WO2021102951A1 - 数据处理方法、无人机和计算机可读存储介质 - Google Patents

数据处理方法、无人机和计算机可读存储介质 Download PDF

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Publication number
WO2021102951A1
WO2021102951A1 PCT/CN2019/122093 CN2019122093W WO2021102951A1 WO 2021102951 A1 WO2021102951 A1 WO 2021102951A1 CN 2019122093 W CN2019122093 W CN 2019122093W WO 2021102951 A1 WO2021102951 A1 WO 2021102951A1
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restricted
data
flying
zone
drone
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PCT/CN2019/122093
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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/CN2019/122093 priority Critical patent/WO2021102951A1/zh
Priority to CN201980047878.1A priority patent/CN112534377B/zh
Publication of WO2021102951A1 publication Critical patent/WO2021102951A1/zh

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    • 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

Definitions

  • This application relates to the field of data processing technology, in particular to a data processing method, a drone, and a computer-readable storage medium.
  • the UAV geofencing system can not only support the flight restriction based on the static database, but also support the flight restriction of the temporary fly limit (TFR) dynamically set.
  • the static database is stored in the UAV, and the UAV obtains a flight restriction conclusion after calculating based on the static database based on its GPS position.
  • the TFR database is updated by the mobile terminal after requesting the server background through the network, and the updated TFR database is also stored in the drone.
  • TFR data can be set as a temporary restricted flight zone that takes effect within a certain period of time according to policies, regulations, large-scale events, etc.
  • TFR data follows the same processing method as that of static databases, and TFR data is highly dynamic, and temporary addition or deletion needs to be supported, and every time the TFR data changes, the entire TFR database needs to be re-updated.
  • the UAV also needs to read the TFR database again, which causes a waste of computing power and communication bandwidth to a certain extent. This waste will be especially significant when there is a large amount of TFR data.
  • the embodiments of the present application provide a data processing method, a drone, and a computer-readable storage medium.
  • the data processing method of the embodiment of the present application is used for a drone, the drone stores a restricted-flying zone database, and the restricted-flying zone database stores one or more restricted-flying zone data, and the data processing method includes: Obtain the potential energy of the drone in the potential field corresponding to each of the restricted-fly zone data; calculate the total potential energy according to the potential energy of the drone in all the potential fields; and Determine whether the UAV is in a restricted-flying zone according to the total potential energy.
  • the drone of the embodiment of the present application includes a processor and a memory, the memory is used to store a restricted-fly zone database and program instructions, the restricted-fly zone database stores one or more restricted-fly zone data, and the processor uses After reading the program instructions, perform the following operations: Obtain the potential energy of the UAV in the potential field corresponding to each of the restricted-fly zone data; According to the UAV in all the potential fields Calculating the total potential energy with the potential energy; and determining whether the UAV is in the restricted-flying zone according to the total potential energy.
  • the non-volatile computer-readable storage medium containing computer-executable instructions according to the embodiment of the present application.
  • the processors execute the following data processing methods: The potential energy of the human-machine in the potential field corresponding to the data of each restricted zone; calculate the total potential energy according to the potential energy of the UAV in all the potential fields; and according to the total potential energy Determine whether the drone is in a restricted-flying zone.
  • the data processing method, the drone, and the computer-readable storage medium of the embodiment of the application separately obtain the potential energy of the drone in the potential field corresponding to the data of each restricted-fly zone, and then calculate the total potential energy and determine the potential energy. Whether the man-machine is in the restricted-flying zone.
  • the data of each restricted-flying zone are independent of each other, and there is no coupling relationship.
  • the data of each restricted-flying zone can be added or deleted at will without affecting the data of other restricted-flying zones (that is, one of the restricted-flying zones).
  • FIG. 1 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 2 is a schematic diagram of a scene of a data processing method according to some embodiments of the present application.
  • Fig. 3 is a schematic diagram of a UAV storing a restricted-flying zone database in some embodiments of the present application
  • Fig. 4 is a schematic diagram of a drone according to some embodiments of the present application.
  • FIG. 5 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 6 is a schematic diagram of a scene of a data processing method according to some embodiments of the present application.
  • FIG. 7 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 8 is a schematic diagram of the potential energy distribution in the potential field corresponding to the restricted-fly zone data in some embodiments of the present application.
  • FIG. 9 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 10 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 11 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 12 is a schematic diagram of the potential capability received by the UAV of certain embodiments of the present application in the potential field;
  • FIG. 13 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 14 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 15 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 16 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 17 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 18 is a schematic diagram of the connection state of the server, the mobile terminal, and the drone in some embodiments of the present application;
  • FIG. 19 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 20 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 21 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 22 is a schematic flowchart of a data processing method according to some embodiments of the present application.
  • FIG. 23 is a schematic diagram of a connection state between a computer-readable storage medium and a processor in some embodiments of the present application.
  • an embodiment of the present application provides a data processing method.
  • the data processing method is used for the drone 100.
  • the unmanned aerial vehicle 100 stores a restricted-flying zone database 31, and the restricted-flying zone database 31 stores one or more restricted-flying zone data.
  • Data processing methods include:
  • 013 Determine whether the UAV 100 is in the restricted-flying zone 200 according to the total potential energy.
  • an embodiment of the present application also provides an unmanned aerial vehicle 100.
  • the drone 100 includes a processor 10 and a memory 30.
  • the memory 30 is used to store a restricted-flying zone database 31 and program instructions 32, and the restricted-flying zone database 31 stores one or more restricted-flying zone data.
  • the processor 10 is configured to read the program instructions 32 to execute the data processing method of the embodiment of the present application. For example, the processor 10 may be used to read program instructions 32 to perform the methods in 011, 012, and 013.
  • the processor 10 can be used to: obtain the potential energy of the UAV 100 in the potential field corresponding to each restricted-fly zone data; according to the potential energy of the UAV 100 in all the potential fields Calculate the total potential energy; and determine whether the UAV 100 is in the restricted-flying zone 200 according to the total potential energy.
  • the UAV 100 may also include other devices, such as a pan/tilt, a camera, a power system, and so on.
  • the data processing method and the drone 100 of the embodiment of the present application separately obtain the potential energy of the drone 100 in the potential field corresponding to the data of each restricted zone, and then calculate the total potential energy and determine whether the drone 100 In the restricted-flying zone 200.
  • the data of each restricted-flying zone are independent of each other, and there is no coupling relationship.
  • the data of each restricted-flying zone can be added or deleted at will without affecting the data of other restricted-flying zones (that is, one of the restricted-flying zones).
  • the restricted flight zone database 31 may include a static database 311 and/or a temporary fly limit (TFR) database 312.
  • the restricted-flying area database 31 may include a static database 311; or, the restricted-flying area database 31 may include a temporary restricted-flying area database 312; or, the restricted-flying area database 31 may include both a static database 311 and a temporary restricted-flying area database 312.
  • the restricted-flying zone data may include static restricted-flying zone data and/or temporary restricted-flying zone data.
  • the temporary restricted-flying zone may also be referred to as a dynamic restricted-flying zone.
  • the static restricted flight zone data is stored in the static database 311.
  • the static restricted-flying zone data generally refers to the restricted-flying data corresponding to the fixed restricted-flying zone.
  • sensitive areas such as airports, prisons, nuclear power plants, government agencies, and military management zones are characterized by a fixed amount of time for a long time.
  • the update of the static database 311 can be performed in the form of a firmware upgrade.
  • the temporary restricted-flying zone data is stored in the temporary restricted-flying zone database 312.
  • Temporary restricted-flying zone data generally refers to the restricted-flying data corresponding to temporary restricted-flying zones that are set to take effect within a certain period of time according to policies, regulations, and large-scale events. For example, for certain major events, a temporary restricted-flying zone may be issued to temporarily restrict the flight of the UAV 100.
  • the update of the temporary restricted-flying zone database 312 can be implemented through communication between the server 400 (as shown in FIG. 18), the mobile terminal 300 (as shown in FIG. 18), and the drone 100, which will be described in detail later.
  • the restricted-flying zone data can be graphical data.
  • the restricted-flying zone 200 generally has a certain shape.
  • the planar shape of the restricted-flying area 200 may be approximately a candy shape as shown in FIG. 2; when the restricted-flying area 200 is a building, the planar shape of the restricted-flying area 200 may be approximately rectangular;
  • the planar shape of the restricted-flying zone 200 may be roughly elliptical or the like.
  • the restricted-flying zone data corresponding to the restricted-flying zone 200 may be graphic data, and the graphic data may specifically include one or more of a polygon, a circle, or an ellipse.
  • the graphic data may be a single graphic in a polygon, a circle, or an ellipse, or a combined graphic formed by a combination of multiple of the polygon, a circle, or an ellipse.
  • the processor 10 When acquiring the potential energy of the UAV 100 in the potential field corresponding to each restricted-fly zone data, the processor 10 separately acquires the potential energy of the UAV 100 in the potential field corresponding to each restricted-fly zone data.
  • Potential energy For example, if the restricted-flying zone database 31 stores restricted-flying zone data data1, restricted-flying zone data data2, restricted-flying zone data data3...restricted-flying zone data data(N), the processor 10 separately obtains that the drone 100 is in the restricted flight
  • the potential energy U1 in the potential field corresponding to the area data data1 obtain the potential energy U2 of the UAV 100 in the potential field corresponding to the restricted-fly zone data data2, and obtain the corresponding UAV 100 in the restricted-fly zone data data3
  • the potential energy U3 in the potential field of the UAV 100 For example, if the restricted-flying zone database 31 stores restricted-flying zone data data1, restricted-flying zone data data2, restricted-flying zone data
  • the processor 10 calculates the total potential energy U according to the potential energies U1, U2, U3...U(N) possessed by the drone 100 in all potential fields, and then determines whether the drone 100 is In the restricted-flying zone 200.
