WO2021081993A1 - 数据存储和处理方法、相关设备和存储介质 - Google Patents

数据存储和处理方法、相关设备和存储介质 Download PDF

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Publication number
WO2021081993A1
WO2021081993A1 PCT/CN2019/115110 CN2019115110W WO2021081993A1 WO 2021081993 A1 WO2021081993 A1 WO 2021081993A1 CN 2019115110 W CN2019115110 W CN 2019115110W WO 2021081993 A1 WO2021081993 A1 WO 2021081993A1
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target
graphic
standard
graphics
data processing
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PCT/CN2019/115110
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English (en)
French (fr)
Inventor
邸健
耿畅
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2019/115110 priority Critical patent/WO2021081993A1/zh
Priority to CN201980039061.XA priority patent/CN112313640A/zh
Publication of WO2021081993A1 publication Critical patent/WO2021081993A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
    • G06F16/51—Indexing; Data structures therefor; Storage structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
    • G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/583—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using metadata automatically derived from the content
    • G06F16/5854—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using metadata automatically derived from the content using shape and object relationship
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
    • G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/587—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/60—Memory management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/60—Rotation of whole images or parts thereof
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods

Definitions

  • This application relates to the field of data processing technology, and in particular to a data storage method, a data processing method, a data storage device, a data processing device, a mobile platform, a mobile control system, and a non-volatile computer-readable storage medium.
  • the position coordinates of the target area are usually stored by points, and each position coordinate occupies a certain storage space, and a large storage space is required to store all the position coordinates of the target area.
  • the embodiments of the present application provide a data storage method, a data processing method, a data storage device, a data processing device, a mobile platform, a mobile control system, and a non-volatile computer-readable storage medium.
  • the data storage method of the embodiment of the present application includes obtaining a standard graphic according to a target graphic, the target graphic corresponding to a target area; obtaining a conversion parameter for converting the standard graphic, and the converted standard graphic can cover the target graphic; And storing the position data of the target area according to the graphic type of the standard graphic and the conversion parameter.
  • the data processing method of the embodiment of the present application includes obtaining position data of a target area, the position data including graphic types and conversion parameters; and obtaining information of the target area according to a standard graphic associated with the graphic type and the conversion parameters .
  • the data storage device of the embodiment of the present application includes a processor and a memory, the memory is used to store program instructions or data, and the processor is used to read the program instructions to perform the following operations: obtain a standard graphic according to the target graphic, the target The graphic corresponds to the target area; the conversion parameter for converting the standard graphic is acquired, and the converted standard graphic can cover the target graphic; and the target area is stored according to the graphic type of the standard graphic and the conversion parameter Location data.
  • the data processing device of the embodiment of the present application includes a processor and a memory, the memory is used to store program instructions or data, and the processor is used to read the program instructions to perform the following operations: obtain the location data of the target area, and the location
  • the data includes a graphic type and a conversion parameter; and the information of the target area is obtained according to a standard graphic associated with the graphic type and the conversion parameter.
  • the mobile platform of the embodiment of the present application includes a data storage device and a data processing device.
  • the data storage device includes a processor and a memory, the memory is used to store program instructions or data, and the processor is used to read the program instructions to perform the following operations: obtain a standard graphic according to a target graphic, the target graphic and the target Area correspondence; acquiring conversion parameters for converting the standard graphics, the converted standard graphics can cover the target graphics; and storing the location data of the target area according to the graphics type of the standard graphics and the conversion parameters .
  • the data processing device includes a processor and a memory, the memory is used to store program instructions or data, and the processor is used to read the program instructions to perform the following operations: obtain location data of a target area, where the location data includes graphics Type and conversion parameters; and obtaining the information of the target area according to the standard graphics associated with the graphic type and the conversion parameters.
  • the mobile control system of the embodiment of the present application includes a control device and a mobile platform.
  • the control device includes a data storage device.
  • the data storage device includes a processor and a memory, the memory is used to store program instructions or data, and the processor is used to read the program instructions to perform the following operations: obtain a standard graphic according to a target graphic, the target graphic and the target Area correspondence; acquiring conversion parameters for converting the standard graphics, the converted standard graphics can cover the target graphics; and storing the location data of the target area according to the graphics type of the standard graphics and the conversion parameters .
  • the mobile platform includes data processing equipment.
  • the data processing device includes a processor and a memory, the memory is used to store program instructions or data, and the processor is used to read the program instructions to perform the following operations: obtain location data of a target area, where the location data includes graphics Type and conversion parameters; and obtaining the information of the target area according to the standard graphics associated with the graphic type and the conversion parameters.
  • a non-volatile computer-readable storage medium containing computer-executable instructions when the computer-executable instructions are executed by one or more processors, cause the processors to execute a data storage method or The described data processing method.
  • the data storage method includes obtaining a standard graphic according to a target graphic, the target graphic corresponding to a target area; obtaining a conversion parameter for converting the standard graphic, the converted standard graphic can cover the target graphic; and The graphic type of the standard graphic and the conversion parameter store the position data of the target area.
  • the data processing method includes obtaining position data of a target area, the position data including a graphic type and conversion parameters; and obtaining information of the target area according to a standard graphic associated with the graphic type and the conversion parameter.
  • the target graphic corresponding to the target area can pass through the standard graphic And the corresponding conversion parameters are obtained.
  • the target graphics with the same graphics type can be converted by the same standard graphics.
  • the target graphics only need to store the graphics type and conversion parameters of the corresponding standard graphics. That is, there is no need to store all the position coordinates of the target graphic, thereby reducing the storage space occupied by the position coordinates of the target area, and all the position coordinates of the target area can be stored without a large storage space.
  • FIG. 1 is a schematic diagram of a scene of a data storage method according to some embodiments of the present application.
  • FIGS. 2 to 4 are schematic flowcharts of data storage methods in some embodiments of the present application.
  • Figures 5a, 5b, and 5c are schematic diagrams of scenes of data storage methods in some embodiments of the present application.
  • Fig. 6 is a schematic diagram of a database structure of location data in some embodiments of the present application.
  • FIG. 7 is a schematic flowchart of a data storage method according to some embodiments of the present application.
  • FIG. 8 is a schematic diagram of a scene of a data processing method according to some embodiments of the present application.
  • 9 to 13 are schematic flowcharts of data processing methods in some embodiments of the present application.
  • Fig. 14 is a schematic structural diagram of a mobile platform according to some embodiments of the present application.
  • Fig. 15 is a schematic structural diagram of a mobile control system according to some embodiments of the present application.
  • FIG. 16 is a schematic diagram of the connection between a processor and a computer-readable storage medium in some embodiments of the present application.
  • a plurality of means two or more than two, unless otherwise specifically defined.
  • the terms “installation”, “connection” and “connection” should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection. Or they can communicate with each other; they can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction between two components.
  • the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.
  • the mobile platform 100 in the embodiment of the present application can be a flying device (such as a drone, etc.), a robot, an unmanned vehicle, etc.
  • a flying device such as a drone, etc.
  • a robot such as a robot
  • an unmanned vehicle etc.
  • the target area 900 i.e., a no-entry area.
  • the target area 900 is a target restricted-flying area.
  • the sky above the coverage area of each airport is generally a target restricted-flying area, or a target restricted-flying area temporarily delineated in a certain area, etc.
  • the flying equipment Flying into the target restricted area may cause safety problems.
  • the target area 900 is an obstacle area.
  • the obstacle map of the current area can be obtained to determine all obstacle areas in the current area, and the obstacle area is an obstacle. In the area where objects (such as houses, mountains, rivers, etc.) are located, if the robot enters the obstacle area while moving, it may cause damage to the obstacle when it collides with it.
  • the current position coordinates of the flying equipment and the positional coordinates of the target restricted-flying area can be used to determine whether the flying equipment is within the target restricted-flying area, or get its relation.
  • Data such as the distance between the target restricted areas to control the flight equipment to perform corresponding flight operations. For example, when the flying equipment is in the target restricted area, land on the spot; another example, when the flying equipment is outside the target restricted area, control the flying equipment to avoid the target restricted area to fly, or keep away from the target restricted area. Flight at a certain distance from the border.
  • the position coordinates of the obstacle area need to be stored in advance, and the current position coordinates of the robot and the position coordinates of the obstacle area can be used to determine whether the robot is in the obstacle area, or get the difference between it and the obstacle area.
  • Data such as the distance between the two to control the robot to carry out the corresponding movement operation. For example, when the robot is in the obstacle area, stop moving; for another example, when the robot is outside the obstacle area, control the robot to avoid the obstacle area and move, or keep a certain distance from the boundary of the obstacle area to move.
  • This application is described by taking the mobile platform 100 as a flying device and the target area 900 as the target limit area as an example.
  • the mobile platform 100 is a robot and the target area 900 is an obstacle area, it is basically similar, and will not be repeated here.
  • the data storage method includes:
  • 013 Store the position data of the target area 900 according to the graphic type and conversion parameters of the standard graphic.
  • the embodiment of the present application also provides a data storage device 10, the data storage device 10 includes a processor 11 and a memory 12, the memory 12 is used to store program instructions or data, the processor 11 is used to read the program instructions to perform the following operations according to the target
  • the graphic acquires a standard graphic, and the target graphic corresponds to the target area 900; obtains the conversion parameters of the converted standard graphic, the converted standard graphic can cover the target graphic; and stores the position data of the target area 900 according to the graphic type and conversion parameters of the standard graphic.
  • step 011, step 012, and step 013 can be implemented by the processor 11.
  • the data storage device 10 may be one or more of a flight device, a control terminal, or a server, and the position data and standard graphics are all stored in the memory 12 of the data storage device 10.
  • the flying device can directly obtain the location data of the target area 900 from its own memory 12 during flight, and the location data of the target area 900 can be obtained without relying on a wireless connection.
