CN112154428A

CN112154428A - Data processing method, processing and storage device, flight device and control system

Info

Publication number: CN112154428A
Application number: CN201980029976.2A
Authority: CN
Inventors: 耿畅; 邸健; 王庶
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-10-12
Filing date: 2019-10-12
Publication date: 2020-12-29
Also published as: WO2021068268A1

Abstract

A data processing method, a processing and storage device, a flight device and a control system are provided, wherein the data processing method comprises the following steps: the data processing equipment determines the identification of target data corresponding to the geographical position information according to the geographical position information of the flight equipment (S102); the data processing device acquires the target data from the data storage device according to the identification of the target data, wherein the data storage device stores one or more data, and the one or more data comprise the target data. By identifying, searching and determining the target data without traversing all data, the system resource expense required for acquiring the target data is reduced, the acquisition speed of the target data is increased, and the data processing performance of the flight equipment is improved under the condition of reducing the system resource consumption.

Description

Data processing method, processing and storage device, flight device and control system

Copyright declaration

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Technical Field

The present disclosure relates to the field of data processing technologies, and in particular, to a data processing method, a data processing device, another data processing method, a data storage device, a flight control system, and a computer-readable storage medium.

Background

The unmanned aerial vehicle needs to be provided with a geo-fence system for marking a flight-limiting area, and in the related art, a larger database needs to be used for realizing a complex polygonal flight-limiting area, and higher system resources are needed for realizing indexing.

For an unmanned aerial vehicle product without a high-performance processor, because the flash memory space of the flight control processor is small, the flash memory space cannot be used for storing a flight-limiting area database, and meanwhile, because the database is large, in order to search out the flight-limiting area around the current aircraft from global data, the flight-limiting area around the aircraft generally needs to be calculated after traversing all flight-limiting areas, the system resources required in the searching process are high, and the required time is long.

Therefore, the problem of storage of the flight control area database and the problems of slow searching and high resource consumption of the flight control area are solved, and the method has important significance for improving the overall data processing performance of the unmanned aerial vehicle and reducing the resource consumption of the system.

BRIEF SUMMARY OF THE PRESENT DISCLOSURE

The disclosed embodiments are directed to solving at least one of the technical problems of the related art or the related art.

To this end, a first aspect of an embodiment of the present disclosure proposes a data processing method.

A second aspect of the embodiments of the present disclosure proposes a data processing apparatus.

A third aspect of the embodiments of the present disclosure provides another data processing method.

A fourth aspect of the embodiments of the present disclosure provides a data storage device.

A fifth aspect of the disclosed embodiments provides a flying apparatus.

A sixth aspect of the disclosed embodiments provides a flight control system.

A seventh aspect of embodiments of the present disclosure proposes a computer-readable storage medium.

In view of this, in a first aspect, an embodiment of the present disclosure provides a data processing method, including: the data processing equipment determines the identification of target data corresponding to the geographical position information according to the geographical position information of the flight equipment; the data processing device acquires the target data from the data storage device according to the identification of the target data, wherein the data storage device stores one or more data, and the one or more data comprise the target data.

According to the data packet writing method provided by the embodiment of the disclosure, the data processing device determines the identifier of the corresponding target data according to the geographical position information of the current flight device, and the data storage device acquires the target data from one or more data stored in the data storage device through the identifier of the data and sends the target data to the data processing device. In the embodiment, the data processing device does not need to store the target data, so that the storage space of the data processing device is saved, and the target data can be normally acquired when the space of the data processing device is small. Meanwhile, the identification of the target data is determined according to the geographic position, the target data is searched and determined through the identification, and then the data processing equipment and the data storage equipment can acquire the target data without traversing all data, so that the system resource expenditure required for acquiring the target data is greatly reduced, the acquisition speed of the target data, such as the data of the flight limiting area, is accelerated, and the data processing performance of the flight equipment is improved under the condition of reducing the system resource consumption.

In a second aspect, an embodiment of the present disclosure provides a data processing apparatus, including: a memory and a processor; a memory for storing a computer program; a processor for executing the computer program to implement: determining the identifier of target data corresponding to the geographical position information according to the geographical position information of the flight equipment; and acquiring the target data from the data storage device through the communication interface according to the identification of the target data, wherein the data storage device stores one or more data, and the one or more data comprise the target data.

In a third aspect, an embodiment of the present disclosure provides a data processing method, including: the data storage device receives an identifier of the target data sent by the data processing device, and the identifier corresponds to the geographical position information of the flight device; the data storage device determines target data from one or more data stored in the data storage device according to the identification; the data storage device transmits the target data to the data processing device.

According to the data processing method provided by the embodiment of the disclosure, the data storage device determines the target data according to the identifier of the target data sent by the data processing device, wherein each data in one or more data stored in the data storage device corresponds to a unique identifier, the data size of the identifier is small, when the target data is searched, the target data can be conveniently determined according to the identifier corresponding to the target data, the whole database does not need to be traversed, the system resource expenditure during data searching is greatly reduced, and the data searching speed is improved.

In a fourth aspect, an embodiment of the present disclosure provides a data storage device, including: a memory and a processor; a memory for storing a computer program, and one or more data; a processor for executing a computer program to implement: receiving an identifier of target data sent by data processing equipment through a communication interface, wherein the identifier corresponds to the geographical position information of the flight equipment; determining target data in the one or more data according to the identification; and transmitting the target data to the data processing equipment through the communication interface.

In a fifth aspect, embodiments of the present disclosure provide a flight device, including: the flight control system comprises a machine body, a power system, data processing equipment and data storage equipment, wherein the power system is arranged on the machine body and used for providing power for the flight equipment; the data processing equipment is used for determining the identifier of the target data corresponding to the geographical position information according to the geographical position information of the flight equipment and sending the identifier of the target data to the data storage equipment; the data storage device is used for storing one or more data, the one or more data comprise target data, and the data storage device is further used for determining the target data according to the identification in the one or more data stored in the data storage device and sending the target data to the data processing device.

