WO2021081995A1 - Data processing method and device, data storage device, and movement control system - Google Patents

Abstract

A data processing method, a data storage device, a data processing device, a movement control system, and a computer readable storage medium. The data processing method comprises: determining a target graphic according to the shape of a target region; obtaining representation parameters of the target graphic in a first coordinate system; and generating target data corresponding to the target region according to the representation parameters.

Description

Data processing method and equipment, data storage equipment, mobile control system Technical field

This application relates to the field of mobile control technology, and in particular to a data processing method, data storage device, data processing device, mobile control system, and computer-readable storage medium.

Background technique

The restricted area of the drone can be limited by setting the electronic fence. Usually, the coordinates of the boundary point of the restricted area are stored in the drone. When the position relationship between the drone and the restricted area needs to be judged, it is often necessary to A series of operations such as coordinate transformation and calculation equations on the UAV require a large amount of calculations on the UAV, which occupies too much processing resources of the UAV.

Summary of the invention

The embodiments of the present application provide a data processing method, data storage device, data processing device, mobile control system, and computer-readable storage medium.

The data processing method of an embodiment of the present application includes: a data storage device determines a target graphic according to the shape of a target area; obtains a characterization parameter of the target graphic in a first coordinate system; and generates a reference to the target area according to the characterization parameter. The corresponding target data.

In the data processing method of the embodiment of the present application, the target image is determined by the target area, the characterization parameters of the target image in the first coordinate system are obtained, the target data is generated according to the characterization parameters, and the information of the target area is preprocessed by the data processing method , Data processing equipment (such as drones) can obtain the information of the target area after acquiring the target data. There is no need to calculate the characterization parameters on the data processing equipment, and the processing operations such as obtaining the target data according to the characterization parameters, saving data processing equipment Processing resources.

A data processing method according to another embodiment of the present application includes: a data processing device acquires target data corresponding to a target area, where the target data is represented by the data storage device according to the characterization parameters of the target graphic corresponding to the target area in a first coordinate system Generated; determine the position relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system; and control the data processing device according to the position relationship mobile.

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: determine the target graphic according to the shape of the target area; obtain The characterization parameter of the target graphic in the first coordinate system; and generating target data corresponding to the target area according to the characterization parameter.

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 target data corresponding to a target area, and The target data is generated by the data storage device according to the characterization parameters of the target graphic corresponding to the target area in the first coordinate system; according to the position information of the current position of the data processing device in the first coordinate system, the A positional relationship between the data processing device and the target area; and controlling the movement of the data processing device according to the positional relationship.

The mobile control system 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 Perform the following operations: determine the target graphic according to the shape of the target area; obtain the characterization parameters of the target graphic in the first coordinate system; and generate target data corresponding to the target area according to the characterization parameters; the data processing device Including a processor and a memory, the memory is used to store program instructions or data, the processor is used to read the program instructions to perform the following operations: obtain target data corresponding to the target area, the target data is determined by the data storage device according to The target graphic corresponding to the target area is generated by the characterization parameters in the first coordinate system; the data processing device and the target area are determined according to the position information of the current position of the data processing device in the first coordinate system And controlling the movement of the data processing device according to the position relationship.

The non-volatile computer-readable storage medium of the embodiment of the present application contains computer-executable instructions, and when the computer-executable instructions are executed by one or more processors, the processor executes the determination of the target graphics according to the shape of the target area Obtain the characterization parameters of the target graphic in the first coordinate system; and generate target data corresponding to the target area according to the characterization parameters; or the processor executes to obtain the target data corresponding to the target area, and the target data is Generated by the data storage device according to the characterization parameters of the target graphic corresponding to the target area in the first coordinate system; the data processing device is determined according to the position information of the current position of the data processing device in the first coordinate system A positional relationship with the target area; and controlling the movement of the data processing device according to the positional relationship.

The additional aspects and advantages of the embodiments of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the present application.

Description of the drawings

The above-mentioned and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

FIG. 1 is a schematic diagram of a scenario in which a data processing method according to an embodiment of the present application is executed;

FIG. 2 is a schematic diagram of the structure of a mobile control system according to an embodiment of the present application;

Figs. 3, 5, 6, Fig. 9 to Fig. 13, Fig. 15, Fig. 18, Fig. 20, Fig. 22 to Fig. 24 are schematic flow diagrams of the data processing method of the embodiment of the present application;

Figure 4, Figure 7, Figure 8, Figure 14, Figure 16, Figure 17, Figure 19, and Figure 21 are schematic diagrams of the principle of implementing the data processing method of the embodiment of the present application;

FIG. 25 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present application.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The following embodiments described with reference to the drawings are exemplary, and are only used to explain the present application, and should not be understood as a limitation to the present application.

1 and 2, in an example, the data storage device 10 of the embodiment of the present application may be a terminal, a server, or a remote control, and the terminal may be a terminal such as a mobile phone, a watch, or a head-mounted display device, which is not limited herein. The data storage device 10 may be in communication connection with a data processing device 20, and the data processing device 20 may be a mobile platform, such as a flying device, an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, a robot, and the like. The data storage device 10 may send data to the data processing device 20, and the data storage device 10 may also receive data sent by the data processing device 20. Optionally, the data processing device 10 may be a microcontroller unit (MCU) where the flight control system (FC) on the flight device is located, or may be an application processor (AP) on the flight device.

FIG. 2 is only an example in which the data storage device 10 and the data processing device 20 are located on different devices. In practical applications, the data storage device 10 and the data processing device 20 may also be located on the same device. For example, the data storage device 10 may also be an application processor (AP) on a flight device, and the data processing device 20 may also be a flight control processor on the flight device, that is, a flight control system (Flight control system, FC). ) Where the MCU is located. In another example, the data storage device 10 and the data processing device 20 are both application processors on the flight device. In another example, the data storage device 10 and the data processing device 20 are both flight control processors on the flight device.

In the embodiment of the present application, the data storage device 10 is a server and the data processing device 20 is a flying device as an example for description. It can be understood that the specific form of the data storage device 10 and the data processing device 20 may also be other, which is not limited here. The target area 200 may be used to characterize an area where the data processing device 20 is prohibited from entering. For example, the target area 200 may be a restricted-flying area, and the data processing device 20 cannot enter the target area 200 to prevent the other activities in the target area 200 from being affected. For another example, the target area 200 may be an obstacle area, and the data processing device 20 cannot enter the obstacle area to ensure the safety of the data processing device 20 when it moves. In the embodiment of the present application, the target area 200 is a restricted-flying area as an example for illustrative description.

Please refer to FIG. 1 and FIG. 3, the data processing method of the embodiment of the present application includes the steps:

011: Determine the target graphic according to the shape of the target area 200;

012: Obtain the characterization parameters of the target graphic in the first coordinate system; and

013: Generate target data corresponding to the target area 200 according to the characterization parameters.

