Control method and system for mobile platform, and storage medium

Abstract

Provided in the embodiments of the present application are a control method and system for a mobile platform, and a storage medium. The method comprises: acquiring the current positioning information of a mobile platform; and in response to failing to acquire the current positioning information of the mobile platform, acquiring a corresponding restriction policy, wherein the restriction policy allows the mobile platform to operate under a preset restriction condition, and the restriction policy is determined on the basis of related information of a historical positioning location of the mobile platform, the historical positioning location comprising a historical positioning location before the current power-on cycle, and the related information comprising related information of the type of the region where the positioning location is located. The technical solution provided in the embodiments of the present application can not only ensure safety control of a mobile platform, but can also improve the user usage experience of the mobile platform.

Description

Control methods, systems and storage media for mobile platforms Technical Field

[0001] This application relates to the field of control technology, and in particular to a control method, system and storage medium for a mobile platform. Background Technology

[0002] In recent years, mobile platforms such as autonomous vehicles and unmanned aerial vehicles have been widely used in industry and daily life. To maintain safety, the operation of mobile platforms must comply with the laws, regulations, or relevant management provisions of each geographical region.

[0003] Taking unmanned aerial vehicles (UAVs) as an example, mobile platforms currently determine the location of a UAV based on its geolocation information, and then control the UAV based on the type of area it belongs to, such as controlled or uncontrolled zone. However, in some cases, UAVs cannot achieve positioning. When UAVs cannot achieve positioning, previous solutions often adopted the strictest control strategies to ensure safety management, such as directly prohibiting UAVs from taking off or flying, resulting in a poor user experience.

[0004] Summary of the Invention

[0005] This application provides a control method, system, and storage medium for a mobile platform, which can solve the problem of unreasonable security control schemes adopted by the prior art when the mobile platform cannot be located, thereby improving the user experience of the mobile platform.

[0006] The first aspect of this application provides a control method for a mobile platform, comprising:

[0007] Obtain the current location information of the mobile platform; and

[0008] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on the relevant information of the mobile platform's historical location, including the historical location before the current power-on. The relevant information includes information about the type of the location area.

[0009] A second aspect of this application provides a control method for a mobile platform, comprising:

[0010] Obtain information related to the historical location of the mobile platform, including the historical location before this power-on, and related information such as the type of the location's region; and

[0011] Based on the historical location information of the mobile platform, a corresponding restriction strategy is determined, which allows the mobile platform to move under preset restriction conditions.

[0012] A third aspect of this application provides a control method for a mobile platform, comprising:

[0013] Obtain the current location information of the mobile platform; and

[0014] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on relevant information of the mobile platform's historical location. The relevant information includes information about the type of the area where the location is located. The type of the area includes prohibited movement areas. The restriction policy includes the restriction policy corresponding to the prohibited movement areas.

[0015] A fourth aspect of this application provides a control method for a mobile platform, comprising:

[0016] Obtain relevant information about the historical location of the mobile platform, including information about the type of area where the location is located, such as prohibited movement zones; and

[0017] Based on the historical location information of the mobile platform, corresponding restriction policies are determined. The restriction policies allow the mobile platform to move under preset restriction conditions, and the restriction policies include restriction policies corresponding to prohibited movement areas.

[0018] The fifth aspect of this application provides a control system for a mobile platform, comprising:

[0019] At least one processor; and

[0020] At least one memory including computer program code, wherein the at least one memory and the computer program code, together with at least one processor, are configured to cause the control system to perform at least the following steps:

[0021] Obtain the current location information of the mobile platform; and

[0022] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on the relevant information of the mobile platform's historical location, including the historical location before the current power-on. The relevant information includes information about the type of the location area.

[0023] A sixth aspect of this application provides a control system for a mobile platform, comprising:

[0024] At least one processor; and

[0025] At least one memory including computer program code, wherein the at least one memory and the computer program code, together with at least one processor, are configured to cause the control system to perform at least the following steps:

[0026] Obtain information related to the historical location of the mobile platform, including the historical location before this power-on, and related information such as the type of the location's region; and

[0027] Based on the historical location information of the mobile platform, a corresponding restriction strategy is determined, which allows the mobile platform to move under preset restriction conditions.