In a sixth aspect, embodiments of the present disclosure provide a flight control system, including: the flight equipment comprises an airframe, a power system and data processing equipment, wherein the power system is arranged on the airframe and is used for providing power for the flight equipment; the control device comprises a data storage device, and is used for controlling the flight device; the data processing equipment is used for determining the identifier of the target data corresponding to the geographical position information according to the geographical position information of the flight equipment and sending the identifier of the target data to the data storage equipment; the data storage device is used for storing one or more data, the one or more data comprise target data, and the data storage device is further used for determining the target data according to the identification in the one or more data stored in the data storage device and sending the target data to the data processing device.

In a seventh aspect, an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the data processing method provided in any of the above embodiments is implemented.

Drawings

FIG. 1 illustrates a flow diagram of a data processing method provided according to one embodiment of the present description;

FIG. 2 shows a block diagram of a data processing device provided according to an embodiment of the present description;

FIG. 3 illustrates a flow diagram of a data processing method provided in accordance with another embodiment of the present description;

FIG. 4 illustrates a block diagram of a data storage device provided in accordance with one embodiment of the present description;

FIG. 5 illustrates a schematic structural diagram of a flying apparatus provided according to one embodiment of the present description;

FIG. 6 illustrates a schematic structural diagram of a flight control system provided in accordance with one embodiment of the present description.

Detailed Description

In order that the above objects, features and advantages of the present specification may be more clearly understood, a more particular description of the present specification is rendered by reference to the appended drawings, which are appended to the following detailed description. It should be noted that the embodiments and features of the embodiments in the present specification may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present specification, however, the present specification may be practiced in other ways than those specifically described herein, and therefore the scope of the present specification is not limited by the specific embodiments disclosed below.

Data processing methods, data processing devices, data storage devices, flight devices, and flight control systems according to some embodiments of the present description are described below with reference to fig. 1-6.

As shown in fig. 1, in one disclosed embodiment of the present specification, there is provided a data processing method including:

s102, determining the identification of target data corresponding to the geographical position information by the data processing equipment according to the geographical position information of the flight equipment;

in S102, the data processing device is provided on the flight device.

S104, the data processing equipment sends the identification of the target data to the data storage equipment;

in S104, the data storage device stores one or more data, the one or more data including target data, and the identifier is used for the data storage device to obtain the target data.

And S106, the data processing equipment receives the target data sent by the data storage equipment.

In the embodiment, the data processing device determines the identifier of the corresponding target data according to the geographical position information of the current flight device, and the data storage device acquires the target data from one or more data stored in the data storage device through the identifier of the data and sends the target data to the data processing device.

In the embodiment, the data processing device does not need to store the target data, so that the storage space of the data processing device is saved, and the target data can be normally acquired when the space of the data processing device is small. Meanwhile, the identification of the target data is determined according to the geographic position, the target data is searched and determined through the identification, and then the data processing equipment and the data storage equipment can acquire the target data without traversing all data, so that the system resource expenditure required for acquiring the target data is greatly reduced, the acquisition speed of the target data, such as the data of the flight limiting area, is accelerated, and the data processing performance of the flight equipment is improved under the condition of reducing the system resource consumption.

In one embodiment of the present disclosure, optionally, the data storage device is also located on the flight device.

In this embodiment, the data processing device and the data storage device are both located on the flight device, and the data processing device and the data storage device can perform data interaction through a communication bus in the flight device.

In one embodiment of the present disclosure, the data storage device may optionally also be located not on the flight device, but on the control device of the flight device.

In this embodiment, the data storage device is located on the control device of the flight device, and the data storage device and the data processing device can interact with each other via a radio communication link between the flight device and the control device.

In one embodiment of the present disclosure, optionally, the control device includes a terminal, a remote controller, or a server.

In this embodiment, according to different application scenarios, the control device of the flight device may be a terminal, such as a smart phone, a tablet computer, or the like, or may be a remote controller, or may be in the form of a server, or the like.

In one embodiment of the present disclosure, optionally, the storage capacity of the data processing device is less than or equal to the storage capacity of the data storage device.

In this embodiment, the storage capacity of the data processing device is less than or equal to the storage capacity of the data storage device. Specifically, the data processing device is a Flight Control processor (FC) of the Flight device, and is mainly used for controlling the Flight of the unmanned aerial vehicle, and the Flash memory capacity set on the Flight Control processor is small (the capacity of a Flash chip on a common Flight Control processor is generally less than or equal to 1 Mb). The data storage device is an Application Processor (AP) of the flight device, the storage space of the Application processor is large, and the data storage device can meet the requirement of storing databases such as flight-limiting area data in a global range or some ranges.

In an embodiment of the present disclosure, optionally, the geographic location information is latitude and longitude information, and the determining, by the data processing device according to the geographic location information of the flight device, an identifier of target data corresponding to the geographic location information includes: calculating an algorithm value corresponding to the longitude and latitude information through a preset algorithm; and determining the identification of the target data corresponding to the algorithm value through an index table, wherein the index table comprises the corresponding relation between one or more algorithm values and the identification of one or more data.

In this embodiment, a Positioning System such as a GPS (Global Positioning System) or a beidou Positioning System is provided on the flight device, and is configured to acquire latitude and longitude information of a location of the flight device, and the data processing device calculates an algorithm value corresponding to the latitude and longitude information of the flight device through a preset algorithm, and determines an identifier of target data corresponding to the algorithm value by searching a preset index table.

Wherein, the index table comprises at least one algorithm value and the corresponding relation of at least one data identifier.