3, the data storage device 10 of the embodiment of the present application includes a processor 11 and a memory 12. The memory 12 is used to store program instructions or data, and the processor 11 is used to read the program instructions to perform data processing in the embodiment of the present application. method. Specifically, the processor 11 can be used to perform step 011, step 012, and step 013, that is, the processor 11 can be used to determine the target graphic according to the shape of the target area 200; obtain the characterization parameters of the target graphic in the first coordinate system; and according to The characterization parameter generates target data corresponding to the target area 200.

In the data processing method and the data storage device 10 of the embodiment of the present application, the target area 200 determines the target image, obtains the characterization parameters of the target image in the first coordinate system, generates the target data according to the characterization parameters, and uses the data processing method to convert the target area The information of 200 is preprocessed. After the data processing device 20 obtains the target data, the information of the target area 200 can be obtained. There is no need to perform processing operations such as calculating the characterization parameters on the data processing device 20 and obtaining the target data according to the characterization parameters, saving The processing resources on the data processing device 20 are eliminated.

In step 011, the target area 200 has a certain shape. For example, when the target area 200 is an airport runway, the planar shape of the target area 200 may be roughly in the shape of a candy as shown in FIG. 2; when the target area 200 is a building, the target area The planar shape of the target area 200 may be roughly rectangular; when the target area 200 is a mountain, the planar shape of the target area 200 may be roughly elliptical or the like. According to the shape of the target area 200, a target graphic corresponding to the target area 200 can be determined. The target graphic can completely overlap the boundary of the target area 200, and the target graphic can also be larger than the target area 200 and cover the target area 200. Specifically, the target graphic may be one or more of a polygon, a circle, or an ellipse. For example, taking the target area 200 as an airport runway as an example, the shape of the target graphic may be shown in FIG. 4, and the target graphic 300 is in the shape of a candy.

In step 012, please refer to FIG. 4 to obtain the characterizing parameters of the target graphic 300 in the first coordinate system. The first coordinate system may be any coordinate system that can be used to characterize the target graphic 300. For example, the first coordinate system may be a NED (North East Ground) coordinate system or a body coordinate system defined by the target graphic 300 itself. The characterizing parameters of the target graphic 300 may include characterizing parameters such as the boundary point coordinates of the target graphic 300 in the first coordinate system, the connection relationship between the boundary point coordinates, and the like, which are not limited herein. In the example shown in FIG. 4, the characterizing parameters of the target graphic 300 in the first coordinate system X1-O1-Y1 include a1, b1, c1, d1, e1, f1, g1, h1, i1, j1, k1, and l1. The coordinates of these 12 boundary points. Optionally, the storage order of the coordinates of the 12 boundary points a1, b1, c1, d1, e1, f1, g1, h1, i1, j1, k1, and l1 can represent the connection relationship of the 12 boundary points, for example, According to the storage order, it can be determined that a1 and b1 are connected, b1 and c1 are connected, c1 and d1 are connected, d1 and e1 are connected, e1 and f1 are connected, f1 and g1 are connected, g1 and h1 are connected, h1 and i1 are connected, i1 and j1 are connected, j1 and k1 are connected, and k1 and l1 are connected.

In step 013, according to the characterization parameters obtained in step 012, these characterization parameters can be processed to obtain target data. It should be noted that the target data may include characterization parameters, and the target data may also include parameters other than the characterization parameters, which is not limited here.

Referring to FIG. 5, in some embodiments, the data processing method further includes step 014: sending target data to the data processing device 20. Referring to FIG. 2, in some embodiments, the processor 11 of the data storage device 10 may also be used to implement step 014, that is, the processor 11 may be used to send target data to the data processing device 20.

By sending the target data to the data processing device 20, after the data processing device 20 receives the target data, the target graphic 300 can be obtained by restoring the target data, and the positional relationship between the data processing device 20 and the target area 200 corresponding to the target graphic 300 can also be determined. However, the data processing device 20 itself does not need to perform steps 011, 012, and 013 to obtain target data, so as to save the processing resources of the data processing device 20 itself.

Referring to FIG. 6, in some embodiments, before step 012, the data processing method further includes the steps:

015: Transform the target graphic 300 from the third coordinate system to the second coordinate system based on the graphic origin in the target graphic 300; and

016: Convert the target graphic 300 from the second coordinate system to the first coordinate system.

2, in some embodiments, the processor 11 can also be used to implement step 015 and step 016, that is, the processor 11 can be used to: based on the origin of the target graphics 300 in the target graphics 300 from the third coordinate system Down-converting to the second coordinate system; and converting the target graphic 300 from the second coordinate system to the first coordinate system.

Specifically, the initial coordinate system of the target graphic 300 may not be the first coordinate system, and the initial characterizing parameters of the target graphic 300 may not be its characterizing parameters in the first coordinate system. Therefore, the target graphic 300 may be converted first. To the first coordinate system, so as to subsequently obtain the characterizing parameters of the target graphic 300 in the first coordinate system.

In step 015 and step 016, the second coordinate system and the third coordinate system can be any coordinate system, which is not limited here. Please refer to Figure 7 and Figure 8. In this embodiment, the third coordinate system X3-O3-Y3 is the GPS coordinate system, the second coordinate system X2-O2-Y2 is the NED coordinate system, and the first coordinate system is the body coordinate system as an example. Give an illustrative description.

In step 015, the target graphic 300 is first converted from the GPS coordinate system to the NED coordinate system. Specifically, the boundary of the target area 200 can be represented by GPS coordinates, such as the GPS coordinates of the boundary of an airport runway, so the target graphic 300 can also be represented by GPS first, for example, in the GPS coordinate system X3-O3 as shown in FIG. Under -Y3, the target graphic 300 is characterized by coordinates a3, b3, c3, d3, e3, f3, g3, h3, i3, j3, k3, and l3.

When converting the target graphic 300 from the GPS coordinate system to the NED coordinate system, the graphic origin can be selected from the target image 300 first, and the graphic origin is used as the conversion origin to perform the coordinate system conversion. To facilitate subsequent calculations, any boundary point of the target graphic 300 can be selected as the graphic origin for conversion, so that after conversion, the selected boundary point on the target graphic 300 will pass through the coordinate origin of the NED coordinate system. As shown in the examples shown in Figures 7 and 8, the coordinate a3 is selected as the origin of the graphic, and the target graphic 300 is converted from the GPS coordinate system X3-O3-Y3 to the NED coordinate system X2-O2-Y2 with the coordinate a3 as the graphic origin. Then, the point corresponding to the coordinate a3 is converted to the point corresponding to the coordinate a2, and the point corresponding to the coordinate a2 is located at the origin of the NED coordinate system X2-O2-Y2, and the target graphic 300 is converted to the NED coordinate system X2-O2-Y2. , The target graphic 300 can be characterized by coordinates a2, b2, c2, d2, e2, f2, g2, h2, i2, j2, k2, and l2. Specifically, how to convert the target graphic 300 from the GPS coordinate system to the NED coordinate system based on the graphic origin can be obtained according to the conversion relationship between the GPS coordinate system and the NED coordinate system itself, which will not be repeated here.

