Control method and apparatus for movable platform, and movable platform and storage medium

Abstract

A control method for a movable platform (100), the method comprising: when it is detected that a load (130) on a movable platform (100) has been changed, acquiring the current overall weight of the movable platform (100) (step S101); and acquiring regulatory requirement information matching the current overall weight, and adjusting performance parameters of the movable platform (100) on the basis of the regulatory requirement information (step S102). The method makes the movable platform (100), such as an unmanned aerial vehicle, better meet regulatory requirements.

Description

Control method and device for movable platform, movable platform and storage medium Technical Field

[0001] The present application relates to the technical field of mobile platforms, and in particular to a control method and device for a mobile platform, a mobile platform, and a storage medium. Background Art

[0002] Currently, drones are widely used in aerial surveying, power line inspection, natural gas (oil) pipeline inspection, forest fire prevention, disaster relief, smart city applications, and other fields. Drone weights vary across different fields, and countries have enacted different regulations to ensure the safe use of drones of varying weights. Therefore, ensuring drones meet these regulatory requirements is a pressing issue.

[0003] Summary of the Invention

[0004] Based on this, the embodiments of the present application provide a control method, device, mobile platform and storage medium for a movable platform, aiming to solve the problem of how to make a movable platform, such as a drone, better comply with regulatory requirements.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a movable platform, wherein the movable platform is capable of carrying loads of different weights in a replaceable manner, the method comprising:

[0006] When it is detected that the load of the movable platform has been changed, obtaining the current weight of the movable platform;

[0007] Obtain regulatory requirement information that matches the current entire machine weight, and adjust performance parameters of the movable platform according to the regulatory requirement information.

[0008] The control method of the movable platform provided in the embodiment of the present application adjusts the performance parameters of the movable platform according to regulatory requirement information that matches the current total weight of the movable platform when it is detected that the load of the movable platform has been changed, so that the movable platform after the performance parameters are adjusted can meet the regulatory requirements. This can avoid the problem of the mobile platform not meeting the regulatory requirements due to the change of the load, thereby improving the user experience.

[0009] In a second aspect, an embodiment of the present application provides a method for controlling a movable platform, comprising:

[0010] When detecting that the weight of the movable platform has changed, obtaining the current weight of the movable platform;

[0011] Obtain regulatory requirement information that matches the current entire machine weight, and adjust performance parameters of the movable platform according to the regulatory requirement information.

[0012] The control method of the mobile platform provided in the embodiment of the present application adjusts the performance parameters of the mobile platform according to regulatory requirement information that matches the current weight of the mobile platform when a change in the overall weight of the mobile platform is detected, so that the mobile platform after the performance parameters are adjusted can meet the regulatory requirements. This can avoid the problem of the mobile platform failing to meet the regulatory requirements due to the change in the overall weight of the mobile platform, thereby improving the user experience.

[0013] In a third aspect, an embodiment of the present application provides a method for controlling a movable platform, comprising:

[0014] Acquiring current attributes of the movable platform, wherein the current attributes include at least one of a current weight, a current volume, a current model, a current type, and a current application scenario of the movable platform;

[0015] Obtain regulatory requirement information that matches the current attribute, and adjust performance parameters of the mobile platform according to the regulatory requirement information.

[0016] The control method for a mobile platform provided in an embodiment of the present application adjusts the performance parameters of the mobile platform by using regulatory requirement information that matches the current attributes of the mobile platform, thereby adaptively adjusting the performance parameters of the mobile platform based on the regulatory requirement information corresponding to the attributes of the mobile platform, so that the mobile platform after adjusting the performance parameters can meet the regulatory requirements, effectively avoiding the problem of the mobile platform not meeting the regulatory requirements, and improving the user experience.

[0017] In a fourth aspect, an embodiment of the present application further provides a method for controlling a movable platform, comprising:

[0018] determining whether a current attribute of the mobile platform has changed, wherein the current attribute is associated with a performance of the mobile platform;

[0019] In response to a change in a current attribute of the movable platform, obtaining a restriction condition on a current position of the movable platform; and

[0020] Based on the constraints imposed on the current position of the movable platform, performance parameters of the movable platform are adjusted.

[0021] The control method of the mobile platform provided in the embodiment of the present application obtains the restriction conditions of the current position of the mobile platform in response to the change of the current properties of the mobile platform, and adjusts the performance parameters of the mobile platform based on the restriction conditions, so that the mobile platform after the performance parameters are adjusted can meet the restriction conditions of the current position. This can avoid the problem of the mobile platform being unable to be used due to the change of the properties of the mobile platform not meeting the restriction conditions of the current position, thereby improving the user experience.

[0022] In the fifth aspect, an embodiment of the present application also provides a control device for a movable platform, the control device comprising a memory and a processor, the memory being used to store a computer program, the processor being used to execute the computer program and, when executing the computer program, implement the control method as described in the first aspect, the second aspect, the third aspect or the fourth aspect.

[0023] In a sixth aspect, an embodiment of the present application further provides a movable platform, comprising:

[0024] The platform body is used to carry interchangeable loads of different weights;

[0025] A power device, provided on the platform body, for providing moving power for the movable platform;

[0026] The control device is provided on the platform body and is used to implement the control method as described in the first aspect, the second aspect, the third aspect or the fourth aspect.

[0027] In the seventh aspect, an embodiment of the present application further provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the control method described in the first aspect, the second aspect, the third aspect or the fourth aspect.

[0028] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] FIG1 is a schematic diagram of a scenario for implementing a control method for a mobile platform provided in an embodiment of the present application;

[0031] FIG2 is a schematic flow chart of the steps of a control method for a mobile platform provided in an embodiment of the present application;

[0032] FIG3 is a schematic flow chart of the sub-steps of the control method of the movable platform in FIG2 ;

[0033] FIG4 is a schematic flow chart of the steps of another method for controlling a mobile platform provided in an embodiment of the present application;

[0034] FIG5 is a schematic flow chart of the steps of another method for controlling a mobile platform provided in an embodiment of the present application;

[0035] FIG6 is a schematic flow chart of the steps of another method for controlling a mobile platform provided in an embodiment of the present application;

[0036] FIG7 is a schematic flow chart of the steps of another method for controlling a mobile platform provided in an embodiment of the present application;

[0037] FIG8 is a schematic flow chart of the steps of another method for controlling a mobile platform provided in an embodiment of the present application;

[0038] FIG9 is a schematic flow chart of the steps of another method for controlling a mobile platform provided in an embodiment of the present application;

[0039] FIG10 is a schematic block diagram of the structure of a control device provided in an embodiment of the present application;

[0040] FIG11 is a schematic block diagram of the structure of a movable platform provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0042] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0043] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0044] Currently, drones are widely used in aerial surveys, power line inspections, natural gas (oil) pipeline inspections, forest fire prevention, disaster relief, smart city applications, and other fields. Drone weights vary across different applications, and countries have enacted different regulations to ensure the safe use of drones of varying weights. While these regulations ensure the safe use of drones of varying weights, they also restrict their use. For example, a user might purchase a drone that meets local regulations, but then change the payload, increasing its weight. This increased weight no longer meets local regulations, preventing the user from using the drone in their area, resulting in a poor user experience.

[0045] To solve the above problems, the embodiments of the present application provide a control method, device, mobile platform and storage medium for a movable platform. The method adjusts the performance parameters of the movable platform according to regulatory requirement information that matches the current weight of the movable platform when it is detected that the load of the movable platform has been changed, so that the movable platform after the performance parameters are adjusted can meet the regulatory requirements. This can avoid the problem of the mobile platform being unusable due to non-compliance with regulatory requirements due to load change, thereby improving the user experience.

[0046] Please refer to FIG1 , which is a schematic diagram of a scenario for implementing the control method of the mobile platform provided in an embodiment of the present application.

[0047] As shown in Figure 1, the movable platform 100 includes a platform body 110, a power unit 120 provided on the platform body 100, a replaceable payload 130, and a control system (not shown in Figure 1). The platform body 110 is used to carry replaceable payloads 130 of varying weights. The payload 130 may include one or more of the following: batteries, blade guards, lenses, solar panels, lights, cameras, radar devices, loudspeakers, material throwers, water samplers, or sonar. The power unit 120 is used to provide the movable platform 100 with power. The control system is used to control the movable platform 100.

[0048] In some embodiments, the power unit 120 may include one or more propellers 121, one or more motors 122 corresponding to the propellers, and one or more electronic speed controllers (ESCs). The motors 122 are connected between the ESCs and the propellers 121. The motors 122 and propellers 121 are mounted on the platform body 110 of the movable platform 100. The ESCs receive drive signals from a control system and provide drive current to the motors 122 based on the drive signals to control the speed of the motors 122. The motors 122 drive the propellers 121 to rotate, thereby providing power for the movement of the movable platform 100. This power enables the movable platform 100 to achieve one or more degrees of freedom. In some embodiments, the movable platform 100 can rotate about one or more rotational axes. For example, these rotational axes may include roll, yaw, and pitch axes. It should be understood that the motors 122 may be either DC or AC motors. Furthermore, the motors 122 may be either brushless or brushed motors.

[0049] In some embodiments, the control system includes a control device and a sensing system. The sensing system is used to measure the posture information of the movable platform 100, that is, the position information and state information of the movable platform 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a visual sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (GPS). The control device is used to control the movement of the movable platform 100. For example, the movement of the movable platform 100 may be controlled based on the posture information measured by the sensing system. It should be understood that the control device may control the movable platform 100 according to pre-programmed instructions.

[0050] In some embodiments, upon detecting that the load 130 has been replaced on the mobile platform 100, the control device obtains the current weight of the mobile platform 100, obtains regulatory requirement information that matches the current weight of the mobile platform 100, and adjusts the performance parameters of the mobile platform 100 based on the regulatory requirement information. For example, if a user replaces a battery in the mobile platform 100 from a first battery to a second battery, and the weight of the first battery is greater than the weight of the second battery, the mobile platform 100 can then detect that its battery has been replaced. Therefore, the performance parameters of the mobile platform 100 can be adjusted based on the regulatory requirement information that matches the current weight of the mobile platform 100, so that the mobile platform after the performance parameters are adjusted can meet regulatory requirements. This can avoid the problem of the mobile platform 100 failing to meet regulatory requirements due to battery replacement, thereby improving the user experience.

[0051] In some embodiments, upon detecting a change in the overall weight of the mobile platform 100, the control device obtains the current overall weight of the mobile platform; obtains regulatory requirement information that matches the current overall weight of the mobile platform 100, and adjusts the performance parameters of the mobile platform 100 based on the regulatory requirement information. For example, if a user replaces a battery in the mobile platform 100 from a first battery to a second battery, and the weight of the first battery is greater than the weight of the second battery, the mobile platform 100 will be able to detect the change in its overall weight. Therefore, the performance parameters of the mobile platform 100 can be adjusted based on the regulatory requirement information that matches the current overall weight of the mobile platform 100, so that the mobile platform after the performance parameters are adjusted can meet regulatory requirements. This can avoid the problem of the mobile platform 100 not meeting regulatory requirements due to the change in overall weight, thereby improving the user experience.

[0052] In some embodiments, the control device obtains current attributes of the mobile platform 100, which may include at least one of the current weight, volume, model, type, and application scenario of the mobile platform 100; obtains regulatory requirement information that matches the current attributes, and adjusts the performance parameters of the mobile platform based on the regulatory requirement information. For example, when the mobile platform 100 is powered on, the performance parameters of the mobile platform are adjusted based on the regulatory requirement information that matches the current attributes of the mobile platform 100. This ensures that the mobile platform 100 complies with regulatory requirements each time it is used, thereby improving the user experience.

[0053] In some embodiments, the control device determines whether a current attribute of the mobile platform 100 has changed, wherein the current attribute of the mobile platform 100 is associated with the performance of the mobile platform 100; in response to the change in the current attribute of the mobile platform 100, obtains the constraints imposed on the current location of the mobile platform 100; and adjusts the performance parameters of the mobile platform 100 based on the constraints imposed on the current location of the mobile platform 100. This embodiment adjusts the performance parameters of the mobile platform based on the constraints imposed on the current location of the mobile platform in response to the change in the current attribute of the mobile platform, so that the mobile platform after the performance parameters are adjusted can meet the constraints imposed on the current location. This avoids the problem of the mobile platform being unusable due to the change in the attribute of the mobile platform not meeting the constraints imposed on the current location, thereby improving the user experience.

[0054] The movable platform 100 may include aircraft, unmanned vehicles, and mobile robots. Aircraft may include unmanned aerial vehicles and manned aerial vehicles. Unmanned aerial vehicles include rotary-wing unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexacopter unmanned aerial vehicles, and octo-rotor unmanned aerial vehicles. They may also be fixed-wing unmanned aerial vehicles, or a combination of rotary-wing and fixed-wing unmanned aerial vehicles. Aircraft may be divided into aerial vehicles, underwater vehicles, and air-and-land dual-purpose aircraft (such as flying cars) according to application scenarios. Unmanned aerial vehicles may be divided into agricultural unmanned aerial vehicles, industrial unmanned aerial vehicles, and aerial photography unmanned aerial vehicles according to application industries.

[0055] The following will describe in detail the control method for the mobile platform provided in the embodiment of the present application in conjunction with the scenario in Figure 1. It should be noted that the scenario in Figure 1 is only used to explain the control method for the mobile platform provided in the embodiment of the present application, but does not constitute a limitation on the application scenario of the control method for the mobile platform provided in the embodiment of the present application.

[0056] Please refer to FIG. 2 , which is a schematic flow chart of the steps of a method for controlling a movable platform provided in an embodiment of the present application.

[0057] As shown in FIG. 2 , the control method of the movable platform includes steps S101 to S102 .

[0058] Step S101: When it is detected that the load of the movable platform has been changed, the current weight of the movable platform is obtained.

[0059] In this embodiment, the mobile platform can interchangeably carry loads of varying weights. Such loads may include one or more of the following: batteries, propeller guards, lenses, solar panels, lights, cameras, radar devices, loudspeakers, material dispensers, water samplers, or sonar. The total weight of the mobile platform refers to the total weight of the entire platform.

[0060] In some embodiments, before step S101, the method further includes: detecting whether the load on the mobile platform has been replaced when the mobile platform is powered on. This embodiment detects whether the load on the mobile platform has been replaced when the mobile platform is powered on, so that the load replacement status of the mobile platform can be detected in a timely manner each time the mobile platform is used, avoiding the situation where the performance parameters of the mobile platform cannot be adjusted in a timely manner after the load is replaced, thereby improving the user experience.

[0061] In some embodiments, before step S101, the further step includes: detecting whether the load on the mobile platform has been replaced while the mobile platform is powered on, i.e., the mobile platform can hot-swap the load. This embodiment can detect whether the load on the mobile platform has been replaced while the mobile platform is powered on, eliminating the need to shut down and then restart the mobile platform to detect whether the load has been replaced, greatly improving the user experience.

[0062] In some embodiments, detecting whether the load of the movable platform has been changed may include: obtaining first identification information of the load previously carried by the movable platform, and obtaining second identification information of the load currently carried by the movable platform; when the first identification information and the second identification information are different, determining that the load of the movable platform has been changed; and when the first identification information and the second identification information are the same, determining that the load of the movable platform has not been changed.

[0063] In some embodiments, obtaining the current total weight of the mobile platform may include obtaining identification information of a load currently carried by the mobile platform, and determining the weight of the load currently carried by the mobile platform based on the weight of the load corresponding to the identification information, thereby determining the current total weight of the mobile platform. For example, the mobile platform may locally store weight information corresponding to different load identification information, and after obtaining the identification information of the current load, the mobile platform may search for the corresponding weight information based on the identification information. Alternatively, the mobile platform may obtain the weight information corresponding to the identification of the currently carried load from a server.

[0064] In some embodiments, obtaining the current weight of the movable platform may include obtaining the current weight of the movable platform using a sensor on the movable platform. The sensor may be configured based on actual circumstances and is not specifically limited in this embodiment of the present application. For example, the sensor may be a pressure sensor disposed on the bottom of the movable platform. This embodiment enables the movable platform to quickly and accurately obtain its current weight using its own sensor.

[0065] In some embodiments, obtaining the current whole-machine weight of the movable platform may also include: obtaining the current rotational speed of the power unit of the movable platform; obtaining a preset whole-machine weight corresponding to the current rotational speed; and determining the preset whole-machine weight as the current whole-machine weight of the movable platform. A correspondence between the rotational speed of the power unit and the preset whole-machine weight may be pre-established, so that after obtaining the current rotational speed of the power unit of the movable platform, the preset whole-machine weight corresponding to the current rotational speed may be obtained based on the correspondence between the rotational speed and the preset whole-machine weight. This embodiment can determine the current whole-machine weight of the movable platform itself by using the current rotational speed of the power unit of the movable platform itself, without the need for other external components to determine the weight, thereby greatly improving the convenience of obtaining the whole-machine weight.

[0066] In some embodiments, as shown in FIG3 , step S101 includes sub-steps S1011 to S1012 .

[0067] Sub-step S1011: Obtain the weight of the load currently carried by the movable platform and the empty weight of the movable platform.

[0068] In this embodiment, the unladen weight of the mobile platform refers to the total weight of the mobile platform when it is not carrying any load. The unladen weight of the mobile platform can be written into the mobile platform's memory when the mobile platform leaves the factory, so that it can be subsequently retrieved directly from the memory. Alternatively, the unladen weight corresponding to the mobile platform's identification information can be obtained from a server.

[0069] In some embodiments, obtaining the weight of the load currently carried by the movable platform may include obtaining the weight of the load currently carried by the movable platform using a sensor of the movable platform. The sensor may be configured based on actual conditions and is not specifically limited in this embodiment of the present application. This embodiment utilizes the sensor of the movable platform to quickly and accurately obtain the weight of the load currently carried.

[0070] In some embodiments, obtaining the weight of a load currently carried by the mobile platform may include: obtaining identification information of the load currently carried by the mobile platform; and obtaining the weight of the load currently carried by the mobile platform based on the identification information of the load currently carried by the mobile platform. The identification information of the load is used to uniquely identify the load. For example, the identification information of the load may be a unique identification code of the load. In this embodiment, the weight of the load currently carried by the mobile platform can be accurately obtained using the identification information of the load currently carried by the mobile platform.

[0071] In some embodiments, based on the identification information of the load currently carried by the movable platform, obtaining the weight of the load currently carried by the movable platform may include: obtaining the calibrated weight corresponding to the identification information from a preset relationship table, and determining the calibrated weight as the weight of the load currently carried by the movable platform. The preset relationship table is used to describe the correspondence between different identification information and different calibrated weights, and one identification information corresponds to one calibrated weight. In this embodiment, the movable platform stores a relationship table for describing the correspondence between different identification information and different calibrated weights. In this way, by identifying the identification information of the currently carried load to query the relationship table, the weight of the load currently carried by the movable platform can be quickly obtained, and it does not need to rely on other external components to determine it, which greatly improves the convenience of obtaining the weight of the load.

[0072] In some embodiments, obtaining the weight of the load currently carried by the mobile platform based on the identification information of the load currently carried by the mobile platform may include: the mobile platform sending a weight query request carrying the identification information of the load currently carried by the mobile platform to a server, so that the server, upon receiving the weight query request, sends the calibrated weight corresponding to the identification information in the weight query request to the mobile platform; the mobile platform obtaining the calibrated weight returned by the server based on the weight query request, and determining the calibrated weight as the weight of the load currently carried by the mobile platform. In this embodiment, the server stores a relationship table that describes the correspondence between different identification information and different calibrated weights. The mobile platform does not need to store the relationship table. While saving storage space on the mobile platform, it can also obtain the weight of the load currently carried by querying the relationship table from the server by identifying the identification information of the load currently carried, without the need for other external components to determine the weight, greatly improving the convenience of obtaining the weight of the load.

[0073] Sub-step S1012: summing the weight of the load currently carried by the movable platform and the empty weight to obtain the current weight of the movable platform.

[0074] In this embodiment, the current weight of the movable platform can be determined by the weight of the load currently carried by the movable platform and the empty weight of the movable platform, without the need for other external components, which greatly improves the convenience of obtaining the weight of the entire platform.

[0075] Step S102: Obtain regulatory requirement information that matches the current weight of the entire machine, and adjust the performance parameters of the movable platform according to the regulatory requirement information.

[0076] In this embodiment, the movable platform adjusts its own performance parameters according to regulatory requirements that match its current overall weight only when it detects that its load has been changed. This can effectively reduce the number of times its own performance parameters are adjusted and reduce the power consumption of the movable platform.

[0077] In some embodiments, obtaining regulatory information that matches the current weight of the entire machine may include: determining a preset weight range to which the current weight of the entire machine belongs; querying a preset mapping relationship table to obtain regulatory information corresponding to the preset weight range to which the current weight of the entire machine belongs, and determining the retrieved regulatory information as the regulatory information that matches the current weight of the entire machine. The preset mapping relationship table is used to describe the correspondence between weight ranges and regulatory information.

[0078] For example, if the movable platform is a drone, and the drone can be equipped with replaceable batteries of different weights, when the drone is equipped with a small battery, the current weight of the drone is less than 250 grams. However, the regulatory requirements that drones weighing less than 250 grams need to meet are "the maximum level flight speed of drones weighing less than 250 grams shall not exceed 20 km / h, and the maximum flight altitude shall not exceed 30 meters." Therefore, the flight speed limit of the drone can be adjusted to 18 km / h (less than or equal to 20 km / h), and the flight altitude limit can be adjusted to 25 meters (less than or equal to 30 meters).

[0079] When the user replaces the battery on the drone from a light-weight battery to a heavy-weight battery, the drone can detect that its battery has been replaced. When the drone is equipped with a heavy battery, the current weight of the drone is greater than 250 grams. The regulatory requirements that drones weighing more than 250 grams need to meet are "the maximum level flight speed of drones weighing more than 250 grams shall not exceed 50 km / h, and the maximum flight altitude shall not exceed 90 meters." Therefore, the flight limit speed of the drone can be adjusted to 48 km / h (less than or equal to 50 km / h), and the flight limit altitude can be adjusted to 88 meters (less than or equal to 90 meters).

[0080] In some embodiments, the performance parameters of the mobile platform may include at least one of a mobility performance parameter and a functional performance parameter. The mobility performance parameter is used to describe the mobility performance of the mobile platform, such as the mobile speed and / or acceleration of the mobile platform. The functional performance parameter is used to describe the functional performance of the mobile platform, such as the lighting function, camera function, radar scanning function, or target tracking function of the mobile platform. It is understood that different types of mobile platforms may have different mobility performance parameters and functional performance parameters.

[0081] For example, if the movable platform is a logistics robot, the mobility performance parameters of the logistics robot may include the movement limit speed (the maximum movement speed of the logistics robot) and the movement limit acceleration (the maximum movement acceleration of the logistics robot), etc. If the movable platform is an aircraft, the performance parameters of the aircraft include at least one of the flight performance parameters and functional performance parameters, and the flight performance parameters include one or more of the following: flight limit speed (the flight speed of the aircraft during actual flight does not exceed the flight limit speed), flight limit acceleration (the flight acceleration of the aircraft during actual flight does not exceed the flight limit acceleration), flight limit altitude (the flight altitude of the aircraft during actual flight does not exceed the flight limit altitude), return time, landing time, takeoff limit altitude (the altitude of the aircraft during takeoff does not exceed the takeoff limit altitude), or takeoff limit altitude (the hovering altitude of the aircraft during takeoff does not exceed the takeoff limit altitude).

[0082] In some embodiments, the functional performance parameters of the aircraft include one or more of the following: instruction information for turning on or off the pilot information broadcast function, instruction information for turning on or off the RemoteID broadcast function, instruction information for turning on or off the tracking distance limit function for target following, instruction information for turning on or off the autonomous flight function, instruction information for turning on or off the night no-fly function, instruction information for turning on or off the shooting function, or enabled lighting strategy.

[0083] In some embodiments, obtaining regulatory requirement information that matches the current weight of the entire machine may include: obtaining the current location information of the movable platform; obtaining regulatory requirement information that matches the current weight of the entire machine and the current location information. The regulatory requirement information is used to describe the conditions that the performance parameters of the movable platform need to meet, and the current location information of the movable platform may include the country or administrative region where the movable platform is currently located. In this embodiment, the regulatory requirements that the movable platform needs to meet can be queried through the current weight of the movable platform and the country or administrative region where the movable platform is currently located. In this way, the performance parameters of the movable platform are adjusted according to the regulatory requirements that the movable platform needs to meet, so that the movable platform can meet the regulatory requirements for movable platforms promulgated by different countries or administrative regions.

[0084] For example, the movable platform includes a drone, and the current weight of the drone is less than 250 grams, and the country where the drone is currently located is China. Therefore, the regulatory requirement information that the movable platform can query is "the maximum true flight height of a drone weighing less than 250 grams shall not exceed 50 meters, and the maximum level flight speed shall not exceed 40 km / h". The flight limit speed of the drone can be adjusted to 40 km / h or 38 km / h (less than or equal to 40 km / h), and the flight limit altitude can be adjusted to 50 meters or 45 meters (less than or equal to 50 meters).

[0085] For another example, the current weight of the drone is greater than 250 grams and less than 7 kilograms, and the country where the drone is currently located is China. Therefore, the regulatory requirement information that can be queried by the mobile platform is "the maximum true flight altitude of drones weighing more than 250 grams and less than 7 kilograms shall not exceed 120 meters, and the maximum level flight speed shall not exceed 100 km / h". The flight limit speed of the drone can be adjusted to 95 km / h or 96 km / h (less than or equal to 100 km / h), and the flight limit altitude can be adjusted to 115 meters or 110 meters (less than or equal to 120 meters).

[0086] For example, the current weight of the drone is less than 25 kg, and the drone is currently located in the United States. Therefore, the regulatory requirement information that can be queried by the mobile platform is "The maximum true flight altitude of drones weighing less than 25 kg shall not exceed 122 meters, the maximum level flight speed shall not exceed 161 km / h, the RemoteID broadcast function must be enabled, and flights should be carried out during daytime." The flight limit speed of the drone can be adjusted to 150 km / h or 160 km / h (less than or equal to 161 km / h), the flight limit altitude can be adjusted to 118 meters or 120 meters (less than or equal to 122 meters), and the RemoteID broadcast function and night-time no-fly function of the drone can be enabled.

[0087] For another example, if the current total weight of the drone is less than 250 grams and the drone is currently located in France (part of the European Union), the mobile platform can query the regulatory requirement information that states "the maximum level flight speed of a drone weighing less than 250 grams shall not exceed 19 m / s, the maximum flight altitude shall not exceed 120 meters, and when performing target following, the distance between the followed target and the drone shall not exceed 50 meters." Therefore, the drone's flight limit speed can be adjusted to 18 m / s (less than or equal to 19 m / s), the flight limit altitude can be adjusted to 118 meters or 115 meters (less than or equal to 120 meters), the tracking distance limit function for target following can be enabled, and the distance between the followed target and the drone can be set to 45 meters or 48 meters (less than or equal to 50 meters).

[0088] For another example, if the current total weight of the drone is less than 250 grams and the drone is currently located in Hong Kong, the mobile platform can query the regulatory requirement information that "the maximum level flight speed of drones weighing less than 250 grams shall not exceed 20 km / h, and the maximum flight altitude shall not exceed 30 meters." The drone's flight speed limit can be adjusted to 18 km / h (less than or equal to 20 km / h) and the flight altitude limit can be adjusted to 25 meters (less than or equal to 30 meters). If the current total weight of the drone is greater than 250 grams and the drone is currently located in Hong Kong, the mobile platform can query the regulatory requirement information that "the maximum level flight speed of drones weighing more than 250 grams shall not exceed 50 km / h, and the maximum flight altitude shall not exceed 90 meters." The drone's flight speed limit can be adjusted to 48 km / h (less than or equal to 50 km / h) and the flight altitude limit can be adjusted to 88 meters (less than or equal to 90 meters).

[0089] In some embodiments, the load includes batteries of different weights, and the batteries of different weights have different capacities. As shown in FIG4 , after step S102 , the process further includes:

[0090] Step S103: When the weight of the battery currently carried by the mobile platform is greater than the first weight threshold or the current weight of the mobile platform is greater than the second weight threshold, prohibiting the mobile platform from changing its posture by an amount exceeding a preset posture change amount.

[0091] In this embodiment, by prohibiting the movable platform from making large posture changes when the weight of the battery currently carried by the movable platform or the current weight of the entire movable platform is large, safety problems caused by the movable platform being too heavy when making large posture changes can be avoided, thereby improving the safety of the movable platform.

[0092] For example, a drone can perform a somersault or jump. When performing a somersault, the drone can roll 360° vertically. When performing a jump, the drone can drop vertically and hover when it reaches a set distance. However, if the drone is heavy, the drone may not be able to perform somersaults or jumps well, which may lead to safety issues. This embodiment prohibits the drone from performing somersaults or jumping when the drone's current battery is heavy or the drone itself is heavy. This avoids safety issues caused by the drone being too heavy during somersaults or jumping, thereby improving the safety of the drone.

[0093] It can be understood that the first weight threshold is smaller than the second weight threshold, and the first weight threshold, the second weight threshold and the preset posture change amount can be set based on actual conditions, and the embodiment of the present application does not make specific limitations on this.

[0094] In some embodiments, as shown in FIG5 , after step S102, the method further includes:

[0095] Step S104: If the weight of the battery currently carried by the mobile platform is less than the third weight threshold or the current weight of the entire mobile platform is less than the fourth weight threshold, prohibit the mobile platform from executing the preset action.

[0096] In this embodiment, the power consumption of the mobile platform when executing a preset action is greater than or equal to the preset power consumption. A light battery also has a small capacity. Therefore, in this embodiment, when the weight of the battery currently on the mobile platform or the current weight of the entire mobile platform is small, it can be determined that the capacity of the battery currently on the mobile platform is small. This prohibits the mobile platform from executing power-intensive actions, thereby conserving power and extending the mobile platform's battery life.

[0097] It is understood that the third weight threshold is less than the fourth weight threshold, the first weight threshold is greater than the third weight threshold, and the second weight threshold is greater than the fourth weight threshold. The third weight threshold, the fourth weight threshold, the preset power consumption, and the preset action can be set based on actual conditions and are not specifically limited in the embodiments of the present application. For example, the preset action can be a time-lapse shooting action (the movable platform performs time-lapse shooting) or a surround shooting action (the movable platform surrounds the target object to shoot), etc.

[0098] In some embodiments, if the weight of the mobile platform's current battery is greater than a first weight threshold or the current weight of the mobile platform is greater than a second weight threshold, the mobile platform is allowed to perform a preset action, and the power consumption of the mobile platform performing the preset action is greater than or equal to the preset power consumption. This embodiment improves the user experience by allowing the mobile platform to perform the preset action when the mobile platform's current battery capacity is large.

[0099] In some embodiments, when the weight of the battery currently onboard the mobile platform is less than a third weight threshold or the current weight of the mobile platform is less than a fourth weight threshold, the mobile platform is permitted to change its posture by an amount exceeding a preset amount. This embodiment improves the user experience by allowing the mobile platform to change its posture significantly when the weight of the mobile platform is relatively low.

[0100] In some embodiments, after step S102, the method further includes configuring the power parameters and attitude parameters of the mobile platform based on the weight of the battery currently carried by the mobile platform. The power parameters include one or more of the following: maximum moving speed, maximum moving acceleration, maximum moving altitude, or maximum rotational speed of the power unit; and the attitude parameters include one or more of the following: maximum attitude angle, acceleration attitude, moving attitude, or braking attitude. This embodiment adaptively configures the power parameters and attitude parameters of the mobile platform based on the weight of the battery currently carried by the mobile platform, allowing the mobile platform to operate according to more optimal power parameters and attitude parameters, thereby improving the battery life of the mobile platform.

[0101] For example, a movable platform includes an aircraft. The aircraft's power parameters include one or more of the following: maximum flight speed, maximum flight acceleration, maximum flight altitude, or maximum power unit rotational speed. The aircraft's attitude parameters include one or more of the following: maximum attitude angle, aircraft acceleration attitude, level flight attitude, or braking attitude. The maximum flight speed is less than or equal to the flight speed limit, and the maximum flight acceleration is less than or equal to the flight acceleration limit.

[0102] In some embodiments, upon detecting that a load has been replaced on the movable platform, the current weight of the movable platform is obtained; based on the current weight of the movable platform and a historical weight stored in a preset register, a determination is made as to whether the weight of the movable platform has changed; and if the weight of the movable platform has changed, regulatory requirement information matching the current weight of the movable platform is obtained, and performance parameters of the movable platform are adjusted based on the regulatory requirement information. This embodiment effectively reduces the number of performance parameter adjustments required, thereby reducing the power consumption of the movable platform, by adjusting the performance parameters of the movable platform based on the regulatory requirement information matching the current weight of the movable platform only upon detecting that a load has been replaced on the movable platform and the weight of the movable platform has changed.

[0103] Please refer to FIG. 6 , which is a schematic flow chart of the steps of another method for controlling a movable platform provided in an embodiment of the present application.

[0104] As shown in FIG6 , the control method of the movable platform includes steps S201 to S202 .

[0105] Step S201: When it is detected that the weight of the movable platform has changed, the current weight of the movable platform is obtained.

[0106] In this embodiment, the change in the overall weight of the movable platform may be caused by the replacement of the load on the movable platform, or by the loading or throwing of materials on the movable platform. This embodiment of the present application does not specifically limit this.

[0107] In some embodiments, before step S201, the method further includes: detecting whether the weight of the entire mobile platform has changed when the mobile platform is powered on. This embodiment detects whether the weight of the entire mobile platform has changed when the mobile platform is powered on. This allows the weight change of the entire mobile platform to be detected in a timely manner each time the mobile platform is used, thereby avoiding the situation where the performance parameters of the mobile platform cannot be adjusted in a timely manner after the weight of the entire mobile platform has changed, thereby improving the user experience.

[0108] In some embodiments, before step S201, the method further includes detecting whether the weight of the entire mobile platform has changed while the mobile platform is powered on. This embodiment can detect whether the weight of the entire mobile platform has changed while the mobile platform is powered on, eliminating the need to shut down and then restart the mobile platform to detect whether the weight of the entire mobile platform has changed, thereby greatly improving the user experience.

[0109] In some embodiments, detecting whether the weight of the mobile platform has changed may include: comparing the current weight of the mobile platform with a historical weight stored in a preset register; if the current weight of the mobile platform is the same as the historical weight stored in the preset register, determining that the weight of the mobile platform has not changed; and if the current weight of the mobile platform is different from the historical weight stored in the preset register, determining that the weight of the mobile platform has changed. The historical weight is the weight of the mobile platform before the current moment.

[0110] In some embodiments, obtaining the current weight of the movable platform may include obtaining the current weight of the movable platform using a sensor on the movable platform. The sensor may be configured based on actual circumstances and is not specifically limited in this embodiment of the present application. For example, the sensor may be a pressure sensor disposed on the bottom of the movable platform. This embodiment enables the movable platform to quickly and accurately obtain its current weight using its own sensor.

[0111] In some embodiments, obtaining the current whole-machine weight of the movable platform may also include: obtaining the current rotational speed of the power unit of the movable platform; obtaining a preset whole-machine weight corresponding to the current rotational speed; and determining the preset whole-machine weight as the current whole-machine weight of the movable platform. A correspondence between the rotational speed of the power unit and the preset whole-machine weight may be pre-established, so that after obtaining the current rotational speed of the power unit of the movable platform, the preset whole-machine weight corresponding to the current rotational speed may be obtained based on the correspondence between the rotational speed and the preset whole-machine weight. This embodiment can determine the current whole-machine weight of the movable platform itself by using the current rotational speed of the power unit of the movable platform itself, without the need for other external components to determine the weight, thereby greatly improving the convenience of obtaining the whole-machine weight.

[0112] In some embodiments, obtaining the current total weight of the movable platform may also include: obtaining the weight of the load currently carried by the movable platform and the empty weight of the movable platform; summing the weight of the load currently carried by the movable platform and the empty weight to obtain the current total weight of the movable platform.

[0113] In some embodiments, obtaining the weight of the load currently carried by the movable platform may include obtaining the weight of the load currently carried by the movable platform using a sensor of the movable platform. The sensor may be configured based on actual conditions and is not specifically limited in this embodiment of the present application. This embodiment utilizes the sensor of the movable platform to quickly and accurately obtain the weight of the load currently carried.

[0114] In some embodiments, obtaining the weight of a load currently carried by the mobile platform may include: obtaining identification information of the load currently carried by the mobile platform; and obtaining the weight of the load currently carried by the mobile platform based on the identification information of the load currently carried by the mobile platform. The identification information of the load is used to uniquely identify the load, for example, the identification information of the load may be a unique identification code of the load.

[0115] In some embodiments, obtaining the weight of the load currently carried by the mobile platform based on identification information of the load currently carried by the mobile platform may include: obtaining a calibrated weight corresponding to the identification information from a preset relationship table, and determining the calibrated weight as the weight of the load currently carried by the mobile platform. The preset relationship table is used to describe the correspondence between different identification information and different calibrated weights, with each piece of identification information corresponding to one calibrated weight.

[0116] In some embodiments, based on the identification information of the load currently carried by the mobile platform, obtaining the weight of the load currently carried by the mobile platform may include: the mobile platform sends a weight query request carrying the identification information of the load currently carried by the mobile platform to the server, so that when the server receives the weight query request, it sends the calibrated weight corresponding to the identification information in the weight query request to the mobile platform; the mobile platform obtains the calibrated weight returned by the server based on the weight query request, and determines the calibrated weight as the weight of the load currently carried by the mobile platform.

[0117] Step S202: Obtain regulatory requirement information that matches the current weight of the entire machine, and adjust the performance parameters of the movable platform according to the regulatory requirement information.

[0118] This embodiment adjusts the performance parameters of the mobile platform according to regulatory requirement information that matches the current weight of the mobile platform when a change in the overall weight of the mobile platform is detected, so that the mobile platform after the performance parameters are adjusted can meet the regulatory requirements. This can avoid the problem of the mobile platform failing to meet the regulatory requirements due to the change in the overall weight of the mobile platform, thereby improving the user experience.

[0119] In some embodiments, the performance parameters of the mobile platform may include at least one of a mobility performance parameter and a functional performance parameter. The mobility performance parameter is used to describe the mobility performance of the mobile platform, such as the mobile speed and / or acceleration of the mobile platform. The functional performance parameter is used to describe the functional performance of the mobile platform, such as the lighting function, camera function, radar scanning function, or target tracking function of the mobile platform. It is understood that different types of mobile platforms may have different mobility performance parameters and functional performance parameters.

[0120] In some embodiments, obtaining regulatory information that matches the current weight of the entire machine may include: determining a preset weight range to which the current weight of the entire machine belongs; querying a preset mapping relationship table to obtain regulatory information corresponding to the preset weight range to which the current weight of the entire machine belongs, and determining the retrieved regulatory information as the regulatory information that matches the current weight of the entire machine. The preset mapping relationship table is used to describe the correspondence between weight ranges and regulatory information.

[0121] In some embodiments, obtaining regulatory requirement information that matches the current machine weight may include: obtaining the current location information of the mobile platform; and obtaining regulatory requirement information that matches the current machine weight and the current location information. The regulatory requirement information describes conditions that the performance parameters of the mobile platform must meet, and the current location information of the mobile platform may include the country or administrative region in which the mobile platform is currently located.

[0122] In some embodiments, obtaining regulatory requirement information that matches the current machine weight and current location information may include: obtaining a regulatory requirement information table that matches the current location information; and obtaining regulatory requirement information that matches the current machine weight from the regulatory requirement information table.

[0123] In some embodiments, when it is detected that the change in the weight of the entire movable platform is greater than a preset change, the current weight of the entire movable platform is obtained. Then, regulatory requirement information that matches the current weight of the entire movable platform is obtained, and the performance parameters of the movable platform are adjusted based on the regulatory requirement information. The preset change can be set based on actual conditions, and this embodiment of the present application does not specifically limit this. This embodiment reduces the number of performance parameter adjustments and reduces the power consumption of the movable platform by adjusting the performance parameters of the movable platform based on the regulatory requirement information that matches the current weight of the entire movable platform when the change in the weight of the entire movable platform is greater than a preset change.

[0124] In some embodiments, as shown in FIG7 , after step S201, the method further includes:

[0125] Step S203: When the current weight of the entire machine is greater than or equal to the preset weight of the entire machine, prohibiting the posture change amount of the movable platform from exceeding the preset posture change amount.

[0126] In this embodiment, the preset total weight and the preset attitude change amount can be set based on actual conditions and are not specifically limited in this embodiment of the present application. This embodiment prevents the mobile platform from making large attitude changes when the current total weight of the mobile platform is relatively large. This can avoid safety issues caused by the mobile platform being too heavy when making large attitude changes, thereby improving the safety of the mobile platform.

[0127] Step S204: When the current weight of the entire machine is less than the preset weight of the entire machine, the attitude change amount of the movable platform is allowed to exceed the preset attitude change amount.

[0128] This embodiment allows the movable platform to perform large posture changes when the current weight of the movable platform is relatively small, so that the posture change range of the movable platform is larger, thereby unlocking more actions and improving user experience.

[0129] In some embodiments, after step S202, the method further includes: obtaining the remaining power of the mobile platform's battery; if the remaining power is less than a preset power threshold, prohibiting the mobile platform from performing a preset action; and if the remaining power is greater than the preset power threshold, allowing the mobile platform to perform the preset action. The power consumption of the mobile platform performing the preset action is greater than or equal to the preset power consumption. This embodiment can improve the user experience by allowing the mobile platform to perform the preset action when the remaining power of the mobile platform's battery is relatively high, and prohibiting the mobile platform from performing the preset action when the remaining power of the mobile platform's battery is relatively low, thereby saving power and increasing the battery life of the mobile platform.

[0130] Please refer to FIG8 , which is a schematic flow chart of the steps of another method for controlling a movable platform provided in an embodiment of the present application.

[0131] As shown in FIG8 , the control method of the movable platform includes steps S301 and S302 .

[0132] Step S301: Acquire the current attributes of the mobile platform.

[0133] In this embodiment, the current attributes of the mobile platform include at least one of the current weight, current volume, current model, current type, and current application scenario of the mobile platform. Of course, the current attributes of the mobile platform may also include other attributes, which are not specifically limited in this embodiment of the application. For example, the current attributes of the mobile platform may also include the current size of the mobile platform.

[0134] In some embodiments, obtaining the current attributes of the movable platform may include: obtaining the current weight of the movable platform based on sensors of the movable platform. Alternatively, obtaining the current attributes of the movable platform may include: obtaining the current speed of the power unit of the movable platform; obtaining a preset weight corresponding to the current motor speed; and determining the preset weight as the current weight of the movable platform. Alternatively, obtaining the current attributes of the movable platform may include: obtaining the weight of the load currently on the movable platform and the weight of the empty platform; and summing the weight of the load currently on the movable platform and the weight of the empty platform to obtain the current weight of the movable platform.

[0135] In some embodiments, obtaining the weight of a load currently carried by the mobile platform may include: obtaining identification information of the load currently carried by the mobile platform; and obtaining the weight of the load currently carried by the mobile platform based on the identification information of the load currently carried by the mobile platform. The identification information of the load is used to uniquely identify the load, for example, the identification information of the load may be a unique identification code of the load.

[0136] In some embodiments, obtaining the weight of the load currently carried by the mobile platform based on identification information of the load currently carried by the mobile platform may include: obtaining a calibrated weight corresponding to the identification information from a preset relationship table, and determining the calibrated weight as the weight of the load currently carried by the mobile platform. The preset relationship table is used to describe the correspondence between different identification information and different calibrated weights, with each piece of identification information corresponding to one calibrated weight.

[0137] In some embodiments, based on the identification information of the load currently carried by the mobile platform, obtaining the weight of the load currently carried by the mobile platform may include: the mobile platform sends a weight query request carrying the identification information of the load currently carried by the mobile platform to the server, so that when the server receives the weight query request, it sends the calibrated weight corresponding to the identification information in the weight query request to the mobile platform; the mobile platform obtains the calibrated weight returned by the server based on the weight query request, and determines the calibrated weight as the weight of the load currently carried by the mobile platform.

[0138] In some embodiments, obtaining the current attributes of the mobile platform may also include: obtaining identification information of the mobile platform; and obtaining the current attributes of the mobile platform based on the identification information of the mobile platform and a pre-stored mapping relationship between the identification information and the attributes of the mobile platform. The mapping relationship between the identification information and the attributes of the mobile platform is pre-established and can be set based on actual circumstances, and is not specifically limited in the embodiments of the present application.

[0139] Step S302: Obtain regulatory requirement information that matches the current attributes, and adjust the performance parameters of the mobile platform according to the regulatory requirement information.

[0140] This embodiment adjusts the performance parameters of the mobile platform by using regulatory requirement information that matches the current attributes of the mobile platform, thereby adaptively adjusting the performance parameters of the mobile platform based on the regulatory requirement information corresponding to the attributes of the mobile platform. This enables the mobile platform after the performance parameters are adjusted to comply with regulatory requirements, effectively avoiding the problem of the mobile platform not complying with regulatory requirements and improving the user experience.

[0141] In some embodiments, the performance parameters of the mobile platform may include at least one of a mobility performance parameter and a functional performance parameter. The mobility performance parameter is used to describe the mobility performance of the mobile platform, such as the mobile speed and / or acceleration of the mobile platform. The functional performance parameter is used to describe the functional performance of the mobile platform, such as the lighting function, camera function, radar scanning function, or target tracking function of the mobile platform. It is understood that different types of mobile platforms may have different mobility performance parameters and functional performance parameters.

[0142] In some embodiments, obtaining regulatory information that matches the current weight of the entire machine may include: determining a preset weight range to which the current weight of the entire machine belongs; querying a preset mapping relationship table to obtain regulatory information corresponding to the preset weight range to which the current weight of the entire machine belongs, and determining the retrieved regulatory information as the regulatory information that matches the current weight of the entire machine. The preset mapping relationship table is used to describe the correspondence between weight ranges and regulatory information.

[0143] In some embodiments, obtaining regulatory requirement information that matches the current machine weight may include: obtaining the current location information of the mobile platform; and obtaining regulatory requirement information that matches the current machine weight and the current location information. The regulatory requirement information describes conditions that the performance parameters of the mobile platform must meet, and the current location information of the mobile platform may include the country or administrative region in which the mobile platform is currently located.

[0144] In some embodiments, obtaining regulatory requirement information that matches the current machine weight and current location information may include: obtaining a regulatory requirement information table that matches the current location information; and obtaining regulatory requirement information that matches the current machine weight from the regulatory requirement information table.

[0145] In some embodiments, after step S302, it also includes: when the current weight of the whole machine is greater than or equal to the preset weight of the whole machine, prohibiting the posture change of the movable platform from exceeding the preset posture change amount; or, when the current weight of the whole machine is less than the preset weight of the whole machine, allowing the posture change of the movable platform to exceed the preset posture change amount.

[0146] In some embodiments, after step S302, the method further includes: obtaining the remaining power of the battery of the mobile platform; and prohibiting the mobile platform from performing a preset action when the remaining power is less than a preset power threshold, wherein the power consumption of the mobile platform performing the preset action is greater than or equal to the preset power consumption.

[0147] Please refer to FIG. 9 , which is a schematic flow chart of the steps of another method for controlling a movable platform provided in an embodiment of the present application.

[0148] As shown in FIG9 , the control method of the movable platform includes steps S401 to S403 .

[0149] Step S401: Determine whether the current attribute of the movable platform has changed.

[0150] In this embodiment, the current attributes of the movable platform are associated with the performance of the movable platform. For example, the current attributes of the movable platform may include one or more of the following: the current weight of the movable platform, the current volume of the movable platform, or the type of payload carried by the movable platform.

[0151] In some embodiments, when the mobile platform is powered on, it is determined whether the current properties of the mobile platform have changed. This embodiment detects whether the properties of the mobile platform have changed when the mobile platform is powered on. This allows the user to promptly detect changes in the properties of the mobile platform each time the mobile platform is used. This avoids the inability to adjust the performance parameters of the mobile platform in a timely manner after the properties of the mobile platform have changed, thereby improving the user experience.

[0152] In some embodiments, while the mobile platform is powered on, it is determined whether a current attribute of the mobile platform has changed. This embodiment can detect whether an attribute of the mobile platform has changed while the mobile platform is powered on, eliminating the need to shut down and then restart the mobile platform to detect changes in the attribute of the mobile platform, thereby greatly improving the user experience.

[0153] In some embodiments, determining whether the current attributes of the mobile platform have changed may include: upon detecting that the load on the mobile platform has been replaced, obtaining first identification information of the load before replacement and second identification information of the load currently on the mobile platform; determining that the current attributes of the mobile platform have changed if the load attribute information corresponding to the first identification information is different from the load attribute information corresponding to the second identification information; and determining that the current attributes of the mobile platform have not changed if the load attribute information corresponding to the first identification information is the same as the load attribute information corresponding to the second identification information. The load attribute information includes at least one of the weight, volume, and type of the load.

[0154] In some embodiments, determining whether the current attributes of the mobile platform have changed may include: comparing the current weight of the mobile platform with a historical weight stored in a preset register; if the current weight of the mobile platform is the same as the historical weight stored in the preset register, determining that the current attributes of the mobile platform have not changed; and if the current weight of the mobile platform is different from the historical weight stored in the preset register, determining that the current attributes of the mobile platform have changed. The historical weight is the weight of the mobile platform before the current moment.

[0155] Step S402: In response to a change in the current attribute of the movable platform, obtain the restriction condition of the current position of the movable platform.

[0156] In this embodiment, the constraints on the current position of the movable platform may include at least one of the following: constraints on the motion performance parameters of the movable platform, constraints on the functional performance parameters of the movable platform, or constraints on the performance parameters of the load of the movable platform.

[0157] In some embodiments, in response to a change in the current attributes of the movable platform, obtaining the restrictions on the current position of the movable platform may include: in response to a change in the current attributes of the movable platform, obtaining the current position information of the movable platform, and determining the restrictions on the current position of the movable platform based on the current position information of the movable platform.

[0158] In some embodiments, determining the restrictions imposed on the current location of the mobile platform based on the current location information of the mobile platform may include: querying the local storage of the mobile platform for restrictions corresponding to the current location information of the mobile platform based on the current location information of the mobile platform, thereby obtaining the restrictions imposed on the current location of the mobile platform, wherein the local storage of the mobile platform contains restrictions corresponding to different location information. Alternatively, sending a restriction query request carrying the current location information to a server, so that the server sends the restrictions corresponding to the current location information carried in the restriction query request to the mobile platform, and the mobile platform obtains the restrictions imposed on the current location sent by the server.

[0159] In some embodiments, determining the constraints imposed on the current location of the mobile platform based on the current location information of the mobile platform may include obtaining weather information matching the current location information, and determining the constraints imposed on the current location of the mobile platform based on the weather information. For example, the mobile platform may locally store constraints corresponding to different weather information, and after obtaining the weather information, the corresponding constraints may be retrieved based on the antenna information. The weather information may include at least one of the following: temperature, humidity, visibility, and wind speed.

[0160] Step S403: Adjust the performance parameters of the movable platform based on the constraints imposed on the current position of the movable platform.

[0161] In this embodiment, the performance parameters of the movable platform may include at least one of the following: a motion performance parameter of the movable platform and a performance parameter of a load on the movable platform. The motion performance parameters of the movable platform may include at least one of the following: a limited speed, a limited height, and a limited acceleration.

[0162] For example, a user adds a loudspeaker to a movable platform, and the weight of the movable platform changes. In response to the weight change of the movable platform, the moving speed limit of the movable platform at the current position is determined according to the wind speed at the current position of the movable platform, and the motion performance parameters of the movable platform are adjusted according to the moving speed limit, for example, the moving speed limit and / or moving height limit of the movable platform are adjusted, so as to ensure the safe use of the movable platform.

[0163] For example, the user replaces the loudspeaker in the mobile platform with a camera, and the current location of the mobile platform is very close to the military control area. At this time, the mobile platform responds to the change in load type, and the restriction condition obtained for the current location of the mobile platform is that the use of the camera is prohibited (the use of cameras is prohibited near the military control area). Therefore, the mobile platform can be prohibited from using the camera it carries. In this way, the camera carried by the mobile platform itself is in the off state, and the user cannot control the mobile platform to use the camera.

[0164] In some embodiments, it is determined whether the current attributes of the mobile platform have changed; in response to the change in the current attributes of the mobile platform, the restrictions on the current location of the mobile platform are obtained; the current attributes of the mobile platform are obtained, and the regulatory requirements information that matches the current attributes is obtained; and the performance parameters of the mobile platform are adjusted according to the restrictions on the current location of the mobile platform and the regulatory requirements information that matches the current attributes. This embodiment adjusts the performance parameters of the mobile platform based on the restrictions on the current location of the mobile platform and the regulatory requirements information that matches the current attributes, so that the mobile platform after the performance parameters are adjusted can simultaneously meet the restrictions on the current location and the regulatory requirements, avoiding the problem of the mobile platform being unusable due to not meeting the restrictions on the current location and not complying with the regulations due to the change in the attributes of the mobile platform, thereby improving the user experience.

[0165] Please refer to FIG. 10 , which is a schematic block diagram of the structure of a control device for a movable platform provided in an embodiment of the present application.

[0166] As shown in FIG10 , the control device 140 of the mobile platform includes a processor 141 and a memory 142 . The processor 141 and the memory 142 are connected via a bus 143 , such as an I 2 C (Inter-integrated Circuit) bus.

[0167] Specifically, the processor 141 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0168] Specifically, the memory 142 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0169] The processor 141 is configured to run a computer program stored in the memory 142 and implement the following steps when executing the computer program:

[0170] When it is detected that the load of the movable platform has been changed, obtaining the current weight of the movable platform;

[0171] Obtain regulatory requirement information that matches the current entire machine weight, and adjust performance parameters of the movable platform according to the regulatory requirement information.

[0172] In some embodiments, when obtaining the current weight of the movable platform, the processor 141 is configured to:

[0173] Obtaining the weight of the load currently carried by the movable platform and the empty weight of the movable platform;

[0174] The weight of the load currently carried by the movable platform and the empty weight are summed to obtain the current entire weight of the movable platform.

[0175] In some embodiments, when obtaining the weight of the load currently carried by the movable platform, the processor 141 is configured to implement:

[0176] The weight of the load currently carried by the movable platform is obtained according to the sensor of the movable platform.

[0177] In some embodiments, when obtaining the weight of the load currently carried by the movable platform, the processor 141 is configured to implement:

[0178] Obtaining identification information of a payload currently carried by the movable platform;

[0179] The weight of the load currently carried by the movable platform is obtained according to the identification information.

[0180] In some embodiments, when obtaining the weight of the load currently carried by the movable platform according to the identification information, the processor 141 is configured to implement:

[0181] The calibrated weight corresponding to the identification information is obtained from a preset relationship table, and the calibrated weight is determined as the weight of the load currently carried by the movable platform. The preset relationship table is used to describe the correspondence between different identification information and different calibrated weights, and one identification information corresponds to one calibrated weight.

[0182] In some embodiments, when obtaining the weight of the load currently carried by the movable platform according to the identification information, the processor 141 is configured to implement:

[0183] Sending a weight query request carrying the identification information to a server, so that the server, upon receiving the weight query request, sends the calibrated weight corresponding to the identification information to the movable platform;

[0184] The calibrated weight returned by the server based on the weight query request is obtained, and the calibrated weight is determined as the weight of the load currently carried by the movable platform.

[0185] In some embodiments, when obtaining the current weight of the movable platform, the processor 141 is configured to:

[0186] The current entire weight of the movable platform is obtained according to the sensor of the movable platform.

[0187] In some embodiments, the processor 141 obtains the current weight of the movable platform to implement:

[0188] Obtaining a current rotational speed of a power device of the movable platform;

[0189] Obtaining a preset whole machine weight corresponding to the current speed;

[0190] The preset whole-machine weight is determined as the current whole-machine weight of the movable platform.

[0191] In some embodiments, when obtaining regulatory information matching the current weight of the entire machine, the processor 141 is configured to:

[0192] Obtaining current location information of the movable platform;

[0193] Obtain regulatory requirement information that matches the current machine weight and the current location information.

[0194] In some embodiments, the current location information includes the country where the movable platform is currently located.

[0195] In some embodiments, the current location information includes the administrative region where the movable platform is currently located.

[0196] In some embodiments, the movable platform includes an aircraft, and the performance parameters include at least one of the flight performance parameters and functional performance parameters of the aircraft, and the flight performance parameters include one or more of the following: flight limit speed, flight limit acceleration, flight limit altitude, return time, landing time, take-off limit altitude or take-off limit altitude.

[0197] In some embodiments, the load includes batteries of different weights, and the batteries of different weights have different capacities. After adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the processor 141 is further configured to:

[0198] When the weight of the battery currently carried by the movable platform is greater than a first weight threshold or the current weight of the entire movable platform is greater than a second weight threshold, the posture change amount of the movable platform during posture change is prohibited from exceeding a preset posture change amount.

[0199] In some embodiments, after adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the processor 141 is further configured to:

[0200] When the weight of the battery currently carried by the mobile platform is less than a third weight threshold or the current weight of the entire mobile platform is less than a fourth weight threshold, the mobile platform is prohibited from performing a preset action, wherein the power consumption of the mobile platform in performing the preset action is greater than or equal to the preset power consumption.

[0201] In some embodiments, after adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the processor 141 is further configured to:

[0202] The power parameters and attitude parameters of the movable platform are configured according to the weight of the battery currently carried by the movable platform, wherein the power parameters include one or more of the following: maximum moving speed, maximum moving acceleration, maximum moving altitude or maximum rotation speed of the power device, and the attitude parameters include one or more of the following: maximum attitude angle, acceleration attitude, moving attitude or braking attitude.

[0203] In some embodiments, the processor 141 is further configured to implement the following steps:

[0204] When detecting that the weight of the movable platform has changed, obtaining the current weight of the movable platform;

[0205] Obtain regulatory requirement information that matches the current entire machine weight, and adjust performance parameters of the movable platform according to the regulatory requirement information.

[0206] In some embodiments, when the processor 141 detects a change in the weight of the movable platform and obtains the current weight of the movable platform, the processor 141 is configured to:

[0207] When it is detected that the change in the entire weight of the movable platform is greater than a preset change, the current entire weight of the movable platform is acquired.

[0208] In some embodiments, after obtaining the current weight of the movable platform, the processor 141 is further configured to:

[0209] When the current whole-machine weight is greater than or equal to a preset whole-machine weight, prohibiting the posture change amount of the movable platform from exceeding a preset posture change amount;

[0210] Alternatively, when the current whole-machine weight is less than the preset whole-machine weight, the posture change amount of the movable platform is allowed to exceed the preset posture change amount.

[0211] In some embodiments, after adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the processor 141 is further configured to:

[0212] Obtaining the remaining power of the battery of the movable platform;

[0213] When the remaining power is less than a preset power threshold, the mobile platform is prohibited from executing a preset action, wherein the power consumption of the mobile platform executing the preset action is greater than or equal to the preset power consumption.

[0214] In some embodiments, the processor 141 is further configured to implement the following steps:

[0215] Acquiring current attributes of the movable platform, wherein the current attributes include at least one of a current weight, a current volume, a current model, a current type, and a current application scenario of the movable platform;

[0216] Obtain regulatory requirement information that matches the current attribute, and adjust performance parameters of the mobile platform according to the regulatory requirement information.

[0217] In some embodiments, the processor 141 is further configured to implement the following steps:

[0218] determining whether a current attribute of the mobile platform has changed, wherein the current attribute is associated with a performance of the mobile platform;

[0219] In response to a change in a current attribute of the movable platform, obtaining a restriction condition on a current position of the movable platform; and

[0220] Based on the constraints imposed on the current position of the movable platform, performance parameters of the movable platform are adjusted.

[0221] In some embodiments, the performance parameter includes at least one of the following: a motion performance parameter of the movable platform or a performance parameter of a load of the movable platform.

[0222] It should be noted that, those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control device of the movable platform described above can refer to the corresponding process in the aforementioned embodiment of the control method of the movable platform, and will not be repeated here.

[0223] Please refer to FIG11 , which is a schematic block diagram of the structure of a movable platform provided in an embodiment of the present application.

[0224] As shown in Figure 11, the movable platform 100 includes a platform body 110, a power unit 120, and a control unit 140. The platform body 110 is used to carry interchangeable loads of different weights, the power unit 120 is provided on the platform body 110, and is used to provide the movable platform 100 with movement power, and the control unit 140 is provided on the platform body 100, and is used to control the movable platform 100.

[0225] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the movable platform described above can refer to the corresponding process in the aforementioned embodiment of the control method of the movable platform, and will not be repeated here.

[0226] An embodiment of the present application further provides a storage medium for computer-readable storage, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the control method of the movable platform provided in the above embodiment.

[0227] The storage medium may be an internal storage unit of the mobile platform described in any of the aforementioned embodiments, such as a hard disk or memory of the mobile platform. The storage medium may also be an external storage device of the mobile platform, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc., equipped on the mobile platform.

[0228] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0229] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0230] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A control method for a movable platform, characterized in that: The movable platform can replaceably carry loads of different weights, and the method comprises: When it is detected that the load of the movable platform has been changed, obtaining the current weight of the movable platform; Obtain regulatory requirement information that matches the current whole machine weight, and adjust performance parameters of the movable platform according to the regulatory requirement information.

2. The control method according to claim 1, characterized in that: The obtaining of the current whole weight of the movable platform includes: Obtaining the weight of the load currently carried by the movable platform and the empty weight of the movable platform; The weight of the load currently carried by the movable platform and the empty weight are summed to obtain the current whole machine weight of the movable platform.

3. The control method according to claim 2, characterized in that: The obtaining the weight of the load currently carried by the movable platform comprises: The weight of the load currently carried by the movable platform is obtained according to the sensor of the movable platform.

4. The control method according to claim 2, characterized in that: The obtaining the weight of the load currently carried by the movable platform comprises: Obtaining identification information of a load currently carried by the movable platform; The weight of the load currently carried by the movable platform is obtained according to the identification information.

5. The control method according to claim 4, characterized in that: The obtaining, according to the identification information, the weight of the load currently carried by the movable platform includes: The calibrated weight corresponding to the identification information is obtained from a preset relationship table, and the calibrated weight is determined as the weight of the load currently carried by the movable platform. The preset relationship table is used to describe the correspondence between different identification information and different calibrated weights, and one identification information corresponds to one calibrated weight.

6. The control method according to claim 4, characterized in that: The obtaining, according to the identification information, the weight of the load currently carried by the movable platform includes: Sending a weight query request carrying the identification information to a server, so that the server sends the calibrated weight corresponding to the identification information to the movable platform when receiving the weight query request; The calibrated weight returned by the server based on the weight query request is obtained, and the calibrated weight is determined as the weight of the load currently carried by the movable platform.

7. The control method according to claim 1, characterized in that: The obtaining of the current whole weight of the movable platform includes: The current whole machine weight of the movable platform is obtained according to the sensor of the movable platform.

8. The control method according to claim 1, characterized in that: The obtaining of the current whole weight of the movable platform includes: Acquire the current rotation speed of the power device of the movable platform; Obtaining a preset whole machine weight corresponding to the current speed; The preset whole machine weight is determined as the current whole machine weight of the movable platform.

9. The control method according to any one of claims 1 to 8, characterized in that: The obtaining of regulatory requirement information matching the current whole machine weight includes: Acquiring current location information of the movable platform; Obtain regulatory requirement information that matches the current machine weight and the current location information.

10. The control method according to claim 9, characterized in that: The current location information includes the country where the movable platform is currently located.

11. The control method according to claim 9, characterized in that: The current location information includes the administrative area where the movable platform is currently located.

12. The control method according to any one of claims 1 to 8, characterized in that: The movable platform includes an aircraft, and the performance parameters include at least one of the flight performance parameters and functional performance parameters of the aircraft, and the flight performance parameters include one or more of the following: flight limit speed, flight limit acceleration, flight limit altitude, return time, landing time, take-off limit altitude or take-off limit altitude.

13. The control method according to any one of claims 1 to 8, characterized in that: The load includes batteries of different weights, and the batteries of different weights have different capacities. After adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the method further includes: When the weight of the battery currently carried by the movable platform is greater than a first weight threshold or the current weight of the entire movable platform is greater than a second weight threshold, the movable platform is prohibited from changing its posture by an amount exceeding a preset amount.

14. The control method according to claim 13, characterized in that: After adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the method further includes: When the weight of the battery currently carried by the movable platform is less than a third weight threshold or the current weight of the entire movable platform is less than a fourth weight threshold, the movable platform is prohibited from performing a preset action, wherein the power consumption of the movable platform in performing the preset action is greater than or equal to the preset power consumption.

15. The control method according to claim 13, characterized in that: After adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the method further includes: The power parameters and attitude parameters of the movable platform are configured according to the weight of the battery currently carried by the movable platform, wherein the power parameters include one or more of the following: maximum moving speed, maximum moving acceleration, maximum moving altitude or maximum rotation speed of the power device, and the attitude parameters include one or more of the following: maximum attitude angle, acceleration attitude, moving attitude or braking attitude.

16. The control method according to any one of claims 1 to 8, characterized in that: The load includes one or more of the following: batteries, blade protection covers, lenses, solar panels, lighting, cameras, radar devices, loudspeakers, material throwers, water sample collectors or sonars.

17. A control method for a movable platform, characterized in that: include: When detecting that the weight of the entire movable platform changes, obtaining the current weight of the entire movable platform; Obtain regulatory requirement information that matches the current whole machine weight, and adjust performance parameters of the movable platform according to the regulatory requirement information.

18. The control method according to claim 17, characterized in that: The obtaining of the current whole weight of the movable platform includes: The current whole machine weight of the movable platform is obtained according to the sensor of the movable platform.

19. The control method according to claim 17, characterized in that: The obtaining of the current whole weight of the movable platform includes: Acquire the current rotation speed of the power device of the movable platform; Obtaining a preset whole machine weight corresponding to the current speed; The preset whole machine weight is determined as the current whole machine weight of the movable platform.

20. The control method according to claim 17, characterized in that: The obtaining of regulatory requirement information matching the current whole machine weight includes: Acquiring current location information of the movable platform; Obtain regulatory requirement information that matches the current machine weight and the current location information.

21. The control method according to claim 20, characterized in that: The current location information includes the country where the movable platform is currently located.

22. The control method according to claim 20, characterized in that: The current location information includes the administrative area where the movable platform is currently located.

23. The control method according to claim 17, characterized in that: The movable platform includes an aircraft, and the performance parameters include at least one of the flight performance parameters and functional performance parameters of the aircraft, and the flight performance parameters include one or more of the following: flight limit speed, flight limit acceleration, flight limit altitude, return time, landing time, take-off limit altitude or take-off limit altitude.

24. The control method according to claim 17, characterized in that: When detecting that the weight of the movable platform changes, obtaining the current weight of the movable platform includes: When it is detected that the change in the whole weight of the movable platform is greater than a preset change, the current whole weight of the movable platform is acquired.

25. The control method according to any one of claims 17 to 24, characterized in that: After obtaining the current weight of the movable platform, the method further includes: When the current whole machine weight is greater than or equal to the preset whole machine weight, prohibiting the posture change amount of the movable platform from exceeding the preset posture change amount; Alternatively, when the current whole machine weight is less than the preset whole machine weight, the posture change amount of the movable platform is allowed to exceed the preset posture change amount.

26. The control method according to any one of claims 17 to 24, characterized in that: After adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the method further includes: Obtaining the remaining power of the battery of the movable platform; When the remaining power is less than a preset power threshold, the movable platform is prohibited from executing a preset action, wherein the power consumption of the movable platform in executing the preset action is greater than or equal to the preset power consumption.

27. A control method for a movable platform, characterized in that: include: Acquiring current attributes of the movable platform, wherein the current attributes include at least one of a current whole-machine weight, a current whole-machine volume, a current model, a current type, and a current application scenario of the movable platform; Obtain regulatory requirement information that matches the current attribute, and adjust the performance parameters of the mobile platform according to the regulatory requirement information.

28. The control method according to claim 27, characterized in that: The obtaining of regulatory requirement information matching the current attribute includes: Acquiring current location information of the movable platform; Obtain regulatory requirement information that matches the current attribute and the current location information.

29. The control method according to claim 28, characterized in that: The current location information includes the country where the movable platform is currently located.

30. The control method according to claim 28, characterized in that: The current location information includes the administrative area where the movable platform is currently located.

31. The control method according to claim 27, characterized in that: The movable platform includes an aircraft, and the performance parameters include at least one of the flight performance parameters and functional performance parameters of the aircraft, and the flight performance parameters include one or more of the following: flight limit speed, flight limit acceleration, flight limit altitude, return time, landing time, take-off limit altitude or take-off limit altitude.

32. The control method according to claim 27, characterized in that: The obtaining of the current attribute of the movable platform comprises: The current whole machine weight of the movable platform is obtained according to the sensor of the movable platform.

33. The control method according to claim 27, characterized in that: The obtaining of the current attribute of the movable platform comprises: Acquire the current rotation speed of the power device of the movable platform; Obtaining a preset whole machine weight corresponding to the current motor speed; The preset whole machine weight is determined as the current whole machine weight of the movable platform.

34. The control method according to claim 27, characterized in that: The obtaining of the current attribute of the movable platform comprises: Obtaining the weight of the load currently carried by the movable platform and the empty weight of the movable platform; The weight of the load currently carried by the movable platform and the empty weight are summed to obtain the current whole machine weight of the movable platform.

35. The control method according to any one of claims 27 to 34, characterized in that: After adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the method further includes: When the current whole machine weight is greater than or equal to the preset whole machine weight, prohibiting the posture change amount of the movable platform from exceeding the preset posture change amount; Alternatively, when the current whole machine weight is less than the preset whole machine weight, the posture change amount of the movable platform is allowed to exceed the preset posture change amount.

36. The control method according to any one of claims 27 to 34, characterized in that: After adjusting the performance parameters of the mobile platform according to the regulatory requirement information, the method further includes: Obtaining the remaining power of the battery of the movable platform; When the remaining power is less than a preset power threshold, the movable platform is prohibited from executing a preset action, wherein the power consumption of the movable platform in executing the preset action is greater than or equal to the preset power consumption.

37. A control method for a movable platform, characterized in that: include: determining whether a current attribute of the movable platform has changed, wherein the current attribute is associated with a performance of the movable platform; In response to a change in a current attribute of the movable platform, obtaining a restriction condition on a current position of the movable platform; and Based on the constraints imposed on the current position of the movable platform, the movable platform is adjusted Performance parameters.

38. The control method according to claim 37, characterized in that: The performance parameter includes at least one of the following: a motion performance parameter of the movable platform or a performance parameter of a load of the movable platform.

39. A control device for a movable platform, characterized in that: The control device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program and implement the control method according to any one of claims 1 to 38 when executing the computer program.

40. A movable platform, characterized in that: include: The platform body is used to carry replaceable loads of different weights; A power device, provided on the platform body, for providing moving power for the movable platform; A control device, arranged on the platform body, is used to implement the control method as described in any one of claims 1-38.

41. A storage medium for computer-readable storage, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the control method described in any one of claims 1-38.

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