The following describes in detail a process of determining the identifier of the target data by latitude and longitude information, taking a preset algorithm as an example of the geoaccess algorithm:

the GEOHASH is a geographic position coding technology, a two-dimensional longitude and latitude coordinate can be mapped onto a one-dimensional integer, the GeOHASH has the appearance, the GEOHASH algorithm can be understood to divide the world into a plurality of square grids, each square grid has a unique number, the current GEOHASH value (namely the algorithm value) can be directly converted through the current longitude and latitude information, and the number of the square grid where the current flight equipment is located is further determined.

The geohsh value can be determined by the following algorithm:

geohash＝get_geohash(latitude,longitude)；

wherein, latitude is a dimension value, longtude is a longitude value, and GEOHASH is a GEOHASH value. And determining the identifier of the corresponding target data according to the obtained GEOHASH value.

Specifically, the format of the index table is shown in table 1:

TABLE 1

Geohash	NFZ Index	Num
			0	0	2
1	2	1
			……	……	……
65535	10245	1

The target data identifier is in NFZ Index and Num. NFZ index is the sequence number of the target data, and Num is the number (or number or length) of the target data.

In this embodiment, the identifier of the target data includes a serial number of the target data and a length of the target data, and when the target data is acquired, the position of the target data is located according to the serial number of the target data, and according to the number of the target data, the complete target data is acquired from the position of the target data.

In one embodiment of the present disclosure, optionally, the index table is stored in the data processing apparatus.

In this embodiment, the index table only includes the identifier of the target data and the corresponding algorithm value, so that the storage space occupied by the index table is extremely small, and the storage space of the data processing device itself can completely accommodate all the data of the index table.

In one embodiment of the present disclosure, the index table is optionally stored in a data storage device.

In this embodiment, the index table and one or more data including the target data are stored in the data storage device, and in this embodiment, the data processing device does not store data related to the target data, thereby saving the storage space of the data processing device. In this case, the data processing apparatus needs to send a request to the data storage apparatus to acquire the index table from the data storage apparatus.

In one embodiment of the present disclosure, optionally, the target data comprises at least one of: the data of the flight limiting area, the elevation data, the point of interest data, the building information data and the weather data.

In this embodiment, the target data includes one or more types of data that may be utilized by the flight device during flight, wherein the flight zone restriction data is used to form a geofence that prevents the flight device from entering the flight zone restriction. The elevation data is used for determining flight information such as flight altitude, ground clearance and the like of the flight equipment. The point of interest data is used to recommend one or more points of interest (e.g., aerial points, trick-flight points, etc.) at or near the current location to a user controlling the flight device. The building information data includes position information and altitude information of one or more buildings in the current region, and collision of the flight equipment with the buildings is prevented. The weather data comprises data such as average wind speed, average air pressure, average air humidity and the like of the current geographic position, and flight control of the flight equipment is facilitated.

In an embodiment of the present disclosure, optionally, in a case where the target data includes flight-limiting zone data, the data processing method further includes: and the data processing equipment judges whether the flight equipment is in the flight limiting area or not according to the geographical position information and the flight limiting area data.

In this embodiment, if the acquired target data includes flight restriction area data, the data processing device determines whether the current flight device enters a flight restriction area according to the current geographic position information and the flight restriction area data. If the flight equipment enters the flight limiting area, the user is warned to return, or the flight equipment enters an automatic flight mode to force to return.

In an embodiment of the present disclosure, optionally, the determining, by the data processing device, whether the flight device is in the flight control area according to the geographic position information and the flight control area data includes: the data processing equipment determines the distance between the flight equipment and the flight limiting area according to the geographical position information and the geographical position information of the flight limiting area; and the data processing equipment judges whether the flying equipment is in the flight limiting area or not according to the distance between the flying equipment and the flight limiting area.

In this embodiment, if the acquired target data includes flight-limit zone data, the data processing device determines the number of flight-limit zones around the current flight device and the positions of the flight-limit zones, and further determines the distance between the flight device and the flight-limit zone close to the flight device, so as to prevent the flight device from entering the flight-limit zone by mistake.

In one embodiment of the present disclosure, optionally, in a case where the target data includes elevation data, the data processing method further includes: and the data processing equipment carries out route planning according to the elevation data.

In this embodiment, in the case that the application scenario is mapping or the like, the data processing device performs route planning according to the elevation data.

In one embodiment of the present disclosure, optionally, in a case that the target data includes point of interest data, the data processing method further includes: and the data processing equipment carries out interest point recommendation according to the interest point data.

In this embodiment, the point of interest data is used to recommend one or more points of interest (e.g., aerial points, trick flight points, etc.) at or near the current location to the user controlling the flight device. And the data processing equipment acquires the interest points, generates corresponding recommendation information and recommends one or more interest points to the user.

In one embodiment of the present disclosure, optionally, in a case where the target data includes building information data, the data processing method further includes: and the data processing equipment carries out route planning according to the building data.

In the embodiment, the building information data comprises position information and height information of one or more buildings in the current region, and the data processing equipment performs route planning according to the building data, so that collision between the flight equipment and the buildings can be prevented.

In an embodiment of the present disclosure, optionally, in a case that the target data includes weather data, the data processing method further includes: and the data processing equipment adjusts the flight control parameters of the flight equipment according to the weather data.

In this embodiment, the weather data includes data such as an average wind speed, an average air pressure, and an average air humidity at the current geographic location, and the flight effect of the flight device can be effectively improved by adjusting the flight control parameters according to the weather data.

In one embodiment of the present disclosure, optionally, the preset algorithm comprises at least one of: a hash geoshah algorithm, a three-word address (What 3 Words) algorithm, and an Open Location Code (OLC) algorithm.

In this embodiment, the correspondence between the latitude and longitude information and the identification of the target data may be achieved through a variety of algorithms.

Specifically, the global map may be "partitioned" into a plurality of "polygonal blocks" by any one of a geo-sea algorithm, a What3Words algorithm, an OLC algorithm, or other similar algorithms, or a combination of a plurality of algorithms, wherein each "block" has a unique algorithm value, and the algorithm value is calculated by the corresponding algorithm and latitude and longitude information.