[0028] The seventh aspect of this application provides a control system for a mobile platform, comprising:

[0029] At least one processor; and

[0030] At least one memory including computer program code, wherein the at least one memory and the computer program code, together with at least one processor, are configured to cause the control system to perform at least the following steps:

[0031] Obtain the current location information of the mobile platform; and

[0032] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on relevant information of the mobile platform's historical location. The relevant information includes information about the type of the area where the location is located. The type of the area includes prohibited movement areas. The restriction policy includes the restriction policy corresponding to the prohibited movement areas.

[0033] The eighth aspect of this application provides a control system for a mobile platform, comprising:

[0034] At least one processor; and

[0035] At least one memory including computer program code, wherein the at least one memory and the computer program code, together with at least one processor, are configured to cause the control system to perform at least the following steps:

[0036] Obtain relevant information about the historical location of the mobile platform, including information about the type of area where the location is located, such as prohibited movement zones; and

[0037] Based on the historical location information of the mobile platform, corresponding restriction policies are determined. The restriction policies allow the mobile platform to move under preset restriction conditions, and the restriction policies include restriction policies corresponding to prohibited movement areas.

[0038] A ninth aspect of this application provides a machine-readable storage medium, comprising: instructions stored thereon, which, when executed by a processor, cause the processor to perform operations, including:

[0039] Obtain the current location information of the mobile platform; and

[0040] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on the relevant information of the mobile platform's historical location, including the historical location before the current power-on. The relevant information includes information about the type of the location area.

[0041] The tenth aspect of this application provides a machine-readable storage medium including instructions stored thereon, which, when executed by a processor, cause the processor to perform operations, including:

[0042] Obtain information related to the historical location of the mobile platform, including the historical location before this power-on, and related information such as the type of the location's region; and

[0043] Based on the historical location information of the mobile platform, a corresponding restriction strategy is determined, which allows the mobile platform to move under preset restriction conditions.

[0044] The eleventh aspect of this application provides a machine-readable storage medium including instructions stored thereon, which, when executed by a processor, cause the processor to perform operations, including:

[0045] Obtain the current location information of the mobile platform; and

[0046] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on relevant information of the mobile platform's historical location. The relevant information includes information about the type of the area where the location is located. The type of the area includes prohibited movement areas. The restriction policy includes the restriction policy corresponding to the prohibited movement areas.

[0047] The twelfth aspect of this application provides a machine-readable storage medium including instructions stored thereon, which, when executed by a processor, cause the processor to perform operations, including:

[0048] Obtain relevant information about the historical location of the mobile platform, including information about the type of area where the location is located, such as prohibited movement zones; and

[0049] Based on the historical location information of the mobile platform, corresponding restriction policies are determined. The restriction policies allow the mobile platform to move under preset restriction conditions, and the restriction policies include restriction policies corresponding to prohibited movement areas.

[0050] By applying the technical solutions of the first, second, fifth, sixth, ninth, and tenth aspects provided in the embodiments of this application, when the mobile platform cannot achieve positioning, its movement is not directly prohibited. Instead, a restriction strategy is adopted based on the type of the region where the mobile platform was located before the current power-on, limiting the movement of the mobile platform to a reasonable range. In this way, the mobile platform can move under the corresponding preset restrictions without waiting for successful positioning, ensuring not only safe control of the mobile platform's movement but also improving the user experience. Taking the power-on scenario as an example, the technical solutions provided in the embodiments of this application ensure that the mobile platform can quickly take off and move under the corresponding preset restrictions after power-on without waiting for successful positioning, thereby balancing safety control and user experience.

[0051] By applying the technical solutions of the third, fourth, seventh, eighth, eleventh, and twelfth aspects provided in the embodiments of this application, when the mobile platform cannot be located and the area where the historical location of the mobile platform is located is a prohibited movement zone, the movement of the mobile platform is not directly prohibited. Instead, a restriction strategy based on the prohibited movement zone is adopted to restrict the movement of the mobile platform within a reasonable range. In this way, even if the historical location is in a prohibited movement zone, the mobile platform can still be allowed to move under the corresponding preset restriction conditions when positioning is currently impossible. This not only ensures the safe control of the movement of the mobile platform but also improves the user experience. For example, this can improve the user experience in scenarios where the mobile platform is indoors or outdoors in a non-prohibited movement zone but cannot be located due to obstruction. Attached Figure Description

[0052] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0053] Figure 1 is a flowchart illustrating the control method for a mobile platform provided in an embodiment of this application;

[0054] Figure 2 is a flowchart illustrating the control method for a mobile platform provided in an embodiment of this application;

[0055] Figure 3 is a flowchart illustrating the control method for a mobile platform provided in an embodiment of this application;

