with the satellites and receive satellite observations during the process of collecting data. The satellite observations may reflect the location of the autonomous mobile device 10 at the time the data was collected.

In this embodiment, the respective service ranges of the plurality of data processing servers 30 may be preset, the service ranges of different data processing servers 30 may not be completely the same, and the data processing services provided by different data processing servers 30 may be independent of each other.

Based on this, the autonomous mobile device 10 may provide the satellite observation data it received during the data collection process to the data management device 20, and the data management device 20 may determine the target data processing server 30 corresponding to the data collected by the autonomous mobile device 10 based on the satellite observation data.

The data management device 20 may be a data relay device such as a remote controller of the autonomous moving apparatus 10, a computing device such as a computer independent of the autonomous moving apparatus, or a mobile device such as a mobile phone. Of course, the autonomous mobile apparatus 10 itself may also be used as the data management apparatus 20 in the present embodiment. For this situation, the data interaction process between the autonomous mobile device 10 and the data management device 20, which will be referred to later, may be omitted, and the autonomous mobile device 10 may directly interface with the data processing server, which is not described again for brevity.

The following description of the technical solution will be focused on the case where the data management device is independent from the autonomous mobile device.

Since the data management device 20 can know the service ranges of the plurality of data processing servers 30, it is possible to specify the service range corresponding to the satellite observation data from the satellite observation data provided from the autonomous moving device 10, and to set the data processing server 30 corresponding to the specified service range as the target data processing server 30.

In the above process of determining the target data processing server 30, the position of the autonomous mobile apparatus 10 at the time of data acquisition is analyzed based on the satellite observation data received during the data acquisition process of the autonomous mobile apparatus 10. On the one hand, this allows the analyzed position situation to be more consistent with the real position situation of the autonomous mobile device 10, which in turn allows a more accurate allocation of the data processing server 30 to the autonomous mobile device. On the other hand, the behavior that the situation of confusing the position is expected to be achieved by tampering the position parameter is also avoided, so that the data acquired by the autonomous mobile device 10 is prevented from being distributed to the improper data processing server 30, and the data security is protected.

The data collected by the autonomous mobile device 10 will be provided to the target data processing server 30.

In some implementations, the autonomous mobile device 10 may obtain information of the target data processing server 30 from the data management device 20, thereby autonomously providing the acquired data to the target data processing server 30. In this case, the autonomous mobile device 10 needs to establish a communication link with the target data processing server 30 after collecting data.

In other implementations, the autonomous mobile device 10 may also provide the collected data to the data management device 20, and the data management device 20 may upload the data collected by the autonomous mobile device 10 to the target data processing server 30 if the target data processing server 30 is determined. In this case, the autonomous mobile device 10 need not establish a communication link with the target data processing server 30. In addition, a removable storage device of the autonomous mobile apparatus 10 may be plugged into the data management apparatus 20 to provide the data collected by the autonomous mobile apparatus 10 to the data management apparatus 20. The relay upload by the data management device 20 is more convenient than the autonomous upload by the autonomous mobile device 10.

The target data processing server 30 may perform data processing on the data collected by the autonomous mobile device 10 after receiving the data collected by the autonomous mobile device 10.

In this embodiment, the target data processing server 30 corresponding to the data acquired by the autonomous mobile device 10 may be determined based on the satellite observation data received by the autonomous mobile device 10 in the data acquisition process, and the data acquired by the autonomous mobile device 10 may be uploaded to the target data processing server 30 for processing. In this way, different data collected by different autonomous mobile devices 10 can be distributed to the appropriate data processing server 30 according to the satellite observation data, so that the data can be isolated, the privacy of the data can be guaranteed, and the security of the data can be improved.

In the above or below embodiments, the plurality of data processing servers 30 may include a plurality of area servers that serve different location areas.

Based on this, the data management device 20 may calculate a location area where the autonomous mobile device 10 collects data, based on the satellite observation data received by the autonomous mobile device 10; from among a plurality of area servers that serve different location areas, an area server that serves the location area is determined as the target data processing server 30.

In this embodiment, the data processing server 30 defining the service area by the location area is referred to as an area server. It should be noted that there may be a plurality of data processing servers 30 serving one location area in the present embodiment, and these data processing servers 30 are described as area servers serving the location area.

In practical application, the position area can be divided according to actual needs. For example, in the case where the range of use of the autonomous mobile apparatus 10 spans countries, the location area may be divided from the country dimension, and a regional server that provides services for china, japan, russia, or the european union may be deployed. For another example, where the range of use of the autonomous mobile device 10 does not span countries, the location area may be divided from city dimensions, but deployed as an area server serving beijing, tianjin, shanghai, or other cities. Of course, these are exemplary, and in the present embodiment, the division manner of the location area is not limited.

In addition, in order to match the area servers, in this embodiment, a list mode may be adopted to define the location areas served by the plurality of area servers. Fig. 2 is a schematic view of a service scope of a data processing server according to an embodiment of the present application. As shown in fig. 2, the server 1 is a regional server whose service range is china, the server 2 is a regional server whose service range is japan, and the servers 3 to 6 are regional servers and provide services for different countries, respectively.

In the case where the data management device 20 calculates the location area where the autonomous mobile device 10 collects data, it may select an area server that can serve the location area as the target data processing server 30 from the list shown in fig. 2.

In this embodiment, the satellite observation value and the ephemeris file corresponding to at least one epoch may be analyzed from the satellite observation data received by the autonomous mobile device 10; performing single-point positioning calculation according to the satellite observation value and the ephemeris file corresponding to at least one epoch to determine the position information corresponding to each epoch; and determining a position area where the autonomous mobile device 10 collects data according to the position information corresponding to each of the at least one epoch.