In an optional implementation manner, the flight device at least includes 2 processors of the MCU and the AP of the FC, where the performance of the AP is higher than that of the MCU, and the storage capacity of the AP is larger than that of the MCU. The data of the flight control area in the global range or in some ranges may be all stored in the AP, the MCU does not need to store the data of the flight control area, and when the MCU needs to acquire the data of the flight control area around the current position information of the flight device, the data may be acquired from the AP through the communication interface, and the specific acquisition method may refer to the related description in the foregoing embodiments, which is not described herein again.

In another optional implementation, the flight control region data in the global range or in some ranges may be all stored in the control device or the server at the remote end of the flight device, the MCU does not need to store the flight control region data, and when the MCU needs to acquire the flight control region data around the current position information of the flight device, the flight control region data may be acquired from the control device or the server at the remote end through the transceiver of the flight device.

As shown in fig. 2, in an embodiment of the second aspect of the present disclosure, there is provided a data processing apparatus 200 located on an aircraft apparatus, the data processing apparatus 200 including: a memory 202 and a processor 204; a memory 202 for storing a computer program; a processor 204 for executing a computer program to implement: determining the identifier of target data corresponding to the geographical position information according to the geographical position information of the flight equipment; and acquiring the target data from the data storage device through the communication interface according to the identification of the target data, wherein the data storage device stores one or more data, and the one or more data comprise the target data.

When the data processing device is a flight control processor, the data storage device is an application processor, and the flight control processor and the application processor are located on the flight device, the flight control processor and the application processor perform data transmission through a communication interface, which may be a bus. When the data processing device is a flight control processor on the flight device and the data storage device is a remote control device, the flight control processor (or the flight device) and the remote control device perform data transmission through a communication interface, which may be a transceiver, so as to transmit data in a wireless communication manner.

In this embodiment, the data processing device determines the identifier of the corresponding target data according to the geographical location information of the current flight device, and sends the identifier of the target data to the data storage device. The data storage device acquires the target data from one or more data stored in the data storage device through the identification of the data, and returns the target data to the data processing device.

In one embodiment of the present disclosure, optionally, a data processing device and a data storage device are located on the flight device.

In this embodiment, the data processing device and the data storage device are located on the flight device, the communication interface is a data bus, and the data processing device and the data storage device communicate data through the data bus.

In one embodiment of the present disclosure, optionally, the data processing device is located on the flight device and the data storage device is located on the control device of the flight device.

In this embodiment, the data processing device is located on the flight device, the data storage device is located on the control device of the flight device, the communication interface is a wireless point communication device, and the data processing device and the data storage device communicate data by radio communication.

In an embodiment of the present disclosure, optionally, the determining, by the determining unit, an identifier of target data corresponding to the geographic position information according to the geographic position information of the flight device, where the determining unit is configured to determine the identifier of the target data corresponding to the geographic position information, where the determining unit is configured to determine the identifier of the target data according to the geographic position information of the flight device, and the determining: calculating an algorithm value corresponding to the longitude and latitude information through a preset algorithm; and determining the identification of the target data corresponding to the algorithm value through an index table, wherein the index table comprises the corresponding relation between one or more algorithm values and the identification of one or more data.

In one embodiment of the present disclosure, optionally, the identification of the target data includes a sequence number of the target data and a length of the target data.

In this embodiment, the identifier of the target data includes a serial number of the target data and a length of the target data, and when the target data is acquired, the position of the target data is located according to the serial number of the target data, and according to the length of the target data, the complete target data is acquired from the position of the target data.

In an embodiment of the present disclosure, optionally, the index table is stored in a memory.

In this embodiment, the index table is stored in a memory of the data processing apparatus. Specifically, the index table only includes the identifier of the target data and the corresponding algorithm value, so that the storage space occupied by the index table is extremely small, and the storage space of the data processing device can completely accommodate all data of the index table.

In this embodiment, the index table and one or more data including the target data are both stored in the data storage device, and in this real-time manner, the data processing device does not store data related to the target data, thereby saving the storage space of the data processing device.

In one embodiment of the disclosure, optionally, where the target data comprises flight-limit zone data, the processor is to execute the computer program to: and the data processing equipment judges whether the flight equipment is in the flight limiting area or not according to the geographical position information and the flight limiting area data.

In one embodiment of the present disclosure, optionally, the processor is further configured to: determining the distance between the flight equipment and the flight limiting area according to the geographical position information and the geographical position information of the flight limiting area; and judging whether the flying equipment is in the flight limiting area or not according to the distance between the flying equipment and the flight limiting area.

In one embodiment of the present disclosure, optionally, where the target data includes elevation data, the processor is further configured to: and the data processing equipment carries out route planning according to the elevation data.

In one embodiment of the present disclosure, optionally, where the target data includes point of interest data, the processor is further configured to: and the data processing equipment carries out interest point recommendation according to the interest point data.

In one embodiment of the present disclosure, optionally, in a case where the target data includes building information data, the processor is further configured to: and the data processing equipment carries out route planning according to the building data.

In one embodiment of the present disclosure, optionally, where the target data includes weather data, the processor is further configured to: and the data processing equipment adjusts the flight control parameters of the flight equipment according to the weather data.

In one embodiment of the present disclosure, optionally, the preset algorithm comprises at least one of: hash GEOHASH algorithm, three-word address What3Words algorithm and open position code OLC algorithm.

As shown in fig. 3, in an embodiment of the third aspect of the present disclosure, there is provided a data processing method including:

s302, the data storage device receives the identification of the target data sent by the data processing device;

in S302, the identification corresponds to the geographical position information of the flight device where the data processing device is located;

s304, the data storage device determines target data in one or more data stored in the data storage device according to the identification;

s306, the data storage device sends the target data to the data processing device.