In step 016, the target graphic 300 is converted from the NED coordinate system to the body coordinate system. Among them, the body coordinate system can be a coordinate system determined in any manner. In one example, the body coordinate system is the Cartesian coordinate system, and the body coordinate system is the body coordinate system of the target graphic 300. When the body coordinate system is determined, the body coordinate system The coordinate axis can be determined according to the target graphic 300, so that the target graphic 300 is located in a quadrant of the body coordinate system, so as to facilitate subsequent acquisition of the characteristic parameters of the target graphic 300 in the body coordinate system, and to facilitate the identification of the target graphic 300 and another position The relative relationship of, reduces the amount of subsequent calculations on the data. For example, in the example shown in FIG. 4, the target graphic 300 is located in the body quadrant of the body coordinate system X1-O1-Y1. Of course, other body coordinate systems can also be determined so that the target graphic 300 is located in the NED of the other body coordinate system. There are no restrictions on quadrants, GPS quadrants, or fourth quadrants.

Specifically, the conversion method of the target graphic 300 from the NED coordinate system to the body coordinate system may be represented by a conversion parameter. For example, the conversion parameter may indicate the angle at which the target graphic 300 is rotated counterclockwise from the NED coordinate system. The parameter θ. In the examples shown in Figures 4 and 8, the target graphic 300 is converted from the NED coordinate system X2-O2-Y2 to the body coordinate system X1-O1-Y1, and the coordinates a1 in the body coordinate system X1-O1-Y1 b1, c1, d1, e1, f1, g1, h1, i1, j1, k1, and l1 can be used to represent the target graphics 300.

Referring to FIG. 9, in some embodiments, step 013 includes step 0131: according to the coordinates of the origin of the graphic in the GPS coordinate system, the target graphic 300 is converted from the NED coordinate system to the conversion parameter and the characterizing parameter under the body coordinate system Generate target data.

Referring to FIG. 2, in some embodiments, the processor 11 can be used to implement step 0131, that is, the processor 11 can be used to convert the target graphic 300 from the NED coordinate system to the coordinates of the graphic origin in the GPS coordinate system. The conversion parameters and characterization parameters in the ontology coordinate system generate target data.

In step 0131, the target data is generated according to the coordinates of the graphic origin in the GPS coordinate system, the conversion parameters and the characterization parameters of the target graphic 300 from the NED coordinate system to the body coordinate system, so that the data processing device 20 can convert the target data according to the target data. The target graphic 300 is converted to any one of the body coordinate system, the NED coordinate system, or the GPS coordinate system to facilitate subsequent determination of the positional relationship between the data processing device 20 and the target area 200. A piece of target data obtained by implementing step 0131 can be {the coordinates of the origin of the graphic in the GPS coordinate system, conversion parameters, and characterization parameters}. The piece of target data obtained by combining the examples in Figure 4, Figure 7 and Figure 8 can be {a3 , Θ, characterization parameter}.

Among them, the characterization parameters vary according to the shape of different target graphics 300. For example, when the shape of the target graphics 300 is a circle, the characterization parameters may include the coordinates of the center of the circle in the body coordinate system, and the circle When the shape of the target graphic 300 is a polygon, the characterizing parameter can be the normal vector of each side of the polygon and the coordinates of each intersection of the polygon.

Referring to FIG. 10, in some embodiments, the target graphic 300 is a polygon, and step 012 includes step 0121, obtaining the normal vector of each side of the polygon and the coordinates of each intersection point of the polygon in the body coordinate system.

Referring to FIG. 2, in some embodiments, when the target graphic 300 is a polygon, the processor 11 can also be used to implement step 0121, that is, the processor 11 can be used to obtain the normal vector and the normal vector of each side of the polygon in the body coordinate system. The coordinates of each intersection of the polygon.

Through the normal vector of each side of the polygon and the coordinates of each point of the polygon, the shape and position of the polygon can be characterized as the characterizing parameters in the target data. Therefore, the one obtained by combining the examples in Figure 4, Figure 7 and Figure 8 The target data may be {a3, θ, each side of the polygon}, where each side of the polygon is represented by the end point on one side of each side and the normal vector of the side.

Referring to FIG. 11, in some embodiments, before step 012, the data processing method further includes step 017: transforming the target graphic 300 from the second coordinate system to the first coordinate system based on the graphic origin in the target graphic 300. In this case, the second coordinate system is the GPS coordinate system, and the first coordinate system is the NED coordinate system.

Referring to FIG. 2, in some embodiments, the processor 11 may be used to implement step 017, that is, the processor 11 may be used to convert the target graphic 300 from the GPS coordinate system to the NED coordinate system based on the graphic origin in the target graphic 300 under.

Specifically, the initial coordinate system of the target graphic 300 may not be the NED coordinate system, and the initial characterizing parameters of the target graphic 300 may not be its characterizing parameters in the NED coordinate system. Therefore, the target graphic 300 can be converted to NED first. In the coordinate system, in order to subsequently obtain the characterizing parameters of the target graphic 300 in the NED coordinate system.

In step 017, the NED coordinate system and the GDP coordinate system can be any coordinate system, which is not limited here. Please refer to Fig. 7 and Fig. 8. In this embodiment, the NED coordinate system X2-O2-Y2 is the NED coordinate system, and the GDP coordinate system X3-O3-Y3 is the GPS coordinate system as an example for illustration. The boundary of the target area 200 can be represented by GPS coordinates, such as the GPS coordinates of the boundary of an airport runway, so the target graphic 300 can also be represented by GPS first, for example, in the GDP coordinate system X3-O3-Y3 as shown in FIG. 7 , The target graphic 300 is characterized by coordinates a3, b3, c3, d3, e3, f3, g3, h3, i3, j3, k3, and l3.

When converting the target graphic 300 from the GDP coordinate system to the NED coordinate system, the graphic origin can be selected first, and the graphic origin is used as the conversion origin for conversion. To facilitate subsequent calculations, any boundary point of the target graphic 300 can be selected as the graphic origin for conversion, so that after conversion, the selected boundary point on the target graphic 300 will pass through the coordinate origin of the NED coordinate system. As shown in the examples shown in Figures 7 and 8, the coordinate a3 is selected as the origin of the graphic, and the target graphic 300 is converted from the GDP coordinate system X3-O3-Y3 to the NED coordinate system X2-O2-Y2 with the coordinate a3 as the graphic origin. Then, the point corresponding to the coordinate a3 is converted to the point corresponding to the coordinate a2, and the point corresponding to the coordinate a2 is located at the origin of the NED coordinate system X2-O2-Y2, and the target graphic 300 is converted to the NED coordinate system X2-O2-Y2. , The target graphic 300 can be characterized by coordinates a2, b2, c2, d2, e2, f2, g2, h2, i2, j2, k2, and l2. How to convert the target graphic 300 from the GDP coordinate system to the NED coordinate system based on the graphic origin can be obtained according to the conversion relationship between the GDP coordinate system and the NED coordinate system itself, which will not be repeated here.