An ephemeris file is a set of data describing the trajectory of the satellite. Epoch refers to the sampling instant in the process of acquiring data. In this embodiment, a single-point positioning calculation technique may be adopted to calculate the position information corresponding to at least one epoch by analyzing the satellite observation value and the ephemeris file corresponding to at least one epoch from the satellite observation data received from the autonomous mobile device 10. The single-point positioning solution technique will not be described in detail herein.

Based on the respective location information corresponding to the at least one epoch, various implementations may be employed in this embodiment to determine a target location area in which the autonomous mobile device 10 acquired data.

In one implementation, the average longitude, the average latitude, and the average altitude of at least one epoch may be calculated according to the respective corresponding location information of at least one epoch, and the average longitude, the average latitude, and the average altitude are used as the operation location of the autonomous mobile device 10 when acquiring data; the location area to which the work location at the time of data collection by the autonomous moving apparatus 10 belongs is determined as a target location area at the time of data collection by the autonomous moving apparatus 10.

In this implementation, the projection coordinates of at least one epoch may be calculated according to the position information corresponding to each of the at least one epoch, the projection coordinates of the at least one epoch are averaged, and the average processing result is back-projected to obtain an average longitude Lon _ AVG, an average latitude Lat _ AVG, and an average altitude H _ AVG of the at least one epoch, so as to represent the operation position when the autonomous mobile device 10 collects data.

Based on this, it can be continuously determined in which location area the work location when the autonomous mobile apparatus 10 collects data is located, that is, the work when the autonomous mobile apparatus 10 collects data is searched for as the location area to which the work location belongs, and the work location is used as the target location area when the autonomous mobile apparatus 10 collects data.

In another implementation manner, the maximum projection coordinates of each of the at least one epoch on a plurality of preset orientations may be respectively determined according to the position information corresponding to each of the at least one epoch; calculating a minimum circumscribed polygon of a polygon formed by connecting maximum projection coordinates of at least one epoch on a plurality of preset directions; the area framed by the minimum circumscribed polygon (i.e., the area within the minimum circumscribed polygon) is taken as the working position when the autonomous mobile device 10 collects data; the location area to which the work location at the time of data collection by the autonomous moving apparatus 10 belongs is determined as a target location area at the time of data collection by the autonomous moving apparatus 10.

In this implementation, at least one epoch may be projected to obtain respective projection coordinates of the at least one epoch, from which the maximum projection coordinate at each preset orientation is selected. For example, when the preset orientations include east, south, west, and north, the maximum projection coordinate maxE in the east orientation, the maximum projection coordinate maxS in the south orientation, the maximum projection coordinate maxW in the west orientation, and the maximum projection coordinate maxN in the north orientation may be selected from among the projection coordinates.

Fig. 3 is a schematic diagram illustrating a scheme for determining a working location when an autonomous mobile device collects data according to an embodiment of the present application. As shown in fig. 3, the maximum projection coordinates in the plurality of preset orientations may be connected to form a polygon, which is illustrated as a rectangle in fig. 3. It should be understood that the variable number of the connected polygons may be changed according to the number of the predetermined orientations, and the embodiment is not limited thereto.

Based on this, the minimum bounding polygon of the connected polygons can be calculated. In fig. 3, the minimum bounding rectangle is taken as an example, and the regions (maxE, maxN), (maxW, maxN), (maxE, maxS), (maxW, maxS) can be framed. The area framed by the minimum bounding rectangle may be used as the working location for the autonomous mobile device 10 to collect data.

It should be noted that, based on the location information corresponding to each of the at least one epoch, the present embodiment may also use other implementations to determine the target location area where the autonomous mobile device 10 collects the data, and the present embodiment is not limited thereto.

In the present embodiment, based on satellite observation data received when the autonomous mobile apparatus 10 collects data, the work position when the autonomous mobile apparatus 10 collects data is calculated, and a position area to which the work position belongs is determined as a target position area where the autonomous mobile apparatus 10 collects data is located, and further, an area server that provides a service for the target position area is determined as the target data processing server 30. This ensures the authenticity of the work location so that the autonomous mobile device 10 can be accurately assigned the appropriate data processing server 30.

In the above or below embodiments, the plurality of data processing servers 30 may further include a plurality of specific servers for providing different specific services.

Based on this, the data management device 20 may determine whether the autonomous mobile device 10 provides specific identification information before determining the target data processing server 30 corresponding to the data collected by the autonomous mobile device 10 based on the satellite observation data received by the autonomous mobile device 10.

Wherein the specific identification information is used to indicate a specific service required. The specific service may be a private service provided for a single user or a proprietary service provided for a specific data content type.

Accordingly, the specific identification information may be an address of the server, a device number, a device name or a data content type, etc. Wherein, when the autonomous mobile device 10 requires a private service, one or more of an address of a server, a device number, or a device name may be carried in the specific identification information. When the autonomous mobile device 10 requires a dedicated service, the data content type information may be carried in the specific identification information.

In the present embodiment, the data processing server 30 defining the service scope with different specific services is referred to as a specific server. It should be noted that, in the present embodiment, there may be a plurality of data processing servers 30 providing the same specific service, and these data processing servers 30 are described as the specific server providing the specific service.

If the autonomous mobile device 10 does not provide the specific identification information, the aforementioned operation of determining the target data processing server 30 corresponding to the data collected by the autonomous mobile device 10 according to the satellite observation data received by the autonomous mobile device 10 may be performed. For the technical details of this operation, reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.

If the autonomous mobile device 10 provides the specific identification information, in the present embodiment, a specific server corresponding to the specific identification information may be determined as the target data processing server 30 among the plurality of specific servers.