In the embodiment, the data storage device determines the target data according to the identifier of the target data sent by the data processing device, wherein each data in one or more data stored in the data storage device corresponds to a unique identifier, the data size of the identifier is small, when the target data is searched, the target data can be conveniently determined according to the identifier corresponding to the target data, the whole database does not need to be traversed, the system resource expenditure during data searching is greatly reduced, and the data searching speed is improved.

In one embodiment of the present disclosure, optionally, the data processing device and the data storage device are located on the flight device.

In this embodiment, the data storage device is located on the flight device, and the data processing device and the data storage device can perform data interaction through a communication bus in the flight device.

In one embodiment of the present disclosure, optionally, the storage capacity of the data storage device is greater than or equal to the storage capacity of the data processing device.

In one embodiment of the present disclosure, optionally, the identifier of the target data includes a sequence number of the target data and a length of the target data; the data storage device determines target data from one or more data stored in the data storage device according to the identification, and the method comprises the following steps: the data storage device locates a storage location of the target data in the one or more data by the sequence number, and determines the target data by the storage location and the data length.

In this embodiment, the identifier of the target data includes a serial number of the target data and a length of the target data, and when the data storage device acquires the target data, the data storage device locates a position of the target data according to the serial number of the target data, and acquires complete target data from the position of the target data according to the length of the target data.

The following describes in detail a complete flow of acquiring target data by taking a preset algorithm as an example of a geoaccess algorithm:

after receiving the identifiers of the target data, namely the NFZ Index and Num, sent by the data processing device, the data storage device searches for the corresponding flight-limiting area data, namely the "target data", in the flight-limiting area data table through the NFZ Index and Num.

The flight-limiting area data are classified according to the GEOHASH where the central point of the flight-limiting area data is located, and are arranged according to the GEOHASH sequence, so that a flight-limiting area data table sorted according to the GEOHASH classification is obtained, and the flight-limiting area data table is shown in a table 2:

TABLE 2

NFZ Index	Geohash	NFZ ID	DATA
				0	0	9987	…
1	0	1124	…
				2	1	209834	…
……	……	……	…
				10245	65535	1234123	…

Where the DATA column is a specific flight-limiting zone DATA content, and is omitted here.

In table 2, each row is a flight zone limit (NFZ for short), NFZ _ ID is a unique identifier of a flight zone limit, and is used to trace information of the flight zone limit, and according to the table, we can also obtain a serial number (NFZ Index) of each flight zone limit in the table.

The data processing device rapidly calculates the GEOHASH where the current flight device is located according to the current position of the flight device, the number of the flight limit areas around the current flight device and the serial numbers of the flight limit areas in the flight limit area data table 2 can be rapidly obtained by inquiring the flight limit area index table 1, and then the flight limit area data around the flight device can be rapidly obtained by directly inquiring the flight limit area data table 2 through the data storage device.

In one embodiment of the present disclosure, the flight-restricted zone index table is stored on the second device. The first device sends a request to the second device, and the second device sends the index table to the first device according to the request.

As shown in fig. 4, in an embodiment of a fourth aspect of the present disclosure, there is provided a data storage device 400 comprising: a memory 402 and a processor 404; a memory 402 for storing a computer program, and one or more data; a processor 404 for executing a computer program to implement: receiving an identifier of target data sent by data processing equipment through a communication interface, wherein the identifier corresponds to the geographical position information of the flight equipment; determining target data in the one or more data according to the identification; and transmitting the target data to the data processing equipment through the communication interface.

When the data processing device is a flight control processor, the data storage device is an application processor, and the flight control processor and the application processor are located on the flight device, the flight control processor and the application processor perform data transmission through a communication interface, which may be a bus. When the data processing device is a flight control processor and the data storage device is a remote control device, the flight control processor (or the flight device) and the remote control device perform data transmission through a communication interface, which may be a transceiver, to transmit data through wireless communication.

In one embodiment of the present disclosure, optionally, the identifier of the target data includes a sequence number of the target data and a length of the target data; the processor executes the computer program to effect determining the target data from the one or more data identified as being stored in the data storage device, comprising: and positioning the storage position of the target data in one or more data through the sequence number, and determining the target data through the storage position and the data length.

As shown in fig. 5, in an embodiment of a fifth aspect of the present disclosure, there is provided a flying apparatus 500 comprising: body 502, power system 504, data processing device 506, and data storage device 508.

The power system 504 is arranged on the body 502, and the power system 504 is used for providing power for the flight equipment; the data processing device 506 is used for determining the identifier of the target data corresponding to the geographical position information according to the geographical position information of the flight device and sending the identifier of the target data to the data storage device; the data storage device is used for storing one or more data, the one or more data comprise target data, and the data storage device is used for determining the target data according to the identification in the one or more data stored in the data storage device and sending the target data to the data processing device.

It should be noted that, in fig. 5, the installation positions of the data processing device 506 and the data storage device 508 are only used for characterizing that the data processing device 506 and the data storage device 508 are disposed on the flight device 500, and are not used for limiting the installation positions of the data processing device 506 and the data storage device 508 on the flight device 500, for example, the data processing device 506 and the data storage device 508 may be installed inside the body 502.

Optionally, a sensor may be further disposed on the flying apparatus, and is used to acquire position information of the flying apparatus.

In this embodiment, the flying apparatus includes a body and a power system, and the body performs flying motion under the operation of the power system. The flight equipment is also provided with data processing equipment and data storage equipment, the data processing equipment determines the corresponding identification of the target data according to the geographical position information of the current flight equipment through the data processing equipment, and the data storage equipment acquires the target data from one or more data stored in the data storage equipment through the identification of the target data and sends the target data to the data processing equipment.