Referring to FIG. 12, in some embodiments, step 013 includes step 0132: generating target data corresponding to the target area 200 according to the characterization parameters and the coordinates of the graph origin in the GDP coordinate system.

Referring to FIG. 2, in some embodiments, the processor 11 can be used to implement step 0132, that is, the processor 11 can be used to generate target data corresponding to the target area 200 according to the characterization parameters and the coordinates of the graph origin in the GDP coordinate system. .

In step 0132, the target data is generated according to the coordinates of the graphic origin in the GDP coordinate system and the characterization parameters, so that the data processing device 20 can convert the target graphic 300 to any one of the NED coordinate system or the GDP coordinate system according to the target data. , To facilitate subsequent determination of the positional relationship between the data processing device 20 and the target area 200. A piece of target data obtained by implementing step 0132 may be {coordinates of the origin of the graph in the GDP coordinate system, characterization parameters}, and a piece of target data obtained by combining the examples in FIG. 7 and FIG. 8 may be {a3, characterization parameters}. Among them, the specific form of the characterizing parameter can refer to the description of step 0131 and step 0121 above, which will not be repeated here.

The following will describe some ways in which the data processing device 20 uses the above-mentioned target data to control its own movement.

Referring to FIG. 13, in some embodiments, the data processing method includes steps:

021: Acquire target data corresponding to the target area 200, the target data is generated by the data storage device 10 according to the characterization parameters of the target graphic 300 corresponding to the target area 200 in the first coordinate system;

022: Determine the positional relationship between the data processing device 20 and the target area 200 according to the position information of the current position of the data processing device 20 in the first coordinate system; and

023: Control the movement of the data processing device 20 according to the positional relationship.

Referring to FIG. 2, the data processing device 20 of the embodiment of the present application 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 data processing of the embodiment of the present application. method. The processor 21 can be used to perform step 021, step 022, and step 023. That is, the processor 21 can be used to obtain the target data corresponding to the target area 200. The target data is determined by the data storage device 10 according to the target graphic 300 corresponding to the target area 200 in the first Generated by characterizing parameters in a coordinate system; determine the position relationship between the data processing device 20 and the target area 200 according to the position information of the current position of the data processing device 20 in the first coordinate system; and control the data processing device 20 according to the position relationship Mobile.

By implementing steps 021, 022, and step 023, after the data processing device 20 obtains the target data, it can obtain the characterization parameters of the target graphic 300 corresponding to the target area 200 in the first coordinate system, and there is no need to perform the target graphic 300 Perform the steps of converting and calculating characterization parameters, and can further control the movement of the data processing device 20 according to the positional relationship between the data processing device 20 and the target area 200, reducing the burden of the data processing device 20 on data processing, and saving the processing of the data processing device 20 Resources.

In step 021, the target data corresponding to the target area 200 is obtained. The target data may be sent by the data storage device 10 to the data processing device 20 immediately, or may be stored in the memory 22 of the data processing device 20 in advance. As described above, the target area 200 may include a restricted-flying area or an obstacle area. The target data can be generated by any of the steps shown in FIG. 1 to FIG. 12, and will not be repeated here.

In step 022, the position information of the current position of the data processing device 20 in the first coordinate system can be obtained first. Since the position of the target graphic 300 in the first coordinate system can be obtained through the target data, the position of the target graphic 300 in the first coordinate system can be obtained through the same in the first coordinate system Under the current position of the data processing device 20 and the target graphic 300, the relationship between the current position and the target graphic 300 can be determined, and the position relationship between the data processing device 20 and the target area 200 can be further determined subsequently. In the example shown in FIG. 14, in the first coordinate system X1-O1-Y1, the target graphic 300 consists of coordinates a1, b1, c1, d1, e1, f1, g1, h1, i1, j1, k1, and l1. Characterization: The position information of the data processing device 20 is characterized by the coordinate P1. By judging the relationship between the coordinate P1 and the target graphic 300, the position relationship between the data processing device 20 and the target area 200 can be determined.

In step 023, the movement of the data processing device 20 is controlled according to the position relationship, so that the strategy for controlling the movement of the data processing device 20 is adapted to the position relationship.

Referring to FIG. 15, in some embodiments, the target data further includes the coordinates of the graphic origin of the target graphic 300 in the third coordinate system, and the conversion of the target graphic 300 from the second coordinate system to the first coordinate system Conversion parameters, before step 022, the data processing method further includes the steps:

024: Convert the coordinates of the current position of the data processing device 20 in the third coordinate system to the second coordinate system according to the coordinates of the origin of the graph in the third coordinate system; and

025: According to the conversion parameter, convert the coordinates of the current position of the data processing device 20 in the second coordinate system to the first coordinate system.

Referring to FIG. 2, in some embodiments, the target data also includes the coordinates of the graphic origin of the target graphic 300 in the third coordinate system, and the conversion of the target graphic 300 from the second coordinate system to the first coordinate system Before performing step 022, the processor 21 may also be used to perform step 024 and step 025 for converting parameters. That is, the processor 21 may be used to convert the coordinates of the current position of the data processing device 20 in the third coordinate system to the second coordinate system according to the coordinates of the origin of the graphic in the third coordinate system; and to convert the data according to the conversion parameters The coordinates of the current position of the processing device 20 in the second coordinate system are converted to the first coordinate system.

Specifically, when acquiring the current position of the data processing device 20, the current position may not be represented in the first coordinate system at the beginning. Therefore, the current position can be converted to the first coordinate system to change the current position. Both the target graphic 300 and the target graphic 300 are expressed in the first coordinate system, which facilitates the determination of the positional relationship between the data processing device 20 and the target area 200.

In step 024 and step 025, the target data may be {the coordinates of the graphic origin of the target graphic 300 in the third coordinate system, the target graphic 300 is converted from the second coordinate system to the conversion parameters in the first coordinate system, and the target graphic The characterization parameter of 300 in the first coordinate system is in the form of} (such as the target data obtained by implementing the above step 0131). The first coordinate system, the second coordinate system, and the third coordinate system may be arbitrary coordinate systems, and there is no limitation here. Please refer to Figure 14, Figure 16, and Figure 17. In this embodiment, the third coordinate system X3-O3-Y3 is the GPS coordinate system, the second coordinate system X2-O2-Y2 is the NED coordinate system, and the first coordinate system X1-O1 -Y1 is the body coordinate system of the target graphic 300 as an example for illustrative description.

In step 024, the current position of the data processing device 20 is first converted from the third coordinate system to the second coordinate system. Specifically, the coordinates of the current position in the third coordinate system can be obtained first, for example, the GPS coordinates of the current position can be obtained first. The GPS coordinates can be represented by the coordinate P3 in the third coordinate system X3-O3-Y3 shown in FIG. 16 .