Receiving the service range list of the servers provided in fig. 2, if the autonomous mobile apparatus 10 provides specific identification information, that is, the data collected by the autonomous mobile apparatus 10 is associated with the specific identification information, the data processing server 30 that can provide the specific service corresponding to the specific identification information can be searched as the target data processing server 30.

For example, the server 7 in fig. 2 is used to provide a private service, and in the case where the specific identification information provided by the autonomous mobile device 10 carries the device number of the server 7, the server 7 may be determined as the target data processing server 30 of the autonomous mobile device 10.

As another example, the server 8 in fig. 2 is used to provide a dedicated service (the corresponding data content type is agriculture), and in the case that the specific identification information provided by the autonomous mobile device 10 carries the data content type of "agriculture", the server 8 may be determined as the target data processing server 30 of the autonomous mobile device 10.

It should be noted that, in this embodiment, in order to distinguish the specific server providing the private service from the specific server providing the dedicated service, the identifier such as "private server" may be configured for the specific server providing the private service, and the identifier such as "dedicated server" may be configured for the specific server providing the dedicated service. And the judgment condition can be added, in case that the specific identification information provided by the autonomous mobile device 10 points to the private server, the private server usage right of the autonomous mobile device 10 is authenticated, that is, it is judged whether the private server requested to be used by the autonomous mobile device 10 is the private server having the usage right, so that in case that the authentication is passed, the private server is used to provide the private service for the autonomous mobile device 10, otherwise, the service can be rejected.

In this embodiment, the autonomous mobile device 10 may associate the collected data with specific identification information when it needs to use a specific service.

The autonomous mobile device 10 may receive or generate at least one specific identification information according to the collected data when collecting the data; associating first specific identification information with at least a portion of the acquired data, wherein the first specific identification information is included in at least one specific identification information.

In one instance, the autonomous mobile device 10 may receive at least one specific identification information, wherein a first specific identification information is associated with at least a portion of the collected data.

In this case, the at least one specific identification information received by the autonomous mobile device 10 may be from the data management device 20 or other entity that configures the autonomous mobile device 10 with a private server. Taking the data management device 20 as an example, the data management device 20 may receive specific identification information of a specific server inputted by the autonomous mobile device 10 using a user in response to a task configuration operation with respect to the autonomous mobile device 10, and provide the specific identification information of the specific server to the autonomous mobile device 10.

That is, the user of the autonomous mobile apparatus 10 may perform a task configuration operation through the data management apparatus 20 before the autonomous mobile apparatus 10 performs a task, and the user may input specific identification information of a specific server, specifically, a device number, a device name or an address of a private server, and the like. The data management device 20 provides these specific identification information input by the user to the autonomous mobile device 10, and the autonomous mobile device 10 may establish an association between the collected data and the specific identification information after the task is completed.

In another case, the autonomous mobile device 10 may perform content recognition on the collected data to determine the data content type to which the collected data belongs; and generating at least one piece of specific identification information based on the corresponding relation between the data content type and the specific identification information and the data content type to which the acquired data belongs, and associating the first specific identification information with at least one part of the acquired data.

In this case, the autonomous mobile device 10 may determine the type of data content included in the collected data by performing content recognition on the collected data. Based on this, the autonomous mobile device 10 may establish an association of the collected data with the specific identification information after the task is completed.

In either case, the autonomous mobile device 10 may associate the particular identification information with the collected data after the task is completed based on the received particular identification information. In practical application, a signature file can be constructed after a task is completed, and specific identification information is configured into the signature file, so that the safety of the specific identification information is ensured. The data collected by the autonomous mobile device 10 and the signature file will be transmitted synchronously to enable association of the collected data with specific identification information.

It is worth noting that in the present embodiment, different portions of data collected for it by the autonomous mobile device 10 are associated with different specific identification information. For example, if the collected data includes a part of data corresponding to the content type of "agricultural" data, the part of data may be associated with the specific identification information "agricultural", and the rest of data may be associated with the specific identification information "device number of private server".

Based on this, in this embodiment, the data management device 20 may allocate different portions of the data collected by the autonomous mobile device 10 to different target data processing servers 30 for processing according to at least one specific identification information provided by the autonomous mobile device 10 and the association relationship between the specific identification information and the collected data.

In the above or below described embodiments, different data processing servers 30 may have service algorithms deployed that are adapted to their service scope. Based on this, in this embodiment, in the case where the data collected by the autonomous mobile apparatus 10 corresponds to the plurality of target data processing servers 30, the data management apparatus 20 may receive the processing results returned by the plurality of target data processors; and fusing the processing results returned by the target data processing servers 30 to obtain a final processing result corresponding to the data acquired by the autonomous mobile device 10.

In this way, different service algorithms can be used for different parts of data acquired by the autonomous mobile device 10, so that the data and the service algorithms are more adaptive, different target data processing servers 30 can perform cooperative processing on the data acquired by the autonomous mobile device 10, the data management device 20 can receive processing results returned by the target data processing servers 30 and fuse the processing results to obtain a final processing result corresponding to the data acquired by the autonomous mobile device 10, and the cooperative processing mode can greatly improve the efficiency and accuracy of data processing.

In addition, the target data processing server 30 may perform positioning processing on the data collected by the autonomous mobile apparatus 10, for example, PPK calculation processing, and perform subsequent positioning processing such as map construction, task planning, data analysis, post-processing map construction, model generation and the like based on the result of the PPK calculation processing, which is not limited in this embodiment.

In the above or below embodiments, the plurality of data processing servers 30 may further include a rights record server. The rights record server has stored therein service rights record information for a number of autonomous mobile devices 10.

In this embodiment, the autonomous mobile device 10 may also provide service authentication information to the data management device 20, the service authentication information including a product serial number (SN number) of the autonomous mobile device 10, service purchase record information, or the like.