[0056] Figure 4 is a flowchart illustrating the control method for a mobile platform provided in an embodiment of this application;

[0057] Figure 5 is a schematic diagram of a scenario provided in an embodiment of this application;

[0058] Figure 6 is a schematic diagram of a scenario provided in an embodiment of this application;

[0059] Figure 7 is a schematic diagram of scenario three provided in the embodiments of this application;

[0060] Figure 8 is a schematic diagram of scenario four provided in the embodiments of this application;

[0061] Figure 9 is a schematic diagram of scenario five provided in the embodiments of this application;

[0062] Figure 10 is a schematic diagram of the control system provided in an embodiment of this application;

[0063] Figure 11 is a schematic diagram of the structure of the control system provided in an embodiment of this application. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0065] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application and in its specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0066] In recent years, with the development of science and technology, mobile platforms have been widely used in industry and daily life. In this application, "mobile platform" can refer to any device capable of movement. In some embodiments, the mobile platform may have its own power unit, which drives the platform to move. In some embodiments, the mobile platform requires external equipment to drive its movement. The above are merely illustrative examples, and this embodiment does not specifically limit how the mobile platform achieves movement. The mobile platform can be a manned platform or an unmanned platform.

[0067] The mobile platform can be an aircraft, a ground-based mobile platform, a water-based mobile platform, or a mobile platform in other scenarios. For example, the aircraft can include, but is not limited to, any of the following: manned aircraft, logistics aircraft, aerial photography aircraft, agricultural plant protection aircraft, industry rescue aircraft, and performance aircraft. These are merely illustrative examples, and this application does not specifically limit the type of aircraft. The aircraft includes manned aircraft and unmanned aircraft. Ground mobile platforms include autonomous vehicles, autonomous robots, handheld gimbals, action cameras, and other platforms. Water-based mobile platforms include vessels.

[0068] For example, an unmanned aerial vehicle may include a rotor-type mobile platform, such as a two-rotor, three-rotor, four-rotor, six-rotor, or eight-rotor, or a fixed-wing mobile platform, or a combination of rotor-type and fixed-wing mobile platforms. This application does not specifically limit the specific types of mobile platforms.

[0069] Currently, the most common positioning method for mobile platforms is based on satellite navigation systems (also known as global navigation satellite systems). These systems include, but are not limited to, Global Navigation Satellite System (GNSS), Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), and GLONASS. For example, the location of a mobile platform can be obtained through its onboard satellite positioning device. This device establishes a communication connection with satellites by searching for and locking onto them in the sky, thereby obtaining satellite signals and performing positioning based on these signals.

[0070] Of course, besides positioning based on satellite navigation systems, mobile platforms can also use other positioning methods, such as positioning based on wireless communication networks (e.g., cellular networks) or positioning sensors (e.g., visual sensors, inertial sensors, laser sensors, etc.). Optionally, the positioning method can be one or a combination of wireless positioning, network IP positioning, and network-assisted positioning.

[0071] The positioning principles of the various positioning methods described above can be found in existing technologies and will not be detailed here. It should be noted that both satellite navigation system-based and wireless communication network-based positioning methods can achieve absolute position (i.e., geographic location) positioning of a mobile platform. In some embodiments, to improve positioning accuracy, both satellite navigation system-based and wireless communication network-based positioning methods can be used simultaneously to determine the absolute position of the mobile platform. Positioning sensor-based methods are generally used for relative position positioning, for example, determining the relative position of the mobile platform with respect to a reference point (e.g., the starting point of movement), or for auxiliary positioning, such as correcting satellite navigation system-based or wireless communication network-based positioning results using sensor-based positioning results. Of course, when the absolute position of the reference point can be determined through other methods, sensor-based positioning methods can also achieve absolute position positioning.

[0072] When a mobile platform uses a satellite navigation system for absolute positioning, it needs to perform a satellite search process every time it is powered on. Only after the satellite search is completed can it achieve accurate positioning. In other words, the mobile platform cannot achieve absolute positioning from the time it is powered on until the satellite search is completed.

[0073] When a mobile platform uses a wireless communication network-based positioning method for absolute location determination, the platform needs to search for a wireless network (e.g., a base station signal) each time it is powered on. Accurate positioning is only possible after connecting to the wireless network. However, the process of finding and connecting to the wireless network takes time, during which the mobile platform cannot achieve absolute location determination.