When converting the current position under the third coordinate system to the second coordinate system, the coordinates of the graphic origin of the target graphic 300 in the third coordinate system in the target data can be used as the coordinate origin for conversion, so that the target graphic 300 and The current position is transformed with the same coordinate origin, and the relationship between the target graphic 300 and the current position will not change after the transformation. In the example shown in Figure 16 and Figure 17, the current position is represented by the coordinate P3 in the third coordinate system X3-O3-Y3. After converting to the second coordinate system X2-O2-Y2, the current position can be represented by the coordinate P2 said.

In step 025, the coordinates of the current position of the data processing device 20 in the second coordinate system are converted to the first coordinate system according to the conversion parameters. Among them, the conversion parameter can be obtained from the target data, the target graphic 300 is converted from the second coordinate system to the conversion parameter under the first coordinate system, so that the target graphic 300 and the current position are converted with the same conversion parameters. The relationship between the target graphic 300 and the current position on the map will not change. In the example shown in Figure 17 and Figure 14, the current position can be represented by the coordinate P2 in the second coordinate system X2-O2-Y2. After converting to the first coordinate system X1-O1-Y1, the current position can be represented by The coordinate P1 indicates that the coordinate P1 is the position information of the current position of the data processing device 20 in the first coordinate system X1-O1-Y1. Since the target data already includes the characterizing parameters of the target graphic 300 in the first coordinate system X1-O1-Y1, the current position and target represented by the position information coordinate P1 can be obtained in the first coordinate system X1-O1-Y1. The on-graphic relationship between the graphics 300, and this on-graphic relationship can be used to determine the positional relationship between the data processing device 20 and the target area 200. Through step 024 and step 025, the current position is converted from the GPS coordinate system to the NED coordinate system, and then from the NED coordinate system to the body coordinate system. You can select the appropriate coordinate axis of the body coordinate system to make the current position The graph relationship with the target graph 300 is easy to calculate, which saves the processing resources of the processing data processing device 20.

Referring to FIG. 18, in some embodiments, the target data further includes the coordinates of the graphic origin of the target graphic 300 in the second coordinate system. Before step 022, the data processing method further includes step 026: according to the graphic origin in the second coordinate system. The coordinates in the coordinate system convert the coordinates of the current position of the data processing device 20 in the GPS coordinate system to the NED coordinate system.

Referring to FIG. 2, in some embodiments, the target data also includes the coordinates of the graphic origin of the target graphic 300 in the second coordinate system. Before step 022 is implemented, the processor 21 can also be used to implement step 026, that is, to process The device 21 can be used to convert the coordinates of the current position of the data processing device 20 in the second coordinate system to the first coordinate system according to the coordinates of the origin of the graphic in the second coordinate system.

In step 026, the target data may be in the form of {the coordinates of the graphic origin of the target graphic 300 in the second coordinate system, and the characterization parameters of the target graphic 300 in the first coordinate system} (for example, the target data obtained by implementing the above step 0132) ). The first coordinate system and the second coordinate system can be arbitrary coordinate systems, and there is no limitation here. Please refer to Figure 16 and Figure 19. This embodiment takes the second coordinate system X3-O3-Y3 as the GPS coordinate system and the first coordinate system X2-O2-Y2 as the NED coordinate system. The first coordinate system X2-O2-Y2 can be characterized by coordinates a2, b2, c2, d2, e2, f2, g2, h2, i2, j2, k2, and l2.

In step 026, the current position of the data processing device 20 is converted from the second coordinate system to the first coordinate system. Specifically, the coordinates of the current position in the second coordinate system can be acquired first, for example, the GPS coordinates of the current position can be acquired first. The GPS coordinates can be represented by the coordinate P3 in the second coordinate system X3-O3-Y3 shown in FIG. 16 .

When converting the current position in the second coordinate system to the first coordinate system, the coordinates of the graphic origin of the target graphic 300 in the second coordinate system in the target data can be used as the coordinate origin for conversion, so that the target graphic 300 and The current position is transformed with the same coordinate origin, and the relationship between the target graphic 300 and the current position will not change after the transformation. In the example shown in Figure 16 and Figure 19, the current position is represented by the coordinate P3 in the second coordinate system X3-O3-Y3. After converting to the first coordinate system X2-O2-Y2, the current position can be represented by the coordinate P2 indicates that the coordinate P2 is the position information of the current position of the data processing device 20 in the first coordinate system X2-O2-Y2. Since the target data already includes the characterizing parameters of the target graphic 300 in the first coordinate system X2-O2-Y2, the current position and target represented by the position information coordinate P2 can be obtained in the first coordinate system X2-O2-Y2. The on-graphic relationship between the graphics 300, and this on-graphic relationship can be used to determine the positional relationship between the data processing device 20 and the target area 200. By converting the current position from the GPS coordinate system to the NED coordinate system through step 026, the number of times for converting the current position can be saved, so as to save the processing resources of the data processing device 20.

Referring to FIG. 20, in some embodiments, step 022 includes step 0221: determining whether the data processing device 20 falls within the target area 200 according to the position information of the current position of the data processing device 20 in the first coordinate system.

Referring to FIG. 2, in some embodiments, the processor 21 may be used to implement step 0221, that is, the processor 21 may be used to determine the data processing device according to the position information of the current position of the data processing device 20 in the first coordinate system Whether 20 falls within the target area 200.

Specifically, according to the position information of the current position of the data processing device 20 in the first coordinate system, it can be determined whether the current position falls within the target graphic 300 in the first coordinate system, so as to determine whether the data processing device 20 falls within Within the target area 200, so as to facilitate the subsequent selection of the movement strategy of the data processing device 20. When the location information indicates that the current location is within the target graphic 300, it can be determined that the data processing device 20 falls within the target area 200, and when the location information indicates that the current location is outside the target graphic 300, it can be determined that the data processing device 20 does not fall into the target area. Within 200.

In the example shown in Figure 21, in the body coordinate system X1-O1-Y1, the target graphic 300 is surrounded by coordinates a1, b1, c1, d1, e1, f1, g1, h1, i1, j1, k1, and l1. It is represented by the formed graphic, and the position information is represented by the coordinate P1, so it is only necessary to determine whether the coordinate P1 falls within the range of the target graphic 300.

In an example, through the above step 016, the coordinate axis of the first coordinate system can be appropriately determined, so that the target graphic 300 is located in a quadrant of the first coordinate system. As shown in FIG. 21, the target graphic 300 falls on the first coordinate system. In the first quadrant of the coordinate system X1-O1-Y1, when determining the relationship between the coordinate P1 and the target graphic 300, you can first determine whether at least one of the coordinates of the coordinate P1 on the X1 axis or the Y1 axis is negative. If one is negative, it can be easily judged that the coordinate P1 does not fall within the range of the target graphic 300, so as to reduce the amount of calculation.

Referring to FIG. 22, in some embodiments, after step 22, the data processing method further includes the steps:

027: If the data processing device 20 does not fall within the target area 200, determine the distance from the data processing device 20 in one or more boundaries of the target area 200 according to the position information of the current position of the data processing device 20 in the first coordinate system Nearest border; and

028: Determine the closest distance between the data processing device 20 and the target area 200 according to the distance between the location information and the closest boundary.