In an embodiment of the present disclosure, the determining, by the data processing device, the identifier of the target data corresponding to the geographic position information according to the geographic position information of the flight device includes: calculating an algorithm value corresponding to the longitude and latitude information through a preset algorithm; and determining the identification of the target data corresponding to the algorithm value through an index table, wherein the index table comprises the corresponding relation between one or more algorithm values and the identification of one or more data.

In one embodiment of the present disclosure, optionally, the identifier of the target data includes a sequence number of the target data and a length of the target data; the data storage device is used for determining target data according to the identification in one or more data stored in the data storage device, and comprises the following steps: the data storage device locates a storage location of the target data in the one or more data by the sequence number, and determines the target data by the storage location and the data length.

In one embodiment of the present disclosure, optionally, where the target data includes flight limit zone data, the data processing apparatus is configured to: and judging whether the flight equipment is in the flight limiting area or not according to the geographical position information and the flight limiting area data.

In an embodiment of the present disclosure, optionally, determining whether the flight device is in the flight control area according to the geographic location information and the flight control area data includes: the data processing equipment determines the distance between the flight equipment and the flight limiting area according to the geographical position information and the geographical position information of the flight limiting area; and the data processing equipment judges whether the flying equipment is in the flight limiting area or not according to the distance between the flying equipment and the flight limiting area.

In one embodiment of the present disclosure, optionally, where the target data includes elevation data, the data processing apparatus is further configured to: and the data processing equipment carries out route planning according to the elevation data.

In one embodiment of the present disclosure, optionally, in a case where the target data includes point-of-interest data, the data processing apparatus is further configured to: and the data processing equipment carries out interest point recommendation according to the interest point data.

In one embodiment of the present disclosure, optionally, in a case where the target data includes building information data, the data processing device is further configured to: and the data processing equipment carries out route planning according to the building data.

In an embodiment of the disclosure, optionally, in case the target data includes weather data, the data processing device is further configured to: and the data processing equipment adjusts the flight control parameters of the flight equipment according to the weather data.

In an embodiment disclosing a sixth aspect, as shown in fig. 6, there is provided a flight control system 600 comprising: the flight device 602 comprises a body 6022, a power system 6024 arranged on the body and a data processing device 6026, wherein the power system 6024 is used for providing power for the flight device 602; the control device 604 includes a data storage device 6042, and the control device 604 is used to control the flight of the flight device 602.

The data processing device 6026 is configured to determine an identifier of the target data corresponding to the geographic position information according to the geographic position information of the flight device 602, and send the identifier of the target data to the data storage device 6042; the data storage 6042 is configured to store one or more data, which includes the target data, and the data storage 6042 is further configured to determine the target data from the one or more data stored in the data storage and to transmit the target data to the data processing apparatus 6026.

Note that, in fig. 6, the installation position of the data processing device 6026 is only used to characterize that the data processing device 6026 is provided on the flight device 602, and is not used to limit the installation position of the data processing device 6026 on the flight device 602, and for example, the data processing device 6026 may be installed inside the body 6022.

In this embodiment, the flight control system is a complete system including the flight device, and the control device for controlling the flight of the flight device. In a flight control system, there is a data processing device and a data storage device. The data processing device is arranged on the flight device and has a relatively small memory space. The data storage device is arranged on the control device and used for storing the flight-limiting area data on the global scale or in a certain range.

In one embodiment of the present disclosure, optionally, the control device comprises a terminal, a remote controller or a server, and the data storage device is located on the control device.

In this embodiment, according to different application scenarios, the control device of the flight device may be a terminal, such as a smart phone, a tablet computer, or the like, or may be a remote controller, or may be in the form of a server, or the like. The data storage device is located on the control device of the flight device, and the data storage device and the data processing device can perform data interaction through a radio communication connection between the flight device and the control device.

In one embodiment of the present disclosure, optionally, where the target data includes flight limit zone data, the data processing apparatus is configured to: and judging whether the flight equipment is in any flight limiting area or not according to the geographical position information and the flight limiting area data.

In an embodiment of the present disclosure, optionally, determining whether the flight device is located in any flight-restricted area according to the geographic location information and the flight-restricted area data includes: determining the distance between the flight equipment and any flight-limiting area according to the geographical position information of the flight equipment and the geographical position information of the flight-limiting area; and the data processing equipment judges whether the flying equipment is in the flight limiting area or not according to the distance between the flying equipment and the flight limiting area.

In one embodiment of the present disclosure, optionally, the data processing device is a flight control processor and the data storage device is an application processor.

In some embodiments of the present disclosure, a computer-readable storage medium is provided, in which a computer program is stored, which, when executed by a processor, implements the data processing method provided in any of the above embodiments.

In the description of the present specification, the term "plurality" means two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships illustrated in the drawings, are merely for convenience in describing the present specification and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present specification; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present specification can be understood by those of ordinary skill in the art as appropriate.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the specification. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present disclosure, and is not intended to limit the present disclosure, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present specification shall be included in the protection scope of the present specification.

Claims

1. A data processing method, comprising:

the data processing equipment determines the identification of target data corresponding to the geographical position information according to the geographical position information of the flight equipment;

the data processing device acquires the target data from a data storage device according to the identification of the target data, wherein the data storage device stores one or more data, and the one or more data comprise the target data.

2. The data processing method of claim 1, wherein the data processing device and the data storage device are located on the flying device.

3. The data processing method of claim 1, wherein the data processing device is located on the flying device and the data storage device is located on a control device of the flying device.

4. The data processing method of claim 3,

the control equipment comprises a terminal, a remote controller or a server.

5. The data processing method according to any one of claims 1 to 4,

the storage capacity of the data processing device is less than or equal to the storage capacity of the data storage device.

6. The data processing method according to any one of claims 1 to 5,

the geographic position information is latitude and longitude information, and the data processing equipment determines the identification of target data corresponding to the geographic position information according to the geographic position information of the flight equipment, and the identification comprises the following steps:

calculating an algorithm value corresponding to the longitude and latitude information through a preset algorithm;

and determining the identification of the target data corresponding to the algorithm value through an index table, wherein the index table comprises the corresponding relation between one or more algorithm values and the identification of one or more data.