[0074] Aside from when the device is powered on, the mobile platform cannot achieve absolute positioning when satellite or wireless signals are blocked or interfered with. For example, when the mobile platform is located indoors or between buildings outdoors, satellite signals will be blocked by buildings.

[0075] Taking unmanned aerial vehicles (UAVs) as an example, assuming the UAV uses a satellite navigation system for absolute positioning, it needs to perform a satellite search process after powering on. However, some UAVs with slower satellite search speeds may require more than one minute to complete the search. Therefore, according to the previous safety-based flight strategy, the UAV cannot take off before completing the satellite search, which inevitably affects the user experience. For example, if a user turns on the UAV in a non-no-fly zone, the UAV will have to wait a long time to take off. Or, if a user turns on the UAV indoors, it may be unable to take off because the satellite signal is blocked by buildings. This safety control strategy does not fully consider the actual situation but directly adopts the strictest control mode, resulting in a poor user experience.

[0076] To address or partially address the aforementioned technical problems, one embodiment of this application provides a control method for a mobile platform. In this method, when the mobile platform cannot achieve positioning, movement is not directly prohibited. Instead, a restriction strategy is adopted based on the type of the region where the mobile platform's positioning location was before the current power-on, limiting the platform's movement to a reasonable range. This allows the mobile platform to move under the corresponding preset restrictions without waiting for successful positioning, ensuring safe control of the platform's movement and improving the user experience. Taking the power-on scenario as an example, the technical solution provided in this application ensures that the mobile platform can quickly take off and move under the corresponding preset restrictions after power-on without waiting for successful positioning, thus balancing safety control and user experience.

[0077] The following detailed description, with reference to the accompanying drawings, outlines some embodiments of the control method, system, and storage medium for a mobile platform provided in this application.

[0078] Figure 1 is a flowchart illustrating a control method for a mobile platform according to an embodiment of this application, with process 100 shown in the figure. As shown in Figure 1, this method can be applied to a mobile platform and / or its control terminal. That is, the executing entity of this method can be the mobile platform; or, the executing entity can be the control terminal of the mobile platform; or, the executing entity can include both the mobile platform and its control terminal, in which case the mobile platform can communicate with the control terminal. The control terminal is a device used to control the mobile platform, and may include a mobile device and / or a remote control. The mobile device has an application (APP) installed on it to control the mobile platform. The mobile device can be a mobile phone, tablet computer, laptop computer, ground station, or wearable device (such as a watch, bracelet, or head-mounted display device).

[0079] It should be noted that certain or all aspects of process 100 (or any other process diagram described in this application, or variations and / or combinations thereof) may be executed by one or more processors or combinations thereof on a mobile platform, control terminal device, any other system or device. Certain or all aspects of process 100 (or any other process in this application, or variations and / or combinations thereof) may be executed under the control of one or more computer / control systems configured with executable instructions, and may be collectively executed on one or more processors in the form of code (e.g., executable instructions, one or more computer programs, or one or more application programs) via hardware or a combination thereof. The code may be stored on a computer-readable storage medium, for example, in the form of a computer program containing multiple instructions executable by one or more processors. The computer-readable storage medium may be non-transitory. The order of the described operations is not intended to be limiting; any number of described operations may be combined in any order and / or in parallel to implement the process.

[0080] The following section will provide a detailed explanation of this method using an application on a mobile platform as an example. As shown in Figure 1, the method includes the following steps:

[0081] 101. Obtain the current location information of the mobile platform.

[0082] For example, in this application, both location information and location position refer to absolute location information, i.e., geographic location information. For example, both location information and location position of a mobile platform refer to the geographic location information of the mobile platform.

[0083] Optionally, the mobile platform includes at least one of the following: aircraft, automobiles (e.g., autonomous vehicles), electric bicycles, electric motorcycles, and boats. Among these, aircraft may include unmanned aerial vehicles (UAVs). When the mobile platform is an UAV, the control terminal of the mobile platform may be referred to as the ground control terminal.

[0084] In some embodiments, the mobile platform can obtain its current location information based on its onboard positioning device. The positioning device may include at least one of the following: a satellite positioning device, a wireless communication device, and a positioning sensor. The satellite positioning device achieves positioning based on a satellite navigation system, the wireless communication device achieves positioning based on a wireless communication network (e.g., 2G, 3G, 4G, etc.), and the positioning sensor achieves positioning based on collected sensor data. For example, the current location information of the mobile platform includes at least one of the following: satellite positioning information from the satellite positioning device on the mobile platform, and wireless signal positioning information from the wireless communication device on the mobile platform. Since the positioning device on the mobile platform generally performs real-time positioning, the current location information of the mobile platform may include the real-time location information of the mobile platform.