In practice, the autonomous mobile device 10 may configure the SN number, the task start time, etc. service authentication information into the aforementioned signature file to provide these service authentication information to the target data processing server 30.

The data management apparatus 20 may then transmit the service authentication information to the target data processing server 30 after determining the target data processing server 30.

The target data processing server 30 may obtain the service authority record information of the autonomous mobile device 10 from the authority record server; if the service authentication information provided by the autonomous mobile device 10 matches the service authority record information obtained from the authority record server, it is determined that the autonomous mobile device 10 passes the service authentication. The target data processing server 30 may provide data processing services for the autonomous mobile device 10 upon determining that the autonomous mobile device 10 is authenticated for the services.

In practice, the target data processing server 30 may determine whether the autonomous mobile device 10 has performed service activation and whether the task start time corresponding to the collected data provided by the autonomous mobile device 10 is later than its service activation time. And determines that the autonomous mobile device 10 is through service in the event that both of these determinations are yes.

In this embodiment, through the service authentication, the service resource loss of the data processing server 30 can be effectively avoided, and the utilization rate of the service resource is improved.

In the application field of unmanned aerial vehicle industry, from aerial survey to inspection and then to precision agriculture, the precision positioning technology is increasingly applied to the aspects of map construction, task planning, data analysis, post-processing map construction/model generation and the like. Under the condition that the operation scene has higher requirements on the positioning result in the flight process of the unmanned aerial vehicle and the position precision and reliability of aerial survey shot pictures, the Post-processing difference (PPK) can provide higher precision and reliability than Real-Time dynamic difference settlement (RTK), so that the Post-processing difference is more favored by users. In addition to the unmanned aerial vehicle industry, in the fields of industries such as automatic driving, post-processing differential technology is also widely applied to generation of high-precision maps and planning of routes.

The post-processing differential technique (PPK) is similar to the implementation of the dynamic differential technique (RTK) and employs a carrier-phase differential positioning technique. Because the RTK uses a real-time resolving mode and strongly depends on a communication link between a base station and an unmanned aerial vehicle end, when the communication link is interrupted in real time, the precision of a positioning result can be greatly increased, and even the RTK is restored to a single-point positioning mode to achieve meter-level positioning errors. When the user uses the virtual reference station network RTK, the reliability of the bidirectional communication link is also guaranteed, and the effective position can be obtained at each photographing point. Meanwhile, the RTK technology adopts forward filtering for resolving, so that the reliability and the precision are slightly poor relative to the PPK.

Fig. 1b is a schematic diagram of an application scenario provided in an embodiment of the present application. In fig. 1b, a PPK solution service is taken as an exemplary application scenario, and a data processing scheme in the application scenario is shown in fig. 1 b.

An unmanned aerial vehicle (UAV, as an autonomous mobile device) transmits the collected data and the received satellite observation data to a remote controller (as a data management device), and the base station may selectively transmit base station data to the remote controller.

In addition, the unmanned aerial vehicle can also be for the data association identification information of its collection to also transmit these identification information to the remote controller.

Wherein, the service server and the computation server in fig. 1b are deployed in pairs to implement the related functions of the data processing server in the foregoing embodiments. In practical application, the business server mainly undertakes the function of service authentication, and the solution server mainly undertakes the function of PPK solution.

Based on this, for the remote controller, if the data acquired by the unmanned aerial vehicle is associated with the identification information, the service server and the calculation server corresponding to the identification information can be used as the target service server and the target calculation server.

If the unmanned aerial vehicle does not provide the identification information, the operation position of the unmanned aerial vehicle can be estimated according to satellite observation data acquired by the unmanned aerial vehicle, and a service server and a calculation server which provide service for the position area are selected as a target service server and a target calculation server according to the position area to which the operation position belongs.

It should be noted that fig. 1b only shows the target service server and the target solver server, but it should be understood that the number of service servers and solver servers may be more than one.

Like this, the remote controller can provide the data and the satellite observation data that unmanned aerial vehicle gathered for the target business server, and the target business server can carry out the service authentication to unmanned aerial vehicle earlier, and under the circumstances that confirms that unmanned aerial vehicle has the PPK to solve the service permission, the target business server can provide the data and the satellite observation data that unmanned aerial vehicle gathered for the target to solve the server to utilize the target to solve the server and provide the PPK for unmanned aerial vehicle and solve the service.

In the process that the target resolving server performs PPK resolving on the unmanned aerial vehicle, the target resolving server can also pull base station data from a CORS/network RTK operation mechanism server (exemplary name), and can also pull data such as ephemeris files from a precise ephemeris generation mechanism server (exemplary name) to serve as basic data for PPK resolving. Accordingly, the target solution server may obtain satellite observation data synchronously received by the drone (with a as a code) and the base station (with B as a code), and obtain a pseudo-range observation value and a carrier phase observation value for each satellite as follows (taking drone a and satellite j as an example).

Where L is the carrier phase observation, P is the pseudorange observation, ρ is the distance between the satellite and the base station, c is the speed of light, δ is the clock error, T is the tropospheric delay, I is the ionospheric delay, N is the integer ambiguity, and ε is the random error.

On the basis, when the observed values between stations and between stars are differentiated twice, the formula (2) can be obtained

Wherein the content of the first and second substances,

and

respectively, a carrier phase double difference value and a pseudorange double difference value.

Due to the influences of an ionosphere, a troposphere, satellite clock error, receiver clock error and the like, the position accuracy obtained by a single receiver receiving satellite observation values for single-point positioning is in the centimeter level. And through the mode of difference location, can significantly reduce or even eliminate these error influence factors completely through the secondary difference of satellite observation value data between the star and between the stations, acquire the centimeter level relative position information of basic station and unmanned aerial vehicle.

