WO2021195943A1 - 飞行记录数据存储方法、获取方法及无人飞行器 - Google Patents

飞行记录数据存储方法、获取方法及无人飞行器 Download PDF

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Publication number
WO2021195943A1
WO2021195943A1 PCT/CN2020/082374 CN2020082374W WO2021195943A1 WO 2021195943 A1 WO2021195943 A1 WO 2021195943A1 CN 2020082374 W CN2020082374 W CN 2020082374W WO 2021195943 A1 WO2021195943 A1 WO 2021195943A1
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Prior art keywords
record data
flight record
storage device
target
flight
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PCT/CN2020/082374
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English (en)
French (fr)
Inventor
陈锦熙
何昌昕
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080031668.6A priority Critical patent/CN113767353A/zh
Priority to PCT/CN2020/082374 priority patent/WO2021195943A1/zh
Publication of WO2021195943A1 publication Critical patent/WO2021195943A1/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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • 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

Definitions

  • This application relates to the field of computer technology, in particular to a method for storing flight record data, a method for obtaining flight record data, and an unmanned aerial vehicle.
  • Unmanned aerial vehicle Log is of great significance to developers, after-sales personnel, and product operators. Therefore, the storage method of unmanned aerial vehicle Log has become a research focus.
  • the embodiments of the present invention provide a flight record data storage method, an acquisition method, and an unmanned aerial vehicle, which can realize distributed storage of flight record data.
  • an embodiment of the present invention provides a method for storing flight record data.
  • the method is applied to an unmanned aerial vehicle, and the method includes:
  • At least one target storage device for storing flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle.
  • an embodiment of the present invention provides a method for acquiring flight record data.
  • the method is applied to a data acquisition device, and the method includes:
  • Receive the target flight record data acquisition request, and the target flight record data acquisition request is used to request the target flight record data;
  • At least one target storage device for storing the target flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle, wherein the external storage device is communicatively connected with the unmanned aerial vehicle Control at least one of the terminal and the server;
  • an embodiment of the present invention provides an unmanned aerial vehicle, including: a memory and a processor;
  • the memory stores the program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • At least one target storage device for storing flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle.
  • an embodiment of the present invention provides a data acquisition device, including: a memory and a processor;
  • the memory stores program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • Receive the target flight record data acquisition request, and the target flight record data acquisition request is used to request the target flight record data;
  • At least one target storage device for storing the target flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle, wherein the external storage device is communicatively connected with the unmanned aerial vehicle Control at least one of the terminal and the server;
  • an embodiment of the present application provides a computer-readable storage medium for storing computer software instructions used by the above-mentioned unmanned aerial vehicle or data acquisition device, which includes instructions for executing the above-mentioned first or second aspect.
  • the procedures involved in the storage method and acquisition method of flight record data are included in the storage method and acquisition method of flight record data.
  • the unmanned aerial vehicle determines at least one target storage device for storing the flight record data from the internal storage device and the external storage device of the unmanned aerial vehicle according to the importance level of the flight record data, and stores the flight record data
  • this method enables the flight record data to be stored not only in the internal storage device, but also in the external storage device. Multiple backups of the flight record data can reduce the risk of flight record data being lost.
  • the method of determining at least one target storage device by the importance level of the flight record data realizes the distributed storage of the flight record data, which can reduce the pressure on the storage bandwidth of the flight record data.
  • FIG. 1 is a schematic structural diagram of a flight record data storage system provided by an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a flight record data generating module provided by an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a method for storing flight record data according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of another method for storing flight record data according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a method for acquiring flight record data according to an embodiment of the present invention
  • Figure 6 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a data acquisition device provided by an embodiment of the present invention.
  • the log of the unmanned aerial vehicle is generally stored in the local storage medium (black box) of the unmanned aerial vehicle.
  • the unmanned aerial vehicle in the event of a crash of the unmanned aerial vehicle, there is a greater risk of loss of the internal Log. Circumstances will greatly increase the difficulty of UAV's touring work, after-sales responsibility assignment work, and the tracing of the cause of the accident.
  • the abundant Log resources are only stored locally in the black box and cannot be fully utilized.
  • an embodiment of the present application proposes a flight record data storage method.
  • the unmanned aerial vehicle obtains the flight record data of the unmanned aerial vehicle;
  • the internal storage device and the external storage device of the aircraft determine at least one target storage device for storing flight record data, where the external storage device is at least one of a control terminal and a server that are communicatively connected with the unmanned aerial vehicle; Stored in at least one target storage device.
  • the unmanned aerial vehicle stores the flight record data in at least one target storage device according to the importance level of the flight record data, which can realize the distributed storage of the flight record data.
  • Unmanned aerial vehicles include unmanned aerial vehicles, unmanned airships, and unmanned paraplanes.
  • Data acquisition equipment includes remote control equipment that establishes a communication connection with the unmanned aerial vehicle or terminal equipment that needs to acquire flight record data, such as remote control, smart phone, tablet computer, ground station, VR glasses, etc.
  • FIG. 1 is a schematic structural diagram of a flight record data storage system provided by an embodiment of the present application.
  • the flight record data storage system 10 is composed of an unmanned aerial vehicle 101 and an external storage device 102.
  • the unmanned aerial vehicle includes a flight record data generation module 1011, a flight record data management module 1012, and an internal storage device 1013.
  • the schematic diagram of the structure of the flight record data generating module 1011 is shown in Figure 2, including flight control sensors, navigation sensors, vision sensors, etc.
  • the flight control sensors, navigation sensors, and vision sensors correspond to the flight control system module, navigation system module, and vision system module respectively.
  • Each module in the flight record data generating module 1011 can be used to generate part of the flight record data obtained by the flight record data management module 1012.
  • the flight record data management module 1012 is used for processing flight record data, such as obtaining flight record data, and determining at least one of the internal storage device and external storage device of the unmanned aerial vehicle according to the importance level of the flight record data for storing flight record data The target storage device, etc.
  • the internal storage device 1013 includes EMMC and SD Card.
  • the external storage device 102 is at least one of a control terminal 1021 and a server 1022 that are communicatively connected with an unmanned aerial vehicle.
  • the control terminal 1021 may be a remote control, a smart phone, a tablet computer, a ground station, VR glasses, etc.
  • the server 1022 includes an instant communication server , A cloud server that establishes a connection with the UAV in advance.
  • the instant messaging server includes a QQ server, a WeChat server, etc.
  • the flight record data management module 1102 in the unmanned aerial vehicle 101 executes the flight record data storage method in the embodiment of the present application.
  • the architecture of the data storage system shown in FIG. 1 is only for example, and does not constitute a limitation to the embodiment of the present application.
  • the flight record data storage method may include S301-S303:
  • the unmanned aerial vehicle obtains flight record data of the unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a flight record data generation module.
  • the flight record data generation module includes flight control sensor module, navigation sensor module, and vision sensor module and other flight record data generation sub-modules.
  • Each flight record data The generation sub-module can generate multiple flight record data when the unmanned aerial vehicle is in the working state, and the flight record data management module in the unmanned aerial vehicle can obtain flight record data from each flight record data generation sub-module.
  • the flight record data management module in the unmanned aerial vehicle can obtain flight record data from the remote control terminal of the remote controlled unmanned aerial vehicle.
  • the unmanned aerial vehicle can obtain data during the execution of the mission.
  • the unmanned aerial vehicle can obtain an image of the target by taking a picture of the target.
  • the image of the target is also part of the flight record data.
  • the unmanned aerial vehicle can obtain the flight record data obtained by the camera lens of the unmanned aerial vehicle.
  • the unmanned aerial vehicle determines at least one target storage device for storing the flight record data from the internal storage device and the external storage device of the unmanned aerial vehicle according to the importance level of the flight record data.
  • the importance level of flight record data represents the importance of the flight record data to developers, operators, etc.
  • the importance level can be expressed by letters, such as A, B, C, and the level of A is higher than the level of B, and the level of B is higher than the level of C.
  • Important The level can also be represented by the first important level, the second important level, and the third important level. The first important level is higher than the second important level, and the second important level is higher than the third important level.
  • the unmanned aerial vehicle determines at least one target storage device for storing flight record data from the internal storage device and the external storage device of the unmanned aerial vehicle according to the importance level of the flight record data.
  • the at least one target storage device is the internal storage device and the external storage device At least one storage device among all storage devices in, for example, the internal storage device includes two storage devices, the external storage device includes three storage devices, the number of storage devices that can store flight record data is five, and at least one target storage The device is at least one storage device among the five storage devices.
  • the unmanned aerial vehicle determines at least one target storage device for storing flight record data from the internal storage device and the external storage device of the unmanned aerial vehicle according to the importance level of the flight record data, and can store flight record data of different importance levels in different In the storage device, this method not only allows multiple backups of flight record data, but also realizes distributed storage of flight record data.
  • the unmanned aerial vehicle stores the flight record data in at least one target storage device.
  • the target storage device is the EMMC or SD Card included in the internal storage device of the unmanned aerial vehicle, and the unmanned aerial vehicle transmits the flight record data to the EMMC or SD Card through the internal data link, so that it is stored in the EMMC or SD Card. Or it is stored as a Log data file in the SD Card.
  • the internal data link is the data link in the unmanned aerial vehicle, including the data link between the EMMC and the flight record data management device, and the data link between the SD Card and the flight record data management device.
  • the target storage device is the control terminal in the external storage device of the unmanned aerial vehicle that is communicatively connected to the unmanned aerial vehicle, and the unmanned aerial vehicle forwards the flight record data from the internal data link to the remote control data link,
  • the remote control data link is the data link between the unmanned aerial vehicle and the control terminal equipment, such as the control terminal If the remote control is connected to the unmanned aerial vehicle in communication, the remote control data link is the data link between the remote control and the unmanned aerial vehicle.
  • the target storage device is a server in the external storage device of the unmanned aerial vehicle, and the unmanned aerial vehicle forwards the flight record data from the internal data link to the mobile communication data link, so that the flight record data passes through the mobile communication data link.
  • the communication data link arrives at the server and is stored in the server.
  • the mobile communication data link includes 4G data link and 5G data link.
  • the flight record data is stored in the server, so that the user can perform background monitoring of the unmanned aerial vehicle through the stored flight record data (for example, in the field of public security and fire protection), can collect the unmanned flight record data for the user, and can be used for after-sales Responsibility to provide a basis.