[0085] In other embodiments, the mobile platform can obtain the current location information of its control terminal and use this current location information as the current location information of the mobile platform. The control terminal can obtain its current location information based on its onboard positioning device. The specific implementation of the positioning device can be found in the implementation method of the positioning device on the mobile platform, and will not be repeated here. The current location information of the control terminal includes at least one of the following: satellite positioning information of the satellite positioning device on the control terminal, and wireless signal positioning information of the wireless communication device on the control terminal. The positioning device on the control terminal is generally real-time; therefore, the current location information of the control terminal includes the real-time location information of the control terminal.

[0086] Taking autonomous vehicles as an example, a user rides in an autonomous vehicle and controls it via a mobile phone (the vehicle's control terminal). In this scenario, the phone and the vehicle are almost in the same location. Therefore, it is feasible to directly use the phone's current location information as the vehicle's current location information. Similarly, in scenarios where an unmanned aerial vehicle (UAV) is powered on and taking off, or where it is following a user to film, the distance between the UAV and its control terminal is not far (e.g., a few meters). Therefore, it is feasible to directly use the current location information of the UAV's control terminal as the UAV's current location information.

[0087] For example, a communication link is established between the mobile platform and the control terminal. The mobile platform can send a location information acquisition request to the control terminal through the communication link. In response to the request, the control terminal sends its own current location information to the mobile platform.

[0088] In other words, the current location information may include at least one of the following: the current location information of the mobile platform's body, and the current location information of the mobile platform's control terminal. Thus, the mobile platform's current location information can come from one or more sources, ensuring the accuracy of obtaining this information.

[0089] In some optional implementations, the mobile platform can obtain the current location information of the mobile platform's body; if the acquisition is successful, the current location information of the mobile platform's body is determined as the current location information of the mobile platform; if the acquisition fails, it is determined that the current location information of the mobile platform cannot be obtained.

[0090] In some alternative implementations, the mobile platform obtains the current location information of the control terminal. If the acquisition is successful, the current location information of the control terminal is determined as the current location information of the mobile platform. If the acquisition fails, it is determined that the current location information of the mobile platform cannot be obtained.

[0091] In another optional implementation, the mobile platform can obtain the current location information of the mobile platform's body; if the acquisition is successful, the current location information of the mobile platform's body is determined as the current location information of the mobile platform; if the acquisition is unsuccessful, the current location information of its control terminal is obtained; if the current location information of the control terminal can be successfully obtained, the current location information of the control terminal is determined as the current location information of the mobile platform; if the current location information of the control terminal cannot be successfully obtained, it is determined that the current location information of the mobile platform cannot be obtained.

[0092] In practical applications, the mobile platform can perform positioning once every preset time interval after powering on. The shorter the preset time interval, the better the real-time positioning effect can be achieved. The specific duration of the preset time interval can be set according to actual needs, and this application embodiment does not make specific limitations on it.

[0093] 102. In response to the inability to obtain the current location information of the mobile platform, obtain the corresponding restriction policy. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on the relevant information of the mobile platform's historical location. The historical location includes the historical location before this power-on. The relevant information includes information about the type of the location area.

[0094] To address the safety control issues arising from the inability of mobile platforms like unmanned aerial vehicles (UAVs) to obtain current location information, some traditional solutions directly prohibit UAV flight in such situations. Other traditional solutions base their decisions on historical location information; if the previous historical location was in a controlled area (e.g., a no-fly zone), flight is directly prohibited. However, such safety control strategies do not fully consider the actual situation and instead adopt the strictest control mode, resulting in a poor user experience. For example, the current takeoff location may be in an uncontrolled area, but due to GPS signal obstruction or excessively long satellite acquisition time, current location information cannot be obtained. Since the historical location before this launch was in a no-fly zone, takeoff is directly prevented. While some traditional solutions differentiate decisions based on the specific circumstances of the previous moment's location information when the UAV cannot obtain current location information, they still cannot solve the safety control problem of not being able to obtain current location information from the start of takeoff, and simply assume normal takeoff.