Because the distance between AB is far less than the distance between the satellites such as Aj, Bj, etc., the ionosphere/troposphere effect on the paths of Aj, Bj is considered very similar, so that the main elements influencing the positioning accuracy such as a satellite clock, an ionosphere error, a troposphere error, etc. can be eliminated through double differences, and thus the relative position relation between AB stations in centimeter level is obtained:

(Δx，Δy，Δz)

continuously acquiring the accurate position (x) of the base station B in a certain coordinate system_b,y_b,z_b) Namely, centimeter-level accurate position (X) of unmanned aerial vehicle A can be obtained_r，Y_r，Z_r)。

In addition, the processing capacity of the target calculation server is far higher than that of a PC single machine, so that the target calculation server can continue to perform subsequent positioning processing such as map construction, task planning, data analysis, post-processing map construction/model generation and the like according to the PPK calculation result.

The target resolving server can return the processing result to the remote controller, and the remote controller can output or reprocess the processing result.

Fig. 4 is a schematic flowchart of a data processing method according to another embodiment of the present application, and as shown in fig. 4, the method includes:

400. acquiring data acquired by the autonomous mobile equipment and satellite observation data received by the autonomous mobile equipment;

401. determining a target processor corresponding to data acquired by the autonomous mobile equipment according to satellite observation data received by the autonomous mobile equipment; and

402. data collected by the autonomous mobile device is uploaded to a target processor for processing the data collected by the autonomous mobile device.

The present embodiment performs explanation of the data processing scheme from the data management apparatus side.

In an alternative embodiment, the step of determining a target processor to which the data collected by the autonomous mobile device corresponds includes:

determining a target position area where the autonomous mobile equipment is located when the autonomous mobile equipment collects data according to satellite observation data received by the autonomous mobile equipment;

from a plurality of regional processors serving different location areas, a regional processor serving the location area is determined as a target processor.

In an alternative embodiment, the step of determining a target location area in which the autonomous mobile device is to collect data includes:

analyzing a satellite observation value and an ephemeris file corresponding to at least one epoch from satellite observation data received by the autonomous mobile equipment;

performing single-point positioning calculation according to the satellite observation value and the ephemeris file corresponding to at least one epoch to determine the position information corresponding to each epoch;

and determining a target position area where the autonomous mobile equipment is located when acquiring data according to the position information corresponding to the at least one epoch.

In an optional embodiment, the determining, according to the location information corresponding to each of the at least one epoch, a target location area in which the autonomous mobile device is located when acquiring data includes:

calculating the average longitude, the average latitude and the average altitude of at least one epoch according to the position information corresponding to the at least one epoch respectively, and using the average longitude, the average latitude and the average altitude as the operation position when the autonomous mobile equipment acquires data;

and determining a target position area where the autonomous mobile equipment is located when the autonomous mobile equipment collects data according to the position area where the operation position when the autonomous mobile equipment collects data belongs.

respectively determining the maximum projection coordinates of at least one epoch on a plurality of preset directions according to the position information corresponding to the at least one epoch;

calculating a minimum circumscribed polygon of a polygon formed by connecting maximum projection coordinates of at least one epoch on a plurality of preset directions, and taking an area framed by the minimum circumscribed polygon as an operation position when the autonomous mobile equipment acquires data;

and determining the position area to which the operation position belongs when the autonomous mobile equipment collects the data as a target position area in which the autonomous mobile equipment collects the data.

In an alternative embodiment, the plurality of predetermined orientations include east, west, south and north, and the minimum bounding polygon is a rectangle.

In an optional embodiment, the step of determining, based on the satellite observation data received by the autonomous mobile device, that the target processor corresponding to the data collected by the autonomous mobile device is before, further comprises:

determining whether the autonomous mobile device provides specific identification information;

and if the autonomous mobile equipment is determined not to provide the specific identification information, executing the operation of determining a target processor corresponding to the data acquired by the autonomous mobile equipment according to the satellite observation data received by the autonomous mobile equipment.

In an optional embodiment, the method further comprises:

if it is determined that the autonomous mobile device provides the specific identification information, a specific processor corresponding to the specific identification information is determined as a target processor from among a plurality of specific processors providing different specific services.

In an optional embodiment, the method further comprises:

in response to a task configuration operation for the autonomous mobile device, specific identification information input by a user of the autonomous mobile device is received, and the specific identification information is provided to the autonomous mobile device.

In an alternative embodiment, the specific identification information includes one or more of an address, a device number, a device name, or a data content type of the specific processor.

In an optional embodiment, the method further comprises:

and providing the satellite observation data received by the autonomous mobile equipment to the target processor so that the target data processor can carry out positioning processing on the autonomous mobile equipment.

In an alternative embodiment, the step of obtaining data collected by the autonomous mobile device and satellite observations received by the autonomous mobile device comprises:

and under the condition that the storage device of the autonomous mobile equipment is detected to be inserted into the computing equipment, reading the data collected by the autonomous mobile equipment and the satellite observation data received by the autonomous mobile equipment from the storage device.

In an alternative embodiment, when the number of target data processors is plural, the method further comprises:

receiving processing results returned by a plurality of target data processors;

and fusing the processing results returned by the target processors to obtain a final processing result corresponding to the data acquired by the autonomous mobile equipment.

In an optional embodiment, the method further comprises:

receiving service authentication information provided from the master mobile device;

and sending the service authentication information to the target processor so that the target processor can perform service authentication on the autonomous mobile equipment.

In an alternative embodiment, the service authentication information includes a product serial number of the autonomous mobile device and/or service purchase record information.