  • the process for the processor 10 to determine whether the drone 100 is in the restricted-fly zone 200 according to the total potential energy U may be: the processor 10 determines whether the drone 100 is in the restricted-fly zone 200 according to the total potential energy U, so as to determine whether the drone 100 is in the restricted-fly zone 200. 100 is in the restricted-flying zone 200; it can also be: the processor 10 sends the total potential energy U to the mobile terminal 300 (as shown in FIG. 18) or the server 400 (as shown in FIG.
  • the total potential energy U determines whether the UAV 100 is in the restricted-flying zone 200, and then sends the determination result to the UAV 100, and the processor 10 receives the determination result to determine whether the UAV 100 is in the restricted-flying zone 200.
  • the processor 10 in the embodiment of the present application may be a flight controller (flight control system, FC) of the UAV 100, such as a microcontroller unit (MCU), an integrated chip, a control circuit, etc., or it may be a flight controller (flight control system, FC).
  • FC flight controller
  • AP application processor
  • obtaining the potential energy (ie, 011) that the UAV 100 has in the potential field corresponding to each restricted-fly zone data includes:
  • 0111 Calculate the distance vector from UAV 100 to the restricted-flying zone 200 corresponding to each restricted-flying zone data;
  • 0112 Obtain the potential energy of the UAV 100 in the potential field corresponding to each restricted-fly zone data according to the distance vector.
  • the processor 10 may be used to read the program instructions 32 to execute the methods in 0111 and 0112.
  • the processor 10 can be used to: calculate the distance vector from the drone 100 to the restricted-fly zone 200 corresponding to each restricted-fly zone data; and obtain the data of the drone 100 in each restricted-fly zone according to the distance vector.
  • the potential energy in the corresponding potential field may be used to calculate the distance vector from the drone 100 to the restricted-fly zone 200 corresponding to each restricted-fly zone data.
  • the restricted-flying area 200 corresponding to the restricted-flying area data data1 is the restricted-flying area 200a
  • the restricted-flying area 200 corresponding to the restricted-flying area data data2 is the restricted-flying area 200b.
  • the processor 10 respectively calculates the distance vector p1 from the drone 100 to the restricted-fly zone 200a and the distance vector p2 from the drone 100 to the restricted-fly zone 200b, and obtains the data 1 of the drone 100 in the restricted-fly zone based on the distance vector p1.
  • the potential energy U1 of the corresponding potential field is obtained based on the distance vector p2 to obtain the potential energy U2 of the UAV 100 in the potential field corresponding to the restricted-fly zone data data2.
  • the data processing method before obtaining the potential energy (ie, 011) of the potential field corresponding to each restricted-fly zone data of the UAV 100, the data processing method further includes:
  • 014 Construct the potential energy function corresponding to each restricted-fly zone data based on the artificial potential field method.
  • the potential energy is equal to the distance value from the UAV 100 to the restricted-fly zone 200 corresponding to each restricted-fly zone data.
  • 01121 Obtain the potential energy of the UAV 100 in the potential field corresponding to each restricted-fly zone data according to the distance vector and the potential energy function.
  • step 014 and step 0111 are not limited.
  • the processor 10 may be used to read the program instructions 32 to execute the methods in 014 and 01121.
  • the processor 10 can be used to construct the potential energy function corresponding to the data of each restricted-fly zone based on the artificial potential field method, where, in the potential energy function, the potential energy is the same as the data from the UAV 100 to each restricted-fly zone.
  • the distance value of the corresponding restricted-flying zone 200 is inversely proportional; the potential energy of the UAV 100 in the potential field corresponding to each restricted-flying zone data is obtained according to the distance vector and the potential energy function.
  • the artificial potential field method refers to artificially constructing a virtual potential field, setting obstacles as repulsive force and target points as attractive forces (that is, the obstacles generate repulsive force on the UAV 100, and the target points generate repulsive force on the UAV 100). Gravity), and then add the vectors of the forces to calculate the direction of the resultant force, and control the flight of the UAV 100 through the resultant force.
  • the implementation of the present application constructs the potential energy function corresponding to each restricted-fly zone data based on the artificial potential field method.
  • the potential energy function the potential energy of the UAV 100 in the potential field corresponding to each restricted-fly zone data is inversely proportional to the distance value from the UAV 100 to the restricted-fly zone 200 corresponding to each restricted-fly zone data. In other words, as the distance between the drone 100 and the restricted-flying zone 200 corresponding to a certain restricted-flying zone data is closer, the potential energy of the drone 100 in the potential field corresponding to the restricted-flying zone data is greater.
  • FIG. 8 only schematically depicts a schematic diagram of the potential energy distribution in the potential field corresponding to the two restricted-fly zone data (at this time, the two restricted-fly zone data are both circular graphic data).
  • the two restricted-fly zone data are both circular graphic data.
  • the center of the potential field is the high-potential energy region, and away from the center of the potential field is the low-potential energy region.
  • the potential energy function is:
  • U is the potential energy
  • K is the energy coefficient
  • k>0 the value of K can be adjusted according to actual conditions or empirical values.
  • d is the bias constant, d>0;
  • p is the distance vector from the UAV 100 to the boundary of the potential field, including distance value and direction information.
  • the above-mentioned potential energy function is a potential energy function constructed based on the data of the restricted-flying zone as circular graphic data.
  • the restricted-flying area data is polygonal graphic data, or elliptical graphic data, or polygonal, circular or elliptical
  • the graphic data is composed of multiple combinations of the above, those skilled in the art can perform some formal transformations on the above-mentioned potential energy function.
  • the restricted-flying zone data is still circular graphic data, those skilled in the art can perform some formal transformations on the above-mentioned potential energy function, for example, removing d or k.
  • the processor 10 can obtain the potential energy corresponding to the drone 100 in each restricted-fly zone data according to the distance vector from the drone 100 to the restricted-fly zone 200 corresponding to each restricted-fly zone data and the potential energy function.
  • the potential energy in the field can be obtained.
  • the total potential energy (ie 012) is calculated based on the potential energy of the UAV 100 in all potential fields, including:
  • 0122 The total potential energy is obtained by the weighted summation of the potential energy of the UAV 100 in all potential fields.
  • the processor 10 may be used to read the program instructions 32 to execute the methods in 0121 and 0122.
  • the processor 10 can be used to: sum the potential energy of the drone 100 in all potential fields to obtain the total potential energy; or to calculate the potential energy of the drone 100 in all potential fields. The weighted summation obtains the total potential energy.
  • 0121 and 0122 are executed alternatively.
  • A1 is the weight coefficient corresponding to U1
  • A2 is the weight coefficient corresponding to U2
  • A3 is the weight coefficient corresponding to U3...A(N) is the weight coefficient corresponding to U(N).
  • A1, A2, A3...A(N) may be partly the same, partly different, or all may be different.
  • the weighting coefficient corresponding to the potential energy is higher, so that the unmanned vehicle can be judged based on the total potential energy.
  • the result of whether the drone 100 is in the restricted-flying zone 200 is more accurate, ensuring that it can be detected when the drone 100 is in the restricted-flying zone 200.
  • judging whether the UAV 100 is in the restricted-flying zone 200 (that is, 013) based on the total potential energy includes:
  • the processor 10 may be used to read the program instructions 32 to execute the methods in 0131 and 0132.
  • the processor 10 can be used to: when the total potential energy is greater than or equal to the predetermined potential energy, determine that the drone 100 is in the restricted-flying zone 200; when the total potential energy is less than the predetermined potential energy, determine that the drone 100 is It is outside the restricted-flying zone 200.
  • the potential energy is inversely proportional to the distance value from the drone 100 to the restricted-fly zone 200 corresponding to each restricted-fly zone data. Therefore, when the distance from the drone 100 to the restricted-fly zone 200 is The closer, the greater the total potential energy; the greater the distance from the UAV 100 to the restricted-fly zone 200, the smaller the total potential energy.
  • the processor 10 can determine that the UAV 100 is in the restricted-flying zone 200; when the total potential energy is When the potential energy is less than the predetermined potential energy, it indicates that the distance between the UAV 100 and the restricted-flying zone 200 is far, and the processor 10 can determine that the UAV 100 is outside the restricted-flying zone 200.
  • the predetermined potential energy is a value greater than zero.
  • the predetermined potential energy can be adjustable, and the value of the predetermined potential energy can be set according to the actual situation.
  • the data processing method further includes:
  • the potential energy of the drone 100 in each potential field is derived to obtain the potential ability of the drone 100 in each potential field ;
  • 017 Determine the flight direction of the UAV 100 according to the overall potential capability.
  • the processor 10 may be used to read the program instructions 32 to execute the methods in 015, 016, and 017.
  • the processor 10 can be used to derive the potential energy of the drone 100 in each potential field according to the distance vector from the drone 100 to the restricted-flying zone 200 to obtain the drone 100
  • the potential capability received in each potential field; the total potential capability is calculated according to the potential capability received by the UAV 100 in all potential fields; and the flight direction of the UAV 100 is determined according to the total potential capability.
  • the potential ability is:
  • U is the potential energy
  • p is the vector from the UAV 100 to the boundary of the potential field.
  • the processor 10 After obtaining the distance vectors p1, p2, p3...p(N) from the drone 100 to the restricted-fly zone data corresponding to each restricted-fly zone data, and the potential field corresponding to the data of each restricted-fly zone by the drone 100 After having the potential energy U1, U2, U3...U(N), the processor 10 respectively derives U1, U2, U3...U(N) according to p1, p2, p3...p(N) and obtains no The potential ability that the human-machine 100 receives in each potential field, namely In other words, the potential abilities received by the drone 100 in each potential field are F1, F2, F3...F(N), respectively. Then, the processor 10 calculates the total potential capability F according to F1, F2, F3...F(N). Among them, the potential ability can also carry direction information, and the direction of the potential ability needs to be considered when calculating the total potential ability of multiple potential capabilities.