  • the data storage device 10 is a control terminal (such as a mobile phone, a remote control, etc.)
  • the location data of the target area 900 is stored in the memory 12 of the control terminal, and the flight device can obtain the location of the target area 900 from the memory 12 of the control terminal. Data is used to control the flight of the flight equipment.
  • the flight equipment itself does not need to store the location data of the target area 900, and the required storage space is small.
  • the data storage device 10 is a server
  • the flight device needs to first send a request to obtain the location data of the target area 900 to the server.
  • the server retrieves the location data of the target area 900 from its own memory 12 and sends it to the flight device.
  • the location data of is stored in the memory 12 of the server, the flight device itself does not need to store the location data of the target area 900, and the required storage space is small.
  • the data storage device 10 of the embodiment of the present application is a flying device.
  • the embodiments of the present application are described by taking the flying equipment as an unmanned aerial vehicle as an example.
  • the flying equipment is other types of flying equipment, the principle is similar, and will not be repeated here.
  • the target area 900 is the target restricted area. UAVs are generally prohibited from flying into the target restricted area.
  • the shape formed by the coverage of the target restricted area is the target graphic.
  • the data storage device 10 is When storing the position coordinates of the target flight restriction area, it is necessary to determine the standard graphics according to the target graphics corresponding to the target flight restriction area.
  • the standard graphics can exist according to the current area (such as the area where a certain city is located, the area where a certain province is located, etc.)
  • the corresponding target graphics of all the target flying restricted areas of the target are generated and stored in advance.
  • the shapes of the same type of target restricted area in a certain area are basically similar.
  • the restricted area of the target in a certain area is polygonal, circular, or elliptical
  • the standard graphics can include polygons. One or more of, circle or ellipse.
  • the polygon can be triangle, quadrilateral, pentagon, hexagon, etc.
  • the standard graphic can also be a combination of multiple graphics.
  • the candy-shaped standard graphic can consist of multiple A combination of polygons.
  • the target flight restriction area is a polygon
  • the corresponding standard graphic is also a polygon.
  • the target flight restriction area is a circle
  • the corresponding standard graphic is also a circle.
  • the target flight restriction area is an ellipse
  • the corresponding standard graphic also oval.
  • the standard graphics can also be other shapes, which can be determined according to the target graphics corresponding to all the target flying restricted areas that need to be stored.
  • the corresponding standard graphics may all be polygons; or, when the target flight restriction area is polygonal, circular, or elliptical, the corresponding standard The graphics can all be circular; or, when the target flight restriction area is polygonal, circular, or elliptical, the corresponding standard graphics can be all elliptical; or, when the target flight restriction area is polygonal, the corresponding standard graphics can be They are all polygons, and when the target flight restriction area is a circle or an ellipse, the corresponding standard graphics are all circles, etc.
  • one standard graphic can correspond to multiple target graphics with different graphic types, which can reduce the number of standard graphics that need to be stored, thereby reducing the storage space occupied by the standard graphics.
  • the conversion parameter may be a parameter corresponding to a conversion operation such as translation, scaling, and rotation.
  • the conversion parameter corresponding to the translation is the direction and distance of the translation
  • the conversion parameter corresponding to the zoom is the zoom ratio
  • the conversion parameter corresponding to the rotation is the rotation angle.
  • the processor 11 can store the position data of the target flying restricted area according to the graphic type and conversion parameters of the standard graphics. Because the position coordinates of each target flying restricted area can be stored by the graphic type and conversion parameters of the standard graphic, and a Standard graphics can correspond to the graphics of multiple target flying restricted areas. For the same graphic type (polygon, candy shape, circle or ellipse, etc.), you only need to pre-store one standard graphic (polygon, candy shape, circle or ellipse) Etc.), the standard graphics and the corresponding conversion parameters can be converted to obtain the graphics of multiple target flying restricted areas. Compared with the method of directly storing all the position coordinates of each target flying restricted area, the target flying restricted The storage space occupied by the location coordinates of the area is relatively small.
  • the converted standard graphic can overlap with the target graphic.
  • the graphic type of the target graphic for example, the graphic type of the target graphic and the graphic type of the corresponding standard graphic are both circular
  • the converted standard graphic can cover the target Graphics, but the two overlap only partially. Therefore, it is possible to increase the overlap between the target graphic and the converted standard graphic by selecting a standard graphic that matches the target graphic, so as to improve the accuracy of storing the position coordinates of the target flying restricted area with the graphic type and conversion parameters of the standard graphic. Sex.
  • the target graphic corresponding to the target flying restricted area can be obtained through the standard graphic and the corresponding conversion parameter.
  • the target graphics can be obtained through the same standard graphics conversion.
  • the target graphics only need to store the graphics type and conversion parameters of the corresponding standard graphics. There is no need to store all the position coordinates of the target flying restricted area, thereby reducing the target limit.
  • the storage space occupied by the position coordinates of the flying area can store all the position coordinates of the target restricted flying area without a large storage space.
  • step 012 further includes:
  • the processor 11 is also used to convert the standard graphics and the target graphics to the same coordinate system; and to obtain the conversion parameters in the same coordinate system.
  • step 0121 and step 0122 can be implemented by the processor 11.
  • the standard graphics and the target graphics need to be converted to the same coordinate system before the conversion operation can be performed.
  • the location coordinates of the target restricted area are all Global Positioning System (GPS) coordinates
  • the location coordinates corresponding to the standard graphics are all North East Down (NED) coordinates, where the NED coordinate system is a plane
  • the coordinate system can easily convert the standard graphics to the target graphics. Therefore, the GPS coordinates of the target flight-restricted area can be converted to NED coordinates to determine the target graphics corresponding to the target flight-restricted area.
  • the standard graphics are converted, so that the converted standard graphics cover the target graphics, so as to obtain the conversion parameters in the NED coordinate system.
  • the processor 11 is further configured to convert the first coordinate of the feature point of the target graphic in the first coordinate system into the second coordinate in the second coordinate system where the standard graphic is located.
  • polygon feature points are the vertices of the polygon
  • circle feature points are the length of the center and the radius, etc.
  • the characteristic points of the target graphic are the vertices of the polygon, and the coordinates of all points on the multiple sides of the polygon can be determined according to the coordinates of the vertices of the polygon, thereby determining the coordinates of the entire target graphic;
  • the characteristic points of the target graphic are the center of the circle and the radius of the circle, and the coordinates of all points of the circle can be determined according to the coordinates and radius of the center of the circle; for another example, when the target graphic is an ellipse
  • the characteristic points of the target graphic can be the two focal points on the side of the ellipse, the length of the major axis and the length of the minor axis, so that the entire target graphic can be obtained according to the two focal points, the length of the major axis and the length of the minor axis coordinate of.
  • the processor 11 can convert the first coordinates of the feature points of the target graphics in the first coordinate system into the first coordinates in the second coordinate system where the standard graphics are located.
  • the first coordinate system may be a GPS coordinate system
  • the second coordinate system may be a NED coordinate system.
  • the processor 11 can convert the GPS coordinates of the feature points of the target graphic in the GPS coordinate system to the NED coordinates in the NED coordinate system according to the conversion formula of GPS coordinates and NED coordinates, thereby facilitating subsequent conversions in the same NED coordinate system. parameter.
  • the conversion parameters include a zoom ratio and a rotation angle
  • step 012 also includes:
  • 0124 Obtain the zoom ratio corresponding to the zoom operation and the rotation angle corresponding to the rotation operation.
  • the processor 11 is further configured to perform zooming and rotating operations on the standard graphics in the same coordinate system so that the zoomed and rotated standard graphics cover the target graphics; and obtain the zoom ratio and the corresponding zooming operation.
  • the rotation angle corresponding to the rotation operation can be implemented by the processor 11.
  • the target graphic S2 and the standard graphic S1 may not have overlapping points, then When converting the standard figure S1, the standard figure S1 needs to be translated first so that the target figure S2 and the standard figure S1 overlap, and then the zoom operation and the rotation operation are performed to make the standard figure S1 cover the target figure S2.
  • the parameters also include translation parameters (for example, the translation parameters include abscissa increments and ordinate increments).
  • the target graphic S2 and the standard graphic S1 may also have overlapping points.
  • the coordinate origin O of the NED coordinate system can be used as the base point to convert the GPS coordinates of the target flying restricted area to NED coordinates
  • the coordinate point where the target figure S2 and the standard figure S1 overlap is the coordinate origin O of the NED coordinate system (that is, the coordinate point with the NED coordinate (0,0)).
  • the processor 11 only needs to perform the standard figure S1
  • the zooming and rotating operations can make the scaled and rotated standard graphics S1 cover the target graphics S2, so that only the zoom ratio corresponding to the zooming operation and the rotation angle corresponding to the rotation operation need to be obtained, which can reduce the storage space required for storing the translation parameters.
  • the target figure S2 and the standard figure S1 are both octagonal, the standard figure S1 is enlarged twice (that is, the zoom ratio is 2) to obtain the intermediate figure S3 (as shown in Fig. 5b), and the standard figure S1 passes through
  • the coincident coordinate point ie, the coordinate origin O
  • the rotation angle is 90 degrees
  • the target graphic S2 as shown in FIG. 5c.
  • the processor can accurately obtain the rotation angle and the zoom ratio.
  • the feature point of the target graphic includes the target origin
  • step 013 includes:
  • 0131 Store location data according to the GPS coordinates of the target origin, the graphic type of the standard graphic, and the conversion parameters.
  • the processor 11 is further configured to store location data according to the GPS coordinates of the target origin, the graphic type of the standard graphic, and the conversion parameters.
  • the target graphic can be obtained according to the graphic type and conversion parameters of the standard graphic.
  • the target graphic and the standard graphic are in the same coordinate system (such as the NED coordinate system).