It should be noted that, in the embodiments of the data processing methods described above from the data processing processor side, reference may be made to the detailed description of the data management device in the embodiments of the data processing system for details and technical effects, which are not repeated herein for brevity, but should not cause a loss of the scope of the present application.

Fig. 5 is a schematic flow chart of another data processing method according to another embodiment of the present application. As shown in fig. 5, the method includes:

500. when data are collected, receiving or generating at least one piece of identification information according to the collected data;

501. associating first identification information with at least a portion of the acquired data, wherein the first identification information is included in at least one identification information;

502. and providing the acquired data associated with the first identification information to a target processor corresponding to the first identification information for data processing.

The present embodiment performs explanation of the data processing scheme from the autonomous mobile apparatus side.

In an optional embodiment, the step of generating at least one identification information according to the collected data includes:

performing content identification on the acquired data to determine the data content type of the acquired data;

and generating at least one piece of identification information based on the corresponding relation between the data content type and the identification information and the data content type to which the acquired data belongs.

In an alternative embodiment, the step of providing the first identification information and the associated acquired data to a target processor corresponding to the first identification information for data processing includes:

sending the acquired data associated with the first identification information to a target processor corresponding to the first identification information for data processing; or

And sending the first identification information and the acquired data associated with the first identification information to the data management device, so that the acquired data associated with the first identification information is sent to a target processor corresponding to the first identification information by using the data management device for data processing.

It should be noted that, in the embodiments of the data processing method described above from the autonomous mobile apparatus side, reference may be made to the detailed description of the autonomous mobile apparatus in the embodiments of the data processing system, and for brevity, no further description is provided here, but this should not cause a loss of the scope of the present application.

It should be noted that the execution subjects of the steps of the methods provided in the above embodiments may be the same device, or different devices may be used as the execution subjects of the methods. For example, the execution subjects of steps 500 to 502 may be device a; for another example, the execution subject of

steps

500 and 501 may be device a, and the execution subject of step 502 may be device B; and so on.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations are included in a specific order, but it should be clearly understood that the operations may be executed out of the order presented herein or in parallel, and the sequence numbers of the operations, such as 400, 401, etc., are merely used to distinguish various operations, and the sequence numbers themselves do not represent any execution order. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" in this document are used to distinguish different identification information, etc., and do not represent a sequence, nor limit that "first" and "second" are different types.

Fig. 6 is a schematic structural diagram of a computing device according to another embodiment of the present application. As shown in fig. 6, the computing device includes: memory 60, processor 61, and communication component 62.

A processor 61, coupled to the memory 60 and the communication component 62, for executing computer programs in the memory for:

acquiring data acquired by the autonomous mobile equipment and satellite observation data received by the autonomous mobile equipment;

determining a target data processing server corresponding to data acquired by the autonomous mobile equipment according to satellite observation data received by the autonomous mobile equipment; and

and uploading the data collected by the autonomous mobile equipment to a target data processing server through the communication assembly so as to process the data collected by the autonomous mobile equipment.

In an alternative embodiment, the processor 61, when determining the target data processing server corresponding to the data collected by the autonomous mobile device, is configured to:

from among a plurality of area servers that serve different location areas, an area server that serves a location area is determined as a target data processing server.

In an alternative embodiment, the processor 61, in calculating the location area in which the autonomous mobile device collects data, is configured to:

In an optional embodiment, the processor 61, when determining the target location area where the autonomous mobile device is to collect data according to the location information corresponding to each of the at least one epoch, is configured to:

In an alternative embodiment, the processor 61 is further configured to, before determining the target data processing server corresponding to the data collected by the autonomous mobile device based on the satellite observation data received by the autonomous mobile device:

and if the autonomous mobile equipment is determined not to provide the specific identification information, executing the operation of determining a target data processing server corresponding to the data acquired by the autonomous mobile equipment according to the satellite observation data received by the autonomous mobile equipment.

In an alternative embodiment, the processor 61 is further configured to:

if it is determined that the autonomous mobile device provides the specific identification information, a specific server corresponding to the specific identification information is determined as a target data processing server from among a plurality of specific servers providing different specific services.

In an alternative embodiment, the processor 61 is further configured to:

in response to a task configuration operation for the autonomous mobile device, specific identification information of a specific server using a user input of the autonomous mobile device is received, and the specific identification information of the specific server is provided as the specific identification information to the autonomous mobile device.

In an alternative embodiment, the specific identification information includes one or more of an address, a device number, a device name, or a data content type of the specific server.

In an alternative embodiment, the processor 61 is further configured to:

and providing the satellite observation data received by the autonomous mobile equipment to a target data processing server for positioning processing of the autonomous mobile equipment by a target data processor.

In an alternative embodiment, processor 61 reads the data collected by the autonomous mobile device and the satellite observations received by the autonomous mobile device from the memory device upon detecting that the memory device of the autonomous mobile device is plugged into the computing device.

In an alternative embodiment, the computing device is the autonomous mobile device itself or a data relay device associated with the autonomous mobile device.

In an alternative embodiment, when the number of target data processors is plural, the processor 61 is further configured to:

receiving processing results returned by a plurality of target data processors;

and fusing the processing results returned by the target data processing servers to obtain a final processing result corresponding to the data acquired by the autonomous mobile equipment.

In an alternative embodiment, the processor 61 is further configured to:

and sending the service authentication information to the target data processing server so that the target data processing server can perform service authentication on the autonomous mobile equipment.

Further, as shown in fig. 6, the computing device further includes: power supply components 63, and the like. Only some of the components are schematically shown in fig. 6, and the computing device is not meant to include only the components shown in fig. 6.

It should be noted that, in the embodiments related to the computing device, reference may be made to the detailed description related to the data management device in the embodiments of the data processing system for details and technical effects, which are not described herein for brevity, but should not cause a loss of the protection scope of the present application.