Referring to FIG. 2, in some embodiments, after step 022 is implemented, the processor 21 can also be used to implement steps 027 and 028, that is, the processor 21 can be used if the data processing device 20 does not fall into the target area 200. , According to the position information of the current position of the data processing device 20 in the first coordinate system, determine the one or more boundaries of the target area 200 that is closest to the data processing device 20; and according to the position information and the closest boundary The distance determines the closest distance between the data processing device 20 and the target area 200.

By determining the closest boundary between the boundary of the target area 200 and the data processing device 20, the closest distance between the data processing device 20 and the target area 200 can be obtained without calculating the distance between the data processing device 20 and all the boundaries, which reduces The amount of calculation saves the processing resources of the data processing device 20.

Please refer to the example shown in FIG. 21 for details. From the first coordinate system X1-O1-Y1, it can be seen that the boundary closest to the coordinate P1 in the target graphic 300 is d1e1, which means that the data processing device 20 and the target area 200 The distance of the boundary corresponding to d1e1 is the closest, and the closest distance can be obtained by only calculating the distance between the data processing device 20 and the corresponding boundary.

Further, multiple regions can be divided in the first coordinate system X1-O1-Y1, such as the regions R1, R2, R3, R4, R5, R6, R7, R8, and R9 as shown in FIG. 21. When the coordinate P1 falls When entering a different area, you only need to pay attention to the distance between the coordinate P1 and certain boundaries to get the closest distance. For example, when the coordinate P1 falls within the range of R1, only the distance between the data processing device 20 and the boundary corresponding to a1b1 in the target area 200 needs to be calculated, and this distance is the closest distance; when the coordinate P1 falls within the range of R3 , You only need to calculate the distance between the data processing device 20 and the boundary corresponding to b1c1, c1d1, d1e1, e1f1, and f1g1 in the target area 200, and compare the smallest distance to be the closest distance; when the coordinates fall within the R9 range When it is inside, it means that the data processing device 20 is already located in the target area 200 and so on.

Referring to FIG. 23, in some embodiments, when the first coordinate system is the body coordinate system, after step 022, the data processing method further includes step 029: according to the positional relationship between the data processing device 20 and the target area 200 and conversion parameters, The position relationship is converted to the NED coordinate system, and the conversion parameter is the conversion parameter for converting the target graphic 300 from the NED coordinate system to the body coordinate system.

Referring to FIG. 2, in some embodiments, when the first coordinate system is the body coordinate system, after the processor 21 implements step 022, the processor 21 can also be used to implement step 029: according to the relationship between the data processing device 20 and the target area 200 The position relationship and the conversion parameters are converted to the NED coordinate system, and the conversion parameters are the conversion parameters for converting the target graphic 300 from the NED coordinate system to the body coordinate system.

In the body coordinate system, it can be judged whether the data processing device 20 falls within the target area 200. However, when it is specifically necessary to clarify the current movement direction of the data processing device 20 and the relative orientation of the data processing device 20 and the target area 200, It needs to be performed in the NED coordinate system to ensure that the movement of the data processing device 20 can be correctly controlled.

In step 029, the positional relationship between the data processing device 20 and the target area 200 can be obtained from the relationship between the position information of the current position of the data processing device 20 in the first coordinate system and the target graphic 300. The conversion parameters can be obtained directly from the target data.

Referring to FIG. 24, in some embodiments, step 023 includes step 0231: when the positional relationship is different, different control strategies are used to control the movement of the data processing device 20.

Referring to FIG. 2, in some embodiments, the processor 21 may be used to implement step 0231, that is, the processor 21 may be used to control the movement of the data processing device 20 using different control strategies when the positional relationship is different.

For the different positional relationships between the data processing device 20 and the target area 200, different control strategies are adopted to control the movement of the data processing device 20, so that the relationship between the data processing device 20 and the target area 200 can be better maintained. Specifically, the ways in which different positional relationships correspond to different control strategies include one or more of the following:

When the data processing device 20 is located in the target graphic 300, the data processing device 20 is controlled to land to prevent the data processing device 20 from continuing to move within the target area 200; when the data processing device 20 is located outside the target graphic 300, and the data processing device 20 is When the closest distance to the boundary of the target area 200 is less than the distance threshold, the data processing device 20 is controlled to move away from the target graphic 300 to increase the distance between the data processing device 20 and the target area 200; when the data processing device 20 is located outside the target graphic 300, and the data When the closest distance between the processing device 20 and the boundary of the target area 200 is less than the distance threshold, the data processing device 20 is controlled to move along the direction of the boundary to ensure that the data processing device 20 is no longer close to the target area 200; when the data processing device 20 is located in the target graphic 300 In addition, and the closest distance between the data processing device 20 and the boundary is less than the distance threshold, the data processing device 20 is controlled to change the movement route to re-plan the movement route to avoid the target area 200; and when the data processing device 20 is located outside the target image 300, And when the closest distance between the data processing device 20 and the boundary is less than the distance threshold, the data processing device 20 is controlled to stop moving, so that the data processing device 20 stops moving, avoiding entering the target area 200, and waiting for further commands from the user.

Referring to FIG. 2, this application also discloses a mobile control system 100. The mobile control system 100 includes the data storage device 10 and the data processing device 20 described in any of the foregoing embodiments.

Please refer to FIG. 25. This application also discloses a non-volatile computer-readable storage medium 400 containing computer-executable instructions 401. When the computer-executable instructions 401 are executed by one or more processors 500, the processor 500 executes The data processing method shown in any embodiment of this application.

For example, when the processor executes computer-executable instructions, the processor executes the steps:

011: Determine the target graphic according to the shape of the target area 200;

012: Obtain the characterization parameters of the target graphic in the first coordinate system; and

013: Generate target data corresponding to the target area 200 according to the characterization parameters.

For another example, when the processor executes computer-executable instructions, the processor executes the steps:

021: Acquire target data corresponding to the target area 200, the target data is generated by the data storage device 10 according to the characterization parameters of the target graphic corresponding to the target area 200 in the first coordinate system;

022: Determine the positional relationship between the data processing device 20 and the target area 200 according to the position information of the current position of the data processing device 20 in the first coordinate system; and

023: Control the movement of the data processing device 20 according to the positional relationship.

In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “examples”, “specific examples” or “some examples” etc. means to combine the described implementations The specific features, structures, materials, or characteristics described in the manners or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradicting each other.

Any process or method description described in the flowchart or described in other ways herein can be understood as a module, segment, or part of code that includes one or more executable instructions for implementing specific logical functions or steps of the process , And the scope of the preferred embodiments of the present application includes additional implementations, which may not be in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. This should It is understood by those skilled in the art to which the embodiments of the present application belong.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those of ordinary skill in the art can comment on the above within the scope of the present application. The implementation is subject to change, modification, replacement and modification.