7. The data processing method according to any one of claims 1 to 6,

the identification of the target data comprises a sequence number of the target data and a length of the target data.

8. The data processing method of claim 6,

the index table is stored in the data processing device.

9. The data processing method of claim 6,

the index table is stored in the data storage device.

10. The data processing method according to any one of claims 1 to 9, wherein the target data includes at least one of:

the data of the flight limiting area, the elevation data, the point of interest data, the building information data and the weather data.

11. The data processing method according to claim 10, wherein in a case where the target data includes flight-restricted area data, the data processing method further includes:

and the data processing equipment judges whether the flight equipment is in the flight control area or not according to the geographical position information and the flight control area data.

12. The data processing method of claim 11, wherein the data processing device determining whether the flight device is within the flight restriction zone based on the geographic location information and the flight restriction zone data comprises:

the data processing equipment determines the distance between the flight equipment and the flight-limiting area according to the geographical position information and the geographical position information of the flight-limiting area;

and the data processing equipment judges whether the flying equipment is in the flight limiting area or not according to the distance between the flying equipment and the flight limiting area.

13. The data processing method of claim 10, wherein in the case where the target data includes elevation data, the data processing method further comprises:

and the data processing equipment carries out route planning according to the elevation data.

14. The data processing method of claim 10, wherein in the case where the target data comprises point of interest data, the data processing method further comprises:

and the data processing equipment carries out interest point recommendation according to the interest point data.

15. The data processing method according to claim 10, wherein in a case where the target data includes building information data, the data processing method further comprises:

and the data processing equipment carries out route planning according to the building data.

16. The data processing method of claim 10, wherein in a case where the target data includes weather data, the data processing method further comprises:

and the data processing equipment adjusts the flight control parameters of the flight equipment according to the weather data.

17. The data processing method of any of claims 6 to 16, wherein the preset algorithm comprises at least one of:

hash GEOHASH algorithm, three-word address What3Words algorithm and open position code OLC algorithm.

18. A data processing device located on a flying device, comprising: a memory and a processor;

the memory for storing a computer program;

the processor to execute the computer program to implement:

determining the identifier of target data corresponding to the geographical position information according to the geographical position information of the flight equipment;

and acquiring the target data from a data storage device through a communication interface according to the identification of the target data, wherein the data storage device stores one or more data, and the one or more data comprise the target data.

19. The data processing device of claim 18, wherein the data processing device and the data storage device are located on the flying device.

20. The data processing device of claim 18, wherein the data processing device is located on the flying device and the data storage device is located on a control device of the flying device.

21. The data processing device of claim 20,

the control equipment comprises a terminal, a remote controller or a server.

22. The data processing device of any one of claims 18 to 21,

23. The data processing device of any one of claims 18 to 22,

the determining, by the aid of the geographical location information of the flight device, an identifier of target data corresponding to the geographical location information includes:

24. The data processing device of any one of claims 18 to 23,

25. The data processing device of claim 23,

the memory stores the index table.

26. The data processing device of claim 23,

the index table is stored in the data storage device.

27. The data processing device of any one of claims 18 to 26, wherein the target data comprises at least one of:

28. The data processing device of claim 27, wherein where the target data comprises flight-restricted zone data, the processor is configured to:

and judging whether the flight equipment is in the flight limiting area or not according to the geographical position information and the flight limiting area data.

29. The data processing device of claim 28, wherein the processor is configured to determine whether the flight device is located in the flight restriction area according to the geographic location information and the flight restriction area data, specifically:

determining the distance between the flight equipment and the flight limiting area according to the geographical position information and the geographical position information of the flight limiting area;

and judging whether the flying equipment is in the flight limiting area or not according to the distance between the flying equipment and the flight limiting area.

30. The data processing apparatus of claim 27, wherein where the target data comprises elevation data, the processor is further configured to:

and planning the air route according to the elevation data.

31. The data processing device of claim 27, wherein in the case that the target data comprises point of interest data, the processor is further configured to:

and recommending the interest points according to the interest point data.

32. The data processing device of claim 27, wherein in the case that the target data comprises building information data, the processor is further configured to:

and planning the air route according to the building data.

33. The data processing device of claim 27, wherein in the case that the target data comprises weather data, the processor is further configured to: and adjusting the flight control parameters of the flight equipment according to the weather data.

34. The data processing device of any of claims 23 to 33, wherein the preset algorithm comprises at least one of:

35. A data processing method, comprising:

the data storage device receives an identifier of target data sent by the data processing device, wherein the identifier corresponds to the geographical position information of the flight device;

the data storage device determines the target data in one or more data stored in the data storage device according to the identification;

and the data storage equipment sends the target data to the data processing equipment.

36. The data processing method of claim 35,

the data processing device and the data storage device are located on the flight device.

37. The data processing method of claim 35,

the data processing device is located on the flight device, and the data storage device is located on the control device of the flight device.

38. The data processing method of claim 37,

the control equipment comprises a terminal, a remote controller or a server.

39. The data processing method according to any one of claims 35 to 38,

the storage capacity of the data storage device is greater than or equal to the storage capacity of the data processing device.

40. The data processing method of any of claims 35 to 39, wherein the identification of the target data comprises a sequence number of the target data and a length of the target data;

the data storage device determines the target data from the one or more data stored by the data storage device according to the identification, including:

and the data storage device locates the storage position of the target data in the one or more data through the sequence number, and determines the target data through the storage position and the data length.

41. A data storage device, comprising: a memory and a processor;

the memory for storing a computer program, and one or more data;

the processor to execute the computer program to implement:

receiving an identifier of target data sent by data processing equipment through a communication interface, wherein the identifier corresponds to the geographical position information of the flight equipment;

determining the target data in the one or more data according to the identification;

and sending the target data to the data processing equipment through the communication interface.