Accordingly, the present application further provides a computer-readable storage medium storing a computer program, where the computer program can implement the steps that can be executed by a computing device in the foregoing method embodiments when executed.

Fig. 7 is a schematic structural diagram of an autonomous mobile device according to another embodiment of the present application. As shown in fig. 7, the autonomous mobile apparatus includes: a memory 70, a processor 71 and a communication component 72;

a processor 71, coupled with the storage 70 and the communication component 72, for executing one or more computer instructions for:

associating first identification information with at least a portion of the acquired data, wherein the first identification information is included in at least one identification information;

In an alternative embodiment, the processor 71, when generating at least one identification information according to the collected data, is configured to:

In an optional embodiment, the processor, when providing the first identification information and the associated acquired data to the target data processing server corresponding to the first identification information for data processing, is configured to:

sending the acquired data associated with the first identification information to a target data processing server corresponding to the first identification information through the communication component 72 for data processing; or

The first identification information and the collected data associated with the first identification information are sent to the data management device through the communication component 72, so that the collected data associated with the first identification information are sent to the target data processing server corresponding to the first identification information by the data management device for data processing.

Further, as shown in fig. 7, the autonomous mobile apparatus further includes: power supply components 73, and the like. Only some of the components are schematically shown in fig. 7, and the autonomous mobile device is not meant to include only the components shown in fig. 7.

It should be noted that, in the embodiments related to the autonomous mobile apparatus, reference may be made to the detailed description related to the autonomous mobile apparatus in the embodiments of the data processing system, and for the sake of brevity, no further description is provided here, but this should not cause a loss of scope of the present application.

Accordingly, the present application further provides a computer readable storage medium storing a computer program, where the computer program is capable of implementing the steps that can be performed by the autonomous mobile device in the foregoing method embodiments when executed.

The memory of fig. 6 and 7 is used to store computer programs and may be configured to store various other data to support operations on the device. Examples of such data include instructions for any application or method operating on the device on which it is located, contact data, phonebook data, messages, pictures, videos, and the like.

The memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

Wherein the communication components of fig. 6 and 7 are configured to facilitate wired or wireless communication between the device in which the communication components are located and other devices. The device in which the communication component is located may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component may be implemented based on Near Field Communication (NFC) technology, Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, or other technologies to facilitate short-range communications.

The power supply components of fig. 6 and 7 provide power to various components of the device in which the power supply components are located. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device in which the power component is located.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A computing device comprising a memory, a processor, and a communication component;

the memory is to store one or more computer instructions;

2. The device of claim 1, wherein the processor, in determining a target data processing server to which the data collected by the autonomous mobile device corresponds, is configured to:

determining a target position area where the autonomous mobile equipment is located when the autonomous mobile equipment collects data according to the satellite observation data received by the autonomous mobile equipment;

from a plurality of area servers serving different location areas, an area server serving the location area is determined as a target data processing server.

3. The device of claim 1, wherein the processor, in calculating the location area in which the autonomous mobile device collected data, is configured to:

analyzing a satellite observation value and an ephemeris file corresponding to at least one epoch from the satellite observation data received by the autonomous mobile device;

performing single-point positioning calculation according to the satellite observation value and the ephemeris file corresponding to the at least one epoch to determine the respective corresponding position information of the at least one epoch;

4. The device of claim 3, wherein the processor, when determining the target location area in which the autonomous mobile device was to collect data based on the location information corresponding to each of the at least one epoch, is configured to:

calculating the average longitude, the average latitude and the average altitude of the at least one epoch according to the position information corresponding to the at least one epoch respectively, wherein the average longitude, the average latitude and the average altitude are used as the operation position when the autonomous mobile equipment collects data;

and determining a target position area to which the operation position belongs when the autonomous mobile equipment collects data.

5. The device of claim 3, wherein the processor, when determining the target location area in which the autonomous mobile device was to collect data based on the location information corresponding to each of the at least one epoch, is configured to:

respectively determining the maximum projection coordinates of the at least one epoch on a plurality of preset directions according to the position information corresponding to the at least one epoch;

calculating a minimum circumscribed polygon of a polygon formed by connecting maximum projection coordinates of the at least one epoch on a plurality of preset directions, and taking an area in the minimum circumscribed polygon as an operation position when the autonomous mobile equipment acquires data;

6. The apparatus of claim 5, wherein the plurality of preset orientations include east, west, south and north, and the minimum circumscribing polygon is a rectangle.

7. The device of claim 1, wherein the processor, prior to determining a target data processing server corresponding to the data collected by the autonomous mobile device based on the satellite observations received by the autonomous mobile device, is further configured to:

8. The device of claim 7, wherein the processor is further configured to:

if it is determined that the autonomous mobile device provides specific identification information, determining a specific server corresponding to the specific identification information as the target data processing server from among a plurality of specific servers providing different specific services.

9. The device of claim 7, wherein the processor is further configured to:

receiving specific identification information of a specific server of the autonomous mobile device using user input in response to a task configuration operation for the autonomous mobile device, and providing the specific identification information of the specific server to the autonomous mobile device.

10. The device of claim 7, wherein the specific identification information comprises one or more of an address, a device number, a device name, or a data content type of a specific server.

11. The device of claim 1, wherein the processor is further configured to:

and providing the satellite observation data received by the autonomous mobile equipment to the target data processing server so that the target data processor can carry out positioning processing on the autonomous mobile equipment.

12. The device of claim 1, wherein the processor reads the data collected by the autonomous mobile unit and the satellite observation data received by the autonomous mobile unit from a memory device of the autonomous mobile unit upon detecting that the memory device is plugged into the computing device.