[0095] To address or partially resolve the aforementioned technical issues, in this embodiment, when the mobile platform cannot achieve positioning, movement is not directly prohibited. Instead, a restriction strategy is adopted based on the type of the region where the mobile platform was located before the current power-on, limiting its movement to a reasonable range. This allows the mobile platform to move under the corresponding preset restrictions without waiting for successful positioning, ensuring safe control during movement and improving the user experience. Taking the power-on scenario as an example, the technical solution provided in this embodiment ensures that the mobile platform can quickly take off and move under the corresponding preset restrictions after power-on without waiting for successful positioning, thus balancing safety control and user experience.

[0096] For example, when the mobile platform is powered on, or when satellite or wireless signals are blocked or interfered with, the mobile platform cannot obtain its current location information.

[0097] For example, the information related to the type of the location's region refers to the type of the region where the location is located.

[0098] Optionally, the historical location information includes at least one of the following: historical location information of the mobile platform's body, historical location information of the mobile platform's control terminal, and network-activated location information of the mobile platform.

[0099] Optionally, the historical location information of the mobile platform can be stored in the mobile platform, the control terminal of the mobile platform, and / or the server terminal.

[0100] Optionally, the type of the region where the historical location of the mobile platform is located can be stored in the mobile platform, the control terminal of the mobile platform, and / or the server terminal.

[0101] Optionally, the historical location of the mobile platform and the type of its region can be associated and stored in the mobile platform, the control terminal and / or the server terminal of the mobile platform.

[0102] The historical location information of the mobile platform's body is obtained from the historical positioning by the positioning device mounted on the mobile platform. Specific positioning methods can be found in the corresponding contents of the above embodiments. The historical location information of the mobile platform's control terminal is obtained from the historical positioning by the positioning device mounted on the control terminal. Specific positioning methods can also be found in the corresponding contents of the above embodiments. The location information for network activation of the mobile platform refers to the location information of the mobile platform when the control terminal performs network activation. It should be noted that this location information is essentially the location information of the control terminal when performing the aforementioned network activation. However, since the control terminal and the mobile platform usually need to connect via Bluetooth when activating the mobile platform, and the Bluetooth connection distance is within 10 meters, it is feasible to use the control terminal's own location information as the location information of the mobile platform. Thus, the historical location information of the mobile platform can come from one or more sources, ensuring the accuracy of obtaining its historical location information.

[0103] In some embodiments, the historical location before this power-on may include the most recent historical location before this power-on. Optionally, the historical location before this power-on may include other historical location locations before this power-on, wherein the other locations are distinct from the most recent one. It should be noted that the historical location before this power-on is obtained in this embodiment to estimate the type of area where the mobile platform is currently located. Therefore, for estimating the type of area where the mobile platform is currently located, the historical location before this power-on, and the closer the location time is to the current time, the greater its reference value. Optionally, the historical location before this power-on may include the activated location of the mobile platform and a historical location determined by combining the most recent historical location locations before power-on.

[0104] Taking a mobile platform as an example of an unmanned aerial vehicle (UAV), the historical location before this startup is the historical location of the UAV's most recent flight before this takeoff. In other words, the historical location of the mobile platform includes the historical location of the UAV's most recent flight before this takeoff.

[0105] In practical applications, after obtaining the above-mentioned restriction policy, the mobile platform can control the mobile platform to move based on the restriction policy.

[0106] In some embodiments, in response to the power-on of the mobile platform, the current location information of the mobile platform can be obtained. Then, in response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy can be obtained. In response to the user's command to start moving, the mobile platform can be controlled to start moving, and after the movement starts, the movement of the mobile platform can be controlled according to the restriction policy.

[0107] Taking an unmanned aerial vehicle (UAV) as an example, in response to the UAV being powered on, the system obtains the UAV's current location information. Then, in response to the inability to obtain the UAV's current location information, the system obtains the corresponding restriction policy. In response to the user's takeoff command, the system controls the UAV to take off and controls the UAV to fly according to the restriction policy after takeoff.

[0108] In other embodiments, in response to a user's command to start moving, the current location information of the mobile platform can be obtained. Then, in response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy can be obtained, the mobile platform can be controlled to start moving, and the mobile platform can be controlled to move according to the restriction policy after the movement starts.

[0109] Taking an unmanned aerial vehicle (UAV) as an example, in response to the UAV's takeoff command, the system obtains the UAV's current location information. Then, in response to the inability to obtain the UAV's current location information, the system obtains the corresponding restriction policy, controls the UAV to take off, and controls the UAV to fly according to the restriction policy after takeoff.

[0110] In practical applications, regions can be divided according to actual conditions to obtain different types of regions. This application embodiment does not specifically limit this. For example, regions can be divided into specific regions and non-specific regions; that is, the types of regions mentioned above can include specific regions and non-specific regions.

[0111] In some embodiments, a specific area is a controlled area.

[0112] For example, the controlled area may include: a prohibited movement area and / or a restricted movement area. A prohibited movement area refers to an area where movement of the mobile platform is prohibited, while a restricted movement area refers to an area where movement of the mobile platform is permitted under specified restrictions. These restrictions may be user-defined or stipulated by law / regulation.

[0113] Taking mobile platforms as unmanned aerial vehicles (UAVs) as an example, the prohibited movement area refers to the no-fly zone, which is the area where UAVs are prohibited from flying. The restricted movement area refers to the height-restricted area, which is the area where UAVs are restricted from flying at a set altitude (e.g., 120 meters).

[0114] For example, a controlled area may include: a user-defined controlled area and / or a controlled area stipulated by laws / regulations. For instance, if a user manages a mountainous area and, for safety reasons, does not want drones to fly in a certain area of ​​the mountain, the user can define that area as a controlled area. User-defined controlled areas may include prohibited movement areas and / or restricted movement areas, while legally stipulated controlled areas may include prohibited movement areas and / or restricted movement areas.

[0115] In some embodiments, the non-specific area is an unregulated area.

[0116] For example, when the controlled area is a prohibited movement area, the uncontrolled area refers to the non-prohibited movement area.

[0117] For example, when the controlled area is a restricted movement area, the uncontrolled area is an unrestricted movement area.

[0118] For example, when a regulated area includes prohibited and restricted areas, an unregulated area refers to an area type other than prohibited and restricted areas.

[0119] The preset restrictions included in the restriction strategy may include one or more of the following: restrictions on movement speed, restrictions on movement acceleration, restrictions on movement height, restrictions on movement distance, and restrictions on movement direction.

[0120] The restriction strategies for different types of mobile platforms may include different restrictions or conditions, which can be set according to the actual application scenario. This application embodiment does not specifically limit this. Taking an unmanned aerial vehicle (UAV) as an example, the restriction strategy includes at least one of the following: restrictions on relative flight altitude, restrictions on absolute flight altitude, restrictions on flight distance, restrictions on flight speed, and restrictions on flight acceleration. Among them, relative flight altitude refers to the flight altitude relative to the takeoff point, and absolute flight altitude refers to the flight altitude relative to sea level.

[0121] The aforementioned restriction policy can be determined by the mobile platform itself or by the control terminal of the mobile platform; this embodiment does not specifically limit this. For example, when the restriction policy is determined by the control terminal of the mobile platform, the mobile platform can send a restriction policy acquisition request to the control terminal in response to the inability to obtain the current location information of the mobile platform. The control terminal, in response to the restriction policy acquisition request, sends the corresponding restriction policy to the mobile platform. This restriction policy can be determined by the control terminal after receiving the restriction policy acquisition request, or it can be determined by the control terminal before receiving the restriction policy acquisition request.

[0122] In this embodiment, regardless of whether the historical location of the mobile platform is in a specific area (e.g., a prohibited area), the mobile platform is allowed to move under certain restrictions. However, these restrictions vary depending on the type of the historical location. For example, when the historical location is in a specific area, considering the possibility that the mobile platform is currently in that specific area, the restrictions are made stricter. When the historical location is in a non-specific area, considering the very low probability that the mobile platform is currently in a specific area, the restrictions are made more lenient. In other words, in this embodiment, when the current location information of the mobile platform cannot be obtained, the historical location of the mobile platform before this power-on can be referenced, and different restrictions can be adaptively applied depending on the historical location. This allows for targeted and differentiated restriction strategies for different areas, balancing safety control and user experience in a way that is appropriate for the specific location.

[0123] The process of determining the above-mentioned restriction strategies will be described in detail below, taking both specific and non-specific regions as examples.

[0124] 1021. In response to the fact that the type of the region where the historical location of the mobile platform is located is a specific region, the restriction policy is determined to be the first restriction policy.

[0125] 1022. In response to the fact that the type of the region where the historical location of the mobile platform is located is a non-specific region, the restriction policy is determined to be the second restriction policy.

[0126] In the above 1021, when the type of the area where the historical location of the mobile platform is located is a specific area, it indicates that the mobile platform is likely to be in a specific area. Therefore, the restriction policy is determined to be the restriction policy corresponding to the specific area, that is, the first restriction policy.