  • the NED coordinate system such as the NED coordinate system
  • the GPS coordinates of the target origin can be stored at the same time, where the target origin is the target graphic in the NED Any coordinate point in the coordinate system (including but not limited to the coordinate origin), according to the NED coordinates of the target origin, the GPS coordinates corresponding to the NED coordinates, and all the NED coordinates of the target graphics can be calculated to obtain all the GPS of the target flying restricted area coordinate.
  • the target origin can be set at the coordinate origin of the NED coordinate system, that is, the NED coordinates of the target origin are (0,0), which can reduce the amount of calculation for converting the NED coordinates of the target graphic into the GPS coordinates of the target flight restricted area.
  • the location data also includes a database index.
  • the database index can be stored together, so that the processor 11 can quickly find the location data in the database according to the database index.
  • Corresponding location data The structure of the position data of the present application in the database is shown in Fig. 6, and the position data includes but not limited to the database index, GPS coordinates of the target origin, the graphic type of the standard graphic, the zoom ratio and the rotation angle.
  • the data storage method further includes:
  • the processor 11 is also used to store the NED coordinates of the standard graphics in the form of a matrix.
  • step 014 can be implemented by the processor 11.
  • the processor 11 may store the coordinates of the feature points of the standard graphics in the same standard graphics matrix, and each element in the matrix contains the coordinates of a feature point.
  • the standard graphics stored in the form of a matrix are not only convenient for storage, but also It is also convenient for subsequent calculations based on the standard graphic matrix to obtain the target graphic matrix corresponding to the target graphic.
  • the order of each point in the matrix can indicate the connection relationship of each point, for example, the matrix A ⁇ a, b, c, d, e, f, g, h ⁇ , where a, b, c, d, e, f, g and h store the coordinates of 8 feature points of the target graph.
  • the sequence of a, b, c, d, e, f, g, and h indicates the sequential connection relationship of each feature point, that is, a connects b, b connects c, c connect d, d connect e, e connect f, f connect g and g connect h.
  • the data processing method includes:
  • the location data includes the graphic type and conversion parameters
  • the present application also provides a data processing device 20.
  • the data processing device 20 includes a processor 21 and a memory 22.
  • the memory 22 is used to store program instructions or data, and the processor 21 is used to read the program instructions to perform the following operations: Obtain a target area
  • the location data of 900 includes the graphic type and conversion parameters; and the information of the target area 900 is obtained according to the standard graphic and conversion parameters associated with the graphic type.
  • step 021 and step 022 can be implemented by the processor 21.
  • the data processing device 20 may be a flight controller (flight control system, FC) of the drone.
  • FC flight control system
  • the FC slaves the data
  • the storage device 10 acquires the location data of the target flying restricted area.
  • the location data includes graphic types and conversion parameters, where the graphic type is the graphic type of the standard graphic corresponding to the target graphic, and the conversion parameter is converted from the standard graphic to a parameter covering the target graphic.
  • FC After FC obtains the graphic type and conversion parameters, it first obtains the associated standard graphic according to the graphic type, and then converts the standard graphic according to the conversion parameters to obtain the target graphic, thereby obtaining the information of the target flying restricted area according to the target graphic (such as target graphic If it is a graph in the NED coordinate system, the information of the target restricted-flying area is the coordinates of the target restricted-flying area in the NED coordinate system). In this way, the FC can quickly obtain the information of the target flight-restricted area according to the graphics type and conversion parameters.
  • the data processing device 20 may first obtain the standard graphics from the data storage device 10.
  • the standard graphics can be generated and stored in advance according to the target graphics corresponding to the limited flying area existing in the current area (such as the area where a certain city is located, the area where a certain province is located, etc.).
  • the target graphics are converted to the GPS coordinates of the restricted flying area.
  • the NED coordinates can be obtained, and the corresponding standard graphics can be constructed according to the target graphics.
  • the standard graphics can be the hexagons corresponding to one of the target graphics , or the standard graphic is a hexagon with the largest average degree of overlap between the converted standard graphic and the multiple target graphic after being converted to cover the multiple target graphic. In this way, the standard graphics are generated according to the target graphics corresponding to the flying restricted area, and the accuracy is high.
  • the standard graphics are stored in the flight equipment, or the standard graphics are stored in the control terminal, or the standard graphics are stored in the server, and the FC is from the flight equipment, control terminal or Standard graphics can be obtained from the server.
  • step 022 includes:
  • the processor 21 is further configured to obtain the coordinates of one or more feature points of a standard graphic associated with the graphic type; and obtain the coordinates of the target area 900 corresponding to the target area 900 according to the coordinates of the one or more feature points and conversion parameters.
  • the coordinates of the target graphic can be implemented by the processor 21.
  • the processor 21 can obtain the coordinates of one or more feature points of the standard graphics, and then according to the coordinates of the one or more feature points, the coordinate system ( For example, construct the standard graphic in the NED coordinate system, and then perform conversion operations (such as translation, rotation, zooming, etc.) on the standard graphic according to the conversion parameters to obtain the coordinates of the target graphic.
  • the coordinate system For example, construct the standard graphic in the NED coordinate system, and then perform conversion operations (such as translation, rotation, zooming, etc.) on the standard graphic according to the conversion parameters to obtain the coordinates of the target graphic.
  • step 022 further includes:
  • the processor 21 is further configured to obtain a standard graphic matrix stored in the form of a matrix, the standard graphic matrix including the coordinates of one or more characteristic points of the standard graphic; and the target graphic is obtained according to the standard graphic matrix and conversion parameters. Matrix; and obtain the coordinates of the target graphic corresponding to the target area 900 according to the target graphic matrix.
  • step 0223, step 0224, and step 0225 can be implemented by the processor 21.
  • the coordinates of the characteristic points of the standard graphics can be stored in the form of a matrix to generate a standard graphics matrix.
  • Each element of the standard graphics matrix represents a feature point.
  • the arrangement order indicates the storage order of the feature points or the connection order of the feature points.
  • the processor 21 can quickly calculate the target graphic matrix according to the standard graphic matrix and the conversion parameters, and then obtain the coordinates of the target graphic corresponding to the target flying restricted area according to the target graphic matrix.
  • the coordinates of the characteristic points of the standard graphics are all NED coordinates, and the coordinates of the target graphics included in the target graphics matrix calculated through the standard graphics matrix and the conversion parameters are also NED coordinates.
  • the NED coordinates of the corresponding target graphic are corresponding, there is no need to store the GPS coordinates of the target origin in the position data, thereby reducing the storage space occupied by the position data.
  • the coordinates of the target origin please refer to the description of step 0131.
  • the coordinates of the feature points of the standard graphics may all be GPS coordinates, and the coordinates of the target graphics corresponding to the target flying restricted area included in the target graphics matrix calculated through the standard graphics matrix and the conversion parameters are also GPS coordinates. In this way, there is no need to first calculate the NED coordinates of the target graphic corresponding to the target flying restricted area, and then convert the NED coordinates to GPS coordinates.
  • step 0224 includes:
  • the processor 21 is further configured to calculate the zoom operator and the rotation operator according to the zoom ratio and the rotation angle, respectively; and calculate the target graphics matrix according to the standard graphics matrix, the zoom operator, and the rotation operator.
  • step 0226 and step 0227 can be implemented by the processor 21.
  • the processor 21 when it calculates the target graphics matrix according to the standard graphics matrix and the conversion parameters, it may first calculate the rotation operator and the scaling operator respectively according to the rotation angle and the scaling ratio, and then calculate the rotation operator and the scaling operator according to the standard graphics matrix, the scaling operator and the rotation operator.
  • the sub-calculation target graphics matrix the data storage device 10 may calculate the rotation operator and the zoom operator according to the rotation angle and the zoom ratio when acquiring the conversion parameters, and then use the rotation operator and the zoom operator to store the conversion parameters when storing the position data. Therefore, there is no need for the data processing device 20 to calculate the rotation operator and the scaling operator, and the calculation amount of the data processing device 20 to calculate the target graphic matrix can be reduced, thereby increasing the speed of obtaining the position coordinates of the target flying restricted area.
  • the standard graphics matrix is A ⁇ (x1, y1), (x2, y2), (x3, y3), (x4, y4) ⁇
  • the rotation angle is ⁇
  • the zoom ratio is (SX, SY), Scaling operator Rotation operator
  • the target graphics matrix C RAK, where I is the identity matrix, and n is the latitude of the matrix (it can be determined according to the number of feature points stored in the standard graphics), It is the kronectker product. Therefore, the target graphics matrix can be quickly calculated after obtaining the standard graphics matrix, the zoom ratio and the rotation angle.
  • the location data further includes the GPS coordinates of the target origin
  • the processor 21 is further configured to obtain the target corresponding to the target area 900 according to the GPS coordinates of the target origin, standard graphics, and conversion parameters.
  • the GPS coordinates of the graph are further configured to obtain the target corresponding to the target area 900 according to the GPS coordinates of the target origin, standard graphics, and conversion parameters. The GPS coordinates of the graph.
  • the data storage device 10 needs to store the GPS coordinates of the target origin when storing the position data, where the information about the target origin Please refer to the description of step 0131 for GPS coordinates. Then the data processing device 20 can first obtain the target graphics according to the standard graphics and the conversion parameters. For example, the data processing device 20 calculates the target graphics matrix according to the standard graphics matrix, the zoom operator and the rotation operator, and the target graphics matrix contains the target flight restriction area. NED coordinates. At this time, the data processing device 20 can obtain the GPS coordinates of the target flying restricted area according to the NED coordinates of the target flying restricted area, the NED coordinates of the target origin and the GPS coordinates of the target origin.