  • the unmanned aerial vehicle stores the flight log data in at least one target storage device of the internal storage device and the external storage device according to the importance level of the flight log data.
  • the internal storage device of the human aircraft distributed data storage is performed according to the importance level, so that the flight record data can be backed up multiple times, which can reduce the risk of the flight record data being lost, and is conducive to the full use of the flight record data.
  • FIG. 4 is another flight record data storage method provided by an embodiment of the present application.
  • the flight record data storage method may include S401-S404.
  • the unmanned aerial vehicle obtains flight record data of the unmanned aerial vehicle.
  • step S401 in the embodiment of the present application refer to the execution process of step S301 in the foregoing embodiment, and details are not repeated in the embodiment of the present application.
  • the unmanned aerial vehicle determines the importance level of the flight record data.
  • the unmanned aerial vehicle determines the importance level of the flight record data according to the type of the flight record data and/or the component that generates the flight record data.
  • the flight record data includes the first flight record data and the second flight record data.
  • the first flight record data includes the flight movement status data of the unmanned aerial vehicle, the control instructions of the user of the unmanned aerial vehicle, and the unmanned aerial vehicle when the unmanned aerial vehicle is in an abnormal state.
  • the unmanned aerial vehicle determines the importance level of the flight record data according to the type of the flight record data, including: the unmanned aerial vehicle determines the importance level of the first flight record data as the first importance level according to the type of the first flight record data; according to the second flight record For the type of data, determine the importance level of the second flight record data as the second importance level.
  • the types of flight record data include data generated by the unmanned aerial vehicle itself, data acquired during mission execution, and data acquired from a remote control terminal.
  • the components that generate the flight record data include flight control sensors, navigation sensors, and vision sensors.
  • the type of the first flight record data A is the data generated by the unmanned aerial vehicle itself
  • the unmanned aerial vehicle determines that the importance level of the first flight record data A is the first importance level
  • the type of the second flight record data B is the execution of the shooting mission
  • the UAV determines the importance level of the first flight record data B as the second important level.
  • the components that generate flight record data include flight control sensors, navigation sensors, vision sensors, camera lenses, and so on.
  • the component that generates the first flight record data a is the flight control sensor
  • the unmanned aerial vehicle determines that the importance level of the first flight record data a is the first importance level
  • the component that generates the second flight record data b is the camera lens.
  • the aircraft determines the importance level of the first flight record data b as the second importance level.
  • the unmanned aerial vehicle determines at least one target storage device for storing the flight record data from the internal storage device and the external storage device of the unmanned flight according to the importance level of the flight record data.
  • the unmanned aerial vehicle determines at least two target storage devices for storing the first flight record data from the internal storage device and the external storage device of the unmanned aerial vehicle according to the first importance level of the first flight record data According to the second importance level of the second flight record data, a target storage device for storing the second flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle.
  • the at least two target storage devices of the first flight data include at least the internal storage device of the unmanned aerial vehicle, and one target storage device of the second flight record data is the internal storage device of the unmanned aerial vehicle or the control connected in communication with the unmanned aerial vehicle. terminal.
  • the first flight record data and the second flight record data are as shown in S402, and the unmanned drone determines two target storages for storing the first flight record data A according to the first importance level of the first flight record data A
  • the devices are SD Card and a tablet computer connected to the UAV.
  • the two target storage devices include the internal storage device SD Card and the external storage device to communicate with the UAV.
  • the second importance level determines that a target storage device for storing the second flight record data B is SD Card, and a target storage device for the second flight record data B only includes the internal storage device SD Card.
  • the unmanned aerial vehicle determines from the internal storage device and the external storage device of the unmanned aerial vehicle to store the first flight record data according to the first importance level of the first flight record data According to the second importance level of the second flight record data, a target storage device for storing the second flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle.
  • the preset condition includes that the data volume of the flight record data is greater than or equal to the preset data volume threshold, or the communication quality parameter between the unmanned aerial vehicle and the external storage device is less than or equal to the preset communication quality parameter threshold.
  • the data volume of the flight record data is greater than or equal to the preset data volume threshold, the data volume of the entire flight record data will be larger, which will occupy a large bandwidth resource. Therefore, the unmanned aerial vehicle determines the flight record data according to the importance level of the flight record data
  • the target storage device for distributed storage of flight record data can reduce bandwidth pressure.
  • the communication quality parameter between the unmanned aerial vehicle and one or more storage devices in the external storage device is less than or equal to the preset communication quality parameter threshold, it indicates that the unmanned aerial vehicle may be disconnected from the control terminal connected to the communication In this case, if all the flight record data is stored in the internal storage device, the flight record data may be lost. Therefore, the unmanned aerial vehicle may lose the flight record data according to the flight record data.
  • the importance level of determining at least one target storage device can reduce the risk of flight record data loss.
  • the unmanned aerial vehicle determines at least two target storage devices for storing flight data from the internal storage device and the external storage device of the unmanned aerial vehicle. That is, when the amount of flight record data is small or the communication quality between the UAV and the external storage device is good, the UAV determines at least two target storage devices from the internal storage device and the external storage device, and the at least two target storage devices are at least Including the internal storage device of the UAV.
  • This method can also realize distributed storage of flight record data.
  • the unmanned aerial vehicle determines at least one target storage device for storing the first flight record data according to the first importance level of the first flight record data, and determines according to the second importance level of the second flight record data
  • the target storage device used to store the second flight record data, the at least one target storage device used to store the first flight record data is an external storage device of the unmanned aerial vehicle, and the target storage device used to store the second flight record data is none The internal storage device of the human aircraft.
  • the at least one target storage device of the first flight record data of the first importance level determined by the unmanned aerial vehicle is an external storage device of the unmanned aerial vehicle, that is, the first flight record data is only stored in one or more target storages in the external storage device In the device; the target storage device of the second flight record data of the second important level determined by the unmanned aerial vehicle is the internal storage device of the unmanned aerial vehicle, that is, the second flight record data is only stored in the internal storage device.
  • This method determines that the target storage device of the first flight record data of the first importance level is at least one external storage device, and the target storage device of the second flight record data of the second importance level is the internal storage device, realizing the internal storage device and the external storage device.
  • the storage device corresponds to different levels of flight record data, and also realizes distributed data storage of flight record data.
  • the unmanned aerial vehicle stores the flight record data in at least one target storage device.
  • the unmanned aerial vehicle stores the flight record data in at least one determined target storage device to realize the distributed storage of the unmanned flight record data.
  • the unmanned aerial vehicle determines at least two target storage devices for storing the first flight record data from the internal storage device and the external storage device, and determines from the internal storage device and the external storage device for If a target storage device stores the second flight record data, the unmanned aerial vehicle stores the first flight record data in at least two determined target storage devices, and stores the second flight record data in a determined target storage device. In an implementation manner, if the preset conditions are not met, and the unmanned aerial vehicle determines at least two target storage devices for storing flight record data from the internal storage device and the external storage device, the unmanned aerial vehicle will fly The recorded data is stored in at least two determined target storage devices.
  • the unmanned aerial vehicle stores the first flight record data in at least one external storage device, and stores the second flight record data in the internal storage device.
  • the unmanned aerial vehicle determines that at least one target storage device for storing the first flight record data is an external storage device of the unmanned aerial vehicle, and the target storage device for storing the second flight record data is an unmanned aerial vehicle.
  • the unmanned aerial vehicle stores the first flight record data in at least one external storage device, and stores the second flight record data in the internal storage device.
  • the unmanned aerial vehicle after the unmanned aerial vehicle stores the flight record data in at least one target storage device, it sends the data identification and importance level of the flight record data to the data acquisition device, so that the data acquisition device establishes the flight record data Correspondence between the data identifier and the importance level, the data acquisition device stores the data identifier and its corresponding importance level.
  • This method can enable the data acquisition device to subsequently determine the target importance level corresponding to the target data identifier according to the corresponding relationship between the data identifier and the importance level.
  • the unmanned aerial vehicle after the unmanned aerial vehicle stores the flight record data in at least one target storage device, it generates storage information of the flight record data, and the storage information is used to indicate that the flight record data is stored in the target storage device;
  • the storage information of the recorded data is sent to the data acquisition device, so that the data acquisition device establishes the corresponding relationship between the data identification of the flight record data and the storage information, and the data acquisition device stores the data identification and its corresponding storage information.
  • This method can enable the data acquisition device to subsequently determine the target storage information corresponding to the target data identifier according to the corresponding relationship between the data identifier and the storage information.
  • the storage information carries the type of flight record data; after the unmanned aerial vehicle stores the flight record data in at least one target storage device, the storage information of the flight record data is generated, and the storage information is used to indicate that the flight record data is Stored in the target storage device; send the storage information of the flight record data to the data acquisition device, so that the data acquisition device establishes the correspondence between the type of the flight record data and the storage information, and the type of the flight record data stored by the data acquisition device and its correspondence Storage information.
  • This method allows the data acquisition device to subsequently determine the target storage information corresponding to the type according to the correspondence between the type and the storage information.
  • the unmanned aerial vehicle determines whether to store the first flight record in the internal storage device and the external storage device according to the first importance level of the first flight record data and the second importance level of the second flight record data. At least one target storage device for the data and the second flight record data.
  • This method allows the first flight record data and the second flight record data to have different target storage devices, and realizes multiple backup and distributed storage of the first flight record data and the second flight record data, so that the storage device for the flight record data is not No matter how simple it is, it can also reduce the pressure on the storage bandwidth of flight record data.
  • FIG. 5 is a method for acquiring flight record data according to an embodiment of the present application.
  • the method for acquiring flight record data may include S501-S504.
  • the data acquisition device receives a target flight record data acquisition request.
  • the target flight record data acquisition request is used to request to acquire the target flight record data.
  • developers or after-sales personnel need to obtain target flight record data, they send a target flight record data acquisition request to the data acquisition device, so the data acquisition device receives the target flight record data acquisition request.
  • the target flight record data acquisition request includes keywords related to the target flight record data, such as the date entered by the user, the component that generates the target flight record data, etc.
  • the data acquisition device can determine according to the keyword The type of target flight record data.
  • the data acquisition device before the data acquisition device receives the target flight record data acquisition request, it receives the data identification and importance level of the flight record data sent by the unmanned aerial vehicle; establishes the correspondence between the data identification and importance level of the flight record data; and stores it; Data identification and its corresponding importance level.
  • This method enables the data acquisition device to subsequently determine the importance level corresponding to the target data identifier according to the data identifier of the target flight record data, thereby determining the target storage device for the target flight record data according to the importance level.
  • the data acquisition device before the data acquisition device receives the target flight record data acquisition request, it receives the storage information of the flight record data sent by the unmanned aerial vehicle; establishes the correspondence between the data identification of the flight record data and the storage information; the storage data identification and Its corresponding storage information. In this way, the data acquisition device stores the data identification and its corresponding storage information.
  • the storage information includes the target storage device of the flight record data corresponding to the data identification, so the data acquisition device can directly follow the data identification of the target flight record data. Determine the corresponding target storage information, and then determine the target storage device according to the target storage information.
  • the data acquisition device before the data acquisition device receives the target flight record data acquisition request, it receives the storage information of the flight record data sent by the unmanned aerial vehicle, and the storage information carries the type of the flight record data; establishes the corresponding relationship between the type and the storage information; Storage type and its corresponding storage information.
  • This method allows the data acquisition device to subsequently determine the target storage information of the target flight record data according to the type of the target flight record data, and then determine the target storage device according to the target storage information.
  • the data acquisition device After the data acquisition device receives the target flight record data acquisition request, it determines the target data identifier of the target flight record data according to the target flight data acquisition request; acquires the target data according to the correspondence between the data identifier and the stored information Identify the corresponding target storage information; determine the target storage device of the target flight data according to the target storage information; obtain the target flight data from the target storage device.
  • the data acquisition device determines the target type of the target flight record data according to the target flight data acquisition request; determines the target storage information corresponding to the target type according to the correspondence between the type and the storage information; according to the target storage information, Determine the target storage device for the target flight record data; obtain the target flight data from the target storage device.
  • the data acquisition device determines the importance level of the target flight record data according to the target flight record data acquisition request.
  • the data acquisition device determines the importance level of the target flight record data according to the target flight record data acquisition request.
  • the flight record data acquisition request includes keywords related to the target flight record data
  • the data acquisition device can determine the type of flight record data according to the keywords related to the target flight record data, and then according to the target flight data Type to determine the importance level of the target flight data.
  • the data acquisition device determines at least one target storage device for storing the target flight record data from the internal storage device and the external storage device of the unmanned aerial vehicle according to the importance level of the target flight record data.
  • the external storage device is at least one of a control terminal and a server that are communicatively connected with the unmanned aerial vehicle.
  • the data acquisition device acquires the target flight record data from the target storage device.
  • the number of target storage devices is at least one, and the data acquisition device acquires target flight record data from the target storage device, including: displaying the address information of each target storage device; During the click operation, the target flight record data is obtained from the target storage device indicated by the target address information, and the target address information is any address information in the displayed address information. For example, if the number of target storage devices is four, the data acquisition device generates the address information of the four target storage devices based on the four target storage devices, and displays the address information of the four target storage devices to the user. Select any address information from the address information.
  • the data acquisition device When the data acquisition device detects that the user clicks on one of the four address information, it indicates that the user wants to acquire flight record data from the target address information, so the data acquisition device Obtain the target flight record data from the target storage device indicated by the target address information, and display the acquired target flight record data to the user.
  • the target storage device is an internal storage device, and if the data acquisition device establishes a connection with the internal memory, the target flight record data in the internal memory is acquired. That is, the user can connect to the unmanned aerial vehicle through a USB cable to obtain target flight record data from the unmanned aerial vehicle, or the user can remove the internal storage device of the unmanned aerial vehicle to copy the flight record data.
  • the target storage device is a control terminal in the external storage device that is communicatively connected to the unmanned aerial vehicle. If the data acquisition device establishes a connection with the external memory, the target flight record data in the external memory is acquired. That is, the user can connect to the control terminal through a USB cable, or connect to the control terminal through a wireless network, or obtain unmanned flight record data through the host computer application on the control terminal.
  • the target storage device is a server in an external storage device. If the data acquisition device establishes a connection with a preset server via a network, the target flight data is acquired according to the network.
  • the network includes a wired network and a wireless network. That is, the user connects to the cloud server that is connected to the UAV through the network, and copies the target-specific record data in the cloud server to the local storage device of the data acquisition device, or the user logs in to the upper computer application through the account to transfer the upper computer
  • the target flight record data in the application server is copied to the local storage device of the data acquisition device.
  • the data acquisition device receives the target flight record data acquisition request, it determines the importance level of the target flight record data according to the target flight record data acquisition request, and determines the importance level of the target flight record data from the unmanned At least one target storage device for storing the target flight record data is determined from the internal storage device and the external storage device of the aircraft, and finally the target flight record data is obtained from the target storage device.
  • the data acquisition device needs to acquire the target flight record data, the target flight record data is acquired in the target storage device, which makes the flight record data fully utilized.
  • FIG. 6 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle 60 described in the embodiment of the present invention includes a processor 601 and a memory 602, and a processor 601 and a memory. 602 is connected by one or more communication buses.
  • the above-mentioned processor 601 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (ASICs). ), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the processor 601 is configured to support the receiving device to perform the corresponding functions of the UAV in the method described in FIG. 3 or FIG. 4.
  • the aforementioned memory 602 may include a read-only memory and a random access memory, and provides computer programs and data to the processor 601.
  • a part of the memory 602 may also include a non-volatile random access memory.
  • the processor 601 is used to execute when the computer program is called:
  • At least one target storage device for storing flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle.
  • the processor 601 determines at least one target storage device for storing the flight log data from the internal storage device and the external storage device of the UAV according to the importance level of the flight log data. , The following operations may also be performed: the processor 601 determines the importance level of the flight record data according to the type of the flight record data and/or the component that generates the flight record data.
  • the flight record data includes the first flight record data and the second flight record data
  • the processor 601 determines at least one application from the internal storage device and the external storage device of the unmanned flight according to the importance level of the flight record data.
  • the specific execution operation of the target storage device for storing flight record data is: the processor 601 determines from the internal storage device and the external storage device of the unmanned aerial vehicle to store the first flight record according to the first importance level of the first flight record data
  • At least two target storage devices for the data a target storage device for storing the second flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle according to the second importance level of the second flight record data, the first The importance level is higher than the second importance level
  • the specific operation of the processor 601 to store flight record data in at least one target storage device is: the processor 601 stores the first flight record data in at least two determined target storage devices , Store the second flight record data in a determined target storage device.
  • the processor 601 determines from the internal storage device and the external storage device of the unmanned flight according to the importance level of the flight record data that at least one target storage device for storing flight record data is specifically executed as follows: When the preset condition is met, the processor 601 determines at least two target storage devices for storing the first flight record data from the internal storage device and the external storage device of the unmanned aerial vehicle according to the first importance level of the first flight record data, According to the second importance level of the second flight record data, a target storage device for storing the second flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle.
  • the processor 601 may also be used to perform the following operations: if the preset conditions are not met, the processor 601 determines from the internal storage device and the external storage device of the unmanned aerial vehicle that the flight data is stored. At least two target storage devices.
  • the preset condition includes that the data volume of the flight record data is greater than or equal to a preset data volume threshold, or the communication quality parameter between the unmanned aerial vehicle and the external storage device is less than or equal to the preset communication quality Parameter threshold.
  • a target storage device of the second flight record data is an internal storage device of the unmanned aerial vehicle or a control terminal communicatively connected with the unmanned aerial vehicle.
  • the at least two target storage devices include at least an internal storage device of the unmanned aerial vehicle.
  • the flight record data includes the first flight record data and the second flight record data
  • the processor 601 determines at least one application from the internal storage device and the external storage device of the unmanned flight according to the importance level of the flight record data.
  • the specific operations performed by the target storage device for storing flight record data are: the processor 601 determines at least one target storage device for storing the first flight record data according to the first importance level of the first flight record data, and according to the second flight record data
  • the second importance level of the recorded data determines the target storage device used to store the second flight record data, the first importance level is higher than the second importance level, and at least one target storage device used to store the first flight record data is an unmanned aerial vehicle
  • the flight record data includes the first flight record data and the second flight record data.
  • the processor 601 determines the importance level of the flight record data according to the type of the flight record data.
  • the specific operation performed by the processor 601 is as follows: For the type of flight record data, the importance level of the first flight record data is determined to be the first importance level; the processor 601 determines the importance level of the second flight record data as the second importance level according to the type of the second flight record data.
  • the first flight record data includes one of the flight movement status data of the unmanned aerial vehicle, the control instructions of the user of the unmanned aerial vehicle, and one of the images acquired by the imaging device of the unmanned aerial vehicle when the unmanned aerial vehicle is in an abnormal state.
  • the control instructions of the user of the unmanned aerial vehicle includes one of the images acquired by the imaging device of the unmanned aerial vehicle when the unmanned aerial vehicle is in an abnormal state.
  • the processor 601 after the processor 601 stores the flight record data in at least one target storage device, the following operations may also be performed: the processor 601 sends the data identification and importance level of the flight record data to the data acquisition device to The data acquisition device establishes the corresponding relationship between the data identification and the importance level of the flight record data, and the data acquisition device stores the data identification and its corresponding importance level.
  • the processor 601 after the processor 601 stores the flight record data in at least one target storage device, the following operations may be further performed: the processor 601 generates storage information of the flight record data, and the storage information is used to indicate the flight record The data is stored in the target storage device; the processor 601 sends the storage information of the flight record data to the data acquisition device, so that the data acquisition device establishes the corresponding relationship between the data identification of the flight record data and the storage information, and the data acquisition device stores Data identification and its corresponding storage information.
  • the storage information carries the type of flight record data; the specific execution operation of the processor 601 sending the storage information of the flight record data to the data acquisition device is: the processor 601 sends the storage information of the flight record data to the data acquisition device.
  • the acquisition device allows the data acquisition device to establish a correspondence between the type of flight record data and the storage information, and the data acquisition device stores the type of flight record data and its corresponding storage information.
  • FIG. 7 is a schematic structural diagram of a data acquisition device according to an embodiment of the present invention.
  • the data acquisition device 70 described in the embodiment of the present invention includes a processor 701 and a memory 702, and a processor 701 and a memory. 702 is connected by one or more communication buses.
  • the aforementioned processor 701 may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (ASICs). ), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the processor 701 is configured to support the receiving device to perform the corresponding functions of the data acquisition device in the method described in FIG. 5.
  • the aforementioned memory 702 may include a read-only memory and a random access memory, and provides computer programs and data to the processor 701. A part of the memory 702 may also include a non-volatile random access memory. Wherein, the processor 701 is used to execute when calling the computer program:
  • Receive the target flight record data acquisition request, and the target flight record data acquisition request is used to request the target flight record data;
  • At least one target storage device for storing the target flight record data is determined from the internal storage device and the external storage device of the unmanned aerial vehicle, wherein the external storage device is communicatively connected with the unmanned aerial vehicle Control at least one of the terminal and the server;
  • the number of target storage devices is at least one
  • the specific operation performed by the processor 701 to obtain target flight record data from the target storage device is: the processor 701 displays the address information of each target storage device; the processor 701 When the user's click operation on the target address information is detected, the target flight record data is obtained from the target storage device indicated by the target address information, and the target address information is any address information in the displayed address information.
  • the processor 701 may also perform the following operations: the processor 701 determines the target data identification of the target flight data according to the target flight data acquisition request; the processor 701 determines the target data identification of the target flight data according to the data identification The corresponding relationship with the storage information is obtained, and the target storage information corresponding to the target data identifier is obtained; the processor 701 determines the target storage device of the target flight data according to the target storage information; the processor 701 obtains the target flight data from the target storage device.
  • the embodiment of the present application also provides a readable storage medium, and the readable storage medium stores a computer program.
  • the computer program When the computer program is executed by a processor, it can be used to implement the embodiment of the present application as shown in Figure 3 or Figure 4 or Figure 5.
  • the flight record data storage method and acquisition method described in the corresponding embodiment will not be repeated here.
  • the computer-readable storage medium may be the internal storage unit of the unmanned aerial vehicle or the data acquisition device described in any of the foregoing embodiments, such as the hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the UAV or data acquisition device, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), a secure digital ( Secure Digital, SD card, Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the ICBC and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the receiving device.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

本发明实施例公开了一种飞行记录数据存储方法、获取方法及无人飞行器。飞行记录数据存储方法包括：获取无人飞行器的飞行记录数据；根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置，其中，外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；将飞行记录数据存储到至少一个目标存储装置中。采用本发明实施例，可实现无人飞行记录数据的分布式存储。

Description

飞行记录数据存储方法、获取方法及无人飞行器 技术领域
本申请涉及计算机技术领域，尤其涉及一种飞行记录数据存储方法、获取方法及无人飞行器。
背景技术
无人飞行器(例如无人机等)在每一次起飞与降落中，都会产生着记录每时每刻系统状态的飞行记录数据，称为日志(Log)。一般的无人飞行器系统都配有Log存储功能，大多数是将Log存储在无人飞行器本地航电系统的存储介质中，比如嵌入式多媒体卡(Embedded Multi Media Card，EMMC)或安全数字卡(Secure Digital Card，SD Card)，俗称黑盒子。当需要进行Log分析时(比如飞行事故、研发调试、售后定责等场景)，需要用通用串行总线(Universal Serial Bus，USB线)连接无人飞行器或者把无人飞行器内部的SD卡拆出来拷贝数据。
无人飞行器的Log对开发人员、售后人员以及产品运营人员等都具有重要意义，因此无人飞行器的Log的存储方式成为人们的研究重点。
发明内容
本发明实施例提供了一种飞行记录数据存储方法、获取方法及无人飞行器，可实现飞行记录数据的分布式存储。
第一方面，本发明实施例提供了一种飞行记录数据存储方法，所述方法应用于无人飞行器，该方法包括：
获取无人飞行器的飞行记录数据；
根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置，其中，外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；
将飞行记录数据存储到至少一个目标存储装置中。
第二方面，本发明实施例提供了一种飞行记录数据获取方法，所述方法应用于数据获取设备，该方法包括：
接收目标飞行记录数据获取请求，目标飞行记录数据获取请求用于请求获取目标飞行记录数据；
根据目标飞行记录数据获取请求，确定目标飞行记录数据的重要等级；
根据目标飞行记录数据的重要等级，从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储目标飞行记录数据的目标存储装置，其中，外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；
从目标存储装置中获取目标飞行记录数据。
第三方面，本发明实施例提供了一种无人飞行器，包括：存储器、处理器；
存储器存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
获取无人飞行器的飞行记录数据；
根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置，其中，外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；
将飞行记录数据存储到至少一个目标存储装置中。
第四方面，本发明实施例提供了一种数据获取设备，包括：存储器、处理器；
所述存储器存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
接收目标飞行记录数据获取请求，目标飞行记录数据获取请求用于请求获取目标飞行记录数据；
根据目标飞行记录数据获取请求，确定目标飞行记录数据的重要等级；
根据目标飞行记录数据的重要等级，从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储目标飞行记录数据的目标存储装置，其中，外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；
从目标存储装置中获取目标飞行记录数据。
第五方面，本申请实施例提供一种计算机可读存储介质，用于储存上述无人飞行器或数据获取设备所用的计算机软件指令，其包括用于执行上述第一方面或第二方面所述的飞行记录数据存储方法、获取方法所涉及的程序。
在本发明实施例中，无人飞行器根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置，并将飞行记录数据存储到至少一个目标存储装置中，该方式使得飞行记录数据不但可存储到内部存储装置中，还可以存储到外部存储装置中，飞行记录数据的多重备份，可减少飞行记录数据被丢失的风险。同时通过飞行记录数据的重要等级来确定至少一个目标存储装置的方式实现了飞行记录数据的分布式存储，可减少飞行记录数据的存储带宽压力。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种飞行记录数据存储系统的架构示意图；
图2为本发明实施例提供的一种飞行记录数据生成模块的结构示意图；
图3为本发明实施例提供的一种飞行记录数据存储方法的流程示意图；
图4为本发明实施例提供的另一种飞行记录数据存储方法的流程示意图；
图5为本发明实施例提供的一种飞行记录数据获取方法的流程示意图；
图6为本发明实施例提供的一种无人飞行器的结构示意图；
图7为本发明实施例提供的一种数据获取设备的结构示意图。
具体实施方式
下面结合本发明实施例中的附图对本发明实施例进行描述。
目前，无人飞行器的Log一般是存储在无人飞行器中的本地存储介质(黑盒子)中，但若发生无人飞行器的坠毁情况，存储在内部的Log会存在较大的丢失风险，这种情况将大大加难无人机的巡回工作、售后定责工作、以及事故原因追寻等工作。同时，丰富的Log资源仅仅依靠黑盒子存储在本地，无法被充分利用。
为解决无人飞行器的Log存储方式的单一问题，本申请实施例提出一种飞行记录数据存储方法，无人飞行器获取所述无人飞行器的飞行记录数据；根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置，其中，外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；将飞行记录数据存储到至少一个目标存储装置中。该方法中，无人飞行器根据飞行记录数据的重要等级，将飞行记录数据存储在了至少一个目标存储装置中，可实现飞行记录数据的分布式存储。
无人飞行器包括无人机、无人飞艇、无人伞翼机等。数据获取设备包括与无人飞行器建立通信连接的遥控设备或者需要获取飞行记录数据的终端设备，比如遥控器、智能手机、平板电脑、地面站、VR眼镜等。
为了更好的理解本申请实施例公开的一种飞行记录数据存储方法、获取方法及无人飞行器，下面首先对本申请实施例适用的飞行记录数据存储系统的架构进行描述。
请参见图1，图1是本申请实施例提供的一种飞行记录数据存储系统的架构示意图。如图1所示，该飞行记录数据存储系统10由无人飞行器101和外部存储装置102组成。其中，无人飞行器包括飞行记录数据生成模块1011、飞行记录数据管理模块1012以及内部存储装置1013。飞行记录数据生成模块1011的结构示意图如图2所示，包括飞控传感器、导航传感器、视觉传感器等，飞控传感器、导航传感器、视觉传感器分别对应飞控系统模块、导航系统模块、视觉系统模块，飞行记录数据生成模块1011中的各个模块可用于生成飞行记录数据管理模块1012获取的部分飞行记录数据。飞行记录数据管理模块1012用于对飞行记录数据进行处理，比如获取飞行记录数据、根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储装置中确定至少 一个用于存储飞行记录数据的目标存储装置等。内部存储装置1013包括EMMC和SD Card。外部存储装置102为与无人飞行器通信连接的控制终端1021和服务器1022中的至少一个，控制终端1021可以是遥控器、智能手机、平板电脑、地面站、VR眼镜等，服务器1022包括即时通信服务器、预先与无人飞行器建立连接的云端服务器，即时通信服务器包括QQ的服务器、微信的服务器等。在本申请中，由无人飞行器101中的飞行记录数据管理模块1102执行本申请实施例中的飞行记录数据存储方法。图1所示的数据存储系统的架构仅用于示例，并不构成对本申请实施例的限定。
基于上述描述，本发明实施例提出一种如图3所示的飞行记录数据存储方法，该飞行记录数据存储方法可以包括S301-S303：
S301：无人飞行器获取所述无人飞行器的飞行记录数据。
在一种实现方式中，无人飞行器包括飞行记录数据生成模块，飞行记录数据生成模块包括飞控传感模块、导航传感模块以及视觉传感模块等飞行记录数据生成分模块，各个飞行记录数据生成分模块可以在无人飞行器处于工作状态时生成多个飞行记录数据，无人飞行器中的飞行记录数据管理模块可从各个飞行记录数据生成分模块中获取飞行记录数据。
在一种实现方式中，用户在控制无人飞行器进行工作时，在与无人飞行器连接的遥控终端上输入控制指令或与执行任务相关的数据等，比如，在第一目标位置处的飞行减速、掉头等操作指令、在第二目标位置处的地理坐标数据等，因此无人飞行器中的飞行记录数据管理模块可从遥控无人飞行器的遥控终端中获取飞行记录数据。
在一种实现方式中，无人飞行器在执行任务过程中可获取数据，比如无人飞行器通过对目标物进行拍照，可获得关于目标物的图像，目标物的图像也是飞行记录数据的一部分，因此，无人飞行器可获取本无人飞行器的摄像镜头得到的飞行记录数据。
S302：无人飞行器根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置。
飞行记录数据的重要等级代表该飞行记录数据对开发人员、运营人员等的 重视程度。在此，不对飞行记录数据的重要等级的表示方法做限定，重要等级可以用字母表示，比如A、B、C，且A的等级高于B的等级，B的等级高于C的等级，重要等级也可以用第一重要等级、第二重要等级、第三重要等级表示，第一重要等级高于第二重要等级，第二重要等级高于第三重要等级。
无人飞行器根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置，至少一个目标存储装置为内部存储装置和外部存储装置中的所有存储装置中的至少一个存储装置，比如，内部存储装置包括两个存储装置，外部存储装置包括三个存储装置，飞行记录数据可存储的存储装置的数量为五个，至少一个目标存储装置为五个存储装置中的至少一个存储装置。
无人飞行器根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置，可以将不同重要等级的飞行记录数据存储在不同的存储装置中，该方式不仅让飞行记录数据可多重备份，也可实现飞行记录数据的分布式存储。
S303：无人飞行器将飞行记录数据存储到至少一个目标存储装置中。
在一种实现方式中，目标存储装置为无人飞行器的内部存储装置包括的EMMC或SD Card，则无人飞行器通过内部数据链路，将飞行记录数据传输至EMMC或SD Card，使其在EMMC或SD Card中存储为Log数据文件。其中，内部数据链路为无人飞行器中的数据链路，包括EMMC与飞行记录数据管理装置之间的数据链路、SD Card与飞行记录数据管理装置之间的数据链路。
在一种实现方式中，目标存储装置为无人飞行器的外部存储装置中的与无人飞行器通信连接的控制终端，则无人飞行器将飞行记录数据从内部数据链路转发至遥控数据链路，以使飞行记录数据通过遥控数据链路到达所述控制终端，并在控制终端中被存储为Log数据文件，遥控数据链路为无人飞行器与控制终端备之间的数据链路，比如控制终端为与无人飞行器通信连接的遥控器，则遥控数据链路为遥控器与无人飞行器之间的数据链路。
在一种实现方式中，目标存储装置为无人飞行器的外部存储装置中的服务器，则无人飞行器将飞行记录数据从内部数据链路转发至移动通信数据链路，以使飞行记录数据通过移动通信数据链路到达服务器，并在服务器中被存储， 移动通信数据链路包括4G数据链路、5G数据链路。将飞行记录数据存储到服务器中，使得用户可通过存储的飞行记录数据对无人飞行器进行后台监控(比如应用于公安消防领域)、可为用户进行无人飞行记录数据的收集、可为售后定责提供依据。
采用本申请实施例，无人飞行器根据飞行记录数据的重要等级，将飞行记录数据存储在内部存储装置与外部存储装置的至少一个目标存储装置中，该方式使得飞行记录数据不再只存储在无人飞行器的内部存储装置中，而是根据重要等级进行分布式数据存储，使得飞行记录数据可被多重备份，可减少飞行记录数据被丢失的风险，有利于对飞行记录数据的充分利用。
请参见图4，图4是本申请实施例提供的另一种飞行记录数据存储方法，该飞行记录数据存储方法可以包括S401-S404。
S401：无人飞行器获取无人飞行器的飞行记录数据。
本申请实施例中的步骤S401具体可参见上述实施例中步骤S301的执行过程，本申请实施例不再赘述。
S402：无人飞行器确定飞行记录数据的重要等级。
无人飞行器根据飞行记录数据的类型和/或产生所述飞行记录数据的部件确定飞行记录数据的重要等级。
飞行记录数据包括第一飞行记录数据和第二飞行记录数据，第一飞行记录数据包括无人飞行器的飞行移动状态数据、无人飞行器的用户的控制指令、无人飞行器处于异常状态时无人飞行器的拍摄装置获取的图像中的一种或多种。无人飞行器根据飞行记录数据的类型确定飞行记录数据的重要等级包括：无人飞行器根据第一飞行记录数据的类型，确定第一飞行记录数据的重要等级为第一重要等级；根据第二飞行记录数据的类型，确定第二飞行记录数据的重要等级为第二重要等级。飞行记录数据的类型包括无人飞行器自身生成的数据、执行任务时获取的数据以及从遥控终端获取的数据，生成所述飞行记录数据的部件包括飞控传感器、导航传感器以及视觉传感器等。比如，第一飞行记录数据A的类型为无人飞行器自身生成的数据，无人飞行器确定第一飞行记录数据A的重要等级为第一重要等级，第二飞行记录数据B的类型为执行拍摄任务时 拍摄获取到的数据，无人飞行器确定第一飞行记录数据B的重要等级为第二重要等级。
产生飞行记录数据的部件包括飞控传感器、导航传感器、视觉传感器、摄像镜头等等。比如，产生第一飞行记录数据a的部件为飞控传感器，无人飞行器确定第一飞行记录数据a的重要等级为第一重要等级，产生第二飞行记录数据b的部件为摄像镜头，无人飞行器确定第一飞行记录数据b的重要等级为第二重要等级。
S403：无人飞行器根据飞行记录数据的重要等级从无人飞行的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置。
在一种实现方式中，无人飞行器根据第一飞行记录数据的第一重要等级从无人飞行器的内部存储装置与外部存储装置中确定用于存储第一飞行记录数据的至少两个目标存储装置，根据第二飞行记录数据的第二重要等级从无人飞行器的内部存储装置与外部存储装置中确定用于存储第二飞行记录数据的一个目标存储装置。其中，第一飞行数据的至少两个目标存储装置至少包括无人飞行器的内部存储装置，第二飞行记录数据的一个目标存储装置为无人飞行器的内部存储装置或者与无人飞行器通信连接的控制终端。
比如，第一飞行记录数据和第二飞行记录数据如S402中所示，无人飞信器根据第一飞行记录数据A的第一重要等级确定用于存储第一飞行记录数据A的两个目标存储装置为SD Card和与无人飞行器通信连接的平板电脑，两个目标存储装置中包括内部存储装置SD Card和外部存储装置与无人飞行器通信连接的平板电脑，根据第二飞行记录数据B的第二重要等级确定用于存储第二飞行记录数据B的一个目标存储装置为SD Card，第二飞行记录数据B的一个目标存储装置只包括内部存储装置SD Card。
在一种实现方式中，若满足预设条件，则无人飞行器根据第一飞行记录数据的第一重要等级从无人飞行器的内部存储装置与外部存储装置中确定用于存储第一飞行记录数据的至少两个目标存储装置，根据第二飞行记录数据的第二重要等级从无人飞行器的内部存储装置与外部存储装置中确定用于存储所第二飞行记录数据的一个目标存储装置。
其中，预设条件包括飞行记录数据的数据量大于或等于预设数据量阈值，或者无人飞行器和外部存储装置之间的通信质量参数小于或等于预设的通信质量参数阈值。当飞行记录数据的数据量大于或等于预设数据量阈值，整个飞行记录数据的数据量会较大，会占用较大的带宽资源，因此无人飞行器根据飞行记录数据的重要等级确定飞行记录数据的目标存储装置，对飞行记录数据进行分布式存储，可减少带宽的压力。当无人飞行器和外部存储装置中的一个或多个存储装置之间的通信质量参数小于或等于预设的通信质量参数阈值时，表明无人飞行器存在与通信连接的控制终端的连接中断的可能性，即无人飞行器存在坠机或故障的可能性，在该情况下，若只将所有飞行记录数据存储在内部存储装置中，则可能会丢失飞行记录数据，因此无人飞行器根据飞行记录数据的重要等级确定至少一个目标存储装置，可减少飞行记录数据丢失的风险。
在一种实现方式中，若不满足预设条件，则无人飞行器从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储飞行数据的至少两个目标存储装置。即当飞行记录数据的数据量较小或者无人飞行器与外部存储装置通信质量良好时，无人飞行器从内部存储装置与外部存储装置中确定至少两个目标存储装置，至少两个目标存储装置至少包括无人飞行器的内部存储装置。该方式也可实现飞行记录数据的分布式存储。
在一种实现方式中，无人飞行器根据第一飞行记录数据的第一重要等级，确定用于存储第一飞行记录数据的至少一个目标存储装置，根据第二飞行记录数据的第二重要等级确定用于存储第二飞行记录数据的目标存储装置，用于存储第一飞行记录数据的至少一个目标存储装置为无人飞行器的外部存储装置，用于存储第二飞行记录数据的目标存储装置为无人飞行器的内部存储装置。无人飞行器确定的第一重要等级的第一飞行记录数据的至少一个目标存储装置为无人飞行器的外部存储装置，即第一飞行记录数据只存储在外部存储装置中的一个或多个目标存储装置中；无人飞行器确定的第二重要等级的第二飞行记录数据的目标存储装置为无人飞行器的内部存储装置，即第二飞行记录数据只存储在内部存储装置中。该方式确定第一重要等级的第一飞行记录数据的目标存储装置为至少一个外部存储装置，第二重要等级的第二飞行记录数据的目标 存储装置为内部存储装置，实现了内部存储装置和外部存储装置对应不同等级的飞行记录数据，也实现了飞行记录数据的分布式数据存储。
S404：无人飞行器将飞行记录数据存储到至少一个目标存储装置中。
无人飞行器将飞行记录数据存储到确定的至少一个目标存储装置中，以实现无人飞行记录数据的分布式存储。
在一种实现方式中，无人飞行器从内部存储装置与外部存储装置中确定了用于存储第一飞行记录数据的至少两个目标存储装置，从内部存储装置与外部存储装置中确定了用于存储第二飞行记录数据的一个目标存储装置，则无人飞行器将第一飞行记录数据存储到确定的至少两个目标存储装置中，将第二飞行记录数据存储到确定的一个目标存储装置中。在一种实现方式中，若不满足所述预设条件，无人飞行器从内部存储装置与外部存储装置中确定了用于存储飞行记录数据的至少两个目标存储装置，则无人飞行器将飞行记录数据存储到确定的至少两个目标存储装置中。
在一种实现方式中，无人飞行器将第一飞行记录数据存储到至少一个外部存储装置中，将第二飞行记录数据存储到内部存储装置中。
在一种实现方式中，无人飞行器确定了用于存储第一飞行记录数据的至少一个目标存储装置为无人飞行器的外部存储装置，用于存储第二飞行记录数据的目标存储装置为无人飞行器的内部存储装置，则无人飞行器将第一飞行记录数据存储到至少一个外部存储装置中，将第二飞行记录数据存储到内部存储装置中。
在一种实现方式中，无人飞行器将飞行记录数据存储到至少一个目标存储装置中之后，将飞行记录数据的数据标识和重要等级发送至数据获取设备，以使数据获取设备建立飞行记录数据的数据标识和重要等级的对应关系，数据获取设备存储数据标识及其对应的重要等级。该方式可使得数据获取设备在后续根据数据标识与重要等级的对应关系确定与目标数据标识对应的目标重要等级。
在一种实现方式中，无人飞行器将飞行记录数据存储到至少一个目标存储装置中之后，生成飞行记录数据的存储信息，存储信息用于指示飞行记录数据被存储于目标存储装置中；将飞行记录数据的存储信息发送至数据获取设备， 以使数据获取设备建立飞行记录数据的数据标识和存储信息的对应关系，数据获取设备存储数据标识及其对应的存储信息。该方式可使得数据获取设备在后续根据数据标识与存储信息的对应关系确定与目标数据标识对应的目标存储信息。
在一种实现方式中，存储信息携带飞行记录数据的类型；无人飞行器将飞行记录数据存储到至少一个目标存储装置中之后，生成飞行记录数据的存储信息，存储信息用于指示飞行记录数据被存储于目标存储装置中；将飞行记录数据的存储信息发送至数据获取设备，以使数据获取设备建立飞行记录数据的类型和存储信息的对应关系，数据获取设备存储飞行记录数据的类型及其对应的存储信息。该方式可使得数据获取设备在后续根据类型与存储信息的对应关系确定与类型对应的目标存储信息。
在本申请实施例中，无人飞行器根据第一飞行记录数据的第一重要等级和第二飞行记录数据的第二重要等级，在内部存储装置和外部存储装置中确定用于存储第一飞行记录数据和第二飞行记录数据的至少一个目标存储装置。该方式使得第一飞行记录数据和第二飞行记录数据分别有不同的目标存储装置，实现第一飞行记录数据和第二飞行记录数据的多重备份和分布式存储，使得飞行记录数据的存储装置不再单一，同时可减少飞行记录数据的存储带宽压力。
请参见图5，图5是本申请实施例提供的一种飞行记录数据获取方法，该飞行记录数据获取方法可以包括S501-S504。
S501：数据获取设备接收目标飞行记录数据获取请求。
其中，目标飞行记录数据获取请求用于请求获取目标飞行记录数据。当开发人员或者售后人员需要获取目标飞行记录数据时，向数据获取设备发送目标飞行记录数据获取请求，因此数据获取设备接收目标飞行记录数据获取请求。
在一种实现方式中，目标飞行记录数据获取请求包括与目标飞行记录数据相关的关键字，比如关键字为用户输入的日期、产生目标飞行记录数据的部件等，数据获取设备可根据关键字确定目标飞行记录数据的类型。
在一种实现方式中，数据获取设备接收目标飞行记录数据获取请求之前，接收无人飞行器发送的飞行记录数据的数据标识和重要等级；建立飞行记录数据的数据标识和重要等级的对应关系；存储数据标识及其对应的重要等级。该 方式可使得数据获取设备在后续根据目标飞行记录数据的数据标识确定与目标数据标识对应的重要等级，从而根据重要等级确定目标飞行记录数据的目标存储装置。
在一种实现方式中，数据获取设备接收目标飞行记录数据获取请求之前，接收无人飞行器发送的飞行记录数据的存储信息；建立飞行记录数据的数据标识和存储信息的对应关系；存储数据标识及其对应的存储信息。通过该方式，数据获取设备存储了数据标识及其对应的存储信息，存储信息中包括数据标识对应的飞行记录数据的目标存储装置，因此数据获取设备可在后续直接根据目标飞行记录数据的数据标识确定对应的目标存储信息，进而根据目标存储信息确定目标存储装置。
在一种实现方式中，数据获取设备接收目标飞行记录数据获取请求之前，接收无人飞行器发送的飞行记录数据的存储信息，存储信息携带飞行记录数据的类型；建立类型和存储信息的对应关系；存储类型及其对应的存储信息。该方式可使得数据获取设备在后续根据目标飞行记录数据的类型确定目标飞行记录数据的目标存储信息，进而根据目标存储信息确定目标存储装置。
在一种实现方式中，数据获取设备接收目标飞行记录数据获取请求之后，根据目标飞行数据获取请求，确定目标飞行记录数据的目标数据标识；根据数据标识和存储信息的对应关系，获取与目标数据标识对应的目标存储信息；根据目标存储信息，确定目标飞行数据的目标存储装置；从目标存储装置中获取目标飞行数据。
在一种实现方式中，数据获取设备根据目标飞行数据获取请求，确定目标飞行记录数据的目标类型；根据类型和存储信息的对应关系，确定与目标类型对应的目标存储信息；根据目标存储信息，确定目标飞行记录数据的目标存储装置；从目标存储装置中获取目标飞行数据。
S502：数据获取设备根据目标飞行记录数据获取请求，确定目标飞行记录数据的重要等级。
由于目标飞行记录数据获取请求用于请求获取目标飞行记录数据，因此数据获取设备根据目标飞行记录数据获取请求，确定目标飞行记录数据的重要等级。
在一种实现方式中，飞行记录数据获取请求包括与目标飞行记录数据相关的关键字，数据获取设备可根据与目标飞行记录数据相关的关键字确定飞行记录数据的类型，然后根据目标飞行数据的类型，确定目标飞行数据的重要等级。
S503：数据获取设备根据目标飞行记录数据的重要等级，从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储目标飞行记录数据的目标存储装置。
其中，外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个。
S504：数据获取设备从目标存储装置中获取目标飞行记录数据。
在一种实现方式中，目标存储装置的数量为至少一个，数据获取设备从目标存储装置中获取目标飞行记录数据，包括：显示各个目标存储装置的地址信息；在检测到用户对目标地址信息的点击操作时，从目标地址信息指示的目标存储装置中获取目标飞行记录数据，目标地址信息为显示的地址信息中的任一地址信息。比如，目标存储装置的数量为四个，数据获取设备根据四个目标存储装置，生成四个目标存储装置的地址信息，并将四个目标存储装置的地址信息显示给用户，用户可以在四个地址信息中选取任一个地址信息，当数据获取设备检测到用户对四个地址信息中的一个目标地址信息的点击操作时，表明用户想要从目标地址信息中获取飞行记录数据，因此数据获取设备从目标地址信息指示的目标存储装置中获取目标飞行记录数据，并将获取到的目标飞行记录数据显示给用户。
在一种实现方式中，目标存储装置为内部存储装置，若数据获取设备与内部存储器建立连接，则获取内部存储器中的目标飞行记录数据。即用户可通过USB线连接到无人飞行器，从无人飞行器上获取目标飞行记录数据，或者用户拆下无人飞行器的内部存储装置进行飞行记录数据的拷贝。
在一种实现方式中，目标存储装置为外部存储装置中与无人飞行器通信连接的控制终端，若数据获取设备与外部存储器建立连接，则获取外部存储器中的目标飞行记录数据。即用户可通过USB线连接到控制终端，或通过无线网络连接到控制终端，或通过控制终端上的上位机应用程序进行无人飞行记录数据的获取。
在一种实现方式中，目标存储装置为外部存储装置中的服务器，若数据获取设备通过网络与预设服务器建立连接，则根据网络获取目标飞行数据，网络包括有线网络、无线网络。即用户通过网络连接到与无人飞行器建立连接的云服务器，将云服务器中的目标给性记录数据拷贝到数据获取设备的本地存储装置中，或者用户通过账号登陆上位机应用程序，将上位机应用程序的服务器中的目标飞行记录数据拷贝到数据获取设备的本地存储装置中。
在本申请实施例中，若数据获取设备接收到目标飞行记录数据获取请求，则根据目标飞行记录数据获取请求确定目标飞行记录数据的重要等级，并根据目标飞行记录数据的重要等级，从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储目标飞行记录数据的目标存储装置，最后从目标存储装置中获取目标飞行记录数据。在数据获取设备需要获取目标飞行记录数据时，在目标存储装置中获取到了目标飞行记录数据，该方式使得飞行记录数据被充分利用。
请参见图6，图6是本发明实施例提供的一种无人飞行器的结构示意图，本发明实施例中所描述的无人飞行器60，包括：处理器601和存储器602，处理器601和存储器602通过一条或多条通信总线连接。
上述处理器601可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，处理器601被配置为支持接收设备执行图3或图4所述方法中无人飞行器相应的功能。
上述存储器602可以包括只读存储器和随机存取存储器，并向处理器601提供计算机程序和数据。存储器602的一部分还可以包括非易失性随机存取存储器。其中，所述处理器601调用所述计算机程序时用于执行：
获取无人飞行器的飞行记录数据；
根据飞行记录数据的重要等级从无人飞行器的内部存储装置与外部存储 装置中确定至少一个用于存储飞行记录数据的目标存储装置，其中，外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；
将飞行记录数据存储到至少一个目标存储装置中。
在一种实现方式中，处理器601根据所述飞行记录数据的重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储所述飞行记录数据的目标存储装置之前，还可以执行以下操作：处理器601根据飞行记录数据的类型和/或产生飞行记录数据的部件确定飞行记录数据的重要等级。
在一种实现方式中，飞行记录数据包括第一飞行记录数据和第二飞行记录数据，处理器601根据飞行记录数据的重要等级从无人飞行的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置的具体执行操作为：处理器601根据第一飞行记录数据的第一重要等级从无人飞行器的内部存储装置与外部存储装置中确定用于存储第一飞行记录数据的至少两个目标存储装置，根据第二飞行记录数据的第二重要等级从无人飞行器的内部存储装置与外部存储装置中确定用于存储第二飞行记录数据的一个目标存储装置，第一重要等级高于所述第二重要等级；处理器601将飞行记录数据存储到至少一个目标存储装置中的具体操作为：处理器601将第一飞行记录数据存储到确定的至少两个目标存储装置中，将第二飞行记录数据存储到确定的一个目标存储装置中。
在一种实现方式中，处理器601根据飞行记录数据的重要等级从无人飞行的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置的具体执行操作为：若满足预设条件，则处理器601根据第一飞行记录数据的第一重要等级从无人飞行器的内部存储装置与外部存储装置中确定用于存储第一飞行记录数据的至少两个目标存储装置，根据第二飞行记录数据的第二重要等级从无人飞行器的内部存储装置与外部存储装置中确定用于存储第二飞行记录数据的一个目标存储装置。
在一种实现方式中，处理器601还可以用于执行以下操作为：若不满足预设条件，则处理器601从无人飞行器的内部存储装置与外部存储装置中确定用于存储飞行数据的至少两个目标存储装置。
在一种实现方式中，预设条件包括飞行记录数据的数据量大于或等于预设数据量阈值，或者无人飞行器和所述外部存储装置之间的通信质量参数小于或等于预设的通信质量参数阈值。
在一种实现方式中，第二飞行记录数据的一个目标存储装置为无人飞行器的内部存储装置或者与无人飞行器通信连接的控制终端。
在一种实现方式中，至少两个目标存储装置至少包括无人飞行器的内部存储装置。
在一种实现方式中，飞行记录数据包括第一飞行记录数据和第二飞行记录数据，处理器601根据飞行记录数据的重要等级从无人飞行的内部存储装置与外部存储装置中确定至少一个用于存储飞行记录数据的目标存储装置的具体执行操作为：处理器601根据第一飞行记录数据的第一重要等级，确定用于存储第一飞行记录数据的至少一个目标存储装置，根据第二飞行记录数据的第二重要等级确定用于存储第二飞行记录数据的目标存储装置，第一重要等级高于第二重要等级，用于存储第一飞行记录数据的至少一个目标存储装置为无人飞行器的外部存储装置，用于存储第二飞行记录数据的目标存储装置为无人飞行器的内部存储装置；处理器601将飞行记录数据存储到至少一个目标存储装置中的具体操作为：处理器601将第一飞行记录数据存储到至少一个外部存储装置，将第二飞行记录数据存储到内部存储装置中。
在一种实现方式中，飞行记录数据包括第一飞行记录数据和第二飞行记录数据，处理器601根据飞行记录数据的类型确定飞行记录数据的重要等级的具体执行操作为：处理器601根据第一飞行记录数据的类型，确定第一飞行记录数据的重要等级为第一重要等级；处理器601根据第二飞行记录数据的类型，确定第二飞行记录数据的重要等级为第二重要等级。
在一种实现方式中，第一飞行记录数据包括无人飞行器的飞行移动状态数据、无人飞行器的用户的控制指令、无人飞行器处于异常状态时无人飞行器的拍摄装置获取的图像中的一种或多种。
在一种实现方式中，处理器601将飞行记录数据存储到至少一个目标存储装置中之后，还可以执行以下操作：处理器601将飞行记录数据的数据标识和 重要等级发送至数据获取设备，以使数据获取设备建立飞行记录数据的数据标识和重要等级的对应关系，数据获取设备存储数据标识及其对应的重要等级。
在一种实现方式中，处理器601将飞行记录数据存储到至少一个目标存储装置中之后，还可以执行以下操作：处理器601生成飞行记录数据的存储信息，存储信息用于指示所述飞行记录数据被存储于所述目标存储装置中；处理器601将飞行记录数据的存储信息发送至数据获取设备，以使数据获取设备建立飞行记录数据的数据标识和存储信息的对应关系，数据获取设备存储数据标识及其对应的存储信息。
在一种实现方式中，存储信息携带飞行记录数据的类型；处理器601将飞行记录数据的存储信息发送至数据获取设备的具体执行操作为：处理器601将飞行记录数据的存储信息发送至数据获取设备，以使数据获取设备建立飞行记录数据的类型和存储信息的对应关系，数据获取设备存储飞行记录数据的类型及其对应的存储信息。
请参见图7，图7是本发明实施例提供的一种数据获取设备的结构示意图，本发明实施例中所描述的数据获取设备70，包括：处理器701和存储器702，处理器701和存储器702通过一条或多条通信总线连接。
上述处理器701可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，处理器701被配置为支持接收设备执行图5所述方法中数据获取设备相应的功能。
上述存储器702可以包括只读存储器和随机存取存储器，并向处理器701提供计算机程序和数据。存储器702的一部分还可以包括非易失性随机存取存储器。其中，所述处理器701调用所述计算机程序时用于执行：
接收目标飞行记录数据获取请求，目标飞行记录数据获取请求用于请求获取目标飞行记录数据；
根据目标飞行记录数据获取请求，确定目标飞行记录数据的重要等级；
根据目标飞行记录数据的重要等级，从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储目标飞行记录数据的目标存储装置，其中，外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；
从目标存储装置中获取目标飞行记录数据。
在一种实现方式中，目标存储装置的数量为至少一个，处理器701从目标存储装置中获取目标飞行记录数据的具体执行操作为：处理器701显示各个目标存储装置的地址信息；处理器701在检测到用户对目标地址信息的点击操作时，从目标地址信息指示的目标存储装置中获取目标飞行记录数据，目标地址信息为显示的地址信息中的任一地址信息。
在一种实现方式中，处理器701接收目标飞行记录数据获取请求之后，还可以执行以下操作：处理器701根据目标飞行数据获取请求，确定目标飞行数据的目标数据标识；处理器701根据数据标识和存储信息的对应关系，获取与目标数据标识对应的目标存储信息；处理器701根据目标存储信息，确定目标飞行数据的目标存储装置；处理器701从目标存储装置中获取目标飞行数据。
本申请实施例还提供一种可读存储介质，所述可读存储介质存储有计算机程序，所述计算机程序被处理器执行时，可以用于实现本申请实施例图3或图4或图5所对应实施例中描述的飞行记录数据存储方法、获取方法，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的无人飞行器或数据获取设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述无人飞行器或数据获取设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述接收转正工行的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述接收设备所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一可读 取存储介质中，所述程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (34)

  1. 一种飞行记录数据存储方法，其特征在于，所述方法应用于无人飞行器，所述方法包括：
    获取所述无人飞行器的飞行记录数据；
    根据所述飞行记录数据的重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储所述飞行记录数据的目标存储装置，其中，所述外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；
    将所述飞行记录数据存储到所述至少一个目标存储装置中。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述飞行记录数据的重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储所述飞行记录数据的目标存储装置之前，还包括：
    根据所述飞行记录数据的类型和/或产生所述飞行记录数据的部件确定所述飞行记录数据的重要等级。
  3. 根据权利要求1或2任一项所述的方法，其特征在于，所述飞行记录数据包括第一飞行记录数据和第二飞行记录数据，所述根据所述飞行记录数据的重要等级从所述无人飞行的内部存储装置与外部存储装置中确定至少一个用于存储所述飞行记录数据的目标存储装置，包括：
    根据所述第一飞行记录数据的第一重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述第一飞行记录数据的至少两个目标存储装置，根据所述第二飞行记录数据的第二重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述第二飞行记录数据的一个目标存储装置，所述第一重要等级高于所述第二重要等级；
    所述将所述飞行记录数据存储到所述至少一个目标存储装置中，包括：
    将所述第一飞行记录数据存储到所述确定的至少两个目标存储装置中，将所述第二飞行记录数据存储到所述确定的一个目标存储装置中。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述第一飞行记录数据的第一重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储第一飞行记录数据的至少两个目标存储装置，根据所述第二飞行记录数据的第二重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储第二飞行记录数据的一个目标存储装置，包括：
    若满足预设条件，则根据所述第一飞行记录数据的第一重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述第一飞行记录数据的至少两个目标存储装置，根据所述第二飞行记录数据的第二重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述第二飞行记录数据的一个目标存储装置。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    若不满足所述预设条件，则从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述飞行数据的至少两个目标存储装置。
  6. 根据权利要求4或5任一项所述的方法，其特征在于，所述预设条件包括所述飞行记录数据的数据量大于或等于预设数据量阈值，或者所述无人飞行器和所述外部存储装置之间的通信质量参数小于或等于预设的通信质量参数阈值。
  7. 根据权利要求3或4任一项所述的方法，其特征在于，所述第二飞行记录数据的一个目标存储装置为所述无人飞行器的内部存储装置或者与无人飞行器通信连接的控制终端。
  8. 根据权利要求3-5任一项所述的方法，其特征在于，所述至少两个目标存储装置至少包括所述无人飞行器的内部存储装置。
  9. 根据权利要求1或2任一项所述的方法，其特征在于，所述飞行记录数据包括第一飞行记录数据和第二飞行记录数据，所述根据所述飞行记录数据的重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储所述飞行记录数据的目标存储装置，包括：
    根据所述第一飞行记录数据的第一重要等级，确定用于存储所述第一飞行记录数据的至少一个目标存储装置，根据所述第二飞行记录数据的第二重要等级确定用于存储所述第二飞行记录数据的目标存储装置，所述第一重要等级高于所述第二重要等级，所述用于存储所述第一飞行记录数据的至少一个目标存储装置为所述无人飞行器的外部存储装置，所述用于存储所述第二飞行记录数据的目标存储装置为所述无人飞行器的内部存储装置；
    所述将所述飞行记录数据存储到所述至少一个目标存储装置中，包括：
    将所述第一飞行记录数据存储到至少一个所述外部存储装置中，将所述第二飞行记录数据存储到所述内部存储装置中。
  10. 根据权利要求2所述的方法，其特征在于，所述飞行记录数据包括第一飞行记录数据和第二飞行记录数据，所述根据所述飞行记录数据的类型确定所述飞行记录数据的重要等级，包括：
    根据所述第一飞行记录数据的类型，确定所述第一飞行记录数据的重要等级为所述第一重要等级；
    根据所述第二飞行记录数据的类型，确定所述第二飞行记录数据的重要等级为所述第二重要等级。
  11. 根据权利要求3-10任一项所述的方法，其特征在于，所述第一飞行记录数据包括所述无人飞行器的飞行移动状态数据、无人飞行器的用户的控制指令、无人飞行器处于异常状态时无人飞行器的拍摄装置获取的图像中的一种或多种。
  12. 根据权利要求1所述的方法，其特征在于，所述将所述飞行记录数据存储到所述至少一个目标存储装置中之后，还包括：
    将所述飞行记录数据的数据标识和重要等级信息发送至数据获取设备，以使所述数据获取设备建立所述飞行记录数据的数据标识和所述重要等级信息的对应关系，所述数据获取设备存储所述数据标识及其对应的重要等级信息。
  13. 根据权利要求1所述方法，其特征在于，所述将所述飞行记录数据存储到所述至少一个目标存储装置中之后，还包括：
    生成所述飞行记录数据的存储信息，所述存储信息用于指示所述飞行记录数据被存储于所述目标存储装置中；
    将所述飞行记录数据的存储信息发送至数据获取设备，以使所述数据获取设备建立所述飞行记录数据的数据标识和所述存储信息的对应关系，所述数据获取设备存储所述数据标识及其对应的存储信息。
  14. 根据权利要求13所述的方法，其特征在于，所述存储信息携带所述飞行记录数据的类型；
    所述将所述飞行记录数据的存储信息发送至数据获取设备，包括：
    将所述飞行记录数据的存储信息发送至数据获取设备，以使所述数据获取设备建立所述飞行记录数据的类型和所述存储信息的对应关系，所述数据获取设备存储所述飞行记录数据的类型及其对应的存储信息。
  15. 一种飞行记录数据获取方法，其特征在于，所述方法应用于数据获取设备，所述方法包括：
    接收目标飞行记录数据获取请求，所述目标飞行记录数据获取请求用于请求获取目标飞行记录数据；
    根据所述目标飞行记录数据获取请求，确定所述目标飞行记录数据的重要等级；
    根据所述目标飞行记录数据的重要等级，从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储所述目标飞行记录数据的目标存储装 置，其中，所述外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；
    从所述目标存储装置中获取所述目标飞行记录数据。
  16. 根据权利要求15所述的方法，其特征在于，所述目标存储装置的数量为至少一个；
    所述从所述目标存储装置中获取所述目标飞行记录数据，包括：
    显示各个所述目标存储装置的地址信息；
    在检测到用户对目标地址信息的点击操作时，从所述目标地址信息指示的目标存储装置中获取所述目标飞行记录数据，所述目标地址信息为所述显示的地址信息中的任一地址信息。
  17. 根据权利要求15所述的方法，其特征在于，所述接收目标飞行记录数据获取请求之后，还包括：
    根据所述目标飞行数据获取请求，确定所述目标飞行数据的目标数据标识；
    根据数据标识和存储信息的对应关系，获取与所述目标数据标识对应的目标存储信息；
    根据所述目标存储信息，确定所述目标飞行数据的目标存储装置；
    从所述目标存储装置中获取所述目标飞行数据。
  18. 一种无人飞行器，其特征在于，包括存储器和处理器；
    所述存储器，用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    获取所述无人飞行器的飞行记录数据；
    根据所述飞行记录数据的重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储所述飞行记录数据的目标存储装置，其中，所述外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少 一个；
    将所述飞行记录数据存储到所述至少一个目标存储装置中。
  19. 根据权利要求18所述的无人飞行器，所述处理器根据所述飞行记录数据的重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储所述飞行记录数据的目标存储装置之前，还用于执行以下操作：
    根据所述飞行记录数据的类型和/或产生所述飞行记录数据的部件确定所述飞行记录数据的重要等级。
  20. 根据权利要求18或19任一项所述的无人飞行器，其特征在于，所述飞行记录数据包括第一飞行记录数据和第二飞行记录数据，所述处理器根据所述飞行记录数据的重要等级从所述无人飞行的内部存储装置与外部存储装置中确定至少一个用于存储所述飞行记录数据的目标存储装置，具体用于执行以下操作：
    根据所述第一飞行记录数据的第一重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述第一飞行记录数据的至少两个目标存储装置，根据所述第二飞行记录数据的第二重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述第二飞行记录数据的一个目标存储装置，所述第一重要等级高于所述第二重要等级；
    所述处理器将所述飞行记录数据存储到所述至少一个目标存储装置中，具体用于执行以下操作：
    将所述第一飞行记录数据存储到所述确定的至少两个目标存储装置中，将所述第二飞行记录数据存储到所述确定的一个目标存储装置中。
  21. 根据权利要求20所述的无人飞行器，其特征在于，所述处理器根据所述第一飞行记录数据的第一重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储第一飞行记录数据的至少两个目标存储装置，根据所述第二飞行记录数据的第二重要等级从所述无人飞行器的内部存储装置 与外部存储装置中确定用于存储第二飞行记录数据的一个目标存储装置，具体用于执行以下操作：
    若满足预设条件，则根据所述第一飞行记录数据的第一重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述第一飞行记录数据的至少两个目标存储装置，根据所述第二飞行记录数据的第二重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述第二飞行记录数据的一个目标存储装置。
  22. 根据权利要求21所述的无人飞行器，其特征在于，所述处理器还用于执行以下操作：
    若不满足所述预设条件，则从所述无人飞行器的内部存储装置与外部存储装置中确定用于存储所述飞行数据的至少两个目标存储装置。
  23. 根据权利要求21或22任一项所述的无人飞行器，其特征在于，所述预设条件包括所述飞行记录数据的数据量大于或等于预设数据量阈值，或者所述无人飞行器和所述外部存储装置之间的通信质量参数小于或等于预设的通信质量参数阈值。
  24. 根据权利要求20或21任一项所述的无人飞行器，其特征在于，所述第二飞行记录数据的一个目标存储装置为所述无人飞行器的内部存储装置或者与无人飞行器通信连接的控制终端。
  25. 根据权利要求20-23任一项所述的无人飞行器，其特征在于，所述至少两个目标存储装置至少包括所述无人飞行器的内部存储装置。
  26. 根据权利要求18或19任一项所述的无人飞行器，其特征在于，所述飞行记录数据包括第一飞行记录数据和第二飞行记录数据，所述处理器根据所述飞行记录数据的重要等级从所述无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储所述飞行记录数据的目标存储装置，具体用于执行 以下操作：
    根据所述第一飞行记录数据的第一重要等级，确定用于存储所述第一飞行记录数据的至少一个目标存储装置，根据所述第二飞行记录数据的第二重要等级确定用于存储所述第二飞行记录数据的目标存储装置，所述第一重要等级高于所述第二重要等级，所述用于存储所述第一飞行记录数据的至少一个目标存储装置为所述无人飞行器的外部存储装置，所述用于存储所述第二飞行记录数据的目标存储装置为所述无人飞行器的内部存储装置；
    所述将所述飞行记录数据存储到所述至少一个目标存储装置中，包括：
    将所述第一飞行记录数据存储到至少一个所述外部存储装置中，将所述第二飞行记录数据存储到所述内部存储装置中。
  27. 根据权利要求19所述的无人飞行器，其特征在于，所述飞行记录数据包括第一飞行记录数据和第二飞行记录数据，所述处理器根据所述飞行记录数据的类型确定所述飞行记录数据的重要等级，具体用于执行以下操作：
    根据所述第一飞行记录数据的类型，确定所述第一飞行记录数据的重要等级为所述第一重要等级；
    根据所述第二飞行记录数据的类型，确定所述第二飞行记录数据的重要等级为所述第二重要等级。
  28. 根据权利要求20-27任一项所述的无人飞行器，其特征在于，所述第一飞行记录数据包括所述无人飞行器的飞行移动状态数据、无人飞行器的用户的控制指令、无人飞行器处于异常状态时无人飞行器的拍摄装置获取的图像中的一种或多种。
  29. 根据权利要求18所述的无人飞行器，其特征在于，所述处理器将所述飞行记录数据存储到所述至少一个目标存储装置中之后，还可以用于执行以下操作：
    将所述飞行记录数据的数据标识和重要等级信息发送至数据获取设备，以使所述数据获取设备建立所述飞行记录数据的数据标识和所述重要等级信息 的对应关系，所述数据获取设备存储所述数据标识及其对应的重要等级信息。
  30. 根据权利要求18所述的无人飞行器，其特征在于，所述处理器将所述飞行记录数据存储到所述至少一个目标存储装置中之后，还可以用于执行以下操作：
    生成所述飞行记录数据的存储信息，所述存储信息用于指示所述飞行记录数据被存储于所述目标存储装置中；
    将所述飞行记录数据的存储信息发送至数据获取设备，以使所述数据获取设备建立所述飞行记录数据的数据标识和所述存储信息的对应关系，所述数据获取设备存储所述数据标识及其对应的存储信息。
  31. 根据权利要求30所述的无人飞行器，其特征在于，所述存储信息携带所述飞行记录数据的类型；
    所述处理器将所述飞行记录数据的存储信息发送至数据获取设备，具体用于执行以下操作：
    将所述飞行记录数据的存储信息发送至数据获取设备，以使所述数据获取设备建立所述飞行记录数据的类型和所述存储信息的对应关系，所述数据获取设备存储所述飞行记录数据的类型及其对应的存储信息。
  32. 一种数据获取设备，其特征在于，包括存储器和处理器；
    所述存储器，用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    接收目标飞行记录数据获取请求，所述目标飞行记录数据获取请求用于请求获取目标飞行记录数据；
    根据所述目标飞行记录数据获取请求，确定所述目标飞行记录数据的重要等级；
    根据所述目标飞行记录数据的重要等级，从无人飞行器的内部存储装置与外部存储装置中确定至少一个用于存储所述目标飞行记录数据的目标存储装 置，其中，所述外部存储装置为与无人飞行器通信连接的控制终端和服务器中的至少一个；
    从所述目标存储装置中获取所述目标飞行记录数据。
  33. 根据权利要求32所述的数据获取设备，其特征在于，所述目标存储装置的数量为至少一个；
    所述处理器从所述目标存储装置中获取所述目标飞行记录数据，具体用于执行以下操作：
    显示各个所述目标存储装置的地址信息；
    在检测到用户对目标地址信息的点击操作时，从所述目标地址信息指示的目标存储装置中获取所述目标飞行记录数据，所述目标地址信息为所述显示的地址信息中的任一地址信息。
  34. 根据权利要求32所述的数据获取设备，其特征在于，所述处理器接收目标飞行记录数据获取请求之后，还可以用于执行以下操作：
    根据所述目标飞行数据获取请求，确定所述目标飞行数据的目标数据标识；
    根据数据标识和存储信息的对应关系，获取与所述目标数据标识对应的目标存储信息；
    根据所述目标存储信息，确定所述目标飞行数据的目标存储装置；
    从所述目标存储装置中获取所述目标飞行数据。
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