Claims (54)

1. A data processing method, characterized in that it comprises:

   Determine the target graphic according to the shape of the target area;

   Acquiring the characterizing parameters of the target graphic in the first coordinate system; and

   Generate target data corresponding to the target area according to the characterizing parameter.
2. The data processing method according to claim 1, wherein the target area includes a restricted-flying area or an obstacle area.
3. The data processing method according to claim 1 or 2, wherein the data processing method further comprises:

   Send the target data to the data processing device.
4. The data processing method according to any one of claims 1 to 3, characterized in that, before acquiring the characterizing parameters of the target graph in the first coordinate system, the method further comprises:

   The target graphic is converted from the second coordinate system to the first coordinate system based on the graphic origin in the target graphic.
5. The data processing method according to claim 4, wherein the first coordinate system is a NED coordinate system; and/or the second coordinate system is a GPS coordinate system.
6. The data processing method according to claim 4 or 5, wherein the generating target data corresponding to the target area according to the characterizing parameter comprises:

   The target data corresponding to the target area is generated according to the characterizing parameter and the coordinates of the origin of the graphic in the second coordinate system.
7. The data processing method according to any one of claims 1 to 3, characterized in that, before acquiring the characteristic parameters of the target graph in the first coordinate system, the method further comprises:

   Transforming the target graphic from the third coordinate system to the second coordinate system based on the graphic origin in the target graphic; and

   Transforming the target graphic from the second coordinate system to the first coordinate system.
8. The data processing method according to claim 7, wherein the first coordinate system is the body coordinate system of the target figure, the coordinate axes of the body coordinate system are determined according to the target figure, and the The target graphic is located in a quadrant of the body coordinate system, the second coordinate system is a NED coordinate system, and the third coordinate system is a GPS coordinate system.
9. The data processing method according to claim 7 or 8, wherein the generating target data corresponding to the target area according to the characterizing parameter comprises:

   According to the coordinates of the origin of the graphic in the third coordinate system, the target graphic is converted from the second coordinate system to the conversion parameter and the characterizing parameter in the first coordinate system to generate the target data.
10. The data processing method according to any one of claims 4 to 9, wherein the origin of the graph includes any boundary point of the target graph.
11. The data processing method according to any one of claims 1 to 10, wherein the target graphic is a polygon, and said acquiring the characteristic parameters of the target graphic in a first coordinate system comprises:

    Obtain the normal vectors of the sides of the polygon and the coordinates of the intersection points of the polygon in the first coordinate system.
12. The data processing method according to any one of claims 1 to 11, wherein the target graphic includes one or more of a polygon, a circle, or an ellipse.
13. A data processing method, characterized in that it comprises:

    Acquiring target data corresponding to a target area, the target data being generated by a data storage device according to the characterization parameters of the target graphic corresponding to the target area in the first coordinate system;

    Determine the positional relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system; and

    The movement of the data processing device is controlled according to the position relationship.
14. The data processing method according to claim 13, wherein the target area includes a restricted-flying area or an obstacle area.
15. The data processing method according to claim 13 or 14, wherein the target data further includes the coordinates of the graphic origin of the target graphic in a second coordinate system; Before determining the positional relationship between the data processing device and the target area, the position information in the first coordinate system further includes:

    According to the coordinates of the graph origin in the second coordinate system, the coordinates of the current position of the data processing device in the second coordinate system are converted to the first coordinate system.
16. The data processing method according to claim 15, wherein the first coordinate system is a NED coordinate system; and/or the second coordinate system is a GPS coordinate system.
17. The data processing method according to claim 13 or 14, wherein the target data further includes the coordinates of the graphic origin of the target graphic in a third coordinate system, and the target graphic is converted from the second coordinate system Down-conversion to the conversion parameters in the first coordinate system; before determining the positional relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system ,Also includes:

    According to the coordinates of the origin of the graph in the third coordinate system, transform the coordinates of the current position of the data processing device in the third coordinate system to the second coordinate system; and

    According to the conversion parameter, the coordinates of the current position of the data processing device in the second coordinate system are converted to the first coordinate system.
18. The data processing method according to claim 17, wherein the first coordinate system is the body coordinate system of the target figure, the coordinate axes of the body coordinate system are determined according to the target figure, and the The target graphic is located in a quadrant of the body coordinate system, the second coordinate system is a NED coordinate system, and the third coordinate system is a GPS coordinate system.
19. The data processing method according to any one of claims 15 to 18, wherein the graph origin includes any boundary point of the target graph.
20. The data processing method according to any one of claims 13 to 19, wherein the target graphic is a polygon, and the characterizing parameter comprises: in the first coordinate system, the normal vector of each side of the polygon And the coordinates of each intersection of the polygon.
21. The data processing method according to any one of claims 13 to 20, wherein the data processing device is determined to be connected to the data processing device according to the position information of the current position of the data processing device in the first coordinate system. The location relationship of the target area includes:

    According to the position information of the current position of the data processing device in the first coordinate system, it is determined whether the data processing device falls within the target area.
22. 22. The data processing method according to claim 21, wherein the position information of the current position of the data processing device in the first coordinate system is used to determine the distance between the data processing device and the target area. After the positional relationship, it also includes:

    If the data processing device does not fall within the target area, according to the position information of the current position of the data processing device in the first coordinate system, determine the distance between one or more boundaries of the target area The nearest boundary of the data processing equipment; and

    The closest distance between the data processing device and the target area is determined according to the distance between the location information and the closest boundary.
23. The data processing method according to claim 21 or 22, wherein the first coordinate system is a body coordinate system, and after determining the positional relationship between the data processing device and the target area, the method further comprises:

    According to the positional relationship between the data processing device and the target area and conversion parameters, the positional relationship is converted to the NED coordinate system, and the conversion parameter is to convert the target graphic from the NED coordinate system to the body coordinates The conversion parameters of the system.
24. The data processing method according to any one of claims 13 to 23, wherein the controlling the movement of the data processing device according to the position relationship comprises:

    When the positional relationship is different, different control strategies are adopted to control the movement of the data processing device.
25. The data processing method according to claim 24, wherein when the positional relationship is different, adopting a different control strategy to control the movement of the data processing device comprises:

    When the data processing device is located in the target area, controlling the data processing device to land; and/or

    When the data processing device is located outside the target area, and the closest distance between the data processing device and the boundary of the target area is less than a distance threshold, controlling the data processing device to move away from the target graphic; and/or

    When the data processing device is located outside the target area, and the closest distance between the data processing device and the boundary of the target area is less than a distance threshold, controlling the data processing device to move along the direction of the boundary; and/ or

    When the data processing device is located outside the target area, and the closest distance between the data processing device and the boundary is less than the distance threshold, controlling the data processing device to change the moving route; and/or

    When the data processing device is located outside the target area and the closest distance between the data processing device and the boundary is less than a distance threshold, the data processing device is controlled to stop moving.
26. A data storage device, wherein 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:

    Determine the target graphic according to the shape of the target area;

    Acquiring the characterizing parameters of the target graphic in the first coordinate system; and