  • the data processing method further includes:
  • the processor 21 is also used to obtain the current position coordinates of the target object; determine the distance between the target object and the target area 900 according to the position coordinates and the coordinates of the target graphic corresponding to the target area 900; and according to the distance Control the movement of the target object.
  • step 023, step 024, and step 025 can be implemented by the processor 21.
  • the global positioning system of the drone can obtain the current position coordinates of the drone in real time, and the processor 21 converts the current position coordinates (generally GPS coordinates) of the drone into The coordinates of the coordinate system where the target graphic is located (such as NED coordinates).
  • the processor 21 calculates the distance between the NED coordinates of the current position and the target graphic.
  • the UAV can fly in any direction, and when the distance is small (for example, when the distance is less than or equal to a predetermined distance), the processor 21 can control the UAV to avoid the target restricted area to fly.
  • the processor 21 can The sub-velocity of the drone toward the target restricted area is set to 0, so that even if the drone is controlled to fly to the target restricted area, since the sub-velocity of the drone toward the target restricted area is 0, the UAV and The distance of the target restricted area will still be less than or equal to the predetermined distance.
  • the minimum distance between the drone and all the coordinate points of the target restricted area can be used as the distance between the drone and the target restricted area To judge, so as to ensure that the drone will not enter the target restricted area.
  • the processor 21 can control the drone to descend immediately, thereby preventing the drone from flying at the target. Flying within the area.
  • the mobile platform 100 may include a data processing device 20 and a data storage device 10 at the same time.
  • the data processing device 20 and the data storage device 10 are connected, and the data processing device 20 may be removed from the data storage device 10.
  • the processors of the data processing device 20 and the data storage device 10 may share one or more processors, or the data processing device 20 uses one or more processors alone, and the data storage device 10 also uses one or more processors alone.
  • the processors of the data processing device 20 and the data storage device 10 may share one or more memories, or the data processing device 20 uses one or more memories separately, and the data storage device 10 also uses one or more memories separately.
  • the mobile platform 100 is a drone
  • the data storage device 10 can be an application processor (AP) of the drone
  • the data processing device 20 can be an FC of the drone, that is, the data storage device 10 uses the processor and memory of the AP alone, and the data processing device 20 uses the processor and memory of the FC alone; or, the data storage device 10 and the data processing device 20 are both the AP of the drone, that is, the data processing The device 20 and the data storage device 10 share the processor and the processor of the AP.
  • the data storage device 10 and the data processing device 20 are both the FC of the drone, that is, the data processing device 20 and the data storage device 10 share the processor and the processor of the FC.
  • the data storage device 10 is the AP of the drone
  • the data processing device 20 is the FC of the drone.
  • the mobile control system 1000 includes a mobile platform 100 and a control device 200.
  • the mobile platform 100 includes a data processing device 20, and the control device 200 includes a data storage device 10.
  • the control device 200 includes one or more of a control terminal or a server.
  • the data storage device 10 is provided at the end of the control device 200
  • the control device 200 may be a control terminal (such as a mobile phone, a remote control, etc.), and the control device 200 may also be a server.
  • the control device 200 is a server.
  • the data processing device 20 is arranged at the end of the mobile platform 100. The mobile platform 100 and the server can communicate with each other.
  • the data storage device 10 is used to store standard graphics and the location data of the target area 900, and the data processing device 20 restores the current target area 900 information (such as the GPS coordinates of the current target area 900, etc.) according to the standard graphics and the location data of the target area 900. ). Since the standard graphics and the location data of the target area 900 are both stored on the control device 200, the mobile platform 100 only needs to obtain the current location data of the target area 900 from the control device 200 each time. For example, the mobile platform 100 can be controlled from The terminal obtains the standard graphics and the location data of the target area 900, or the mobile platform 100 obtains the standard graphics and the location data of the target area 900 from the server. The mobile platform 100 does not need a large storage space, even if the mobile platform 100 (such as a drone) only Equipped with FC with a small storage space, it can also achieve the acquisition of the target restricted flight area, thereby realizing the restricted flight function.
  • the mobile platform 100 such as a drone
  • FIG. 16 a non-volatile computer-readable storage medium 300 containing computer-executable instructions 302 according to an embodiment of the present application.
  • the processor 400 executes the data storage method or data processing method of any one of the foregoing embodiments.
  • each embodiment includes the timing of the execution of the action
  • the timing is only an exemplary illustration.
  • the timing of each execution of the action may be changed according to needs.

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Abstract

一种数据存储方法、数据处理方法、数据存储设备、数据处理设备、移动平台、移动控制系统和非易失性计算机可读存储介质(300)。数据存储方法包括根据目标图形获取标准图形；获取转换标准图形的转换参数；及根据标准图形的图形类型和转换参数存储目标区域的位置数据。

Description

数据存储和处理方法、相关设备和存储介质 技术领域
本申请涉及数据处理技术领域，特别涉及一种数据存储方法、数据处理方法、数据存储设备、数据处理设备、移动平台、移动控制系统和非易失性计算机可读存储介质。
背景技术
目前，目标区域的位置坐标通常是按点进行存储，每个位置坐标均会占用一定的存储空间，需要较大的存储空间才能将目标区域的所有位置坐标均进行存储。
发明内容
本申请的实施方式提供一种数据存储方法、数据处理方法、数据存储设备、数据处理设备、移动平台、移动控制系统和非易失性计算机可读存储介质。
本申请实施方式的数据存储方法包括根据目标图形获取标准图形，所述目标图形与目标区域对应；获取转换所述标准图形的转换参数，经转换后的所述标准图形能够覆盖所述目标图形；及根据所述标准图形的图形类型和所述转换参数存储所述目标区域的位置数据。
本申请实施方式的数据处理方法包括获取目标区域的位置数据，所述位置数据包括图形类型和转换参数；及根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息。
本申请实施方式的数据存储设备包括处理器和存储器，所述存储器用于存储程序指令或数据，所述处理器用于读取所述程序指令执行如下操作：根据目标图形获取标准图形，所述目标图形与目标区域对应；获取转换所述标准图形的转换参数，经转换后的所述标准图形能够覆盖所述目标图形；及根据所述标准图形的图形类型和所述转换参数存储所述目标区域的位置数据。
本申请实施方式的数据处理设备包括处理器和存储器，所述存储器用于存储程序指令或数据，所述处理器用于读取所述程序指令执行如下操作：获取目标区域的位置数据，所述位置数据包括图形类型和转换参数；及根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息。
本申请实施方式的移动平台包括数据存储设备和数据处理设备。所述数据存储设备包括处理器和存储器，所述存储器用于存储程序指令或数据，所述处理器用于读取所述程序指令执行如下操作：根据目标图形获取标准图形，所述目标图形与目标区域对应；获取转换所述标准图形的转换参数，经转换后的所述标准图形能够覆盖所述目标图形；及根据所述标准图形的图形类型和所述转换参数存储所述目标区域的位置数据。所述数据处理设备包括处理器和存储器，所述存储器用于存储程序指令或数据，所述处理器用于读取所述程序指令执行如下操作：获取目标区域的位置数据，所述位置数据包括图形类型和转换参数；及根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息。
本申请实施方式的移动控制系统包括控制设备和移动平台。所述控制设备包括数据存储设备。所述数据存储设备包括处理器和存储器，所述存储器用于存储程序指令或数据，所述处理器用于读取所述程序指令执行如下操作：根据目标图形获取标准图形，所述目标图形与目标区域对应；获取转换所述标准图形的转换参数，经转换后的所述标准图形能够覆盖所述目标图形；及根据所述标准图形的图形类型和所述转换参数存储所述目标区域的位置数据。所述移动平台包括数据处理设备。所述数据处理设备包括处理器和存储器，所述存储器用于存储程序指令或数据，所述处理器用于读取所述程序指令执行如下操作：获取目标区域的位置数据，所述位置数据包括图形类型和转换参数；及根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息。
本申请实施方式的一种包含计算机可执行指令的非易失性计算机可读存储介质，当所述计算机可执行指令被一个或多个处理器执行时，使得所述处理器执行数据存储方法或者所述的数据处理方法。所述数据存储方法包括根据目标图形获取标准图形，所述目标图形与目标区域对应；获取转换所述标准图形的转换参数，经转换后的所述标准图形能够覆盖所述目标图形；及根据所述标准图形的图形类型和所述转换参数存储所述目标区域的位置数据。所述数据处理方法包括获取目标区域的位置数据，所述位置数据包括图形类型和转换参数；及根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息。
本申请实施方式的数据存储方法、数据处理方法、数据存储设备、数据处理设备、移动平台、移动控制系统和非易失性计算机可读存储介质中，与目标区域对应的目标图形可通过标准图形和对应的转换参数得到，在存储时，只需预先存储好标准图形，图形类型相同的目标图形均可通过相同的标准图形转换得到，目标图形仅需存储对应的标准图形的图形类型和转换参数即可，无需将目标图形的所有位置坐标均进行存储，从而减少了目标区域的位置坐标所占用的存储空间，无需较大的存储空间也能将目标区域的所有位置坐标均存储起来。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请某些实施方式的数据存储方法的场景示意图。
图2至图4是本申请某些实施方式的数据存储方法的流程示意图。
图5a、图5b和图5c是本申请某些实施方式的数据存储方法的场景示意图。
图6是本申请某些实施方式的位置数据的数据库结构示意图。
图7是本申请某些实施方式的数据存储方法的流程示意图。
图8是本申请某些实施方式的数据处理方法的场景示意图。
图9至图13是本申请某些实施方式的数据处理方法的流程示意图。
图14是本申请某些实施方式的移动平台的结构示意图。
图15是本申请某些实施方式的移动控制系统的结构示意图。
图16是本申请某些实施方式的处理器和计算机可读存储介质的连接示意图。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
请参阅图1，本申请实施方式的移动平台100可以是飞行设备(如无人机等)、机器人、无人车等，一般的，移动平台100的移动会存在一定的限制，以防止移动平台100移动到目标区域900(即，禁止进入的区域)导致的安全问题的发生。以飞行设备或机器人为例，对于飞行设备或机器人的移动一般会存在一些限制。例如，对于飞行设备而言，目标区域900为目标限飞区域，如每个机场的覆盖范围的上空一般为目标限飞区域，或者临时在某个地区划出的目标限飞区域等，飞行设备飞入目标限飞区域可能会导致安全问题的发生。再例如，对于机器人而言，目标区域900为障碍物区域，如机器人在某个区域移动时，可获取当前区域的障碍物地图，从而确定当前区域内的所有障碍物区域，障碍物区域为障碍物(如房屋、山峰、河流等)所在的区域，机器人在移动时若进入障碍物区域，可能会导致碰撞到障碍物发生损坏的情况。
在控制飞行设备时，需要预先存储好目标限飞区域的位置坐标，通过飞行设备当前的位置坐标和目标限飞区域的位置坐标即可判断飞行设备是否在目标限飞区域内，或得到其与目标限飞区域之间的距离等数据，从而控制飞行设备进行相应的飞行操作。例如，飞行设备在目标限飞区域内时，原地降落；再例如，在飞行设备位于目标限飞区域外时，控制飞行设备避开目标限飞区域进行飞行，或保持离目标限飞区域的边界一定距离进行飞行。
而在控制机器人移动时，需要预先存储好障碍物区域的位置坐标，通过机器人当前的位置坐标和障碍物区域的位置坐标即可判断机器人是否在障碍物区域内，或得到其与障碍物区域之间的距离等数据，从而控制机器人进行相应的移动操作。例如，机器人在障碍物区域内时，停止移动；再例如，在机器人 位于障碍物区域外时，控制机器人避开障碍物区域进行移动，或保持离障碍物区域的边界一定距离进行移动。
本申请以移动平台100为飞行设备、目标区域900为目标限位区域为例进行说明，移动平台100为机器人、目标区域900为障碍物区域时基本类似，在此不再赘述。
请参阅图1和图2，本申请实施方式提供一种数据存储方法，该数据存储方法包括：
011：根据目标图形获取标准图形，目标图形与目标区域900对应；
012：获取转换标准图形的转换参数，经转换后的标准图形能够覆盖目标图形；及
013：根据标准图形的图形类型和转换参数存储目标区域900的位置数据。
本申请实施方式还提供一种数据存储设备10，该数据存储设备10包括处理器11和存储器12，存储器12用于存储程序指令或数据，处理器11用于读取程序指令执行如下操作根据目标图形获取标准图形，目标图形与目标区域900对应；获取转换标准图形的转换参数，经转换后的标准图形能够覆盖目标图形；及根据标准图形的图形类型和转换参数存储目标区域900的位置数据。也即是说，步骤011、步骤012和步骤013可以由处理器11实现。
具体地，数据存储设备10可以是飞行设备、控制终端或服务器中的一个或多个，位置数据和标准图形均存储在数据存储设备10的存储器12中。在数据存储设备10为飞行设备时，飞行设备在飞行时可直接从本身的存储器12中获取到目标区域900的位置数据，无需依赖无线连接即可实现目标区域900的位置数据的获取。在数据存储设备10为控制终端时(如手机、遥控器等)，目标区域900的位置数据存储在控制终端的存储器12中，飞行设备可以从控制终端的存储器12中获取到目标区域900的位置数据，以控制飞行设备的飞行，飞行设备本身无需存储目标区域900的位置数据，所需的存储空间较小。在数据存储设备10为服务器时，飞行设备需要先发送获取目标区域900的位置数据的请求给服务器，服务器从其本身的存储器12中取出目标区域900的位置数据后发给飞行设备，目标区域900的位置数据存储在服务器的存储器12中，飞行设备本身无需存储目标区域900的位置数据，所需的存储空间较小。如图1所示的例子中，本申请实施方式的数据存储设备10为飞行设备。
本申请实施方式以飞行设备为无人机为例进行说明，飞行设备为其他类型的飞行设备时原理类似，在此不再赘述。无人机在飞行时，目标区域900即为目标限飞区域，无人机一般禁止飞入目标限飞区域，目标限飞区域覆盖范围所形成的形状即为目标图形，数据存储设备10在对目标限飞区域的位置坐标进行存储时，需要先根据目标限飞区域对应的目标图形确定标准图形，标准图形可根据当前地区(如某个市所在的区域、某个省所在的区域等)存在的所有目标限飞区域的对应的目标图形预先生成并存储。
一般的，某个地区内的同类型的目标限飞区域的形状基本类似，例如某地区内的目标限飞区域(如机场所在区域)为多边形、圆形或椭圆形，则标准图形可包括多边形、圆形或椭圆形中一个或多个，多边形可以是三角形、四边形、五边形、六边形等，标准图形还可以是多种图形的组合图形，例如，糖果形的标准图形可以由多个多边形组合而成。在目标限飞区域为多边形时，对应的标准图形也为多边形， 在目标限飞区域为圆形时，对应的标准图形也为圆形，在目标限飞区域为椭圆形时，对应的标准图形也为椭圆形。当然，标准图形也可以为其他形状，可根据所需存储的所有目标限飞区域对应的目标图形确定。
在其他实施方式中，在目标限飞区域为多边形、圆形或椭圆形时，对应的标准图形可均为多边形；或者，在目标限飞区域为多边形、圆形或椭圆形时，对应的标准图形可均为圆形；或者，在目标限飞区域为多边形、圆形或椭圆形时，对应的标准图形可均为椭圆形；或者，在目标限飞区域为多边形时，对应的标准图形可均为多边形，而在目标限飞区域为圆形或椭圆形时，对应的标准图形均为圆形等。如此，一个标准图形可对应多种图形类型不同的目标图形，可减少所需存储的标准图形的数量，从而减少标准图形占用的存储空间。
在对每个目标限飞区域的位置坐标进行存储时，首先根据目标限飞区域的位置坐标确定目标图形，然后获取与目标图形对应的标准图形，然后对标准图形进行转换操作(如平移、缩放、旋转等操作)，以使得标准图形能够覆盖目标图形。其中，转换参数可为平移、缩放、旋转等转换操作对应的参数，如平移对应的转换参数为平移的方向和距离，缩放对应的转换参数为缩放比例，旋转对应的转换参数为旋转角度等。
最后，处理器11可根据标准图形的图形类型和转换参数存储目标限飞区域的位置数据，由于每个目标限飞区域的位置坐标均可通过标准图形的图形类型和转换参数进行存储，且一个标准图形可与多个目标限飞区域的图形对应，针对同一种图形类型(多边形、糖果形、圆形或椭圆形等)只需预先存储一个标准图形(多边形、糖果形、圆形或椭圆形等)，即可通过该标准图形和对应的转换参数转换得到多个目标限飞区域的图形，相较于直接将每个目标限飞区域的所有位置坐标均存储的方式而言，目标限飞区域的位置坐标所占的存储空间较小。
可以理解，在目标图形的图形类型和标准图形的图形类型一样时(如目标图形的图形类型和对应的标准图形的图形类型均为圆形)，经转换后的标准图形能够与目标图形重合，而在目标图形的图形类型和标准图形的图形类型存在差异时(如目标图形的图形类型为椭圆形，而对应的标准图形的图形类型均为圆形)，经转换后的标准图形能够覆盖目标图形，但两者仅部分重合。因此，可通过选取与目标图形较为匹配的标准图形，以提高目标图形和经转换后的标准图形的重合度，从而提高以标准图形的图形类型和转换参数存储目标限飞区域的位置坐标的准确性。
本申请实施方式的数据存储方法和数据存储设备10中，与目标限飞区域对应的目标图形可通过标准图形和对应的转换参数得到，在存储时，只需预先存储好标准图形，图形类型相同的目标图形均可通过相同的标准图形转换得到，目标图形仅需存储对应的标准图形的图形类型和转换参数即可，无需将目标限飞区域的所有位置坐标均进行存储，从而减少了目标限飞区域的位置坐标所占用的存储空间，无需较大的存储空间也能将目标限飞区域的所有位置坐标均存储起来。
请参阅图1和3，在某些实施方式中，步骤012还包括：
0121：将标准图形与目标图形转换到同一坐标系下；及
0122：获取在该同一坐标系下的转换参数。
在某些实施方式中，处理器11还用于将标准图形与目标图形转换到同一坐标系下；及获取在该同一坐标系下的转换参数。也即是说，步骤0121和步骤0122可以由处理器11实现。
具体地，在对标准图形进行转换，以覆盖目标图形时，需要将标准图形和目标图形转换到同一坐标系下，才可以进行转换操作。例如，目标限飞区域的位置坐标均为全球定位系统(Global Positioning System，GPS)坐标，标准图形对应的位置坐标均为北东地(North East Down，NED)坐标，其中，NED坐标系为平面坐标系，可方便的将标准图形转换为目标图形，因此，可将目标限飞区域的GPS坐标均转换为NED坐标，从而确定目标限飞区域对应的目标图形，然后在NED坐标系下，对标准图形进行转换操作，以使得转换后标准图形覆盖目标图形，从而获取到NED坐标系下的转换参数。
在某些实施方式中，处理器11还用于将目标图形的特征点在第一坐标系下的第一坐标转换为标准图形所在的第二坐标系下的第二坐标。
具体地，可以理解，不同的形状均具有特征点，例如，多边形特征点为多边形的顶点，圆形的特征点为圆心和半径的长度等，在存储目标限飞区域的位置坐标时，只需要存储目标限飞区域对应的目标图形的特征点即可快速确定整个目标图形的坐标。例如目标图形为多边形时，目标图形的特征点为多边形的顶点，根据多边形的顶点的坐标即可确定该多边形的多条边上的所有点的坐标，从而确定整个目标图形的坐标；再例如，在目标图形为圆形时，目标图形的特征点为圆形的圆心以及圆的半径，根据圆心的坐标和半径即可确定该圆形的所有点的坐标；再例如，在目标图形为椭圆形时，目标图形的特征点可为椭圆形的边上的两个焦点、长轴的长度和短轴的长度，从而根据两个焦点、长轴的长度和短轴的长度即可得到整个目标图形的坐标。
在将标准图形和目标图形转换到同一坐标系中进行转换时，处理器11可将目标图形的特征点在第一坐标系下的第一坐标转换为标准图形所在的第二坐标系下的第二坐标。其中，第一坐标系可以是GPS坐标系，第二坐标系可以是NED坐标系。
处理器11可根据GPS坐标和NED坐标的转换公式，将目标图形的特征点在GPS坐标系下的GPS坐标转换为NED坐标系下的NED坐标，从而方便后续获取在同一NED坐标系下的转换参数。
请参阅图1和图4，在某些实施方式中，转换参数包括缩放比例和旋转角，步骤012还包括：
0123：在同一坐标系下，对标准图形进行缩放操作及旋转操作以使得缩放及旋转后的标准图形覆盖目标图形；及
0124：获取缩放操作对应的缩放比例及旋转操作对应的旋转角。
在某些实施方式中，处理器11还用于在同一坐标系下，对标准图形进行缩放操作及旋转操作以使得缩放及旋转后的标准图形覆盖目标图形；及获取缩放操作对应的缩放比例及旋转操作对应的旋转角。也即是说，步骤0123和步骤0124可以由处理器11实现。
具体地，请参阅图5a，以目标图形S2和标准图形S1均为八边形为例，在同一坐标系(如NED坐标系)下，目标图形S2与标准图形S1可不存在重合点，则在转换标准图形S1时，需要先将标准图形S1进行平移，以使得目标图形S2与标准图形S1存在重合点，然后再进行缩放操作以及旋转操作以使得标准图形S1覆盖目标图形S2，此时的转换参数还包括平移参数(例如平移参数包括横坐标增量及纵坐标增量)。
目标图形S2与标准图形S1也可存在重合点，在根据目标限飞区域的位置坐标确定目标图形S2时，可以NED坐标系的坐标原点O为基点将目标限飞区域的GPS坐标转换为NED坐标，此时目标图形S2与标准图形S1重合的坐标点为NED坐标系的坐标原点O(即，NED坐标为(0,0)的坐标点)，此时处理器11只需对标准图形S1进行缩放以及旋转操作即可使得缩放及旋转后的标准图形S1覆盖目标图形S2，从而只需获取到缩放操作对应的缩放比例及旋转操作对应的旋转角，可减少存储平移参数所需的存储空间。
在一个例子中，目标图形S2和标准图形S1均为八边形，标准图形S1经过放大两倍(即，缩放比例为2)得到中间图形S3(如图5b所示)，标准图形S1在经过绕重合的坐标点(即，坐标原点O)逆时针旋转90度(即，旋转角为90度)后与目标图形S2重合(如图5c所示)。如此，处理器可准确的得到旋转角和缩放比例。
在某些实施方式中，目标图形的特征点包括目标原点，步骤013包括：
0131：根据目标原点的GPS坐标、标准图形的图形类型和转换参数存储位置数据。
在某些实施方式中，处理器11还用于根据目标原点的GPS坐标、标准图形的图形类型和转换参数存储位置数据。
具体地，根据标准图形的图形类型和转换参数可得到目标图形，此时的目标图形和标准图形同在一个坐标系下(如NED坐标系下)，此时若想要得到目标图形对应的目标限飞区域的GPS坐标，则需要将目标图形的NED坐标转换为GPS坐标，因此，在存储目标限飞区域的位置坐标时，可同时存储目标原点的GPS坐标，其中目标原点为目标图形在NED坐标系下的任一坐标点(包括但不限于坐标原点)，根据目标原点的NED坐标、该NED坐标对应的GPS坐标、及目标图形的所有NED坐标即可计算得到目标限飞区域的所有GPS坐标。其中，目标原点可设置在NED坐标系的坐标原点，即目标原点的NED坐标为(0,0)，能够减少将目标图形的NED坐标转换为目标限飞区域的GPS坐标的计算量。
在某些实施方式中，位置数据还包括数据库索引。
具体地，为了方便处理器11(如图1所示)快速找到对应的位置数据，在存储位置数据时，可将数据库索引一并存储，从而使得处理器11可根据数据库索引快速在数据库中找到对应的位置数据。本申请的位置数据在数据库中的结构如图6所示，位置数据包括但不限于数据库索引、目标原点的GPS坐标、标准图形的图形类型、缩放比例和旋转角。
请参阅图1和图7，在某些实施方式中，数据存储方法还包括：
014：以矩阵的形式存储标准图形的NED坐标。
在某些实施方式中，处理器11还用于以矩阵的形式存储标准图形的NED坐标。也即是说，步骤014可以由处理器11实现。
具体地，处理器11可将标准图形的特征点的坐标存储在同一个标准图形矩阵中，矩阵中的每个元素均包含一个特征点的坐标，以矩阵形式存储的标准图形不仅方便存储，而且也方便后续根据标准图形矩阵计算以得到目标图形对应的目标图形矩阵。矩阵中各个点的顺序可以指示各个点的连接关系，例如，矩阵A{a，b，c，d，e，f，g，h}，其中，a、b、c、d、e、f、g和h存储有目标图形的8个特征点的坐标，a、b、c、d、e、f、g和h排列的顺序表示各特征点的先后连接关系，即，a连接b、b连接c、c连接d、d连接e、e连接f、f连接g和g连接h。
请参阅图8和图9，本申请还提供一种数据处理方法，该数据处理方法包括：
021：获取目标区域900的位置数据，位置数据包括图形类型和转换参数；及
022：根据与图形类型关联的标准图形和转换参数获取目标区域900的信息。
本申请还提供一种数据处理设备20，该数据处理设备20包括处理器21和存储器22，存储器22用于存储程序指令或数据，处理器21用于读取程序指令执行如下操作：获取目标区域900的位置数据，位置数据包括图形类型和转换参数；及根据与图形类型关联的标准图形和转换参数获取目标区域900的信息。也即是说，步骤021和步骤022可以处理器21实现。
具体地，数据处理设备20可以是无人机的飞行控制器(flight control system，FC)，在数据存储设备10存储好目标区域900(即，目标限飞区域)的位置数据后，FC从数据存储设备10中获取目标限飞区域的位置数据，位置数据包括图形类型和转换参数，其中，图形类型为目标图形对应的标准图形的图形类型，转换参数为标准图形转换为覆盖目标图形的参数。在FC获取到图形类型和转换参数后，首先根据图形类型获取关联的标准图形，然后根据转换参数对标准图形进行转换以得到目标图形，从而根据目标图形获取目标限飞区域的信息(如目标图形为NED坐标系下的图形，则目标限飞区域的信息为目标限飞区域在NED坐标系中的坐标)。如此，FC可根据图形类型和转换参数快速获取目标限飞区域的信息。
请参阅图1和图8，在某些实施方式中，数据处理设备20可先从数据存储设备10中获取标准图形。标准图形可根据当前地区(如某个市所在的区域、某个省所在的区域等)存在的所有限飞区域的对应的目标图形预先生成并存储，目标图形根据限飞区域的GPS坐标转换为NED坐标后可得到，根据目标图形的可构建对应的标准图形，例如，多个限飞区域对应的多个目标图形均为六边形，则标准图形可以是其中一个目标图形对应的六边形，或者标准图形是在经过转换以覆盖该多个目标图形后，使得转换后的标准图形和多个目标图形的平均重合度最大的六边形。如此，标准图形根据限飞区域对应的目标图形生成，准确性较高。
在一个例子中，FC在对目标限飞区域的位置数据进行处理前，标准图形存储在飞行设备中，或者 标准图形存储在控制终端，或者标准图形存储在服务器，FC从飞行设备、控制终端或服务器中即可获取到标准图形。
请参阅图8和图10，在某些实施方式中，步骤022包括：
0221：获取与图形类型关联的标准图形的一个或多个特征点的坐标；及
0222：根据一个或多个特征点的坐标和转换参数获取目标区域900对应的目标图形的坐标。
在某些实施方式中，处理器21还用于获取与图形类型关联的标准图形的一个或多个特征点的坐标；及根据一个或多个特征点的坐标和转换参数获取目标区域900对应的目标图形的坐标。也即是说，步骤0221和步骤0222可以由处理器21实现。
具体地，处理器21在根据图形类型获取到标准图形后，可得到标准图形的一个或多个特征点的坐标，然后根据一个或多个特征点的坐标即可在标准图形所在的坐标系(如NED坐标系)中构建该标准图形，然后根据转换参数将标准图形进行转换操作(如平移、旋转、缩放等)，即可得到目标图形的坐标。
请参阅图8和图11，在某些实施方式中，步骤022还包括：
0223：获取以矩阵的形式存储的标准图形矩阵，标准图形矩阵包括标准图形的一个或多个特征点的坐标；
0224：根据标准图形矩阵和转换参数获取目标图形矩阵；及
0225：根据目标图形矩阵获取目标区域900对应的目标图形的坐标。
在某些实施方式中，处理器21还用于获取以矩阵的形式存储的标准图形矩阵，标准图形矩阵包括标准图形的一个或多个特征点的坐标；根据标准图形矩阵和转换参数获取目标图形矩阵；及根据目标图形矩阵获取目标区域900对应的目标图形的坐标。也即是说，步骤0223、步骤0224和步骤0225可以由处理器21实现。
具体地，前述的数据存储方法中已经介绍到了，标准图形的特征点的坐标可通过矩阵形式存储以生成标准图形矩阵，标准图形矩阵的每个元素均表示一个特征点，标准图形矩阵中元素的排列顺序表示特征点的存储顺序或者特征点的连接顺序。处理器21根据标准图形矩阵和转换参数即可快速计算得到目标图形矩阵，然后根据目标图形矩阵可获取到目标限飞区域对应的目标图形的坐标。本实施方式中，标准图形的特征点的坐标均为NED坐标，经过标准图形矩阵和转换参数计算得到的目标图形矩阵包含的目标图形的坐标也为NED坐标，在仅需要获取的目标限飞区域对应的目标图形的NED坐标时，可无需在位置数据中存储目标原点的GPS坐标，从而可减少位置数据所占的存储空间，其中，关于目标原点的GPS坐标请参阅对步骤0131的描述。在其他实施方式中，标准图形的特征点的坐标可均为GPS坐标，经过标准图形矩阵和转换参数计算得到的目标图形矩阵包含的目标限飞区域对应的目标图形的坐标也为GPS坐标。如此，无需先计算目标限飞区域对应的目标图形的NED坐标，再将NED坐标转换为GPS坐标。
请参阅图8和图12，在某些实施方式中，步骤0224包括：
0226：根据缩放比例和旋转角分别计算缩放算子和旋转算子；及
0227：根据标准图形矩阵、缩放算子和旋转算子计算目标图形矩阵。
在某些实施方式中，处理器21还用于根据缩放比例和旋转角分别计算缩放算子和旋转算子；及根据标准图形矩阵、缩放算子和旋转算子计算目标图形矩阵。也即是说，步骤0226和步骤0227可以由处理器21实现。
具体地，处理器21在根据标准图形矩阵和转换参数计算目标图形矩阵时，可首先根据旋转角和缩放比例分别计算旋转算子和缩放算子，然后根据标准图形矩阵、缩放算子和旋转算子计算目标图形矩阵。当然，数据存储设备10可以在获取转换参数时，就根据旋转角和缩放比例分别计算旋转算子和缩放算子，然后在存储位置数据时即以旋转算子和缩放算子来存储转换参数。从而无需数据处理设备20计算旋转算子和缩放算子，可减少数据处理设备20计算目标图形矩阵的计算量，从而提升获取目标限飞区域的位置坐标的速度。
在一个例子中，标准图形矩阵为A{(x1，y1)，(x2，y2)，(x3，y3)，(x4，y4)}，旋转角为θ，缩放比例为(SX，SY)，则缩放算子
Figure PCTCN2019115110-appb-000001
旋转算子
Figure PCTCN2019115110-appb-000002
目标图形矩阵C＝RAK，其中，I为单位矩阵，n为矩阵的纬度(可根据标准图形存储的特征点的个数确定)，
Figure PCTCN2019115110-appb-000003
为kronectker积。从而在得到标准图形矩阵、缩放比例和旋转角后可快速计算得到目标图形矩阵。
请参阅图1和图8，在某些实施方式中，位置数据还包括目标原点的GPS坐标，处理器21还用于根据目标原点的GPS坐标、标准图形和转换参数获取目标区域900对应的目标图形的GPS坐标。
具体地，在所需的目标限飞区域的信息为目标限飞区域的GPS坐标时，数据存储设备10需要在存储位置数据时，将目标原点的GPS坐标一同存储起来，其中，关于目标原点的GPS坐标请参阅对步骤0131的描述。然后数据处理设备20可首先根据标准图形和转换参数获取目标图形，例如，数据处理设备20根据标准图形矩阵、缩放算子和旋转算子计算目标图形矩阵，目标图形矩阵中包含目标限飞区域的NED坐标，此时，数据处理设备20再根据目标限飞区域的NED坐标、目标原点的NED坐标以及目标原点的GPS坐标即可获取目标限飞区域的GPS坐标。
请参阅图8和图13，在某些实施方式中，数据处理方法还包括：
023：获取目标物体当前的位置坐标；
024：根据位置坐标和目标区域900对应的目标图形的坐标，判断目标物体和目标区域900之间的距离；及
025：根据距离控制目标物体的移动。
在某些实施方式中，处理器21还用于获取目标物体当前的位置坐标；根据位置坐标和目标区域900对应的目标图形的坐标，判断目标物体和目标区域900之间的距离；及根据距离控制目标物体的移动。也即是说，步骤023、步骤024和步骤025可以由处理器21实现。
具体地，以目标物体为无人机为例，无人机的全球定位系统可实时获取无人机当前的位置坐标，处理器21将无人机当前的位置坐标(一般为GPS坐标)转换为目标图形所在的坐标系的坐标(如NED坐标)，在NED坐标系内，处理器21计算当前位置的NED坐标和目标图形的距离，在距离较大时(如该距离大于预定距离时)，无人机能够向任意方向飞行，而当该距离较小时(如该距离小于或等于预定距离时)，处理器21可控制无人机避开目标限飞区域进行飞行，例如处理器21可将无人机朝向目标限飞区域的分速度设为0，从而使得无人机即使被控制向目标限飞区域飞行，也由于无人机朝向目标限飞区域的分速度为0，无人机和目标限飞区域的距离仍会小于或等于预定距离。其中，判断无人机和目标限飞区域的距离是否大于预定距离时，可根据无人机与该目标限飞区域的所有坐标点的距离的最小值作为无人机和目标限飞区域的距离来判断，从而保证无人机不会进入到目标限飞区域内。而当无人机在目标限飞区域内起飞时，此时无人机的当前位置的NED坐标位于目标图形内，处理器21可控制无人机立刻下降，从而防止无人机在目标限飞区域内飞行。
请参阅图14，在某些实施方式中，移动平台100可同时包括数据处理设备20和数据存储设备10，数据处理设备20和数据存储设备10连接，数据处理设备20可从数据存储设备10中获取目标限飞区域的位置数据。数据处理设备20和数据存储设备10的处理器可以共用一个或多个处理器，或者，数据处理设备20单独使用一个或多个处理器，而数据存储设备10同样单独使用一个或多个处理器；数据处理设备20和数据存储设备10的处理器可以共用一个或多个存储器，或者，数据处理设备20单独使用一个或多个存储器，而数据存储设备10同样单独使用一个或多个存储器。
例如，移动平台100为无人机，数据存储设备10可以是无人机的应用处理器(Application Processor，AP)，数据处理设备20可以是无人机的FC，也即是说，数据存储设备10单独使用AP的处理器和存储器，而数据处理设备20单独使用FC的处理器和存储器；或者，数据存储设备10和数据处理设备20均为无人机的AP，也即是说，数据处理设备20和数据存储设备10共用AP的处理器和处理器。或者，数据存储设备10和数据处理设备20均为无人机的FC，也即是说，数据处理设备20和数据存储设备10共用FC的处理器和处理器。本实施方式中，数据存储设备10是无人机的AP，数据处理设备20是无人机的FC。
请参阅图8和图15，本申请实施方式的移动控制系统1000包括移动平台100和控制设备200。移动平台100包括数据处理设备20，控制设备200包括数据存储设备10。控制设备200包括控制终端或服务器中的一个或多个。
具体地，数据存储设备10设置在控制设备200端，控制设备200可以是控制终端(如手机、遥控器等)，控制设备200还可以是服务器。本实施方式中，控制设备200为服务器。数据处理设备20设置在移动平台100端。移动平台100和服务器能够通信连接。
数据存储设备10用于存储标准图形和目标区域900的位置数据，数据处理设备20则根据标准图形和目标区域900的位置数据来还原当前目标区域900的信息(如当前目标区域900的GPS坐标等)。由 于标准图形和目标区域900的位置数据均存储在控制设备200端，移动平台100在每次仅需从控制设备200端获取当前目标区域900的位置数据即可，例如，移动平台100可从控制终端获取标准图形和目标区域900的位置数据，或移动平台100从服务器获取标准图形和目标区域900的位置数据，移动平台100无需较大的存储空间，即使移动平台100(如无人机)仅搭载了存储空间较小的FC，也可以实现目标限飞区域的获取，从而实现限飞功能。
请参阅图16，本申请实施方式的一种包含计算机可执行指令302的非易失性计算机可读存储介质300，当计算机可执行指令302被一个或多个处理器400执行时，使得处理器400执行上述任一实施方式的数据存储方法或数据处理方法。