42. The data storage device of claim 41,

43. The data storage device of claim 41,

44. The data storage device of claim 43,

the control equipment comprises a terminal, a remote controller or a server.

45. The data storage device of any one of claims 41 to 44,

46. The data storage device of any of claims 41 to 45, wherein the identification of the target data comprises a sequence number of the target data and a length of the target data;

the processor is configured to determine the target data from the one or more data stored in the data storage device according to the identification, and includes:

and positioning the storage position of the target data in the one or more data through the sequence number, and determining the target data through the storage position and the data length.

47. A flying apparatus, comprising:

the flight control system comprises a machine body, a power system, data processing equipment and data storage equipment, wherein the power system is arranged on the machine body and used for providing power for the flight equipment;

the data processing equipment determines the identifier of target data corresponding to the geographical position information according to the geographical position information of the flight equipment and sends the identifier of the target data to data storage equipment;

the data storage device stores one or more data, the one or more data comprise the target data, and the data storage device is used for determining the target data in the one or more data stored in the data storage device according to the identification and sending the target data to the data processing device.

48. The heeling apparatus of claim 47, wherein a storage capacity of the data processing apparatus is less than or equal to a storage capacity of the data storage apparatus.

49. The flying apparatus of claim 47, wherein,

the geographic position information is latitude and longitude information, and the data processing device determines the identifier of target data corresponding to the geographic position information according to the geographic position information of the flight device, and the identifier comprises the following steps:

50. The flying apparatus as claimed in any one of claims 47 to 49 wherein the identification of the target data comprises a sequence number of the target data and a length of the target data;

the data storage device is configured to determine the target data from the one or more data stored by the data storage device according to the identifier, and includes:

51. The flying apparatus of claim 49, wherein,

the index table is stored in the data processing device.

52. The flying apparatus of claim 49, wherein,

the index table is stored in the data storage device.

53. The flying apparatus as claimed in any one of claims 47 to 52 wherein the target data comprises at least one of:

54. The flying apparatus of claim 53 wherein in the event the target data comprises flight-restricted zone data, the data processing apparatus is further configured to:

55. The flying apparatus of claim 54, wherein the determining whether the flying apparatus is within the flight-restricted zone based on the geographic location information and the flight-restricted zone data comprises:

56. The flying apparatus of claim 53 wherein where the target data comprises elevation data, the data processing apparatus is further configured to:

and planning the air route according to the elevation data.

57. The flying apparatus of claim 53 wherein in the event the target data comprises point of interest data, the data processing apparatus is further configured to:

and recommending the interest points according to the interest point data.

58. The flying apparatus as claimed in claim 53, wherein in the case that the target data comprises building information data, the data processing apparatus is further configured to:

and planning the air route according to the building data.

59. The flying apparatus as claimed in claim 53, wherein in the event that the target data comprises weather data, the data processing apparatus is further configured to:

and planning the air route according to the building data.

60. The flying apparatus as claimed in any one of claims 49 to 59 wherein the preset algorithm comprises at least one of:

61. A flight control system, comprising: flight equipment and control equipment;

the flight equipment comprises an airframe, a power system and data processing equipment, wherein the power system is arranged on the airframe and is used for providing power for the flight equipment;

the control device comprises a data storage device, and the control device is used for controlling the flight device;

the data processing device is used for determining the identifier of target data corresponding to the geographical position information according to the geographical position information of the flight device and sending the identifier of the target data to the data storage device;

the data storage device is used for storing one or more data, the one or more data comprise the target data, and the data storage device is used for determining the target data in the one or more data stored in the data storage device according to the identification and sending the target data to the data processing device.

62. The flight control system of claim 61,

63. The flight control system of claim 61 or 62,

the control equipment comprises a terminal, a remote controller or a server.

64. The flight control system of any one of claims 61-63, wherein the geographic location information is latitude and longitude information,

the data processing equipment determines the identification of the target data corresponding to the geographical position information according to the geographical position information of the flight equipment, and the identification comprises the following steps:

65. The flight control system according to any one of claims 61 to 64, wherein the identification of the target data comprises a sequence number of the target data and a length of the target data;

66. The flight control system of claim 64,

the index table is stored in the data processing device.

67. The flight control system of claim 64,

the index table is stored in the data storage device.

68. The flight control system of any one of claims 61-65, wherein the target data includes at least one of:

69. The flight control system of claim 68, wherein where the target data comprises flight limit zone data, the data processing apparatus is configured to:

and judging whether the flight equipment is in any flight limiting area or not according to the geographical position information and the flight limiting area data.

70. The flight control system of claim 69, wherein the determining whether the flight equipment is in any of the flight restrictions based on the geographic location information and the flight restriction zone data comprises:

determining the distance between the flight equipment and any flight-limiting area according to the geographical position information of the flight equipment and the geographical position information of the flight-limiting area;

71. The flight control system of claim 68, wherein where the target data comprises elevation data, the data processing apparatus is configured to:

and planning the air route according to the elevation data.

72. The flight control system of claim 68, wherein where the target data comprises point of interest data, the data processing device is configured to:

and recommending the interest points according to the interest point data.

73. The flight control system of claim 68, wherein where the target data comprises building information data, the data processing device is configured to:

and planning the air route according to the building data.

74. The flight control system of claim 68, wherein where the target data comprises weather data, the data processing device is configured to:

and adjusting the flight control parameters of the flight equipment according to the weather data.

75. The flight control system of any one of claims 61-74, wherein the preset algorithm comprises at least one of:

76. The flight control system of any one of claims 61-75, wherein the data processing device is a flight control processor and the data storage device is an application processor.

77. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the data processing method of any one of claims 1 to 17 and/or the data processing method of any one of claims 35 to 40.