13. The device of claim 1, wherein the computing device is an autonomous mobile device itself or an autonomous mobile device associated data relay device.

14. The apparatus of claim 1, wherein when the number of target data processors is plural, the processor is further configured to:

receiving processing results returned by a plurality of target data processors;

15. The apparatus of any of claims 1-14, wherein the processor is further configured to:

receiving service authentication information provided by the autonomous mobile device;

16. The device of claim 15, wherein the service authentication information comprises a product serial number of the autonomous mobile device and/or service purchase record information.

17. An autonomous mobile device comprising a memory, a processor, and a communication component;

the memory is to store one or more computer instructions;

18. The apparatus of claim 17, wherein the processor, in generating at least one identification information based on the collected data, is configured to:

and generating the at least one piece of identification information based on the corresponding relation between the data content type and the identification information and the data content type to which the acquired data belongs.

19. The device of claim 17, wherein the processor, when providing the first identification information and associated collected data to a target data processing server corresponding to the first identification information for data processing, is configured to:

sending the collected data associated with the first identification information to a target data processing server corresponding to the first identification information for data processing; or

And sending the first identification information and the acquired data associated with the first identification information to a data management device, so that the data management device is utilized to send the acquired data associated with the first identification information to a target data processing server corresponding to the first identification information for data processing.

20. A data processing method, comprising:

21. The method of claim 20, wherein determining the target processor to which the data collected by the autonomous mobile device corresponds comprises:

22. The method of claim 20, wherein determining the target location area in which the autonomous mobile device is to collect data comprises:

23. The method of claim 22, wherein determining a target location area in which the autonomous mobile device is to collect data according to the location information corresponding to each of the at least one epoch includes:

24. The method of claim 22, wherein determining a target location area in which the autonomous mobile device is to collect data according to the location information corresponding to each of the at least one epoch includes:

25. The method of claim 24, wherein the plurality of predetermined orientations include east, west, south and north, and wherein the minimum bounding polygon is a rectangle.

26. The method of claim 20, wherein determining the target processor corresponding to the data collected by the autonomous mobile device based on the satellite observations received by the autonomous mobile device further comprises:

27. The method of claim 26, further comprising:

if it is determined that the autonomous mobile device provides specific identification information, determining a specific processor corresponding to the specific identification information as the target processor from among a plurality of specific processors providing different specific services.

28. The method of claim 26, further comprising:

receiving specific identification information of a specific processor of the autonomous mobile device using a user input in response to a task configuration operation for the autonomous mobile device, and providing the specific identification information of the specific processor to the autonomous mobile device.

29. The method of claim 26, wherein the specific identification information comprises one or more of an address, a device number, a device name, or a data content type of a specific processor.

30. The method of claim 20, further comprising:

31. The method of claim 20, wherein the obtaining data collected by the autonomous mobile device and satellite observations received by the autonomous mobile device comprises:

32. The method of claim 20, wherein when the number of target data processors is plural, the method further comprises:

receiving processing results returned by a plurality of target data processors;

33. The method of any one of claims 20-32, further comprising:

34. The method of claim 33, wherein the service authentication information comprises a product serial number of the autonomous mobile device and/or service purchase record information.

35. A data processing method, comprising:

36. The method of claim 35, wherein generating at least one identification information according to the collected data comprises:

37. The method of claim 35, wherein providing the first identification information and associated acquired data to a target processor corresponding to the first identification information for data processing comprises:

sending the collected data associated with the first identification information to a target processor corresponding to the first identification information for data processing; or

And sending the first identification information and the acquired data associated with the first identification information to a data management device, so that the acquired data associated with the first identification information is sent to a target processor corresponding to the first identification information by using the data management device for data processing.

38. A data processing system, comprising: the system comprises an autonomous mobile device, a data management device and a plurality of data processing servers;

39. The system of claim 8, wherein the plurality of data processors include a plurality of regional servers that serve different location regions, and wherein the data management device, when determining a target data processing server to which the data collected by the autonomous mobile device corresponds, calculates a location region in which the autonomous mobile device collected the data based on the satellite observations received by the autonomous mobile device;

from a plurality of data processing servers serving different location areas, an area server serving the location area is determined as a target data processing server.

40. The system of claim 38, wherein the plurality of data processors include a plurality of specific servers for providing different specific services and a plurality of regional servers for providing different location regions, and wherein the data management device determines whether the autonomous mobile device provides specific identification information when determining a target data processing server corresponding to the data collected by the autonomous mobile device;

if not, calculating a position area where the autonomous mobile equipment is located when the autonomous mobile equipment collects data according to the satellite observation data received by the autonomous mobile equipment; determining an area server serving the location area as a target data processing server from among the plurality of area servers.

If so, determining a specific server corresponding to the specific identification information from the plurality of specific servers as the target data processing server.

41. The system of claim 39 or 40, wherein the plurality of data processors further comprises an authority record server, wherein the authority record server stores therein service authority record information of the autonomous mobile device;

the autonomous mobile device is further configured to provide service authentication information to the data management device;

the data management equipment is also used for sending the service authentication information to the target data processing server;

the target data processing server is further configured to: acquiring service authority record information of the autonomous mobile equipment from the authority record server; and if the service authentication information provided by the autonomous mobile equipment is matched with the service authority record information acquired from the authority record server, determining that the autonomous mobile equipment passes service authentication.

42. A computer-readable storage medium storing computer instructions, which when executed by one or more processors, cause the one or more processors to:

and uploading the data acquired by the autonomous mobile equipment to the target data processing server for processing the data acquired by the autonomous mobile equipment.

43. A computer-readable storage medium storing computer instructions, which when executed by one or more processors, cause the one or more processors to: