Supervision method for mobile platform, and infrastructure, supervision system and storage medium

Abstract

A supervision method for a mobile platform. The method comprises: when a mobile platform moves into a sensing range of a sensor mounted on an infrastructure, obtaining first target information and second target information of the mobile platform by means of the sensor (S101); on the basis of the first target information and the second target information, determining that the mobile platform is a mobile platform to be subjected to supervision (S102); and determining supervision information of the mobile platform, so as to perform supervision on the mobile platform (S103). The method improves the accuracy and comprehensiveness of supervision over a mobile platform.

Description

Method, infrastructure, system and storage medium for supervising movable platform TECHNICAL FIELD

[0001] The present application relates to the field of supervising movable platform, and in particular, to a method, infrastructure, system and storage medium for supervising movable platform. BACKGROUND

[0002] In the supervising technology for movable platform, it is mainly used for listening and finding illegal intruding equipment such as unmanned aerial vehicle. At present, the management in the field of supervising movable platform is not perfect enough, which brings some potential risks to the society. Taking unmanned aerial vehicle as an example, in the process of using airspace of unmanned aerial vehicle, there are problems such as unclear flight area, invasion of privacy, and safety hazards. In order to ensure the safety of the public, it needs to be supervised by a certain level. However, the current supervising technology has many problems such as inaccurate and incomplete supervision, and high popularization cost.

[0003] SUMMARY

[0004] Therefore, the embodiments of the present application provide a method, infrastructure, system and storage medium for supervising movable platform, aiming to improve the accuracy and comprehensiveness of supervising movable platform.

[0005] In a first aspect, the embodiments of the present application provide a method for supervising movable platform, comprising:

[0006] obtaining first target information and second target information of the movable platform by a sensor when the movable platform moves into the sensing range of the sensor mounted on an infrastructure;

[0007] determining that the movable platform is a movable platform to be supervised based on the first target information and the second target information; and

[0008] determining supervising information of the movable platform for supervising the movable platform;

[0009] The sensor comprises a first sensor and a second sensor mounted on the infrastructure, the first target information is obtained by the first sensor in an active manner, the second target information is obtained by the second sensor in a passive manner, and the infrastructure is deployed at a node of an infrastructure distribution network.

[0010] In a second aspect, the embodiments of the present application also provide a method for supervising movable platform, comprising:

[0011] obtaining first target information and second target information of the movable platform by a sensor when the movable platform moves into the sensing range of the sensor mounted on an infrastructure; and

[0012] determine supervision information of the movable platform based on the first target information and the second target information, to supervise the movable platform;

[0013] The sensor includes a first sensor and a second sensor, both of which are mounted on the infrastructure. The first target information is obtained by the first sensor in an active manner, and the second target information is obtained by the second sensor in a passive manner. The infrastructure is deployed at a node of an infrastructure distribution network.

[0014] In a third aspect, the embodiments of the present application further provide a supervision method of a movable platform, including:

[0015] When a first movable platform moves into a sensing range of a first sensor mounted on an infrastructure, the first target information of the first movable platform is obtained by the first sensor;

[0016] When a second movable platform moves into a sensing range of a second sensor mounted on the infrastructure, the second target information of the second movable platform is obtained by the second sensor; and

[0017] Traffic situation information in a sensing range of the infrastructure is determined based on the first target information and the second target information.

[0018] The second movable platform is different from the first movable platform. The first target information is obtained by the first sensor in an active manner, and the second target information is obtained by the second sensor in a passive manner. The infrastructure is located at a node of an infrastructure distribution network.

[0019] In a fourth aspect, the embodiments of the present application further provide a supervision method of a movable platform, including:

[0020] When one or more movable platforms move into a sensing range of a sensor mounted on an infrastructure, first target information and second target information of the one or more movable platforms are obtained by the sensor;

[0021] Supervision-related information of the movable platform is determined based on the first target information and the second target information.

[0022] The sensor includes a first sensor and a second sensor, both of which are mounted on the infrastructure. The first target information is obtained by the first sensor in an active manner, and the second target information is obtained by the second sensor in a passive manner. The infrastructure is deployed at a node of an infrastructure distribution network.

[0023] In a fifth aspect, the embodiments of the present application further provide a supervision method of a movable platform, comprising:

[0024] obtaining first target information and second target information of the movable platform by a sensor when the movable platform moves into a sensing range of the sensor mounted on the infrastructure;

[0025] determining the movable platform as a movable platform to be supervised based on at least one of the first target information and the second target information; and

[0026] determining supervision information of the movable platform based on at least another of the first target information and the second target information, so as to supervise the movable platform;

[0027] wherein the first target information is obtained by a first sensor in an active manner, the second target information is obtained by a second sensor in a passive manner, the first sensor and the second sensor are both mounted on the infrastructure, and the infrastructure is deployed at a node of an infrastructure distribution network.

[0028] In a sixth aspect, the embodiments of the present application further provide a supervision method of a movable platform, comprising:

[0029] receiving a probe signal sent by a first sensor, and sending a reflection signal to the first sensor, so that the first sensor can determine first target information of the movable platform based on the reflection signal;

[0030] sending a signal to the second sensor, the signal being used to indicate second target information of the movable platform;

[0031] receiving a supervision instruction sent by a supervision server, the supervision instruction being determined based on the first target information and the second target information of the movable platform; and

[0032] adjusting one or more motion state parameters of the movable platform based on the supervision instruction;

[0033] wherein the first sensor and the second sensor are both mounted on an infrastructure in a flight environment, the infrastructure is in communication connection with the supervision server, and the infrastructure is deployed at a node of an infrastructure distribution network.

[0034] In a seventh aspect, the embodiments of the present application further provide an infrastructure, comprising:

[0035] an infrastructure body, used to implement a basic function;

[0036] a first sensor, mounted on the infrastructure body and used to obtain first target information of a movable platform in an active manner;

[0037] a second sensor, which is mounted on the facility body and used to obtain second target information of the movable platform in a passive manner; and

[0038] a communication module, which is used to be in communication connection with the supervision server to send target information to the supervision server, so that the supervision server supervises the movable platform;

[0039] The infrastructure is deployed at nodes of an infrastructure distribution network, the target information includes the first target information and the second target information, and / or information determined based on the first target information and the second target information.

[0040] In an eighth aspect, the embodiments of the present application further provide a supervision system of a movable platform, which includes a supervision server and at least one infrastructure as described in the embodiments of the present application, and the supervision server is in communication connection with the at least one infrastructure.

[0041] In a ninth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to make the processor implement the supervision method of the movable platform as described above.

[0042] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0044] FIG. 1 is a schematic diagram of a scene for implementing the supervision method of the movable platform provided by the embodiments of the present application;

[0045] FIG. 2 is a schematic flow chart of steps of the supervision method of the movable platform provided by the embodiments of the present application;

[0046] FIG. 3 is a schematic diagram of an infrastructure distribution network in the embodiments of the present application;

[0047] FIG. 4 is another schematic diagram of a scene for implementing the supervision method of the movable platform provided by the embodiments of the present application;

[0048] FIG. 5 is another schematic diagram of a scene for implementing the supervision method of the movable platform provided by the embodiments of the present application;

[0049] FIG. 6 is another scenario diagram of implementing the method for monitoring the movable platform according to an embodiment of the present application;

[0050] FIG. 7 is another scenario diagram of implementing the method for monitoring the movable platform according to an embodiment of the present application;

[0051] FIG. 8 is a step schematic flow chart of the method for monitoring the movable platform according to an embodiment of the present application;

[0052] FIG. 9 is a step schematic flow chart of the method for monitoring the movable platform according to an embodiment of the present application;

[0053] FIG. 10 is another scenario diagram of implementing the method for monitoring the movable platform according to an embodiment of the present application;

[0054] FIG. 11 is another scenario diagram of implementing the method for monitoring the movable platform according to an embodiment of the present application;

[0055] FIG. 12 is a step schematic flow chart of the method for monitoring the movable platform according to an embodiment of the present application;

[0056] FIG. 13 is a step schematic flow chart of the method for monitoring the movable platform according to an embodiment of the present application;

[0057] FIG. 14 is a step schematic flow chart of the method for monitoring the movable platform according to an embodiment of the present application;

[0058] FIG. 15 is another scenario diagram of implementing the method for monitoring the movable platform according to an embodiment of the present application;

[0059] FIG. 16 is a structural schematic diagram of an infrastructure according to an embodiment of the present application;

[0060] FIG. 17 is a schematic block diagram of a monitoring system of a movable platform according to an embodiment of the present application. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0062] The flow charts shown in the drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the described order. For example, some operations / steps can be further decomposed, combined or partially merged, so the actual execution order can be changed according to the actual situation.

[0063] The movable platform in embodiments of the present application can be configured to move within any suitable environment, such as in the air (e.g., fixed-wing aircraft, rotary-wing aircraft), in water (e.g., a ship or a submarine), on the ground (e.g., a motor vehicle, such as a car, a truck, a bus), under the ground (e.g., a subway), or any combination of these environments. The movable object is a vehicle, such as the vehicles described elsewhere herein. That is, the movable platform in embodiments of the present application includes, but is not limited to, an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, a robot, etc.

[0064] Taking the unmanned aerial vehicle as an example, with the rapid development of the unmanned aerial vehicle manufacturing industry, the unmanned aerial vehicle is rapidly growing in the fields of aerial survey, power line patrol, natural gas (oil) pipeline inspection, forest fire prevention, disaster relief, etc. At present, the management of the unmanned aerial vehicle supervision field is not perfect enough, and there are many problems such as inaccurate and incomplete supervision, high popularization cost, etc.

[0065] To solve the above problems, embodiments of the present application provide a movable platform supervision method, infrastructure, supervision system and storage medium.

[0066] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the case of no conflict, the following examples and features in the examples can be combined with each other.

[0067] Please refer to FIG. 1, which is a schematic diagram of a scene for implementing the movable platform supervision method provided by embodiments of the present application. As shown in FIG. 1, the scene includes a supervision server 100, at least one infrastructure 200 and at least one movable platform 300. Wherein, the supervision server 100 is in communication connection with each infrastructure 200 and each movable platform 300 respectively.

[0068] For example, the supervision server 100 includes a first communication device, the infrastructure 200 includes a second communication device, and the movable platform 300 includes a third communication device. The communication connection between the supervision server 100 and the infrastructure 200 can be realized through the first communication device and the second communication device. The communication connection between the supervision server 100 and the movable platform 300 can be realized through the first communication device and the third communication device. The above-mentioned communication connection can include but is not limited to wifi connection, Bluetooth connection, 4G communication, 5G communication and 6G communication.

[0069] Exemplarily, the regulatory server 100 in the embodiments of the present application can include an unmanned aerial vehicle traffic management server. The regulatory server 100 can be communicatively connected with the infrastructure 200, and the regulatory server 100 can also be communicatively connected with the infrastructure 200 through an Internet of Things cloud platform. Exemplarily, the regulatory server 100 can pre-store a mapping relationship between identity information of the movable platform 300 and corresponding access permissions.

[0070] In an embodiment, as shown in FIG. 1, the infrastructure 200 includes a first sensor 210 and a second sensor 220. The infrastructure 200 is deployed at a node of an infrastructure distribution network, which can be a systematic distribution network including a plurality of nodes. The infrastructure 200 is, for example, a street lamp, a traffic light, a cellular base station, a charging pile, a monitoring pile, etc. The first sensor 210 is an active sensor that determines information by actively emitting a sensing signal and receiving a reflected signal. The first sensor 210 includes, for example, a radar device, an infrared sensor, an image sensor, etc. The second sensor 220 is a passive sensor that determines information by passively receiving a signal sent by the other party. The second sensor 220 includes, for example, an automatic dependent surveillance-broadcast (ADS-B) device, a Remote ID broadcast device, a radio wave receiver, etc.

[0071] Exemplarily, when the movable platform 300 moves into a sensing range of the first sensor 210 and the second sensor 220 carried on the infrastructure 200, the first target information of the movable platform 300 is obtained by the first sensor 210 in an active manner, and the second target information of the movable platform 300 is obtained by the second sensor 220 in a passive manner.

[0072] The movable platform 300 in FIG. 1 is exemplified by an unmanned aerial vehicle, which is also commonly referred to as a UAV (Unmanned Aerial Vehicle). It can be understood that any description herein of an aerial vehicle such as an unmanned aerial vehicle can be applicable to and used for other movable platforms. For the sake of convenience, no detailed description is given.

[0073] In an embodiment, the unmanned aerial vehicle includes a body 310, a power system 320 provided on the body 310, a load 330, and a control system (not shown in FIG. 1). The power system 320 is used to provide flight power for the unmanned aerial vehicle. The load 330 includes, but is not limited to, a shooting device, a radar device, a spectral camera, a spraying device, and an illuminating device. The unmanned aerial vehicle can include a rotor type unmanned aerial vehicle, such as a single-rotor unmanned aerial vehicle, a double-rotor unmanned aerial vehicle, a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, or a combination of a rotor type unmanned aerial vehicle and a fixed-wing unmanned aerial vehicle, without limitation.

[0074] The power system 320 can include one or more propellers 321, one or more motors 322 corresponding to the one or more propellers, and one or more electronic speed controllers (ESC). The motor 322 is connected between the electronic speed controller and the propeller 321, and the motor 322 and the propeller 321 are arranged on the body 310 of the UAV. The electronic speed controller is configured to receive a driving signal generated by the control system and provide a driving current to the motor 322 according to the driving signal to control the rotation speed of the motor 322. The motor 322 is configured to drive the propeller 321 to rotate, thereby providing power for the flight of the UAV, which enables the UAV to move in one or more degrees of freedom. In some embodiments, the UAV can rotate around one or more rotation axes. For example, the rotation axes can include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 322 can be a direct current motor or an alternating current motor. In addition, the motor 322 can be a brushless motor or a brushed motor.

[0075] The control system can include a processor and a sensing system. The sensing system is configured to measure attitude information of the UAV, i.e., position information and state information of the UAV in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system can include at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system can be a global positioning system (GPS). The processor is configured to control the movement of the UAV, for example, according to the attitude information measured by the sensing system. It should be understood that the processor can control the UAV according to pre-programmed instructions.

[0076] In the following, the method for monitoring a movable platform provided by the embodiments of the present application will be described in detail in combination with the scenario in FIG. 1. It should be understood that the scenario in FIG. 1 is only used to explain the method for monitoring a movable platform provided by the embodiments of the present application, but does not limit the application scenarios of the method for monitoring a movable platform provided by the embodiments of the present application.

[0077] Referring to FIG. 2, FIG. 2 is a step schematic flowchart of the method for monitoring a movable platform provided by the embodiments of the present application. The method for monitoring a movable platform can be applied to a monitoring server to monitor a movable platform.

[0078] As shown in FIG. 2, the method for monitoring a movable platform can include steps S101-S103.

[0079] In step S101, when the movable platform moves into the sensing range of the sensor mounted on the infrastructure, the first target information and the second target information of the movable platform are obtained by the sensor.

[0080] The sensor includes the first sensor and the second sensor mounted on the infrastructure, the first target information is obtained by the first sensor in an active manner, and the second target information is obtained by the second sensor in a passive manner. The infrastructure is deployed at a node of an infrastructure distribution network. In the combination of the active sensing manner and the passive sensing manner, in some cases, the two types of sensors can complement each other, in some cases, the two types of sensors can check information with each other, avoid the application limitations caused by using a single sensor, and the problems of inaccurate or incomplete supervision caused thereby, for example, the problem of missing report caused by the unmonitored movable platform, or the problem of false report caused by the misidentification of the monitored movable platform.

[0081] It should be noted that the infrastructure distribution network can include a plurality of nodes, and a plurality of infrastructures are arranged at different nodes of the infrastructure distribution network. The infrastructure can include at least one of the following: ground transportation facilities, power transmission and transformation facilities, security facilities, and emergency facilities. Specifically, the ground transportation facilities can include at least one of the following: street lamps, traffic lights, road signs, landmarks, and surveillance cameras. The first sensor mounted on the infrastructure can be an active sensor, and the second sensor mounted on the infrastructure can be a passive sensor. The first sensor can include at least one of the following: a distance sensor and a visual sensor. The second sensor can include at least one of the following: an automatic dependent surveillance-broadcast (ads-b) receiver, a radio frequency receiver, and an ID broadcast receiver.

[0082] The sensing range of the first sensor and the second sensor can be determined according to the configuration parameters of each sensor, and the sensing range of the first sensor and the second sensor can be different. The first target information and the second target information can be position information, motion information, identity information, type information, and the like of the movable platform. The first target information and the second target information can be obtained by the same infrastructure for the same movable platform, and the first target information and the second target information can be obtained at different time points. In some cases, the first target information and the second target information can be obtained by different infrastructures for the same movable platform, and the embodiments of the present application do not make specific limitations thereto.

[0083] In an embodiment, the infrastructure distribution network can include a plurality of nodes, and the plurality of nodes include a first node and a second node different from the first node, the first node is provided with a first infrastructure, and the second node is provided with a second infrastructure.

[0084] Exemplarily, as shown in FIG. 3, the infrastructure distribution network 10 includes a plurality of nodes, including a first node 11 and a second node 12. The first node 11 is deployed with a first infrastructure 21, and the second node 12 is deployed with a second infrastructure 22.

[0085] The first infrastructure and the second infrastructure can be the same type of infrastructure. For example, the first infrastructure 21 and the second infrastructure 22 shown in FIG. 3 can both be ground transportation facilities equipped with first sensors and second sensors.

[0086] The first node and the second node can have different characteristic information, respectively. The characteristic information includes at least one of: a preset geographical location, an ID, a type of sensor, a number of sensors, and a purpose of the infrastructure.

[0087] For example, the first node 11 and the second node 12 shown in FIG. 3 can be disposed at different geographical locations, and the ID of the first node 11 and the second node 12 can be different. The type of the first sensor in the first node 11 and the second node 12 can be different, and the number of the second sensor in the first node 11 and the second node 12 can be different. The purpose of the first infrastructure 21 deployed at the first node 11 and the second infrastructure 22 deployed at the second node 12 can be different, for example, the first infrastructure 21 is a street lamp, and the second infrastructure 22 is a traffic light.

[0088] It should be noted that the infrastructure deployed at different nodes in the infrastructure distribution network can be equipped with first sensors and second sensors, and of course, it can also be partially equipped with first sensors and second sensors. By obtaining the first target information and the second target information of the movable platform through the infrastructure in the infrastructure distribution network, a systematic supervision network can be formed, avoiding the false negatives and false positives of the movable platform that needs to be supervised, greatly improving the accuracy and comprehensiveness of the supervision of the movable platform.

[0089] Exemplarily, as shown in FIG. 3, the infrastructure deployed at different nodes in the infrastructure distribution network 10 can be equipped with first sensors and second sensors, thereby forming a systematic supervision network. By means of the infrastructure network that has been built, there is no need to re-plan and layout, effectively improving the accuracy and comprehensiveness of the supervision of the movable platform, and effectively reducing the supervision cost.

[0090] In an embodiment, obtaining the first target information and the second target information of the movable platform includes: adjusting the parameter configuration of the second sensor based on the first target information of the movable platform. The parameter configuration includes at least one of: a sensing range, an antenna orientation, an antenna array distribution, a position of the corresponding sensor relative to the movable platform, and a signal detection frequency.

[0091] It should be noted that, due to the different parameter configurations of the first and second sensors in the infrastructure, after the first sensor actively acquires the first target information of the mobile platform, the second sensor may not detect the mobile platform or may not accurately detect it. Therefore, the parameter configuration of the second sensor can be adjusted based on the first target information of the mobile platform, so that the second sensor can accurately acquire the second target information of the mobile platform in a passive manner.

[0092] For example, adjusting the parameter configuration of a second sensor based on first target information of a mobile platform includes: determining the relative motion relationship between the mobile platform and the infrastructure in response to the first sensor sensing the first target information; and adjusting the parameter configuration of the second sensor based on the relative motion relationship so that the sensing direction of the second sensor is toward the mobile platform.

[0093] The relative motion relationship includes at least one of the following: relative orientation, relative distance, and relative speed. It should be noted that the relative motion relationship between the mobile platform and the infrastructure can be accurately determined using the first target information of the mobile platform. Therefore, the parameter configuration of the second sensor can be adjusted based on this relative motion relationship, so that the sensing direction of the second sensor is towards the mobile platform, thereby enabling the second sensor to accurately sense the mobile platform and improving the accuracy of the second target information of the mobile platform.

[0094] As shown in Figure 4, the first sensor 210 in the infrastructure 200 is a radar device, and the second sensor 220 is an ADS-B receiver. After the radar device senses the first position information of the movable platform 300, it can determine the relative orientation between the movable platform 300 and the infrastructure 200 based on the first position information. Therefore, it can adjust the orientation of the ADS-B receiver towards the object based on the relative orientation so that the ADS-B receiver can better sense the second position information of the movable platform 300.

[0095] In one embodiment, obtaining first target information and second target information of the mobile platform includes: adjusting the parameter configuration of the first sensor based on the second target information of the mobile platform. The parameter configuration includes at least one of the following: sensing range, antenna orientation, antenna array distribution, the position of the corresponding sensor relative to the mobile platform, and signal detection frequency.

[0096] It should be noted that, due to the different parameter configurations of the first and second sensors in the infrastructure, the first sensor may fail to detect the mobile platform or may not accurately detect it after the second sensor passively acquires the second target information of the mobile platform. Therefore, the parameter configuration of the first sensor can be adjusted based on the second target information of the mobile platform, enabling the second sensor to actively and accurately acquire the first target information of the mobile platform.

[0097] For example, adjusting the parameter configuration of the first sensor based on the second target information of the mobile platform includes: determining the relative motion relationship between the mobile platform and the infrastructure in response to the second sensor sensing the second target information; and adjusting the parameter configuration of the first sensor based on the relative motion relationship so that the sensing direction of the first sensor is toward the mobile platform.

[0098] The relative motion relationship includes at least one of the following: relative orientation, relative distance, and relative speed. It should be noted that the relative motion relationship between the mobile platform and the infrastructure can be accurately determined using the second target information of the mobile platform. Therefore, the parameter configuration of the first sensor can be adjusted based on this relative motion relationship, so that the sensing direction of the first sensor is towards the mobile platform, thereby enabling the first sensor to accurately sense the mobile platform and improving the accuracy of the first target information of the mobile platform.

[0099] For example, as shown in Figure 4, the second sensor 220 in the infrastructure 200 is an ADS-B receiver, and the first sensor 210 is a radar device. The ADS-B device receives the broadcast signal sent by the mobile platform 300 and can determine the relative position between the mobile platform 300 and the infrastructure 200 based on the broadcast signal. Therefore, the orientation of the radar device can be adjusted based on the relative position so that the radar device can better sense the position information of the mobile platform 300.

[0100] In one embodiment, obtaining first target information and second target information of the mobile platform includes: adjusting the parameter configuration of a second sensor based on the first target information of the mobile platform; and adjusting the parameter configuration of a first sensor based on the second target information of the mobile platform. The parameter configurations of both the first and second sensors may include at least one of the following: sensing range, antenna orientation, antenna array distribution, the azimuth of the corresponding sensor relative to the mobile platform, and signal detection frequency. Taking the scenario in Figure 4 as an example, the orientation of the radar device can be adjusted by adjusting the physical position of the radar device or the orientation of the sensing beam.

[0101] It should be noted that because the mobile platform is in motion, the relative motion relationship between the mobile platform and the infrastructure may change. This could affect the first sensor's sensing of the first target information of the mobile platform, or the second sensor's sensing of the second target information of the mobile platform. In this case, the parameter configurations of the first and second sensors can be dynamically adjusted according to the actual situation, thereby improving the accuracy of the first and second target information of the mobile platform.

[0102] For example, as shown in Figure 4, during the movement of the mobile platform 300, the parameter configuration of the second sensor 220 is adjusted based on the first target information of the mobile platform 300, so that the second sensor 220 can passively and accurately obtain the second target information of the mobile platform 300. And the parameter configuration of the first sensor 210 is adjusted based on the second target information of the mobile platform 300, so that the first sensor 210 can actively and accurately obtain the first target information of the mobile platform 300.

[0103] Step S102: Based on the first target information and the second target information, determine the mobile platform as a mobile platform to be regulated.

[0104] It should be noted that after sensing the first and second target information of a mobile platform, it is possible to determine whether the mobile platform is a mobile platform subject to regulation. By cross-validating the first and second target information, the limitations of a single sensing method can be avoided, thereby improving the confidence level of identifying mobile platforms.

[0105] In one embodiment, determining a mobile platform as a mobile platform to be regulated based on first target information and second target information includes: determining an object as a mobile platform to be regulated in response to the information correlation between the first target information and the second target information meeting a preset condition.

[0106] In some embodiments, the infrastructure 200 sends first target information and second target information of the mobile platform 300 to the regulatory server 100, so that the regulatory server 100 can determine the mobile platform 300 as a mobile platform to be regulated based on the first target information and the second target information.

[0107] In some embodiments, the infrastructure 200 processes the first target information and the second target information of the mobile platform 300, and sends the processed information to the regulatory server 100, so that the regulatory server 100 can determine the mobile platform 300 as a mobile platform to be regulated based on the first target information and the second target information.

[0108] In some embodiments, the infrastructure 200 processes the first target information and the second target information of the mobile platform 300 to determine that the mobile platform 300 is a mobile platform to be regulated, and informs the regulatory server 100 of the determination result.

[0109] It should be noted that when the information correlation between the first target information and the second target information meets the preset conditions, it can be indicated that the first target information obtained by the first sensor in an active manner and the second target information obtained by the second sensor in a passive manner have a high degree of correlation. This can help determine that the mobile platform is a mobile platform to be regulated, thereby improving the accuracy of identifying the mobile platform.

[0110] For example, the information correlation between the first target information and the second target information meets the preset conditions, including any of the following situations: Situation 1, the difference between the same type of parameter indicated by the first target information and the same type of parameter indicated by the second target information is less than a preset parameter threshold; Situation 2, the motion trend indicated by the first target information and the motion trend indicated by the second target information are basically the same; Situation 3, the information overlap between the first target information and the second target information meets the preset overlap; Situation 4, the time interval between the first target information and the second target information is less than a preset time value.

[0111] For example, scenario one represents the correlation / difference between a certain type of parameter sensed by the first sensor and a certain type of parameter sensed by the second sensor, such as the difference between the location information of the mobile platform sensed by the first sensor and the location information of the mobile platform sensed by the second sensor; or, for example, the correlation / difference between the identity information of the mobile platform sensed by the first sensor and the identity information of the mobile platform sensed by the second sensor.

[0112] For example, in scenario two, the motion trend can be the motion trend of the mobile platform determined based on multiple first target information or multiple second target information. For instance, the motion trend of the mobile platform at the next moment can be determined based on the sensed position information of the mobile platform at different times.

[0113] For example, in scenario three, the information overlap can be obtained by comparing the first target information and the second target information. For instance, when the first target information represents the motion trajectory of the mobile platform sensed by the first sensor, and the second target information represents the motion trajectory of the mobile platform sensed by the second sensor, the information overlap between the first target information and the second target information represents the degree of overlap between the two motion trajectories.

[0114] For example, in scenario four, the time interval between the first target information and the second target information is less than a preset time value. For instance, when the first target information represents the first broadcast information of the mobile platform sensed by the first sensor, and the second target information represents the second broadcast information of the mobile platform sensed by the second sensor, and the time interval between the first broadcast information and the second broadcast information is less than the preset time value, it is inferred that they are likely from the same mobile platform.

[0115] In the above situations, the preset parameter threshold, preset overlap, and preset time value can be determined according to the actual situation, and the embodiments of this application do not impose specific limitations on them.

[0116] In one embodiment, determining a mobile platform as a mobile platform to be regulated includes: when a first sensor senses multiple mobile platforms, determining the mobile platform to be regulated from the multiple mobile platforms based on second target information sensed by a second sensor.

[0117] It should be noted that when there are multiple mobile platforms, the first target information of the multiple mobile platforms sensed by the first sensor can determine that multiple mobile platforms have been sensed. At this time, the second target information of the multiple mobile platforms sensed by the second sensor can be used to determine the mobile platform to be regulated from the multiple mobile platforms, thereby realizing the cooperation between the first sensor and the second sensor and improving the efficiency of identifying the mobile platform to be regulated.

[0118] For example, as shown in FIG5, a first sensor 210 in infrastructure 200 senses multiple mobile platforms, and a second target information sensed by a second sensor 220 is a broadcast signal in a specific direction. Therefore, a mobile platform to be regulated can be determined from multiple mobile platforms based on the broadcast signal sensed by the second sensor 220.

[0119] In one embodiment, determining a mobile platform as a mobile platform to be regulated includes: when a second sensor senses multiple mobile platforms, determining the mobile platform to be regulated from the multiple mobile platforms based on first target information sensed by a first sensor.

[0120] It should be noted that when there are multiple mobile platforms, the second target information of the multiple mobile platforms sensed by the second sensor can determine that multiple mobile platforms have been sensed. At this time, the first target information of the multiple mobile platforms sensed by the first sensor can be used to determine the mobile platform to be regulated from the multiple mobile platforms, thereby realizing the cooperation between the first sensor and the second sensor and improving the efficiency of identifying the mobile platform to be regulated.

[0121] For example, as shown in FIG5, when the second sensor 220 in the infrastructure 200 senses multiple broadcast signals, the first sensor 210 senses a mobile platform in a specific direction. Therefore, based on the first target information sensed by the first sensor 210, the mobile platform to be regulated can be determined from the mobile platforms 300 determined by the multiple broadcast signals.

[0122] In one embodiment, determining a mobile platform as a mobile platform to be regulated based on first target information and second target information includes: determining a first operational risk of the mobile platform based on the first target information, and determining a second operational risk of the mobile platform based on the second target information; if both the first operational risk and the second operational risk are greater than a preset risk threshold, then the mobile platform is determined to be a mobile platform to be regulated.

[0123] In one embodiment, determining a mobile platform as a mobile platform to be regulated based on first target information and second target information includes: determining whether the mobile platform is on a preset regulatory list based on the first target information and second target information; if the mobile platform is determined to be on the preset regulatory list, then the mobile platform is determined to be a mobile platform to be regulated. The preset regulatory list may include information such as the identifier, owner, operator, account, manufacturer, vendor, and model of multiple mobile platforms. The preset regulatory list may be set according to actual circumstances, or it may be dynamically updated according to actual circumstances.

[0124] Step S103: Determine the regulatory information of the mobile platform for use in regulating the mobile platform.

[0125] The regulatory information refers to information requiring continuous monitoring, and may include at least one of the following: the type of the mobile platform, the movement information of the mobile platform, the flight trajectory of the mobile platform, and the access rights of the mobile platform. The regulatory information for the mobile platform may include first target information and second target information, or information determined by the first target information and the second target information. For example, some or all of the first target information and the second target information sensed by sensors can be selected as regulatory information directly; or, for example, the first target information and / or the second target information can be processed first, and then some or all of the processed information can be selected as regulatory information.

[0126] For example, both the first target information and the second target information are location information of a mobile platform. The monitoring information of the mobile platform can be the movement trajectory determined by the location information at different times. The location information at different times can be obtained by fusing or registering the first target information and the second target information.

[0127] In one embodiment, determining regulatory information for a mobile platform includes: performing correlation registration on first target information and second target information; and determining regulatory information about the mobile platform to be regulated based on the correlation registration of the first target information and second target information.

[0128] The associated registration includes at least one of the following: temporal registration, spatial registration, and specific feature registration. Temporal registration refers to aligning the first target information and the second target information in terms of time sequence. Spatial registration refers to aligning the first target information and the second target information in terms of spatial location. Specific feature registration can refer to registering specific features in the first target information and the second target information; specific features may include feature points, specific viewpoints, or specific operating parameters of the mobile platform. The associated registration operation can establish a connection between the first target information and the second target information, which is beneficial for correction or error correction.

[0129] It should be noted that by using the first target information sensed actively and the second target information sensed passively to perform correlation and registration, and by determining the regulatory information about the mobile platform to be regulated based on the first and second target information after correlation and registration, the limitations of single sensing data obtained by a single sensing method can be avoided, thereby effectively improving the accuracy of the regulatory information and avoiding false alarms or omissions.

[0130] In one embodiment, determining the regulatory information of the mobile platform further includes: in response to the mobile platform moving from a first position to a second position, determining multiple nodes along the route between the first and second positions, and determining the regulatory information at each node.

[0131] It should be noted that the infrastructure distribution network includes multiple nodes. As the mobile platform moves from the first location to the second location, it needs to pass through multiple nodes along the way. Therefore, the monitoring information at multiple nodes can be used to perform statistical analysis on the mobile platform.

[0132] For example, as shown in Figure 6, the infrastructure distribution network includes multiple nodes, such as nodes 11 to 14. The mobile platform 300 moves from a first location to a second location, where the first location is node 11 and the second location is node 14. The multiple nodes traversed along the route from the first location to the second location include nodes 11 to 14. Therefore, the regulatory information of the mobile platform 300 at nodes 11, 12, 13, and 14 can be determined respectively.

[0133] Furthermore, the method also includes determining the changing trends of regulatory information based on the regulatory information at each node. These trends can include changes in the movement information and trajectory of the mobile platform. The changing trends of regulatory information can be presented as chart-like data. For example, determining the changing trend of the mobile platform's flight trajectory over time based on the regulatory information at each node facilitates prediction of its future trajectory; similarly, determining the changing regulatory information of the mobile platform at each node facilitates prediction of traffic information at subsequent nodes, enabling advance preparation. For instance, the prediction results can be shared with the IoT cloud platform for coordination.

[0134] The method also includes predicting the movement trend of the mobile platform based on the changing trends of regulatory information. It should be noted that the movement trend of the mobile platform can be predicted based on the regulatory information of the mobile platform changing over time, or the movement trend of the mobile platform can be predicted based on the regulatory information of the mobile platform changing with different nodes.

[0135] For example, as shown in Figure 7, based on the monitoring information of the mobile platform at different nodes, the historical movement trajectory points of the mobile platform 300 are determined to pass through nodes 11, 13, 12 and 14 in sequence. Then it can be determined that the movement trajectory of the mobile platform is roughly Z-shaped, and the trajectory point of the mobile platform at the next moment can be predicted to be node 15.

[0136] Furthermore, the method also includes determining the global motion information of the mobile platform from the first position to the second position based on the monitoring information at each node. This global motion information includes the motion trajectory. Since the monitoring information at each node can include the mobile platform's position, direction of movement, speed, etc., the global motion information of the mobile platform from the first position to the second position, such as its motion trajectory, can be accurately determined based on the monitoring information obtained at each node, thereby improving the effectiveness of monitoring the mobile platform.

[0137] For example, as shown in Figure 7, nodes 11, 12, 13, 14, and 15 are located in the infrastructure distribution network. The mobile platform 300 moves from a first position to a second position, where the first position is the location of node 11 and the second position is the location of node 15. During the movement of the mobile platform 300, the nodes along the way are, in sequence, node 11, node 13, node 12, node 14, and node 15. Therefore, based on the monitoring information at nodes 11, 13, 12, 14, and 15, the global movement information of the mobile platform from the first position to the second position can be determined. For example, a global movement profile of the mobile platform can be generated, which may contain the operational status of the mobile platform at different nodes.

[0138] The method also includes: statistically analyzing violations of driving rules by mobile platforms based on regulatory information at each node. Since regulatory information on mobile platforms can identify violations of driving rules, statistical analysis of these violations at each node is possible. This improves the quantification of regulatory results for mobile platforms, facilitating subsequent traceability and statistical analysis, and enabling the implementation of reward and punishment measures.

[0139] Furthermore, the method also includes: storing statistical results in association with the owner of the mobile platform, the operator of the mobile platform, and / or the account of the mobile platform; and / or, allocating regulatory resources for the mobile platform based on the statistical results; and / or, determining the risk level associated with a target area, including multiple nodes, based on the statistical results.

[0140] It should be noted that after obtaining the statistical results of driving rule violations by the mobile platform at various nodes, these results can be associated and stored with relevant information about the mobile platform, including its owner, operator, and accounts. Regulatory resources for the mobile platform can also be allocated based on the statistical results. For example, more regulatory resources can be allocated to mobile platforms with a higher number of driving rule violations, thereby strengthening supervision of those platforms. Furthermore, the statistical results can be used to determine the associated risk levels of target areas, including multiple nodes, thus indicating the risk level of the target area. For instance, target areas with a higher number of driving rule violations are associated with a higher risk level.

[0141] In one embodiment, a first infrastructure is deployed at a first node, and a second infrastructure is deployed at a second node. Determining the regulatory information of the mobile platform includes obtaining regulatory information from both the first and second nodes.

[0142] It should be noted that the infrastructure distribution network includes multiple nodes, including a first node and nodes different from the second node. When a mobile platform moves to the first node and the second node, it can obtain the regulatory information of the first node and the second node respectively. Therefore, the regulatory information of the first node and the second node can be used to conduct relevant statistical analysis to improve the regulatory effect of the mobile platform.

[0143] For example, as shown in Figure 7, a first infrastructure 21 is deployed at the first node 12, and a second infrastructure 22 is deployed at the second node 15. Therefore, the monitoring server can obtain the monitoring information from the first node 12 and the second node 15 respectively, so that the monitoring server can monitor the mobile platform 300.

[0144] Furthermore, the method also includes updating the regulatory information at the first node based on the regulatory information at the second node. Due to factors such as the sensing range, sensing accuracy, relative distance to the mobile platform, and relative orientation of the infrastructure at the first node, inaccurate regulatory information at the first node is prone to occur. Therefore, updating the regulatory information at the first node based on the regulatory information at the second node can improve the accuracy of the regulatory information at the first node.

[0145] For example, as shown in Figure 7, a first infrastructure 21 is deployed at the first node 12, and a second infrastructure 22 is deployed at the second node 15. Therefore, the monitoring server can obtain the monitoring information at the first node 12 and the second node 15 respectively, and update the monitoring information at the first node 12 based on the monitoring information at the second node 15, thereby realizing the monitoring of the mobile platform 300.

[0146] Furthermore, the method also includes: determining the traffic situation information of the area including the first and second nodes based on the monitoring information at the first and second nodes. This traffic situation information can include various indicators such as the congestion index, average speed, and traffic flow of the mobile platform. By using the monitoring information at the first and second nodes, the traffic situation information of the areas where the first and second nodes are located can be determined, thereby enabling the monitoring and evaluation of traffic conditions at intersections, road segments, and areas including the areas containing the first and second nodes.

[0147] For example, as shown in Figure 7, a first infrastructure 21 is deployed at the first node 12, and a second infrastructure 22 is deployed at the second node 15. Therefore, the monitoring server can obtain the monitoring information from the first node 12 and the second node 15 respectively, and based on the monitoring information from the first node 12 and the second node 15, determine the traffic situation information of the area including the first node 12 and the second node 15, thereby realizing the monitoring of the mobile platform 300.

[0148] In one embodiment, the method further includes: obtaining reference information at the second node. The reference information includes at least one of the following: environmental state information at the second node, traffic flow information at the second node, traffic restriction information at the second node, and infrastructure deployment information at the second node.

[0149] Furthermore, the method also includes: planning or adjusting the motion trajectory of the mobile platform at the first node based on reference information. Based on the reference information at the second node, the motion trajectory of the mobile platform at the first node can be planned or adjusted, thereby assisting in the intelligent control of the mobile platform.

[0150] For example, as shown in Figure 7, a first infrastructure 21 is deployed at the first node 12, and a second infrastructure 22 is deployed at the second node 15. When the mobile platform 300 is located in the area of ​​the first node 12, the monitoring server can adjust the movement trajectory of the mobile platform 300 at the first node 12 based on the traffic flow information and traffic restriction information at the second node 15.

[0151] In one embodiment, after determining the regulatory information of the mobile platform, the method further includes: determining risk-related information of the mobile platform based on the regulatory information. This risk-related information may include risk levels, and may also include risk scores, risk descriptions, etc. Determining the risk-related information of the mobile platform based on the regulatory information can indicate the degree of risk posed by the mobile platform, thereby improving the reliability of regulation.

[0152] In one embodiment, in response to the risk level of the mobile platform being greater than a preset level, nodes are marked on the electronic map of the infrastructure distribution network in a preset style; and / or, in response to different risk levels of the mobile platform, the node marking styles on the electronic map corresponding to the infrastructure distribution network are different; and / or, based on the risk level, a corresponding regulatory strategy is determined.

[0153] The mobile platform can have multiple risk levels, each representing a different degree of risk; for example, a higher risk level indicates a greater degree of risk. Therefore, based on the mobile platform's risk level, nodes in the distributed infrastructure network that pose an intrusion risk can be identified, and corresponding regulatory strategies can be proposed. This helps in quickly identifying nodes with intrusion risks or rapidly handling intrusion-risk incidents.

[0154] For example, the regulatory strategy includes any of the following scenarios: continuously monitoring the mobile platform in response to its risk level being greater than or equal to a preset level; sending an alarm to the mobile platform in response to its risk level being greater than or equal to a preset level; ceasing to monitor the mobile platform in response to its risk level being less than a preset level; and allocating regulatory resources to the mobile platform in descending order of its risk level.

[0155] The resources for monitoring mobile platforms can include computing power resources for monitoring the mobile platforms, or equipment resources for monitoring the mobile platforms. Equipment resources can include the infrastructure for sensing the mobile platforms or the monitoring servers allocated to the mobile platforms. By setting different monitoring strategies to respond to different risk levels, events with intrusion risks can be handled quickly, improving the reliability of mobile platform monitoring.

[0156] For example, there are 5 risk levels, with level 3 as the default. When the risk level of a mobile platform is assessed as level 3 or above, continuous monitoring will be implemented, and an alarm will be sent to the mobile platform to alert it to potential risks. When the risk level of a mobile platform is assessed as level 2 or 1, monitoring will cease. When the risk level of a mobile platform is assessed as level 2, 1% of computing resources will be allocated for monitoring. When the risk level of a mobile platform is assessed as level 3, 2% of computing resources will be allocated for monitoring.

[0157] In one embodiment, after determining the regulatory information of the mobile platform, the method further includes: generating a statistical distribution map of the nodes and / or updating the historical statistical distribution map of the nodes, wherein the statistical distribution map is obtained based on statistics of the regulatory information. The statistical distribution map includes at least one of the following: a distribution map of the activity frequency of the mobile platform, a distribution map of the risk level of the mobile platform, and a distribution map of the movement trajectory of the mobile platform.

[0158] It should be noted that, based on the statistical analysis of regulatory information on mobile platforms, it is possible to generate a statistical distribution map of one or more nodes in the infrastructure distribution network, or to update the historical statistical distribution map of one or more nodes, and manage them on a node-by-node basis, thereby facilitating digital global management and improving the effectiveness of regulatory oversight of mobile platforms.

[0159] In one embodiment, after determining the regulatory information of the mobile platform, the method further includes: generating regulatory instructions or alarm information based on the regulatory information. For example, after obtaining the regulatory information of the mobile platform, the regulatory server can send regulatory instructions to the streetlights at the node where the mobile platform is located and to streetlights at nearby nodes, and send corresponding alarm information to the regulated mobile platform and other mobile platforms, thereby improving the regulatory effect on the mobile platform.

[0160] The monitoring instructions include a first monitoring instruction, which is used to adjust one or more state parameters of the mobile platform. These state parameters include position, speed, attitude, and direction of movement. For example, the first monitoring instruction may instruct at least one of the following operations: controlling the mobile platform to leave the node, controlling the mobile platform to land, controlling the mobile platform to circumnavigate, or controlling the mobile platform to move to a designated location.

[0161] For example, as shown in Figure 7, a first infrastructure 21 is deployed at the first node 12, and a second infrastructure 22 is deployed at the second node 15. When the mobile platform 300 is located in the area of ​​the first node 12, the monitoring server can send a first monitoring instruction to the mobile platform 300 based on the monitoring information obtained from the first infrastructure 21, so as to control the mobile platform 300 to move to the location of the second infrastructure 22.

[0162] The regulatory directive includes a second regulatory directive, which is used to adjust one or more status parameters of the infrastructure. For example, the second regulatory directive is used to instruct at least one of the following operations: emitting jamming signals to cause the mobile platform to move, land, or be intercepted; adjusting the lighting pattern of the infrastructure to guide the movement or landing of the mobile platform; adjusting the lighting pattern of the infrastructure to guide other objects besides the mobile platform to avoid it.

[0163] For example, as shown in Figure 7, a first infrastructure 21 is deployed at the first node 12, and a second infrastructure 22 is deployed at the second node 15. When the mobile platform 300 is located in the area where the first node 12 is located, the monitoring server can send a second monitoring instruction to the first infrastructure 21 based on the monitoring information obtained from the first infrastructure 21, instructing the first infrastructure 21 to adjust the lighting mode to guide the mobile platform 300 to land.

[0164] The regulatory instructions include third regulatory instructions, which are used to send instructions related to regulatory information to the infrastructure of at least one other node in the infrastructure distribution network. For example, a third regulatory instruction may instruct at least one of the following actions: emitting jamming signals to cause the mobile platform to move, land, or be intercepted; adjusting the lighting patterns of the infrastructure of other nodes to guide the movement or landing of the mobile platform; or adjusting the lighting patterns of the infrastructure of other nodes to guide other objects besides the mobile platform to avoid it.

[0165] For example, as shown in Figure 7, a first infrastructure 21 is deployed at the first node 12, and a second infrastructure 22 is deployed at the second node 15. When the mobile platform 300 is located in the area of ​​the first node 12, the monitoring server can send a second monitoring instruction to the second infrastructure 22 based on the monitoring information obtained from the first infrastructure 21, instructing the second infrastructure 22 to adjust the lighting mode to guide the movement or landing of the mobile platform 300.

[0166] The regulatory instructions include a fourth regulatory instruction, which is used to send instructions related to regulatory information to other traffic participants besides the mobile platform. For example, the fourth regulatory instruction is used to instruct at least one of the following actions: adjust the movement route of other traffic participants; provide other traffic participants with risk-related information about the mobile platform; or provide other traffic participants with information about the movement or landing of the mobile platform.

[0167] The mobile platform monitoring method provided in the above embodiments utilizes first and second target information sensed actively and passively to determine the mobile platform to be monitored and the monitoring information for the mobile platform. This avoids the limitations of a single sensing method, thereby greatly improving the accuracy of mobile platform monitoring. Furthermore, both the first and second sensors, used in both active and passive sensing, are mounted on infrastructure. By leveraging the existing infrastructure distribution network, the comprehensiveness of mobile platform monitoring is improved, thus solving the problems of underreporting of mobile platforms requiring monitoring or false reporting of mobile platforms that do not require monitoring.

[0168] Please refer to Figure 8, which is a schematic flowchart illustrating the steps of another mobile platform monitoring method provided in this application embodiment. This mobile platform monitoring method can be applied to a monitoring server.

[0169] The principles behind some steps in this embodiment are the same as or similar to those of related steps in the preceding embodiments. Without obvious deviation, the relevant descriptions in the preceding embodiments also apply to this embodiment. The following will only provide a brief explanation and will not elaborate further.

[0170] As shown in Figure 8, the monitoring method for this mobile platform may include steps S201 to S202.

[0171] Step S201: When the mobile platform moves to the sensing range of the sensors mounted on the infrastructure, the first target information and the second target information of the mobile platform are obtained through the sensors.

[0172] Step S202: Based on the first target information and the second target information, determine the regulatory information of the mobile platform for use in regulating the mobile platform.

[0173] It should be noted that the infrastructure in the infrastructure distribution network is equipped with active and passive sensors. By utilizing multiple information sources obtained from active and passive sensing, the regulatory information of the mobile platform to be regulated can be determined. On the one hand, multiple information sources avoid the limitations of a single information source, thereby solving the problem of incomplete or incorrect regulatory information of the mobile platform, which leads to poor regulatory effectiveness. On the other hand, the active and passive sensors are distributed in a network, which can obtain regulatory information from multiple directions. By mounting both active and passive sensors on the infrastructure and leveraging the existing infrastructure distribution network, deployment is convenient and easy to manage, and easy to popularize and promote.

[0174] Please refer to Figure 9, which is a schematic flowchart of the steps of another mobile platform monitoring method provided in the embodiments of this application.

[0175] The principles behind some steps in this embodiment are the same as or similar to those of related steps in the preceding embodiments. Without obvious deviation, the relevant descriptions in the preceding embodiments also apply to this embodiment. The following will only provide a brief explanation and will not elaborate further.

[0176] As shown in Figure 9, the monitoring method for this mobile platform may include steps S301 to S303.

[0177] Step S301: The first mobile platform moves to the sensing range of the first sensor mounted on the infrastructure, and the first target information of the first mobile platform is obtained through the first sensor.

[0178] Step S302: The second mobile platform moves to the sensing range of the second sensor mounted on the infrastructure, and the second target information of the second mobile platform is obtained through the second sensor.

[0179] The second mobile platform differs from the first mobile platform. The second target information is passively acquired by the second sensor.

[0180] For example, as shown in FIG10, when the second mobile platform 32 moves into the sensing range of the second sensor 220 mounted on the infrastructure 200, the second sensor 220 obtains the first target information of the second mobile platform 32. The second target information may be the location information, motion information, identity information, type information, etc. of the second mobile platform 32.

[0181] Step S303: Based on the first target information and the second target information, determine the traffic situation information within the sensing range corresponding to the infrastructure.

[0182] The traffic situation information can include various indicators such as congestion index, average speed, and traffic flow within the sensing range. By using the first target information and the second target information, the traffic situation information of the area where the infrastructure is located can be determined, thereby enabling the monitoring and evaluation of the traffic conditions in the areas within the sensing range of the first mobile platform, the second mobile platform, and the infrastructure.

[0183] It should be noted that the infrastructure in the infrastructure distribution network is equipped with active and passive sensors (first and second sensors). By utilizing multiple information sources (first target information and second target information) sensed by active and passive sensors, traffic situation information within the sensing range of the infrastructure is determined. On the one hand, multiple information sources avoid the limitations of a single information source. The active and passive sensors are distributed in a network, which can acquire traffic situation information within the sensing range from multiple directions, making the determined traffic situation information as comprehensive as possible and avoiding incomplete statistics on intruding mobile platforms due to limitations in detection methods. On the other hand, by mounting both active and passive sensors on the infrastructure, and leveraging the existing infrastructure distribution network, deployment is convenient and easy to manage, and it is easy to popularize and promote.

[0184] In one embodiment, the infrastructure distribution network includes multiple nodes, including a first node and a second node different from the first node. A first infrastructure is deployed at the first node, and a second infrastructure is deployed at the second node. The method further includes obtaining regulatory information at the first node and the second node, respectively.

[0185] It should be noted that the infrastructure distribution network includes multiple nodes, including a first node and nodes different from the second node. When the first mobile platform moves to the first node and the second mobile platform moves to the second node, the regulatory information of the first mobile platform at the first node and the second mobile platform at the second node can be obtained respectively. Therefore, the regulatory information of the first mobile platform at the first node and the second mobile platform at the second node can be used to perform relevant statistical analysis to improve the regulatory effect of the first mobile platform and the second mobile platform.

[0186] The mobile platform monitoring method provided in the above embodiments involves obtaining first target information of a first mobile platform when it moves into the sensing range of a first sensor mounted on infrastructure; and obtaining second target information of a second mobile platform when it moves into the sensing range of a second sensor mounted on infrastructure. Based on the first and second target information, traffic situation information within the sensing range corresponding to the infrastructure is determined. The second mobile platform differs from the first mobile platform; the first target information is actively obtained by the first sensor, while the second target information is passively obtained by the second sensor. The infrastructure is located at a node in an infrastructure distribution network. This embodiment utilizes multiple information sources, both actively and passively sensed, to acquire traffic situation information from multiple perspectives, ensuring that the determined traffic situation information is as comprehensive and complete as possible, avoiding incomplete statistics on intruding mobile platforms due to limitations in detection methods.

[0187] Please refer to Figure 12, which is a schematic flowchart of another mobile platform monitoring method provided in an embodiment of this application.

[0188] The principles behind some steps in this embodiment are the same as or similar to those of related steps in the preceding embodiments. Without obvious deviation, the relevant descriptions in the preceding embodiments also apply to this embodiment. The following will only provide a brief explanation and will not elaborate further.

[0189] As shown in Figure 12, the monitoring method for this mobile platform may include steps S401 to S402.

[0190] Step S401: When one or more mobile platforms move to the sensing range of sensors mounted on the infrastructure, obtain first target information and second target information of one or more mobile platforms through the sensors.

[0191] Step S402: Based on the first target information and the second target information, determine the regulatory information related to the mobile platform.

[0192] The regulatory information may include at least one of the following: information for identifying whether a mobile platform is a mobile platform to be regulated; information for continuous monitoring of mobile platforms; and information for determining the traffic situation in the area where the node is located.

[0193] For example, the first target information and the second target information can be target information of the same mobile platform, and the regulatory information includes information used to identify whether the mobile platform is a mobile platform to be regulated.

[0194] For example, the first target information and the second target information can be target information of the same mobile platform, and the regulatory information includes information for the continuous monitoring of the mobile platform.

[0195] For example, the first target information and the second target information are target information for different mobile platforms, and the regulatory information includes information used to determine the traffic situation in the area where the node is located.

[0196] Please refer to Figure 13, which is a schematic flowchart of another mobile platform monitoring method provided in an embodiment of this application.

[0197] The principles behind some steps in this embodiment are the same as or similar to those of related steps in the preceding embodiments. Without obvious deviation, the relevant descriptions in the preceding embodiments also apply to this embodiment. The following will only provide a brief explanation and will not elaborate further.

[0198] As shown in Figure 13, the monitoring method for this mobile platform may include steps S501 to S503.

[0199] Step S501: When the mobile platform moves to the sensing range of the sensors mounted on the infrastructure, the first target information and the second target information of the mobile platform are obtained through the sensors.

[0200] Step S502: Determine the mobile platform as a mobile platform to be regulated based on at least one of the first target information and the second target information.

[0201] Step S503: Determine regulatory information for the mobile platform based at least on one of the first target information and the second target information, for use in regulating the mobile platform.

[0202] In one embodiment, the mobile platform is determined to be a mobile platform to be regulated based on the first target information; the regulatory information of the mobile platform is determined based on the second target information.

[0203] In one embodiment, the mobile platform is determined to be a mobile platform to be regulated based on the first target information; the regulatory information of the mobile platform is determined based on the first target information and the second target information.

[0204] In one embodiment, the mobile platform is determined to be a mobile platform to be regulated based on the second target information; and the regulatory information of the mobile platform is determined based on the first target information.

[0205] In one embodiment, the mobile platform is determined to be a mobile platform to be regulated based on the second target information; the regulatory information of the mobile platform is determined based on the first target information and the second target information.

[0206] In one embodiment, the mobile platform is determined to be a mobile platform to be regulated based on the first target information and the second target information; the regulatory information of the mobile platform is determined based on the first target information.

[0207] In one embodiment, the mobile platform is determined to be a mobile platform to be regulated based on the first target information and the second target information; the regulatory information of the mobile platform is determined based on the second target information.

[0208] In some embodiments, the mobile platform is determined to be a mobile platform to be regulated based on the first target information and the second target information; the regulatory information of the mobile platform is determined based on the first target information and the second target information.

[0209] Please refer to Figure 14, which is a schematic flowchart of the steps of a mobile platform monitoring method provided in an embodiment of this application.

[0210] The principles behind some steps in this embodiment are the same as or similar to those of related steps in the preceding embodiments. Without obvious deviation, the relevant descriptions in the preceding embodiments also apply to this embodiment. The following will only provide a brief explanation and will not elaborate further.

[0211] As shown in Figure 14, the monitoring method for this mobile platform may include steps S601 to S604.

[0212] Step S601: Receive the sensing signal sent by the first sensor and send a reflection signal to the first sensor so that the first sensor can determine the first target information of the mobile platform based on the reflection signal.

[0213] The first sensor is mounted on infrastructure located in the flight environment. This infrastructure communicates with a monitoring server and is deployed at nodes in an infrastructure distribution network. The first sensor can be an active sensor. It may include at least one of the following: a distance sensor, a vision sensor.

[0214] For example, as shown in FIG15, the first sensor 210 in the infrastructure 200 transmits sensing signals to the outside world and receives reflected signals. When the mobile platform 300 moves into the sensing range of the first sensor 210 mounted on the infrastructure 200, the mobile platform 300 receives the sensing signals sent by the first sensor 210 and sends reflected signals to the first sensor 210, so that the first sensor 210 can determine the first target information of the mobile platform 300 based on the reflected signals.

[0215] Step S602: Send a signal to the second sensor to indicate the second target information of the movable platform.

[0216] For example, as shown in FIG15, the mobile platform 300 transmits a signal to the outside world to indicate second target information of the mobile platform 300. When the mobile platform 300 moves into the sensing range of the second sensor 220 mounted on the infrastructure 200, it sends a signal to the second sensor 220 to indicate the second target information of the mobile platform 300.

[0217] In one embodiment, the infrastructure obtains first target information and second target information of the mobile platform, and sends the first target information and second target information of the mobile platform to the monitoring server, so that the monitoring server can monitor the mobile platform based on the first target information and second target information.

[0218] Step S603: Receive the monitoring instruction sent by the monitoring server. The monitoring instruction is determined based on the first target information and the second target information of the mobile platform.

[0219] In one embodiment, the regulatory server generates regulatory information based on the first target information and the second target information of the mobile platform, generates regulatory instructions based on the regulatory information, and then sends the regulatory instructions to the mobile platform.

[0220] For example, as shown in Figure 15, the monitoring server 100 generates monitoring information based on the first target information and the second target information of the mobile platform 300, and generates monitoring instructions according to the monitoring information; the mobile platform 300 receives the monitoring instructions sent by the monitoring server 100.

[0221] Step S604: Based on regulatory instructions, adjust one or more motion state parameters of the mobile platform.

[0222] The motion state parameters include at least one of the following: position, velocity, attitude, and direction of motion. For example, the first supervisory command is used to instruct at least one of the following operations: controlling the mobile platform to leave the node, controlling the mobile platform to land, controlling the mobile platform to detour, and controlling the mobile platform to move to a designated location.

[0223] For example, as shown in Figure 15, after receiving the monitoring instruction sent by the monitoring server 100, the mobile platform 300 controls the mobile platform 300 to move to the designated location based on the monitoring instruction.

[0224] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the mobile platform supervision method described above can be referred to the corresponding process in the aforementioned mobile platform supervision method embodiments, and will not be repeated here.

[0225] Please refer to Figure 16, which is a schematic diagram of an infrastructure provided in an embodiment of this application.

[0226] As shown in Figure 16, the infrastructure 700 includes a facility body 710, a first sensor 720, a second sensor 730, and a communication module 740.

[0227] The facility body 710 is used to perform basic functions; for example, when the infrastructure is a street light, its basic function is lighting. A first sensor 720 is mounted on the facility body 710 and is used to actively acquire first target information of the mobile platform. A second sensor 730 is mounted on the facility body 710 and is used to passively acquire second target information of the mobile platform. A communication module 740 is used to communicate with a monitoring server to send target information to the monitoring server for monitoring of the mobile platform.

[0228] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the infrastructure described above can be referred to the corresponding process in the aforementioned embodiments of the mobile platform supervision method, and will not be repeated here.

[0229] Please refer to Figure 17, which is a schematic block diagram of a mobile platform monitoring system provided in an embodiment of this application.

[0230] As shown in Figure 17, the mobile platform monitoring system 800 includes a monitoring server 810 and at least one infrastructure 820, with the infrastructure 810 communicatively connected to the at least one infrastructure 820. The infrastructure 820 can be the infrastructure 700 shown in Figure 16.

[0231] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the mobile platform monitoring system described above can be referred to the corresponding process in the aforementioned mobile platform monitoring method embodiments, and will not be repeated here.

[0232] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of the mobile platform monitoring method provided in the above embodiments.

[0233] The computer-readable storage medium can be an internal storage unit of the monitoring server described in any of the foregoing embodiments, such as the hard drive or memory of the monitoring server. Alternatively, the computer-readable storage medium can be an external storage device of the monitoring server, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the monitoring server.

[0234] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the 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.

[0235] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0236] The above description is merely a specific embodiment of this application, but the scope of protection of this 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 this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for regulating a mobile platform, wherein, The method includes: When the mobile platform moves into the sensing range of a sensor mounted on the infrastructure, the sensor obtains first target information and second target information of the mobile platform. Based on the first target information and the second target information, the mobile platform is determined to be a mobile platform subject to regulation; and Determine the regulatory information of the mobile platform for use in regulating the mobile platform; The sensors include a first sensor and a second sensor, both mounted on the infrastructure. The first target information is obtained actively by the first sensor, and the second target information is obtained passively by the second sensor. The infrastructure is deployed at nodes of the infrastructure distribution network.

2. A method for regulating a mobile platform, wherein, The method includes: When the mobile platform moves into the sensing range of sensors mounted on the infrastructure, first target information and second target information of the mobile platform are obtained through the sensors; and Based on the first target information and the second target information, regulatory information of the mobile platform is determined for use in regulating the mobile platform; The sensors include a first sensor and a second sensor, both mounted on the infrastructure. The first target information is obtained actively by the first sensor, and the second target information is obtained passively by the second sensor. The infrastructure is deployed at nodes of the infrastructure distribution network.

3. A method for regulating a mobile platform, wherein, The method includes: When the first mobile platform moves into the sensing range of the first sensor mounted on the infrastructure, the first target information of the first mobile platform is obtained through the first sensor. When the second mobile platform moves into the sensing range of the second sensor mounted on the infrastructure, second target information of the second mobile platform is obtained through the second sensor; and Based on the first target information and the second target information, determine the traffic situation information within the sensing range corresponding to the infrastructure; The second mobile platform differs from the first mobile platform. The first target information is obtained actively by the first sensor, while the second target information is obtained passively by the second sensor. The infrastructure is located at a node of the infrastructure distribution network.

4. A method for regulating a mobile platform, wherein, The method includes: When one or more mobile platforms move into the sensing range of sensors mounted on the infrastructure, first target information and second target information of one or more mobile platforms are obtained through the sensors; Based on the first target information and the second target information, determine the regulatory information related to the mobile platform; The sensors include a first sensor and a second sensor, both mounted on the infrastructure. The first target information is obtained actively by the first sensor, and the second target information is obtained passively by the second sensor. The infrastructure is deployed at nodes of the infrastructure distribution network.

5. A method for regulating a mobile platform, wherein, The method includes: When the mobile platform moves into the sensing range of the sensors mounted on the infrastructure, the first target information and the second target information of the mobile platform are obtained through the sensors; Based on at least one of the first target information and the second target information, the mobile platform is determined to be a mobile platform subject to regulation; and Based on at least one of the first target information and the second target information, regulatory information of the mobile platform is determined for use in regulating the mobile platform; The first target information is actively obtained by the first sensor, and the second target information is passively obtained by the second sensor. Both the first sensor and the second sensor are mounted on the infrastructure, which is deployed at nodes of the infrastructure distribution network.

6. The method for monitoring a mobile platform according to any one of claims 1-2 and 4-5, wherein, The acquisition of the first target information and the second target information of the mobile platform includes: Based on the first target information of the mobile platform, adjust the parameter configuration of the second sensor; and / or Based on the second target information of the mobile platform, the parameter configuration of the first sensor is adjusted.

7. The method for monitoring a mobile platform according to claim 6, wherein, The step of adjusting the parameter configuration of the second sensor based on the first target information of the mobile platform includes: In response to the first sensor sensing the first target information, the relative motion relationship between the mobile platform and the infrastructure is determined; and Based on the relative motion relationship, the parameter configuration of the second sensor is adjusted so that the sensing direction of the second sensor is oriented toward the movable platform.

8. The method for monitoring a mobile platform according to claim 6, wherein, The adjustment of the parameter configuration of the first sensor based on the second target information of the mobile platform includes: In response to the second sensor sensing the second target information, the relative motion relationship between the mobile platform and the infrastructure is determined; and Based on the relative motion relationship, the parameter configuration of the first sensor is adjusted so that the sensing direction of the first sensor is oriented toward the movable platform.

9. The method for monitoring a mobile platform according to claim 6, wherein, The parameter configuration includes at least one of the following: sensing range, antenna orientation, antenna array distribution, the orientation of the corresponding sensor relative to the movable platform, and signal detection frequency.

10. The method for monitoring a mobile platform according to claim 7 or 8, wherein, The relative motion relationship includes at least one of the following: relative orientation, relative distance, and relative speed.

11. The method for monitoring a mobile platform according to claim 1 or 5, wherein, The determination that the mobile platform is a mobile platform subject to regulation includes: If the information correlation between the first target information and the second target information meets a preset condition, then the mobile platform is determined to be a mobile platform to be regulated.

12. The method for monitoring a mobile platform according to claim 11, wherein, The information correlation between the first target information and the second target information meets a preset condition, including any of the following situations: The difference between the parameter of the same type indicated by the first target information and the parameter of the same type indicated by the second target information is less than a preset parameter threshold; The movement trend indicated by the first target information and the movement trend indicated by the second target information are basically the same; The information overlap between the first target information and the second target information meets a preset overlap requirement. The time interval between obtaining the first target information and the second target information is less than a preset time value.

13. The method for monitoring a mobile platform according to claim 1 or 5, wherein, The determination that the mobile platform is a mobile platform subject to regulation includes: In the case where the first sensor detects multiple mobile platforms, the mobile platform to be monitored is determined from the multiple mobile platforms based on the second target information sensed by the second sensor; or In the case where the second sensor detects multiple mobile platforms, the mobile platform to be monitored is determined from the multiple mobile platforms based on the first target information sensed by the first sensor.

14. The method for monitoring a mobile platform according to any one of claims 1, 2, and 5, wherein, The determination of the regulatory information for the mobile platform includes: Associativity and registration are performed on the first target information and the second target information; and Based on the first target information and the second target information after association registration, the regulatory information regarding the mobile platform to be regulated is determined.

15. The method for monitoring a mobile platform according to claim 14, wherein, The associated registration includes at least one of the following: time registration, spatial registration, and specific feature registration.

16. The method for monitoring a mobile platform according to any one of claims 1, 2, and 5, wherein, After determining the regulatory information of the mobile platform, the process also includes: Based on the regulatory information, risk-related information of the mobile platform is determined.

17. The method for monitoring a mobile platform according to claim 16, wherein, The risk-related information includes the risk level.

18. The method for monitoring a mobile platform according to claim 17, wherein, The method further includes: In response to the mobile platform's risk level exceeding a preset level, the node is identified on the electronic map of the infrastructure distribution network using a preset pattern; and / or In response to the different risk levels of the mobile platforms, the identification styles of the nodes on the electronic map corresponding to the infrastructure distribution network are different; and / or Based on the aforementioned risk level, the corresponding regulatory strategy will be determined.

19. The method for monitoring a mobile platform according to claim 18, wherein, The regulatory strategy includes any of the following: If the risk level of the mobile platform is greater than or equal to a preset level, the mobile platform will be continuously monitored. In response to the risk level of the mobile platform being greater than or equal to a preset level, an alarm notification is sent to the mobile platform; In response to the fact that the risk level of the mobile platform is lower than the preset level, the mobile platform will no longer be subject to supervision; Regulatory resources for the mobile platforms are allocated sequentially from highest to lowest risk level, and from most to least risk level.

20. The method for monitoring a mobile platform according to any one of claims 1, 2, and 5, wherein, After determining the regulatory information of the mobile platform, the process also includes: Generate a statistical distribution map of the node and / or update the historical statistical distribution map of the node, wherein the statistical distribution map is obtained based on statistics of the regulatory information.

21. The method for monitoring a mobile platform according to claim 20, wherein, The statistical distribution map includes at least one of the following: the activity frequency distribution map of the mobile platform, the risk level distribution map of the mobile platform, and the movement trajectory distribution map of the mobile platform.

22. The method for monitoring a mobile platform according to any one of claims 1, 2, and 5, wherein, After determining the regulatory information of the mobile platform, the method further includes: Based on the aforementioned regulatory information, regulatory instructions or alarm information are generated.

23. The method for monitoring a mobile platform according to claim 22, wherein, The regulatory instructions include a first regulatory instruction, which is used to adjust one or more status parameters of the mobile platform.

24. The method for monitoring a mobile platform according to claim 23, wherein, The first regulatory instruction is used to instruct at least one of the following operations: Control the mobile platform to leave the node, control the mobile platform to land, control the mobile platform to detour, and control the mobile platform to move to a designated location.

25. The method for monitoring a mobile platform according to claim 22, wherein, The regulatory instruction includes a second regulatory instruction, which is used to adjust one or more status parameters of the infrastructure.

26. The method for monitoring a mobile platform according to claim 25, wherein, The second regulatory instruction is used to instruct at least one of the following operations: Transmit jamming signals to cause the mobile platform to move, land, or be intercepted; Adjust the lighting pattern of the infrastructure to guide the movement or landing of the mobile platform; Adjust the lighting pattern of the infrastructure to guide other objects outside the movable platform to avoid it.

27. The method for monitoring a mobile platform according to claim 22, wherein, The regulatory instructions include a third regulatory instruction, which is used to send instructions related to the regulatory information to the infrastructure of at least one other node in the infrastructure distribution network, in addition to the node in question.

28. The method for monitoring a mobile platform according to claim 22, wherein, The regulatory instructions include a fourth regulatory instruction, which is used to send instructions related to the regulatory information to other traffic participants besides the mobile platform.

29. The method for monitoring a mobile platform according to any one of claims 1, 2, and 5, wherein, The determination of the regulatory information for the mobile platform also includes: In response to the mobile platform moving from a first position to a second position, multiple nodes along the route between the first and second positions are determined, and the monitoring information at each node is determined.

30. The method for monitoring a mobile platform according to claim 29, wherein, The method further includes: Based on the regulatory information at each of the nodes, the changing trend of the regulatory information is determined.

31. The method for monitoring a mobile platform according to claim 30, wherein, The method further includes: Based on the changing trends of the regulatory information, the movement trend of the mobile platform is predicted.

32. The method for monitoring a mobile platform according to claim 29, wherein, The method further includes: Based on the monitoring information at each of the nodes, the global motion information of the mobile platform from the first position to the second position is determined.

33. The method for monitoring a mobile platform according to claim 32, wherein, The global motion information includes the motion trajectory.

34. The method for monitoring a mobile platform according to claim 29, wherein, The method further includes: Based on the regulatory information at each node, the violations of driving rules by the mobile platform are statistically analyzed.

35. The method for monitoring a mobile platform according to claim 34, wherein, The method further includes: The statistical results are associated with and stored in relation to the owner of the mobile platform, the operator of the mobile platform, and / or the account of the mobile platform; and / or Based on the statistical results, allocate regulatory resources for the mobile platform; and / or Based on the statistical results, the risk levels associated with the target area, including the aforementioned multiple nodes, are determined.

36. The method for monitoring a mobile platform according to any one of claims 1-5, wherein, The infrastructure distribution network includes multiple nodes, including a first node and a second node different from the first node. The first node is equipped with a first infrastructure, and the second node is equipped with a second infrastructure.

37. The method for monitoring a mobile platform according to claim 36, wherein, The first infrastructure and the second infrastructure are of the same type.

38. The method for monitoring a mobile platform according to claim 36, wherein, Determining the regulatory information of the mobile platform includes: The regulatory information at the first node and the second node are obtained respectively.

39. The method for monitoring a mobile platform according to claim 38, wherein, The method further includes: Based on the regulatory information at the second node, update the regulatory information at the first node.

40. The method for monitoring a mobile platform according to claim 38, wherein, The method further includes: Based on the monitoring information at the first node and the second node, traffic situation information of the area including the first node and the second node is determined.

41. The method for monitoring a mobile platform according to claim 36, wherein, The method further includes: Obtain the reference information at the second node.

42. The method for monitoring a mobile platform according to claim 41, wherein, The reference information includes at least one of the following: environmental status information at the second node, traffic flow information at the second node, traffic restriction information at the second node, and infrastructure deployment information at the second node.

43. The method for monitoring a mobile platform according to claim 41, wherein, The method further includes: Based on the reference information, the motion trajectory of the movable platform at the first node is planned or adjusted.

44. The method for monitoring a mobile platform according to claim 36, wherein, The first node and the second node have different feature information.

45. The method for monitoring a mobile platform according to claim 44, wherein, The feature information includes at least one of the following: a preset geographical location, an ID identifier, the type of the sensor, the number of the sensor, and the purpose of the infrastructure.

46. ​​The method for monitoring a mobile platform according to claim 4, wherein, The first target information and the second target information are target information of the same mobile platform, and the regulatory information includes information for identifying whether the mobile platform is a mobile platform to be regulated.

47. The method for monitoring a mobile platform according to claim 4, wherein, The first target information and the second target information are target information of the same mobile platform, and the regulatory information includes information for continuous monitoring of the mobile platform.

48. The method for monitoring a mobile platform according to claim 4, wherein, The first target information and the second target information are target information for different mobile platforms, and the regulatory information includes information for determining the traffic situation in the area where the node is located.

49. A method for regulating a mobile platform, wherein, The method includes: The system receives a sensing signal sent by a first sensor and sends a reflected signal to the first sensor, so that the first sensor can determine the first target information of the mobile platform based on the reflected signal. Send a signal to the second sensor to indicate second target information of the mobile platform; Receives a monitoring instruction sent by a monitoring server, the monitoring instruction being determined based on first target information and second target information of the mobile platform; and Based on the regulatory instructions, adjust one or more motion state parameters of the mobile platform; Both the first sensor and the second sensor are mounted on infrastructure in the flight environment. The infrastructure is communicatively connected to the monitoring server and is deployed at nodes in an infrastructure distribution network.

50. An infrastructure in which, The infrastructure includes: The main structure of the facility, used to realize basic functions; A first sensor is mounted on the main body of the facility and is used to actively obtain first target information of the mobile platform. A second sensor, mounted on the main body of the facility, is used to passively acquire second target information of the mobile platform; and A communication module is provided, which is used to communicate with the monitoring server to send target information to the monitoring server so that the monitoring server can monitor the mobile platform. The infrastructure is deployed at nodes in an infrastructure distribution network, and the target information includes the first target information and the second target information, and / or information determined based on the first target information and the second target information.

51. A monitoring system for a mobile platform, wherein, It includes a monitoring server and at least one of the infrastructures as described in claim 50, wherein the monitoring server is communicatively connected to at least one of the infrastructures.

52. A computer-readable storage medium, wherein, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the monitoring method for the mobile platform according to any one of claims 1-49.

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