  • B1 is the weight coefficient corresponding to F1
  • B2 is the weight coefficient corresponding to F2
  • B3 is the weight coefficient corresponding to F3
  • B(N) is the weight coefficient corresponding to F(N).
  • B1, B2, B3...B(N) may be partly the same, partly different, or all of them may be different.
  • the weight coefficient corresponding to the potential power is higher, so that the flight direction of the drone 100 is determined according to the total potential power The result is more accurate and prevents the drone 100 from entering the restricted-flying zone 200.
  • the processor 10 determining the flight direction of the drone 100 according to the total potential capability may directly use the direction of the total potential capability as the flying direction of the drone 100.
  • the total potential ability points to the direction where the potential energy drops fastest, flying along the direction of the total potential ability (the direction indicated by the arrow in Figure 12), as the optimal flight direction at the moment, and the total potential ability
  • the movement restriction is performed in the opposite direction of the pointing direction, so that the UAV 100 can quickly move away from the high-potential energy area, and thus away from the densely-populated area of the restricted-flying zone 200.
  • the data processing method further includes:
  • the processor 10 may be used to read program instructions 32 to execute the method in 018.
  • the processor 10 can be used to control the drone 100 to lower the flying height in the vertical direction when the drone 100 is in the restricted-flying zone 200.
  • the direction of the overall potential capability can be specifically used to control the UAV 100 away from the restricted-flying zone 200 in the horizontal direction.
  • the processor 10 can control the UAV 100 to lower the flying height in the vertical direction, and if necessary, it can directly control the UAV 100 to land and perform grounding processing to ensure safety. .
  • determining the flight direction of the UAV 100 (that is, 017) according to the overall potential capability includes:
  • the drone 100 When the drone 100 is in the restricted-flying zone 200, if the drone 100 receives a user's control instruction in the horizontal direction, it controls the drone 100 to fly in the horizontal direction according to the direction of the total potential capability.
  • the processor 10 may be used to read program instructions 32 to execute the method in 0171. That is to say, the processor 10 can be used to control the drone according to the direction of the total potential capability if the drone 100 receives the user's control command in the horizontal direction when the drone 100 is in the restricted-fly zone 200. The plane 100 is flying in the horizontal direction.
  • the drone 100 when the drone 100 has entered the restricted-flying zone 200, even if the drone 100 receives the user's control instruction in the horizontal direction, the user wishes to control the drone 100 to fly in the horizontal direction. 100 will not respond to the user's control instructions, but will still control the flying direction of the drone 100 in the horizontal direction according to the direction of the overall potential ability, so that the drone 100 can leave the restricted-flying zone 200 as soon as possible, not limited. Stay in the flying zone 200 for a long time to ensure safety.
  • determining the flight direction of the UAV 100 (that is, 017) according to the overall potential capability includes:
  • the processor 10 may be used to read program instructions 32 to execute the method in 0172.
  • the processor 10 may be used to control the drone 100 to be away from the restricted-fly zone 200 according to the direction of the total potential capability when the unmanned aerial vehicle 100 is outside the restricted-fly zone 200.
  • the processor 10 can still control the UAV 100 to stay away from the restricted-flying zone 200 according to the direction of the overall potential capability to ensure that the UAV 100 will not enter. Within 200 restricted areas, safety is improved.
  • the data processing method further includes:
  • the processor 10 may be used to read program instructions 32 to execute the method in 019.
  • the processor 10 can be used to control the drone 100 in the vertical direction according to the control instruction when the drone 100 is outside the restricted-fly zone 200. Flying in the vertical direction.
  • the UAV 100 when the UAV 100 is outside the restricted-flying zone 200, if the UAV 100 receives a user's control instruction in the vertical direction, it indicates that the user wishes to control the UAV 100 to fly in the vertical direction. Since the control in the vertical direction (such as increasing the flying height or reducing the flying height) does not cause the drone 100 to fly into the restricted-fly zone 200, the processor 10 can control the drone 100 in the vertical direction according to the user's control instructions. Flight in the direction to meet user needs.
  • the flight control of the UAV 100 is not limited to the above-mentioned embodiments.
  • the processor 10 can still control the drone 100 to fly along the boundary of the restricted-fly zone 200 according to the user's control instructions in the horizontal direction. It will not fly into the restricted-flying zone 200, and at the same time it can meet the needs of users.
  • the data processing method further includes:
  • the drone 100 When the drone 100 receives the increase request sent by the mobile terminal 300, it adds the restricted-fly zone data to the restricted-fly zone database 31 according to the increase request.
  • the processor 10 may be used to read program instructions 32 to execute the method in 020. That is to say, the processor 10 may be used to add the restricted-flying zone data to the restricted-flying zone database 31 according to the increasing request when the unmanned aerial vehicle 100 receives an increase request sent by the mobile terminal 300.
  • the mobile terminal 300 may be a control terminal capable of communicating with the drone 100, such as a mobile phone, a remote control, and the like.
  • the drone 100 communicates with the mobile terminal 300 (such as Bluetooth connection, Wi-Fi connection, ZigBee connection, data line connection, cellular network communication connection (such as 4G, 5G, and future evolution communication methods, etc.), etc.)
  • the mobile terminal 300 can send an increase request to the UAV 100 to add the restricted-flying zone data to the restricted-flying zone database 31, so as to update the temporary restricted-flying zone database 312.
  • the temporary restricted-flying zone data that temporarily restricts the flight of the UAV 100 or some other latest temporary restricted-flying zone data released by some major events can be updated to the temporary restricted-flying zone database 312 to ensure that no one The safety of the plane 100 flight.
  • the mobile terminal 300 sending an increase request to the drone 100 may be automatically performed in the background of the mobile terminal 300, without the user's knowledge and related operations, which simplifies the user's operations.
  • the mobile terminal 300 sends the aforementioned increase request to the drone 100 after obtaining the restricted-flying zone data from the server 400.
  • the mobile terminal 300 may actively obtain the restricted-flying zone data from the server 400, or may passively receive the restricted-flying zone data pushed by the server 400.
  • the increase request includes a data increase instruction and the restricted-fly zone data that needs to be added.
  • the drone 100 receives the increase request sent by the mobile terminal 300, it adds the restricted-fly zone data (ie 020) to the restricted-fly zone database 31 according to the increase request, including:
  • the increase request includes a data increase instruction and the restricted-flying zone data that needs to be added.
  • the processor 10 can be used to read program instructions 32 to execute the method in 0201. That is to say, the processor 10 can be used to increase the data of the restricted-flying area to be increased according to the data-adding instruction when the drone 100 receives the data increase instruction sent by the mobile terminal 300 and the data of the restricted-flying zone that needs to be increased. Restricted flight zone database 31.
  • the restricted-flying zone data that needs to be added can be sent from the server 400 to the mobile terminal 300 first.
  • the mobile terminal 300 can communicate with the server 400 (such as Bluetooth connection, Wi-Fi connection, ZigBee connection, data line connection, cellular network communication connection (such as 4G, 5G, and future evolution communication methods, etc.), etc.).
  • the restricted-flying zone data sent by the server 400 to the mobile terminal 300 may be currently applicable or the latest temporary restricted-flying zone data.
  • the mobile terminal 300 After the mobile terminal 300 receives the restricted-fly zone data that needs to be added from the server 400, it sends an increase request to the drone 100 so that the drone 100 can increase the restricted-fly zone data that needs to be added to the restricted-fly zone according to the data increase instruction.
  • Database 31 After the mobile terminal 300 receives the restricted-fly zone data that needs to be added from the server 400, it sends an increase request to the drone 100 so that the drone 100 can increase the restricted-fly zone data that needs to be added to the restricted-fly zone according to the data increase instruction.
  • Database 31 Database 31.
  • the server 400 sending the restricted-flying zone data to the mobile terminal 300 can be performed automatically by the server 400. Whenever the temporary restricted-flying zone data is updated, the server 400 automatically sends the latest temporary restricted-flying zone data to the mobile terminal 300 to simplify User operation. Alternatively, the server 400 may also respond to the update request sent by the user through the mobile terminal 300 after receiving the update request sent by the user through the mobile terminal 300, and send the temporary restricted flight zone data corresponding to the update request to the mobile terminal 300.
  • the restricted-flying area data stored in the restricted-flying area database 31 is the restricted-flying area data of city A, and the user temporarily wants to use the drone 100 in city B
  • the user can send information about B to the server 400 through the mobile terminal 300.
  • the server 400 sends the restricted-flying zone data of the B city to the mobile terminal 300 after receiving the update request for the restricted-flying zone data of the B city.
  • the data processing method further includes:
  • the processor 10 may be used to read the program instructions 32 to execute the method in 021.
  • the processor 10 may be used to delete the restricted-flying zone data in the restricted-flying zone database 31 according to the deletion request when the drone 100 receives the deletion request sent by the mobile terminal 300.
  • the mobile terminal 300 can send a deletion request to the drone 100 to delete the restricted flight zone.
  • the restricted-flying zone data in the flying zone database 31 prevents the UAV 100 from flying based on the inapplicable restricted-flying zone data, causing safety accidents, reducing the storage pressure of the UAV 100 and saving storage resources.
  • the mobile terminal 300 sending the delete request to the drone 100 may be automatically performed in the background of the mobile terminal 300, without the user's knowledge and related operations, which simplifies the user's operations.