可以理解，各个实施例对应的示意图中包含有执行动作的时序时，该时序仅为示例性说明，根据需要，各个执行动作之前的时序可以有变化，同时，各个实施例之间，在不矛盾冲突的情况下，可以结合或拆分为一个或多个实施例，以适应不同的应用场景，此处不做赘述。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“一个例子”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于执行特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的执行，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于执行逻辑功能的可执行指令的定序列表，可以具体执行在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (47)

  1. 一种数据存储方法，其特征在于，所述数据存储方法包括：
    根据目标图形获取标准图形，所述目标图形与目标区域对应；
    获取转换所述标准图形的转换参数，经转换后的所述标准图形能够覆盖所述目标图形；及
    根据所述标准图形的图形类型和所述转换参数存储所述目标区域的位置数据。
  2. 根据权利要求1所述的数据存储方法，其特征在于，所述目标区域包括目标限飞区域或障碍物区域。
  3. 根据权利要求1或2所述的数据存储方法，其特征在于，所述获取转换所述标准图形的转换参数，包括：
    将所述标准图形与所述目标图形转换到同一坐标系下；及
    获取在所述坐标系下的所述转换参数。
  4. 根据权利要求3所述的数据存储方法，其特征在于，所述将所述标准图形与所述目标图形转换到同一坐标系下，包括：
    将所述目标图形的特征点在第一坐标系下的第一坐标转换为所述标准图形所在的第二坐标系下的第二坐标。
  5. 根据权利要求4所述的数据存储方法，其特征在于，所述第一坐标系为GPS坐标系，所述第二坐标系为NED坐标系。
  6. 根据权利要求1至5任一所述的数据存储方法，其特征在于，所述转换参数包括缩放比例和旋转角，所述获取转换所述标准图形的转换参数，还包括：
    在同一坐标系下，对所述标准图形进行缩放操作及旋转操作以使得缩放及旋转后的所述标准图形覆盖所述目标图形；及
    获取所述缩放操作对应的所述缩放比例及所述旋转操作对应的所述旋转角。
  7. 根据权利要1至6任一所述的数据存储方法，其特征在于，所述目标图形的特征点包括目标原点，所述根据所述标准图形的图形类型和所述转换参数存储所述目标区域的位置数据，包括：
    根据所述目标原点的GPS坐标、所述标准图形的图形类型和所述转换参数存储所述位置数据。
  8. 根据权利要求7所述的数据存储方法，其特征在于，所述目标原点位于NED坐标系的坐标原点。
  9. 根据权利要1至8任一所述的数据存储方法，其特征在于，所述位置数据还包括数据库索引。
  10. 根据权利要1至9任一所述的数据存储方法，其特征在于，所述数据存储方法还包括：
    以矩阵的形式存储所述标准图形的NED坐标。
  11. 根据权利要1至10任一所述的数据存储方法，其特征在于，所述标准图形包括多边形、圆形或椭圆形中的一个或多个。
  12. 一种数据处理方法，其特征在于，所述数据处理方法包括：
    获取目标区域的位置数据，所述位置数据包括图形类型和转换参数；及
    根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息。
  13. 根据权利要求12所述的数据处理方法，其特征在于，所述目标区域包括目标限飞区域或障碍物区域。
  14. 根据权利要求12或13所述的数据处理方法，其特征在于，所述数据处理方法还包括：
    获取所述标准图形。
  15. 根据权利要求12至14任一所述的数据处理方法，其特征在于，所述根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息，包括：
    获取与所述图形类型关联的所述标准图形的一个或多个特征点的坐标；及
    根据所述一个或多个特征点的坐标和所述转换参数获取所述目标区域对应的目标图形的坐标。
  16. 根据权利要求12至15任一所述的数据处理方法，其特征在于，所述根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息，包括：
    获取以矩阵的形式存储的标准图形矩阵，所述标准图形矩阵包括所述标准图形的一个或多个特征点的坐标；
    根据所述标准图形矩阵和所述转换参数获取目标图形矩阵；及
    根据所述目标图形矩阵获取所述目标区域对应的目标图形的坐标。
  17. 根据权利要求16所述的数据处理方法，其特征在于，所述转换参数包括缩放比例和旋转角，所述根据所述标准图形矩阵和所述转换参数获取目标图形矩阵，包括：
    根据所述缩放比例和所述旋转角分别计算缩放算子和旋转算子；及
    根据所述标准图形矩阵、所述缩放算子和所述旋转算子计算所述目标图形矩阵。
  18. 根据权利要求12至17任一所述的数据处理方法，其特征在于，所述位置数据还包括目标原点的GPS坐标，所述根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息，包括：
    根据所述目标原点的GPS坐标、所述标准图形和所述转换参数获取所述目标区域对应的目标图形的GPS坐标。
  19. 根据权利要求18所述的数据处理方法，其特征在于，所述目标原点位于NED坐标系的坐标原点。
  20. 根据权利要求12至19任一所述的数据处理方法，其特征在于，所述数据处理方法还包括：
    获取目标物体当前的位置坐标；
    根据所述位置坐标和所述目标区域对应的目标图形的坐标，判断所述目标物体和所述目标区域之间的距离；及
    根据所述距离控制所述目标物体的移动。
  21. 一种数据存储设备，其特征在于，所述数据存储设备包括处理器和存储器，所述存储器用于存储程序指令或数据，所述处理器用于读取所述程序指令执行如下操作：
    根据目标图形获取标准图形，所述目标图形与目标区域对应；
    获取转换所述标准图形的转换参数，经转换后的所述标准图形能够覆盖所述目标图形；及
    根据所述标准图形的图形类型和所述转换参数存储所述目标区域的位置数据。
  22. 根据权利要求21所述的数据处理设备，其特征在于，所述目标区域包括目标限飞区域或障碍物区域。
  23. 根据权利要求21或22所述的数据处理设备，其特征在于，所述处理器还用于：
    将所述标准图形与所述目标图形转换到同一坐标系下；及
    获取在所述坐标系下的所述转换参数。
  24. 根据权利要求23所述的数据处理设备，其特征在于，所述处理器还用于：
    将所述目标图形的特征点在第一坐标系下的第一坐标转换为所述标准图形所在的第二坐标系下的第二坐标。
  25. 根据权利要求24所述的数据处理设备，其特征在于，所述第一坐标系为GPS坐标系，所述第二坐标系为NED坐标系。
  26. 根据权利要求21至25任一所述的数据处理设备，其特征在于，所述转换参数包括缩放比例和旋转角，所述处理器还用于：
    在同一坐标系下，对所述标准图形进行缩放操作及旋转操作以使得缩放及旋转后的所述标准图形覆盖所述目标图形；及
    获取所述缩放操作对应的所述缩放比例及所述旋转操作对应的所述旋转角。
  27. 根据权利要求21至26任一所述的数据处理设备，其特征在于，所述目标图形的特征点包括目标原点，所述处理器还用于：
    根据所述目标原点的GPS坐标、所述标准图形的图形类型和所述转换参数存储所述位置数据。
  28. 根据权利要求27所述的数据处理设备，其特征在于，所述目标原点位于NED坐标系的坐标原点。
  29. 根据权利要求21至28任一所述的数据处理设备，其特征在于，所述位置数据还包括数据库索引。
  30. 根据权利要求21至29任一所述的数据处理设备，其特征在于，所述处理器还用于：
    以矩阵的形式存储所述标准图形的NED坐标。
  31. 根据权利要求21至30任一所述的数据处理设备，其特征在于，所述标准图形包括多边形、圆形或椭圆形中的一个或多个。
  32. 根据权利要求21至31任一所述的数据存储设备，其特征在于，所述数据存储设备包括飞行设 备、控制终端或服务器中的一个或多个。
  33. 一种数据处理设备，其特征在于，所述数据处理设备包括处理器和存储器，所述存储器用于存储程序指令或数据，所述处理器用于读取所述程序指令执行如下操作：
    获取目标区域的位置数据，所述位置数据包括图形类型和转换参数；及
    根据与所述图形类型关联的标准图形和所述转换参数获取所述目标区域的信息。
  34. 根据权利要求33所述的数据处理设备，其特征在于，所述目标区域包括目标限飞区域或障碍物区域。
  35. 根据权利要求33或34所述的数据处理设备，其特征在于，所述处理器还用于：
    获取所有所述标准图形。
  36. 根据权利要求33至35任一所述的数据处理设备，其特征在于，所述处理器还用于：
    获取与所述图形类型关联的所述标准图形的一个或多个特征点的坐标；及
    根据所述一个或多个特征点的坐标和所述转换参数获取所述目标区域对应的目标图形的坐标。
  37. 根据权利要求33至36任一所述的数据处理设备，其特征在于，所述处理器还用于：
    获取以矩阵的形式存储的标准图形矩阵，所述标准图形矩阵包括所述标准图形的一个或多个特征点的坐标；
    根据所述标准图形矩阵和所述转换参数获取目标图形矩阵；及
    根据所述目标图形矩阵获取所述目标区域对应的目标图形的坐标。
  38. 根据权利要求37所述的数据处理设备，其特征在于，所述转换参数包括缩放比例和旋转角，所述处理器还用于：
    根据所述缩放比例和所述旋转角分别计算缩放算子和旋转算子；及
    根据所述标准图形矩阵、所述缩放算子和所述旋转算子计算所述目标图形矩阵。
  39. 根据权利要求33至38任一所述的数据处理设备，其特征在于，所述位置数据还包括目标原点的GPS坐标，所述处理器还用于：
    根据所述目标原点的GPS坐标、所述标准图形和所述转换参数获取所述目标区域对应的目标图形的GPS坐标。
  40. 根据权利要求39所述的数据处理设备，其特征在于，所述目标原点位于NED坐标系的坐标原点。
  41. 根据权利要求33至40任一所述的数据处理设备，其特征在于，所述处理器还用于读取所述程序指令执行如下操作：
    获取目标物体当前的位置坐标；
    根据所述位置坐标和所述目标区域对应的目标图形的坐标，判断所述目标物体和所述目标区域之间的距离；及
    根据所述距离控制所述目标物体的移动。
  42. 一种移动平台，其特征在于，所述移动平台包括：
    权利要求21至31任一所述的数据存储设备；及
    权利要求33至41任一所述的数据处理设备。
  43. 根据权利要求42所述的移动平台，其特征在于，所述移动平台包括飞行设备或机器人。
  44. 一种移动控制系统，其特征在于，所述移动控制系统包括移动平台和控制设备，所述移动平台包括权利要求33至41任一所述的数据处理设备，所述控制设备包括权利要求21至31任一所述的数据存储设备。
  45. 根据权利要求44所述的移动控制系统，其特征在于，所述移动平台包括飞行设备或机器人。
  46. 根据权利要求44或45所述的移动控制系统，其特征在于，所述控制设备包括控制终端或服务器中的一个或多个。
  47. 一种包含计算机可执行指令的非易失性计算机可读存储介质，其特征在于，当所述计算机可执行指令被一个或多个处理器执行时，使得所述处理器执行如权利要求1至11任一项所述的数据存储方法或者权利要求12至20任一项所述的数据处理方法。
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