    Generate target data corresponding to the target area according to the characterizing parameter.
27. The data storage device according to claim 26, wherein the target area comprises a restricted-flying area or an obstacle area.
28. The data storage device according to claim 26 or 27, wherein the processor is further configured to:

    Send the target data to the data processing device.
29. The data storage device according to any one of claims 26 to 28, wherein before acquiring the characterizing parameters of the target graphic in the first coordinate system, the processor is further configured to:

    The target graphic is converted from the second coordinate system to the first coordinate system based on the graphic origin in the target graphic.
30. The data storage device according to claim 29, wherein the first coordinate system is a NED coordinate system; and/or the second coordinate system is a GPS coordinate system.
31. The data storage device according to claim 29 or 30, wherein the processor is further configured to:

    The target data corresponding to the target area is generated according to the characterizing parameter and the coordinates of the origin of the graphic in the second coordinate system.
32. The data storage device according to any one of claims 26 to 28, wherein before acquiring the characterizing parameters of the target graphic in the first coordinate system, the processor is further configured to:

    Transforming the target graphic from the third coordinate system to the second coordinate system based on the graphic origin in the target graphic; and

    Transforming the target graphic from the second coordinate system to the first coordinate system.
33. The data storage device according to claim 32, wherein the first coordinate system is the body coordinate system of the target figure, the coordinate axes of the body coordinate system are determined according to the target figure, and the The target graphic is located in a quadrant of the body coordinate system, the second coordinate system is a NED coordinate system, and the third coordinate system is a GPS coordinate system.
34. The data storage device according to claim 32 or 33, wherein the processor is further configured to:

    According to the coordinates of the origin of the graphic in the third coordinate system, the target graphic is converted from the second coordinate system to the conversion parameter and the characterizing parameter in the first coordinate system to generate the target data.
35. The data storage device according to any one of claims 29 to 34, wherein the graph origin includes any boundary point of the target graph.
36. The data storage device according to any one of claims 26 to 35, wherein the target graphic is a polygon, and the processor is further configured to:

    Obtain the normal vectors of the sides of the polygon and the coordinates of the intersection points of the polygon in the first coordinate system.
37. The data storage device according to any one of claims 26 to 36, wherein the target graphic includes one or more of a polygon, a circle, or an ellipse.
38. A data processing device, characterized in that 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:

    Acquiring target data corresponding to a target area, the target data being generated by a data storage device according to the characterization parameters of the target graphic corresponding to the target area in the first coordinate system;

    Determine the positional relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system; and

    The movement of the data processing device is controlled according to the position relationship.
39. The data processing device according to claim 38, wherein the target area comprises a restricted-flying area or an obstacle area.
40. The data processing device according to claim 38 or 39, wherein the target data further includes the coordinates of the graphic origin of the target graphic in the second coordinate system; Before determining the positional relationship between the data processing device and the target area based on the position information in the first coordinate system, the processor is further configured to:

    According to the coordinates of the origin of the graphic in the second coordinate system, the coordinates of the current position of the data processing device in the second coordinate system are converted to the first coordinate system.
41. The data processing device according to claim 40, wherein the first coordinate system is a NED coordinate system; and/or the second coordinate system is a GPS coordinate system.
42. The data processing device according to claim 38 or 39, wherein the target data further includes the coordinates of the graphic origin of the target graphic in a third coordinate system, and the target graphic is converted from the second coordinate system Down-conversion to the conversion parameters in the first coordinate system; before determining the positional relationship between the data processing device and the target area according to the position information of the current position of the data processing device in the first coordinate system, The processor is also used for:

    According to the coordinates of the origin of the graph in the third coordinate system, transform the coordinates of the current position of the data processing device in the third coordinate system to the second coordinate system; and

    According to the conversion parameter, the coordinates of the current position of the data processing device in the second coordinate system are converted to the first coordinate system.
43. The data processing device according to claim 42, wherein the first coordinate system is the body coordinate system of the target figure, the coordinate axes of the body coordinate system are determined according to the target figure, and the The target graphic is located in a quadrant of the body coordinate system, the second coordinate system is a NED coordinate system, and the third coordinate system is a GPS coordinate system.
44. The data processing device according to any one of claims 40 to 43, wherein the graph origin includes any boundary point of the target graph.
45. The data processing device according to any one of claims 38 to 44, wherein the target graphic is a polygon, and the characterizing parameter comprises: in the first coordinate system, the normal vector of each side of the polygon And the coordinates of each intersection of the polygon.
46. The data processing device according to any one of claims 38 to 45, wherein the processor is further configured to:

    According to the position information of the current position of the data processing device in the first coordinate system, it is determined whether the data processing device falls within the target area.
47. The data processing device according to claim 46, wherein the processor is further configured to:

    If the data processing device does not fall within the target area, according to the position information of the current position of the data processing device in the first coordinate system, determine the distance between one or more boundaries of the target area The nearest boundary of the data processing equipment; and

    The closest distance between the data processing device and the target area is determined according to the distance between the location information and the closest boundary.
48. The data processing device according to claim 46 or 47, wherein the first coordinate system is a body coordinate system, and after determining the positional relationship between the data processing device and the target area, the processor further Used for:

    According to the positional relationship between the data processing device and the target area and conversion parameters, the positional relationship is converted to the NED coordinate system, and the conversion parameter is to convert the target graphic from the NED coordinate system to the body coordinates The conversion parameters of the system.
49. The data processing device according to any one of claims 38 to 48, wherein the processor is further configured to:

    When the positional relationship is different, different control strategies are adopted to control the movement of the data processing device.
50. The data processing device according to claim 49, wherein the processor is further configured to:

    When the data processing device is located in the target area, controlling the data processing device to land; and/or

    When the data processing device is located outside the target area, and the closest distance between the data processing device and the boundary of the target area is less than a distance threshold, controlling the data processing device to move away from the target graphic; and/or

    When the data processing device is located outside the target area, and the closest distance between the data processing device and the boundary of the target area is less than a distance threshold, controlling the data processing device to move along the direction of the boundary; and/ or

    When the data processing device is located outside the target area, and the closest distance between the data processing device and the boundary is less than the distance threshold, controlling the data processing device to change the moving route; and/or

    When the data processing device is located outside the target area and the closest distance between the data processing device and the boundary is less than a distance threshold, the data processing device is controlled to stop moving.
51. A mobility control system, characterized in that the mobility control system includes:

    The data storage device of any one of claims 26 to 37; and

    The data processing device according to any one of claims 38 to 50.
52. The mobile control system according to claim 51, wherein the data storage device comprises a terminal, a server or a remote control; and/or

    The data processing equipment includes flight equipment.
53. The mobile control system according to claim 51, wherein the data storage device comprises an application processor on a flight device; and/or

    The data processing device includes a flight control processor on the flight device.
54. A non-volatile computer-readable storage medium containing computer-executable instructions, wherein when the computer-executable instructions are executed by one or more processors, the processor executes any of claims 1 to 25 The data processing method described in one item.

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