  • the deletion request includes a data deletion instruction and an index corresponding to the restricted-fly zone data that needs to be deleted.
  • the restricted-flying zone data (ie 021) in the restricted-flying zone database 31 includes:
  • the drone 100 When the drone 100 receives the data deletion instruction sent by the mobile terminal 300 and the index corresponding to the restricted-fly zone data that needs to be deleted, the index corresponding to the data deletion instruction and the restricted-fly zone data that needs to be deleted is in the restricted-fly zone database Delete the restricted-flying zone data that needs to be deleted in 31.
  • the deletion request includes a data deletion instruction and an index corresponding to the restricted-fly zone data that needs to be deleted.
  • the processor 10 can be used to read the program instructions 32 to execute the method in 021.
  • the processor 10 can be used to delete data according to the data deletion instruction and the restricted-fly zone to be deleted when the drone 100 receives the data deletion instruction sent by the mobile terminal 300 and the index corresponding to the restricted-fly zone data that needs to be deleted.
  • the index corresponding to the data deletes the restricted-flying zone data that needs to be deleted in the restricted-flying zone database 31.
  • the index corresponding to the restricted-flying zone data that needs to be deleted may be sent from the server 400 to the mobile terminal 300 first.
  • the server 400 automatically sends the index corresponding to the restricted-flying area data to the mobile terminal 300 to simplify user operations.
  • the server 400 may also respond to the update request sent by the user through the mobile terminal 300 after receiving the update request, and send the index corresponding to the restricted flight zone data corresponding to the update request to the mobile terminal 300.
  • the user can send an update request regarding the inapplicable restricted-fly zone data to the server 400 through the mobile terminal 300, and the server 400 receives After the update request regarding the inapplicable restricted-flying zone data, if a certain restricted-flying zone data is no longer applicable, the server 400 sends the index corresponding to the restricted-flying zone data to the mobile terminal 300.
  • the restricted-flying zone database 31 does not need to delete the inapplicable restricted-flying area data frequently. It only needs to delete the inapplicable restricted-flying area data according to the user's operation when the user needs it, which is conducive to saving drones. 100 energy consumption.
  • the data processing method further includes:
  • the processor 10 may be used to read program instructions 32 to execute the method in 022. That is to say, the processor 10 can be used to delete the first restricted-fly zone data when the storage time of the first restricted-fly zone data reaches the storage period corresponding to the first restricted-fly zone, and the first restricted-fly zone data belongs to one Or multiple restricted-fly zone data.
  • some of the restricted-fly zone data stored in the restricted-fly zone database 31 may have a storage period, and some may not have a storage period.
  • the restricted-flying zone data with a storage period is the first restricted-flying zone data in the implementation of this application.
  • the restricted-flying zone 200 corresponding to the first restricted-flying zone data may prohibit the drone 200 from flying from 10 a.m. to 5 p.m. of the same day.
  • the processor 10 will automatically delete the first restricted-flying zone data and clear out the expired restricted-flying zone data in a timely manner, saving the storage resources of the UAV 100.
  • one or more first restricted-fly zone data may be stored in the restricted-fly zone database 31.
  • the multiple first restricted-fly zone data correspond to
  • the multiple storage periods are independent of each other, and the multiple storage periods can be different according to the actual situation.
  • the embodiment of the present application also provides a non-volatile computer-readable storage medium 500 containing computer-executable instructions 501.
  • the processor 10 executes the data processing method of any one of the foregoing embodiments.
  • the processor 10 executes the following data processing methods:
  • 013 Determine whether the UAV 100 is in the restricted-flying zone 200 according to the total potential energy.
  • the computer-readable storage medium 500 of the embodiment of the present application separately obtains the potential energy of the UAV 100 in the potential field corresponding to each restricted-fly zone data, and then calculates the total potential energy and determines whether the UAV 100 is in the restricted area. Flying area 200.
  • the data of each restricted-flying zone are independent of each other, and there is no coupling relationship.
  • the data of each restricted-flying zone can be added or deleted at will without affecting the data of other restricted-flying zones (that is, one of the restricted-flying zones).

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Abstract

公开了一种数据处理方法，用于无人机（100），无人机（100）存储限飞区数据库（31），限飞区数据库（31）内存储有一个或多个限飞区数据。数据处理方法包括：获取无人机（100）在每个限飞区数据对应的势场中所具有的势能量（011）；根据无人机（100）在所有势场中所具有的势能量计算总势能量（012）；以及根据总势能量确定无人机（100）是否处于限飞区（200）（013）。还公开了一种无人机，包括处理器和存储器，存储器用于存储限飞区数据库和程序指令，处理器用于读取程序指令执行数据处理方法，还公开了一种计算机可读存储介质，包含计算机可执行指令，计算机可执行指令被一个或多个处理器执行时，处理器执行数据处理方法。

Description

数据处理方法、无人机和计算机可读存储介质 技术领域
本申请涉及数据处理技术领域，特别涉及一种数据处理方法、无人机和计算机可读存储介质。
背景技术
无人机地理围栏系统既能支持基于静态数据库的限飞，同时也能支持动态设置的临时限飞区(TFR，temporary flylimit restrict)的限飞。静态数据库存储在无人机中，无人机根据自己的GPS位置基于静态数据库运算后得到限飞结论。TFR数据库由移动端通过网络向服务器后台请求后发起更新，更新后的TFR数据库也存储在无人机中。TFR数据可以根据政策、法规、大型活动等设置在一定时间内生效的临时限飞区。
目前对TFR数据的处理沿用与静态数据库一样的处理方法，而TFR数据有着很高的动态性，临时的添加或者删除都需要支持，而每次TFR数据发生变化都需要重新更新整个TFR数据库，在无人机上也需要对TFR数据库重新进行一轮读取，这在一定程度上造成了计算能力和通信带宽的浪费，在有着大量TFR数据的情况下，这种浪费会尤其显著。
发明内容
本申请实施方式提供一种数据处理方法、无人机和计算机可读存储介质。
本申请实施方式的数据处理方法用于无人机，所述无人机存储限飞区数据库，所述限飞区数据库内存储有一个或多个限飞区数据，所述数据处理方法包括：获取所述无人机在每个所述限飞区数据对应的势场中所具有的势能量；根据所述无人机在所有所述势场中所具有的势能量计算总势能量；和根据所述总势能量确定所述无人机是否处于限飞区。
本申请实施方式的无人机包括处理器和存储器，所述存储器用于存储限飞区数据库和程序指令，所述限飞区数据库内存储有一个或多个限飞区数据，所述处理器用于读取所述程序指令执行如下操作：获取所述无人机在每个所述限飞区数据对应的势场中所具有的势能量；根据所述无人机在所有所述势场中所具有的势能量计算总势能量；和根据所述总势能量确定所述无人机是否处于限飞区。
本申请实施方式的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，所述处理器执行以下数据处理方法：获取无人机在每个限飞区数据对应的势场中所具有的势能量；根据所述无人机在所有所述势场中所具有的势能量计算总势能量；和根据所述总势能量确定所述无人机是否处于限飞区。
本申请实施方式的数据处理方法、无人机和计算机可读存储介质分别单独获取无人机在每个限飞区数据对应的势场中所具有的势能量，进而计算总势能量、确定无人机是否处于限飞区。整个处理过程中，各个限飞区数据之间是相互独立的，没有耦合关系，每个限飞区数据可以随意增加或删除，而不会对其他限飞区数据造成影响(即其中一个限飞区数据增加或删除后，不需要对整个限飞区数据库重新进行一轮读取，不会造成计算能力和通信带宽的浪费)，且由于各个限飞区数据的处理完全独立，因而可以通过并行计算的方式来加快计算速度。
本申请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，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点可以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处理方法的流程示意图；
图2是本申请某些实施方式的数据处理方法的场景示意图；
图3是本申请某些实施方式的无人机存储限飞区数据库的示意图；
图4是本申请某些实施方式的无人机的示意图；
图5是本申请某些实施方式的数据处理方法的流程示意图；
图6是本申请某些实施方式的数据处理方法的场景示意图；
图7是本申请某些实施方式的数据处理方法的流程示意图；
图8是本申请某些实施方式的限飞区数据对应的势场中的势能量分布示意图；
图9是本申请某些实施方式的数据处理方法的流程示意图；
图10是本申请某些实施方式的数据处理方法的流程示意图；
图11是本申请某些实施方式的数据处理方法的流程示意图；
图12是本申请某些实施方式的无人机在势场中所受到的势能力的示意图；
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数据处理方法的流程示意图；
图15是本申请某些实施方式的数据处理方法的流程示意图；
图16是本申请某些实施方式的数据处理方法的流程示意图；
图17是本申请某些实施方式的数据处理方法的流程示意图；
图18是本申请某些实施方式的服务器、移动端和无人机的连接状态示意图；
图19是本申请某些实施方式的数据处理方法的流程示意图；
图20是本申请某些实施方式的数据处理方法的流程示意图；
图21是本申请某些实施方式的数据处理方法的流程示意图；
图22是本申请某些实施方式的数据处理方法的流程示意图；
图23是本申请某些实施方式的计算机可读存储介质和处理器的连接状态示意图。
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，相同或类似的标号自始至终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，仅用于解释本申请的实施方式，而不能理解为对本申请的实施方式的限制。
请参阅图1至图3，本申请实施方式提供一种数据处理方法。数据处理方法用于无人机100。无人机100存储限飞区数据库31，限飞区数据库31内存储有一个或多个限飞区数据。数据处理方法包括：
011：获取无人机100在每个限飞区数据对应的势场中所具有的势能量；
012：根据无人机100在所有势场中所具有的势能量计算总势能量；和
013：根据总势能量确定无人机100是否处于限飞区200。
请参阅图4，本申请实施方式还提供一种无人机100。无人机100包括处理器10和存储器30。存储器30用于存储限飞区数据库31和程序指令32，限飞区数据库31内存储有一个或多个限飞区数据。处理器10用于读取所述程序指令32以执行本申请实施方式的数据处理方法。例如，处理器10可用于读取程序指令32以执行011、012和013中的方法。也即是说，处理器10可以用于：获取无人机100在每个限飞区数据对应的势场中所具有的势能量；根据无人机100在所有势场中所具有的势能量计算总势能量；和根据总势能量确定无人机100是否处于限飞区200。可选的，无人机100还可以包括其他装置，例如云台、相机、动力系统等。
本申请实施方式的数据处理方法和无人机100分别单独获取无人机100在每个限飞区数据对应的势场中所具有的势能量，进而计算总势能量、确定无人机100是否处于限飞区200。整个处理过程中，各个限飞区数据之间是相互独立的，没有耦合关系，每个限飞区数据可以随意增加或删除，而不会对其他限飞区数据造成影响(即其中一个限飞区数据增加或删除后，不需要对整个限飞区数据库31重新进行一轮读取，不会造成计算能力和通信带宽的浪费)，且由于各个限飞区数据的处理完全独立，因而可以通过并行计算的方式来加快计算速度。
请参阅图3，限飞区数据库31可包括静态数据库311和/或临时限飞区(TFR，temporary flylimit restrict)数据库312。也即是说，限飞区数据库31可包括静态数据库311；或者，限飞区数据库31包括临时限飞区数据库312；或者，限飞区数据库31同时包括静态数据库311和临时限飞区数据库312。与之对应地，限飞区数据可包括静态限飞区数据和/或临时限飞区数据。本申请实施 例中，临时限飞区也可以称为动态限飞区。
静态限飞区数据存储在静态数据库311。静态限飞区数据一般指的是与固定限飞区对应的限飞数据。例如，机场、监狱、核电站、政府机构、军事管理区等敏感地区，这类区域的特点是长时间都是固定不变的。静态数据库311的更新可通过固件升级的形式进行。
临时限飞区数据存储在临时限飞区数据库312。临时限飞区数据一般指的是根据政策、法规、大型活动等设置在一定时间内生效的临时限飞区对应的限飞数据。例如，对于某些重大活动，可能会发布临时限制无人机100飞行的临时限飞区。临时限飞区数据库312的更新可通过服务器400(如图18所示)、移动端300(如图18所示)、无人机100三者之间的通讯实现，将在后文详细介绍。
请参阅图2和图3，不论限飞区数据是静态限飞区数据还是临时限飞区数据，限飞区数据都可以为图形数据。可以理解，限飞区200一般具有一定的形状。例如，当限飞区200为机场跑道时，限飞区200的平面形状可能大致呈如图2所示的糖果形；当限飞区200为大楼时，限飞区200的平面形状可能大致呈矩形；当限飞区200为山峰时，限飞区200的平面形状可能大致呈椭圆形等。因此，与限飞区200对应的限飞区数据可以是图形数据，图形数据具体可以包括多边形、圆形或椭圆形中的一个或多个。也即是说，图形数据可以是多边形、圆形或椭圆形中的单个图形，也可以是多边形、圆形或椭圆形中的多个组合而成的组合图形。
在获取无人机100在每个限飞区数据对应的势场中所具有的势能量时，处理器10分别单独获取无人机100在每个限飞区数据对应的势场中所具有的势能量。例如，限飞区数据库31内存储有限飞区数据data1、限飞区数据data2、限飞区数据data3……限飞区数据data(N)，则处理器10分别获取无人机100在限飞区数据data1对应的势场中所具有的势能量U1，获取无人机100在限飞区数据data2对应的势场中所具有的势能量U2，获取无人机100在限飞区数据data3对应的势场中所具有的势能量U3……获取无人机100在限飞区数据data(N)对应的势场中所具有的势能量U(N)。需要指出的是，处理器10获取U1、U2、U3……U(N)的过程可以同时进行的，也可以是先后依次进行的，在此不作限制。
然后，处理器10根据无人机100在所有势场中所具有的势能量U1、U2、U3……U(N)计算得到总势能量U，再根据总势能量U确定无人机100是否处于限飞区200。处理器10根据总势能量U确定无人机100是否处于限飞区200的过程可以是：处理器10自行根据总势能量U判断无人机100是否处于限飞区200，以确定无人机100是否处于限飞区200；也可以是：处理器10将总势能量U发送至移动端300(如图18所示)或服务器400(如图18所示)，移动端300或服务器400根据总势能量U判断无人机100是否处于限飞区200，再将判断结果发送至无人机100，处理器10接收判断结果以确定无人机100是否处于限飞区200。
本申请实施方式中的处理器10可以是无人机100的飞行控制器(flight control system，FC)，例如微控制单元(micro controller unit，MCU)、集成芯片、控制电路等，也可以是无人机100的应用处理器(application processer，AP)。
请参阅图5，在某些实施方式中，获取无人机100在每个限飞区数据对应的势场中所具有的势能量(即011)，包括：
0111：计算无人机100到每个限飞区数据对应的限飞区200的距离向量；和
0112：根据距离向量获取无人机100在每个限飞区数据对应的势场中所具有的势能量。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行0111和0112中的方法。也即是说，处理器10可以用于：计算无人机100到每个限飞区数据对应的限飞区200的距离向量；和根据距离向量获取无人机100在每个限飞区数据对应的势场中所具有的势能量。
请参阅图6，以两个限飞区数据为例，分别是限飞区数据data1、限飞区数据data2。限飞区数据data1对应的限飞区200为限飞区200a，限飞区数据data2对应的限飞区200为限飞区200b。处理器10分别计算无人机100到限飞区200a的距离向量p1，无人机100到限飞区200b的距离向量p2，并分别基于距离向量p1获取无人机100在限飞区数据data1对应的势场中所具有的势能量U1，基于距离向量p2获取无人机100在限飞区数据data2对应的势场中所具有的势能量U2。
依此类推，当限飞区数据库31内存储有一个或更多个限飞区数据时，可以采用同样的方式 获取无人机100在每个限飞区数据对应的势场中所具有的势能量，即前述U1、U2、U3……U(N)。
请参阅图7，在某些实施方式中，在获取无人机100在每个限飞区数据对应的势场中所具有的势能量(即011)前，数据处理方法还包括：
014：基于人工势场法构建每个限飞区数据对应的势能函数，其中，在势能函数中，势能量与无人机100到每个限飞区数据对应的限飞区200的距离值成反比；
根据距离向量获取无人机100在每个限飞区数据对应的势场中所具有的势能量(即0112)，包括：
01121：根据距离向量和势能函数获取无人机100在每个限飞区数据对应的势场中所具有的势能量。
其中，步骤014和步骤0111的执行顺序不作限定。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行014和01121中的方法。也即是说，处理器10可以用于：基于人工势场法构建每个限飞区数据对应的势能函数，其中，在势能函数中，势能量与无人机100到每个限飞区数据对应的限飞区200的距离值成反比；根据距离向量和势能函数获取无人机100在每个限飞区数据对应的势场中所具有的势能量。
具体地，人工势场法是指人工构建一个虚拟的势场，将障碍物设置成斥力、目标点设置成吸引力(即障碍物对无人机100产生斥力，目标点对无人机100产生引力)，然后进行力的矢量相加，算出合力的方向，并通过合力来控制无人机100的飞行。
请参阅图8，本申请实施方式基于人工势场法构建每个限飞区数据对应的势能函数。在势能函数中，无人机100在每个限飞区数据对应的势场中所具有的势能量与无人机100到每个限飞区数据对应的限飞区200的距离值成反比。也即是说，当无人机100到某个限飞区数据对应的限飞区200的距离越近，则无人机100在该限飞区数据对应的势场中所具有的势能量越大；当无人机100到某个限飞区数据对应的限飞区200的距离越远，则无人机100在该限飞区数据对应的势场中所具有的势能量越小。可以理解，图8仅示意性画出了两个限飞区数据对应的势场中的势能量分布示意图(此时，两个限飞区数据均为圆形的图形数据)。在势场的中心是高势能量区，远离势场的中心是低势能量区。
在一个实施例中，势能函数为：
Figure PCTCN2019122093-appb-000001
其中，U为势能量，K为能量系数，k>0，K的值可以根据实际情况或经验值进行调整。d为偏置常量，d>0；p为无人机100到势场边界的距离向量，包括距离值和方向信息。
需要指出的是，上述势能函数为根据限飞区数据为圆形的图形数据构建的势能函数，当限飞区数据为多边形的图形数据，或者椭圆形的图形数据，或者多边形、圆形或椭圆形中的多个组合而成的图形数据时，本领域技术人员可以针对上述势能函数进行一些形式上的变换。或者，在限飞区数据仍为圆形的图形数据时，本领域技术人员可以针对上述势能函数进行一些形式上的变换，例如，去掉d或k等。
在构建势能函数后，处理器10可根据无人机100到每个限飞区数据对应的限飞区200的距离向量、和势能函数获取无人机100在每个限飞区数据对应的势场中所具有的势能量。请参阅图6和图8，以无人机100到限飞区数据data1对应的限飞区200a的距离向量为p1、无人机100到限飞区数据data2对应的限飞区200b的距离向量为p2为例，假设限飞区数据data1和限飞区数据data2对应的势能函数均为
Figure PCTCN2019122093-appb-000002
(实际过程中，不同的限飞区数据对应的势能函数可以是不同的)，则将距离向量p1代入该势能函数中，得到U1；将距离向量p2代入该势能函数中，得到U2。依次类推，可以获取无人机100在每个限飞区数据对应的势场中所具有的势能量，即前述U1、U2、U3……U(N)。
请参阅图9，在某些实施方式中，根据无人机100在所有势场中所具有的势能量计算总势能量(即012)，包括：
0121：对无人机100在所有势场中所具有的势能量求和得到总势能量；或
0122：对无人机100在所有势场中所具有的势能量加权求和得到总势能量。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行0121和0122中的方法。也即是说，处理器10可以用于：对无人机100在所有势场中所具有的势能量求和得到总势能量；或对无人机100在所有势场中所具有的势能量加权求和得到总势能量。
其中，0121和0122是择一执行的。
具体地，在得到无人机100在每个限飞区数据对应的势场中所具有的势能量U1、U2、U3……U(N)后，在一个实施例中，处理器10可对U1、U2、U3……U(N)求和得到总势能量U，即U＝U1+U2+U3+……+U(N)。
在另一个实施例中，处理器10可对U1、U2、U3……U(N)加权求和得到总势能量U，即U＝A1*U1+A2*U2+A3*U3+……+A(N)*U(N)。其中，A1为U1对应的权重系数，A2为U2对应的权重系数，A3为U3对应的权重系数……A(N)为U(N)对应的权重系数。A1、A2、A3……A(N)可以部分相同、部分不同，也可以全部不同。在一个例子中，当无人机100在某个限飞区数据对应的势场中所具有的势能量越大时，该势能量对应的权重系数越高，以使得根据总势能量判断无人机100是否处于限飞区200的结果更准确，确保当无人机100处于限飞区200时能够被检测到。
请参阅图10，在某些实施方式中，根据总势能量判断无人机100是否处于限飞区200(即013)，包括：
0131：在总势能量大于等于预定势能量时，确定无人机100处于限飞区200内；
0132：在总势能量小于预定势能量时，确定无人机100处于限飞区200外。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行0131和0132中的方法。也即是说，处理器10可以用于：在总势能量大于等于预定势能量时，确定无人机100处于限飞区200内；在总势能量小于预定势能量时，确定无人机100处于限飞区200外。
可以理解，由于在势能函数中，势能量与无人机100到每个限飞区数据对应的限飞区200的距离值成反比，因此，当无人机100到限飞区200的距离值越近时，总势能量越大；当无人机100到限飞区200的距离值越远时，总势能量越小。因此，当总势能量大于或等于预定势能量时，表明无人机100到限飞区200的距离较近，处理器10即可确定无人机100处于限飞区200内；当总势能量小于预定势能量时，表明无人机100到限飞区200的距离较远，处理器10即可确定无人机100处于限飞区200外。在一个例子中，预定势能量为一个大于0的数值。预定势能量可以是可调的，可以根据实际情况设置预定势能量的取值。
请参阅图11，在某些实施方式中，数据处理方法还包括：
015：根据无人机100到限飞区200的距离向量，对无人机100在每个势场中所具有的势能量求导得到无人机100在每个势场中所受到的势能力；
016：根据无人机100在所有势场中所受到的势能力计算总势能力；和
017：根据总势能力确定无人机100的飞行方向。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行015、016和017中的方法。也即是说，处理器10可以用于：根据无人机100到限飞区200的距离向量，对无人机100在每个势场中所具有的势能量求导得到无人机100在每个势场中所受到的势能力；根据无人机100在所有势场中所受到的势能力计算总势能力；和根据总势能力确定无人机100的飞行方向。
在一个实施例中，势能力为：
Figure PCTCN2019122093-appb-000003
其中，U为势能量，p为无人机100到势场边界的向量。
在得到无人机100到每个限飞区数据对应的限飞区的距离向量p1、p2、p3……p(N)，以及无人机100在每个限飞区数据对应的势场中所具有的势能量U1、U2、U3……U(N)后，处理器10分别根据p1、p2、p3……p(N)对U1、U2、U3……U(N)求导得到无人机100在每个势场中所受到的势能力，即
Figure PCTCN2019122093-appb-000004
也就是说，无人机100在每个势场中所受到的势能力分别为F1、F2、F3……F(N)。然后，处理器10根据F1、F2、F3…… F(N)计算总势能力F。其中，势能力也可以携带方向信息，在计算多个势能力的总势能力时需要考虑势能力的方向。
在一个实施例中，处理器10可对F1、F2、F3……F(N)求和得到总势能力F，即F＝F1+F2+F3+……+F(N)。
在另一个实施例中，处理器10可对F1、F2、F3……F(N)加权求和得到总势能力F，即F＝B1*F1+B2*F2+B3*F3+……+B(N)*F(N)。其中，B1为F1对应的权重系数，B2为F2对应的权重系数，B3为F3对应的权重系数……B(N)为F(N)对应的权重系数。B1、B2、B3……B(N)可以部分相同、部分不同，也可以全部不同。在一个例子中，当无人机100在某个势场中所受到的势能力越大时，该势能力对应的权重系数越高，以使得根据总势能力确定的无人机100的飞行方向的结果更准确，避免无人机100进入限飞区200。
本申请实施方式中，处理器10根据总势能力确定无人机100的飞行方向可以是直接将总势能力的指向作为无人机100的飞行方向。请参阅图12，总势能力指向势能量下降最快的方向，沿着总势能力的指向飞行(图12中箭头所指方向)，以此作为此刻的最优飞行方向，而对总势能力的指向的反方向进行运动限制，使得无人机100可以迅速远离高势能量区域，从而远离限飞区200密集的区域。
请参阅图13，在某些实施方式中，数据处理方法还包括：
018：在无人机100处于限飞区200内时，控制无人机100在垂直方向上降低飞行高度。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行018中的方法。也即是说，处理器10可以用于在无人机100处于限飞区200内时，控制无人机100在垂直方向上降低飞行高度。
可以理解，总势能力的指向具体可用于在水平方向上控制无人机100远离限飞区200。当无人机100已经进入限飞区200内时，处理器10可控制无人机100在垂直方向上降低飞行高度，必要时可以直接控制无人机100降落，进行停飞处理，以确保安全。
请参阅图14，在某些实施方式中，根据总势能力确定无人机100的飞行方向(即017)，包括：
0171：在无人机100处于限飞区200内时，若无人机100接收到用户在水平方向上的控制指令，则根据总势能力的方向控制无人机100在水平方向上的飞行。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行0171中的方法。也即是说，处理器10可以用于在无人机100处于限飞区200内时，若无人机100接收到用户在水平方向上的控制指令，则根据总势能力的方向控制无人机100在水平方向上的飞行。
可以理解，当无人机100已经进入限飞区200内时，即便无人机100接收到用户在水平方向上的控制指令，用户希望控制无人机100在水平方向上的飞行，无人机100也不会响应用户的控制指令，而是依然会根据总势能力的指向控制无人机100在水平方向上的飞行方向，以使得无人机100的能够尽快离开限飞区200，不在限飞区200内长时间停留，从而确保安全。
请参阅图15，在某些实施方式中，根据总势能力确定无人机100的飞行方向(即017)，包括：
0172：在无人机100处于限飞区200外时，根据总势能力的方向控制无人机100远离限飞区200。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行0172中的方法。也即是说，处理器10可以用于在无人机100处于限飞区200外时，根据总势能力的方向控制无人机100远离限飞区200。
可以理解，当无人机100处于限飞区200外时，若不对无人机100的飞行方向加以控制，无人机100仍有可能会飞入限飞区200，造成安全隐患。本申请实施方式中，在无人机100处于限飞区200外时，处理器10仍可根据总势能力的指向控制无人机100远离限飞区200，以确保无人机100不会进入限飞区200内，提高安全性。
请参阅图16，在某些实施方式中，数据处理方法还包括：
019：在无人机100处于限飞区200外时，若无人机100接收到用户在垂直方向上的控制指 令，则根据控制指令控制无人机100在垂直方向上的飞行。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行019中的方法。也即是说，处理器10可以用于在无人机100处于限飞区200外时，若无人机100接收到用户在垂直方向上的控制指令，则根据控制指令控制无人机100在垂直方向上的飞行。
可以理解，当无人机100处于限飞区200外时，若无人机100接收到用户在垂直方向上的控制指令，表明用户希望控制无人机100在垂直方向上的飞行。由于垂直方向上的控制(例如提高飞行高度或降低飞行高度)并不会导致无人机100飞入限飞区200内，因此，处理器10可以根据用户的控制指令控制无人机100在垂直方向上的飞行，以满足用户需求。
当然，在其他实施方式中，对无人机100的飞行控制并不限于上述几种实施方式。例如，在无人机100处于限飞区200外时，处理器10仍可根据用户在水平方向上的控制指令控制无人机100沿着限飞区200的边界飞行，如此无人机100也不会飞入限飞区200内，同时又能满足用户需求。不论是如何控制无人机100的飞行，只需要满足在无人机100处于限飞区200内时，无人机100能够尽快离开限飞区200，避免无人机100在限飞区200内长时间停留以确保安全，而在无人机100处于限飞区200外时，无人机100不会飞入限飞区200即可。
请参阅图17和图18，在某些实施方式中，数据处理方法还包括：
020：在无人机100接收到移动端300发送的增加请求时，根据增加请求向限飞区数据库31中增加限飞区数据。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行020中的方法。也即是说，处理器10可以用于在无人机100接收到移动端300发送的增加请求时，根据增加请求向限飞区数据库31中增加限飞区数据。
具体地，移动端300可以是能够与无人机100通信的控制终端，例如手机、遥控器等。在无人机100与移动端300通信连接(例如蓝牙连接、Wi-Fi连接、ZigBee连接、数据线连接、蜂窝网通信连接(例如4G、5G、以及未来演进的通信方式等)等)时，移动端300能够向无人机100发送增加请求，以向限飞区数据库31中增加限飞区数据，以实现临时限飞区数据库312的更新。如此，对于某些重大活动发布的临时限制无人机100飞行的临时限飞区数据或其他的一些最新的临时限飞区数据，都可以更新至临时限飞区数据库312中，以确保无人机100飞行的安全。
其中，移动端300向无人机100发送增加请求可以是在移动端300的后台自动进行的，无需用户知晓及进行相关操作，简化了用户操作。一种实施例中，移动端300从服务器400获取到限飞区数据后，向无人机100发送上述增加请求。移动端300可以主动向服务器400获取限飞区数据，也可以是被动接收服务器400推送的限飞区数据。
请参阅图19，在某些实施方式中，增加请求包括数据增加指令和需要增加的限飞区数据。在无人机100接收到移动端300发送的增加请求时，根据增加请求向限飞区数据库31中增加限飞区数据(即020)，包括：
0201：在无人机100接收到移动端300发送的数据增加指令和需要增加的限飞区数据时，根据数据增加指令将需要增加的限飞区数据增加至限飞区数据库31。
请参阅图4，在某些实施方式中，增加请求包括数据增加指令和需要增加的限飞区数据。处理器10可用于读取程序指令32以执行0201中的方法。也即是说，处理器10可以用于在无人机100接收到移动端300发送的数据增加指令和需要增加的限飞区数据时，根据数据增加指令将需要增加的限飞区数据增加至限飞区数据库31。
具体地，请参阅图18，需要增加的限飞区数据可以先由服务器400发送至移动端300。移动端300能够与服务器400通信连接(例如蓝牙连接、Wi-Fi连接、ZigBee连接、数据线连接、蜂窝网通信连接(例如4G、5G、以及未来演进的通信方式等)等)。服务器400发送至移动端300的限飞区数据可以是当前适用的或最新的临时限飞区数据。移动端300接收到服务器400发送的需要增加的限飞区数据后，再向无人机100发送增加请求，以便无人机100根据数据增加指令将需要增加的限飞区数据增加至限飞区数据库31。
其中，服务器400向移动端300发送限飞区数据可以是服务器400自动进行的，每当临时限飞区数据有更新时，服务器400自动向移动端300发送最新的临时限飞区数据，以简化用户操作。 或者，服务器400也可以是在接收到用户通过移动端300发送的更新请求后，响应该更新请求，并向移动端300发送与该更新请求对应的临时限飞区数据。例如，当限飞区数据库31中存储的限飞区数据是A城市的限飞区数据，而用户临时想在B城市使用无人机100时，则用户可以通过移动端300向服务器400发送关于B城市的限飞区数据的更新请求，服务器400在接收到关于B城市的限飞区数据的更新请求后，将B城市的限飞区数据发送至移动端300。此种情况下，限飞区数据库31中无需存储大量的限飞区数据，只需要在用户有需求时，根据用户的操作更新限飞区数据库31即可，有利于节省无人机100的内存。
请参阅图20，在某些实施方式中，数据处理方法还包括：
021：在无人机100接收到移动端300发送的删除请求时，根据删除请求删除限飞区数据库31中的限飞区数据。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行021中的方法。也即是说，处理器10可以用于在无人机100接收到移动端300发送的删除请求时，根据删除请求删除限飞区数据库31中的限飞区数据。
可以理解，当限飞区数据库31中的某些限飞区数据已经不适用时，在无人机100与移动端300通信连接时，移动端300能够向无人机100发送删除请求，以删除限飞区数据库31中的限飞区数据，避免无人机100根据不适用的限飞区数据飞行，引发安全事故，并且减轻无人机100的存储压力，节省存储资源。
其中，移动端300向无人机100发送删除请求可以是在移动端300的后台自动进行的，无需用户知晓及进行相关操作，简化了用户操作。
请参阅图21，在某些实施方式中，删除请求包括数据删除指令和需要删除的限飞区数据对应的索引，在无人机100接收到移动端300发送的删除请求时，根据删除请求删除限飞区数据库31中的限飞区数据(即021)，包括：
0211：在无人机100接收到移动端300发送的数据删除指令和需要删除的限飞区数据对应的索引时，根据数据删除指令和需要删除的限飞区数据对应的索引在限飞区数据库31中删除需要删除的限飞区数据。
请参阅图4，在某些实施方式中，删除请求包括数据删除指令和需要删除的限飞区数据对应的索引。处理器10可用于读取程序指令32以执行021中的方法。也即是说，处理器10可以用于在无人机100接收到移动端300发送的数据删除指令和需要删除的限飞区数据对应的索引时，根据数据删除指令和需要删除的限飞区数据对应的索引在限飞区数据库31中删除需要删除的限飞区数据。
具体地，需要删除的限飞区数据对应的索引可以先由服务器400发送至移动端300。当限飞区数据库31中的某些限飞区数据已经不适用时，服务器400自动向移动端300发送该限飞区数据对应的索引，以简化用户操作。或者，服务器400也可以是在接收到用户通过移动端300发送的更新请求后，响应该更新请求，并向移动端300发送与该更新请求对应的限飞区数据对应的索引。例如，当用户不确定限飞区数据库31中存储的哪些限飞区数据不适用时，则用户可以通过移动端300向服务器400发送关于不适用限飞区数据的更新请求，服务器400在接收到关于不适用限飞区数据的更新请求后，若某限飞区数据已经不适用，则服务器400将该限飞区数据对应的索引发送至移动端300。此种情况下，限飞区数据库31无需经常删除不适用的限飞区数据，只需要在用户有需求时，根据用户的操作删除不适用的限飞区数据即可，有利于节省无人机100的能耗。
请参阅图22，在某些实施方式中，数据处理方法还包括：
022：在第一限飞区数据的存储时间达到与第一限飞区对应的存储期限时，删除第一限飞区数据，第一限飞区数据属于一个或多个限飞区数据。
请参阅图4，在某些实施方式中，处理器10可用于读取程序指令32以执行022中的方法。也即是说，处理器10可以用于在第一限飞区数据的存储时间达到与第一限飞区对应的存储期限时，删除第一限飞区数据，第一限飞区数据属于一个或多个限飞区数据。
具体地，限飞区数据库31中存储的限飞区数据，有些可能具有存储期限，有些可能没有存 储期限。具有存储期限的限飞区数据即为本申请实施方式中的第一限飞区数据。例如，第一限飞区数据对应的限飞区200可能在当天上午10至下午5点禁止无人机200飞行，那么当第一限飞区数据的存储时间达到当天下午5点时，处理器10将自动删除该第一限飞区数据，以及时清理过期的限飞区数据，节省无人机100的存储资源。
可以理解，限飞区数据库31中可能存储有一个或多个第一限飞区数据，当限飞区数据库31中存储有多个第一限飞区数据时，多个第一限飞区数据对应的多个存储期限之间是相互独立的，多个存储期限可以根据实际情况各不相同。
请参阅图23，本申请实施方式还提供一种包含计算机可执行指令501的非易失性计算机可读存储介质500。当计算机可执行指令501被一个或多个处理器10执行时，处理器10执行上述任一实施方式的数据处理方法。
例如，当计算机可执行指令501被一个或多个处理器10执行时，处理器10执行以下数据处理方法：
011：获取无人机100在每个限飞区数据对应的势场中所具有的势能量；
012：根据无人机100在所有势场中所具有的势能量计算总势能量；和
013：根据总势能量确定无人机100是否处于限飞区200。
本申请实施方式的计算机可读存储介质500分别单独获取无人机100在每个限飞区数据对应的势场中所具有的势能量，进而计算总势能量、确定无人机100是否处于限飞区200。整个处理过程中，各个限飞区数据之间是相互独立的，没有耦合关系，每个限飞区数据可以随意增加或删除，而不会对其他限飞区数据造成影响(即其中一个限飞区数据增加或删除后，不需要对整个限飞区数据库31重新进行一轮读取，不会造成计算能力和通信带宽的浪费)，且由于各个限飞区数据的处理完全独立，因而可以通过并行计算的方式来加快计算速度。
在本说明书的描述中，参考术语“某些实施方式”、“一个例子中”、“示例地”等的描述意指结合所述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。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
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实现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实现，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。
尽管上面已经示出和描述了本申请的实施方式，可以理解的是，上述实施方式是示例性的，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方式进行变化、修改、替换和变型。

Claims (35)

  1. 一种数据处理方法，用于无人机，其特征在于，所述无人机存储限飞区数据库，所述限飞区数据库内存储有一个或多个限飞区数据，所述数据处理方法包括：
    获取所述无人机在每个所述限飞区数据对应的势场中所具有的势能量；
    根据所述无人机在所有所述势场中所具有的势能量计算总势能量；和
    根据所述总势能量确定所述无人机是否处于限飞区。
  2. 根据权利要求1所述的数据处理方法，其特征在于，所述限飞区数据包括临时限飞区数据和/或静态限飞区数据。
  3. 根据权利要求1或2所述的数据处理方法，其特征在于，所述获取所述无人机在每个所述限飞区数据对应的势场中所具有的势能量，包括：
    计算所述无人机到每个所述限飞区数据对应的限飞区的距离向量；和
    根据所述距离向量获取所述无人机在每个所述限飞区数据对应的所述势场中所具有的势能量。
  4. 根据权利要求1至3任意一项所述的数据处理方法，其特征在于，所述根据所述无人机在所有所述势场中所具有的势能量计算总势能量，包括：
    对所述无人机在所有所述势场中所具有的势能量求和得到所述总势能量；或
    对所述无人机在所有所述势场中所具有的势能量加权求和得到所述总势能量。
  5. 根据权利要求1至4任意一项所述的数据处理方法，其特征在于，所述根据所述总势能量判断所述无人机是否处于限飞区，包括：
    在所述总势能量大于等于预定势能量时，确定所述无人机处于限飞区内；
    在所述总势能量小于所述预定势能量时，确定所述无人机处于限飞区外。
  6. 根据权利要求3所述的数据处理方法，其特征在于，在获取所述无人机在每个所述限飞区数据对应的势场中所具有的势能量前，所述数据处理方法还包括：
    基于人工势场法构建每个所述限飞区数据对应的势能函数，其中，在所述势能函数中，势能量与所述无人机到每个所述限飞区数据对应的限飞区的距离值成反比；
    所述根据所述距离向量获取所述无人机在每个所述限飞区数据对应的所述势场中所具有的势能量，包括：
    根据所述距离向量和所述势能函数获取所述无人机在每个所述限飞区数据对应的所述势场中所具有的势能量。
  7. 根据权利要求1至6任意一项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：
    根据所述无人机到所述限飞区的距离向量，对所述无人机在每个所述势场中所具有的势能量求导得到所述无人机在每个所述势场中所受到的势能力；
    根据所述无人机在所有所述势场中所受到的势能力计算总势能力；和
    根据所述总势能力确定所述无人机的飞行方向。
  8. 根据权利要求7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：
    在所述无人机处于所述限飞区内时，控制所述无人机在垂直方向上降低飞行高度。
  9. 根据权利要求8所述的数据处理方法，其特征在于，所述根据所述总势能力确定所述无人 机的飞行方向，包括：
    在所述无人机处于所述限飞区内时，若所述无人机接收到用户在水平方向上的控制指令，则根据所述总势能力的方向控制所述无人机在水平方向上的飞行。
  10. 根据权利要求7所述的数据处理方法，其特征在于，所述根据所述总势能力确定所述无人机的飞行方向，包括：
    在所述无人机处于所述限飞区外时，根据所述总势能力的方向控制所述无人机远离所述限飞区。
  11. 根据权利要求10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：
    在所述无人机处于所述限飞区外时，若所述无人机接收到用户在垂直方向上的控制指令，则根据所述控制指令控制所述无人机在垂直方向上的飞行。
  12. 根据权利要求1至11任意一项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：
    在所述无人机接收到移动端发送的增加请求时，根据所述增加请求向所述限飞区数据库中增加所述限飞区数据。
  13. 根据权利要求12所述的数据处理方法，其特征在于，所述增加请求包括数据增加指令和需要增加的所述限飞区数据，所述在所述无人机接收到移动端发送的增加请求时，根据所述增加请求向所述限飞区数据库中增加所述限飞区数据，包括：
    在所述无人机接收到所述移动端发送的所述数据增加指令和需要增加的所述限飞区数据时，根据所述数据增加指令将需要增加的所述限飞区数据增加至所述限飞区数据库。
  14. 根据权利要求1至11任意一项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：
    在所述无人机接收到移动端发送的删除请求时，根据所述删除请求删除所述限飞区数据库中的所述限飞区数据。
  15. 根据权利要求14所述的数据处理方法，其特征在于，所述删除请求包括数据删除指令和需要删除的所述限飞区数据对应的索引，所述在所述无人机接收到移动端发送的删除请求时，根据所述删除请求删除所述限飞区数据库中的所述限飞区数据，包括：
    在所述无人机接收到所述移动端发送的所述数据删除指令和需要删除的所述限飞区数据对应的所述索引时，根据所述数据删除指令和需要删除的所述限飞区数据对应的所述索引在所述限飞区数据库中删除需要删除的所述限飞区数据。
  16. 根据权利要求1至11任意一项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：
    在第一限飞区数据的存储时间达到与所述第一限飞区对应的存储期限时，删除所述第一限飞区数据，所述第一限飞区数据属于所述一个或多个限飞区数据。
  17. 根据权利要求1至16任意一项所述的数据处理方法，其特征在于，所述限飞区数据为图形数据，所述图形数据包括多边形、圆形或椭圆形中的一个或多个。
  18. 一种无人机，其特征在于，包括处理器和存储器，所述存储器用于存储限飞区数据库和程序指令，所述限飞区数据库内存储有一个或多个限飞区数据，所述处理器用于读取所述程序指令执行如下操作：
    获取所述无人机在每个所述限飞区数据对应的势场中所具有的势能量；
    根据所述无人机在所有所述势场中所具有的势能量计算总势能量；和
    根据所述总势能量确定所述无人机是否处于限飞区。
  19. 根据权利要求18所述的无人机，其特征在于，所述限飞区数据包括临时限飞区数据和/或静态限飞区数据。
  20. 根据权利要求18或19所述的无人机，其特征在于，所述处理器用于获取所述无人机在每个所述限飞区数据对应的势场中所具有的势能量，包括：
    计算所述无人机到每个所述限飞区数据对应的限飞区的距离向量；和
    根据所述距离向量获取所述无人机在每个所述限飞区数据对应的所述势场中所具有的势能量。
  21. 根据权利要求18至20任意一项所述的无人机，其特征在于，所述处理器用于根据所述无人机在所有所述势场中所具有的势能量计算总势能量，包括：
    对所述无人机在所有所述势场中所具有的势能量求和得到所述总势能量；或
    对所述无人机在所有所述势场中所具有的势能量加权求和得到所述总势能量。
  22. 根据权利要求18至21任意一项所述的无人机，其特征在于，所述处理器用于根据所述总势能量判断所述无人机是否处于限飞区，包括：
    在所述总势能量大于等于预定势能量时，确定所述无人机处于限飞区内；
    在所述总势能量小于所述预定势能量时，确定所述无人机处于限飞区外。
  23. 根据权利要求20所述的无人机，其特征在于，在获取所述无人机在每个所述限飞区数据对应的势场中所具有的势能量前，所述处理器还用于：
    基于人工势场法构建每个所述限飞区数据对应的势能函数，其中，在所述势能函数中，势能量与所述无人机到每个所述限飞区数据对应的限飞区的距离值成反比；
    所述处理器用于根据所述距离向量获取所述无人机在每个所述限飞区数据对应的所述势场中所具有的势能量，包括：
    根据所述距离向量和所述势能函数获取所述无人机在每个所述限飞区数据对应的所述势场中所具有的势能量。
  24. 根据权利要求18至23任意一项所述的无人机，其特征在于，所述处理器还用于：
    根据所述无人机到所述限飞区的距离向量，对所述无人机在每个所述势场中所具有的势能量求导得到所述无人机在每个所述势场中所受到的势能力；
    根据所述无人机在所有所述势场中所受到的势能力计算总势能力；和
    根据所述总势能力确定所述无人机的飞行方向。
  25. 根据权利要求24所述的无人机，其特征在于，所述处理器还用于：
    在所述无人机处于所述限飞区内时，控制所述无人机在垂直方向上降低飞行高度。
  26. 根据权利要求25所述的无人机，其特征在于，所述处理器用于根据所述总势能力确定所述无人机的飞行方向，包括：
    在所述无人机处于所述限飞区内时，若所述无人机接收到用户在水平方向上的控制指令，则根据所述总势能力的方向控制所述无人机在水平方向上的飞行。
  27. 根据权利要求24所述的无人机，其特征在于，所述处理器用于根据所述总势能力确定所 述无人机的飞行方向，包括：
    在所述无人机处于所述限飞区外时，根据所述总势能力的方向控制所述无人机远离所述限飞区。
  28. 根据权利要求27所述的无人机，其特征在于，所述处理器还用于：
    在所述无人机处于所述限飞区外时，若所述无人机接收到用户在垂直方向上的控制指令，则根据所述控制指令控制所述无人机在垂直方向上的飞行。
  29. 根据权利要求18至28任意一项所述的无人机，其特征在于，所述处理器还用于：
    在所述无人机接收到移动端发送的增加请求时，根据所述增加请求向所述限飞区数据库中增加所述限飞区数据。
  30. 根据权利要求29所述的无人机，其特征在于，所述增加请求包括数据增加指令和需要增加的所述限飞区数据，所述处理器用于在所述无人机接收到移动端发送的增加请求时，根据所述增加请求向所述限飞区数据库中增加所述限飞区数据，包括：
    在所述无人机接收到所述移动端发送的所述数据增加指令和需要增加的所述限飞区数据时，根据所述数据增加指令将需要增加的所述限飞区数据增加至所述限飞区数据库。
  31. 根据权利要求18至28任意一项所述的无人机，其特征在于，所述处理器还用于：
    在所述无人机接收到移动端发送的删除请求时，根据所述删除请求删除所述限飞区数据库中的所述限飞区数据。
  32. 根据权利要求31所述的无人机，其特征在于，所述删除请求包括数据删除指令和需要删除的所述限飞区数据对应的索引，所述处理器用于在所述无人机接收到移动端发送的删除请求时，根据所述删除请求删除所述限飞区数据库中的所述限飞区数据，包括：
    在所述无人机接收到所述移动端发送的所述数据删除指令和需要删除的所述限飞区数据对应的所述索引时，根据所述数据删除指令和需要删除的所述限飞区数据对应的所述索引在所述限飞区数据库中删除需要删除的所述限飞区数据。
  33. 根据权利要求18至28任意一项所述的无人机，其特征在于，所述处理器还用于：
    在第一限飞区数据的存储时间达到与所述第一限飞区对应的存储期限时，删除所述第一限飞区数据，所述第一限飞区数据属于所述一个或多个限飞区数据。
  34. 根据权利要求18至33任意一项所述的无人机，其特征在于，所述限飞区数据为图形数据，所述图形数据包括多边形、圆形或椭圆形中的一个或多个。
  35. 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，所述处理器执行权利要求1至17任意一项所述的数据处理方法。
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