[0127] Assuming that the historical location of the mobile platform includes the most recent historical location before this power-on, then, in response to the fact that the type of the region where the most recent historical location of the mobile platform before this power-on is located is a specific region, the restriction policy is determined to be the first restriction policy.

[0128] Assuming a specific area is a no-movement zone, and in response to the fact that the area where the historical location of the mobile platform is located is a no-movement zone, the restriction policy is determined to be the first restriction policy.

[0129] The first restriction strategy allows the mobile platform to move under a first preset restriction condition.

[0130] In the above 1022, when the type of the area where the historical location of the mobile platform is located is a non-specific area, it indicates that the mobile platform is likely to be in a non-specific area. Therefore, the restriction strategy is determined to be the restriction strategy corresponding to the non-specific area, which is the second restriction strategy.

[0131] Assuming that the historical location of the mobile platform includes the most recent historical location before this power-on, then, in response to the fact that the type of the region where the most recent historical location of the mobile platform before this power-on is located is a non-specific region, the restriction policy is determined to be the second restriction policy.

[0132] The second restriction strategy allows the mobile platform to move under a second preset restriction condition.

[0133] The first or second preset restriction condition may include one or more of the following: restriction on movement speed, restriction on movement acceleration, restriction on movement height, restriction on movement distance, and restriction on movement direction.

[0134] The first preset restriction condition of the first restriction strategy is different from the second preset restriction condition of the second restriction strategy.

[0135] In some embodiments, the first preset restriction and the second preset restriction differ in number; for example, the first preset restriction has more restrictions than the second preset restriction. A higher number of restrictions indicates a greater degree of restriction.

[0136] For example, when a specific area is a controlled area and a non-specific area is an uncontrolled area, the first preset restriction conditions include: restrictions on movement speed, restrictions on movement acceleration, restrictions on movement height, and restrictions on movement distance. The second preset restriction conditions may only include restrictions on movement height.

[0137] In some embodiments, the first preset restriction condition differs from the second preset restriction condition in that the first preset restriction condition imposes a stricter restriction on the same motion parameters of the mobile platform than the second preset restriction condition. The motion parameters include one or more of speed, acceleration, motion height, and motion distance. For example, the first preset restriction condition includes limiting the speed to less than 1 m / s, and the second preset restriction condition includes limiting the speed to less than 5 m / s, wherein the restriction of limiting the speed to less than 1 m / s is stricter than the restriction of limiting the speed to less than 5 m / s. It should be noted that the descriptions of 1 m / s and 5 m / s above are merely examples; other values, such as 2 m / s and 10 m / s, can also be used. The specific value can be determined based on one or more factors, such as the relevant legal requirements, the motion capabilities of the mobile platform, and the motion scenario of the mobile platform. This application's embodiments do not impose specific limitations.

[0138] In some embodiments, the mobile platform is an unmanned aerial vehicle, and the type of area includes a no-fly zone. In this embodiment, the following steps may be used to determine the restriction policy:

[0139] 1023. In response to the fact that the area where the historical location of the unmanned aerial vehicle is located is a no-fly zone, the restriction strategy is determined to include at least one of the following: limiting the maximum flight altitude and limiting the maximum flight distance.

[0140] When the historical location of an unmanned aerial vehicle (UAV) is in a prohibited flight zone, it indicates a high probability that the UAV is currently located within a prohibited flight zone. To maintain safety, the current maximum flight altitude and / or maximum flight distance of the UAV can be limited. For example, the maximum flight altitude could be 5 meters and the maximum flight distance could be 10 meters.

[0141] The maximum flight altitude includes: maximum absolute altitude and / or maximum relative altitude. Maximum absolute altitude refers to the maximum altitude relative to sea level, and maximum relative altitude refers to the maximum altitude relative to the takeoff point. The maximum flight distance includes: the furthest flight distance from the takeoff position and / or the furthest flight distance from the control terminal of the mobile platform.

[0142] In some scenarios, the inability of a mobile platform to locate itself is only temporary, meaning that the platform will subsequently regain its location capabilities. For example, once the mobile platform powers on and completes satellite acquisition or wireless network access, it can regain its location capabilities, i.e., obtain its current location information. After the mobile platform regains its location capabilities, the restrictions of the limiting policy can be redefined based on the type of area where the mobile platform's current location is located.

[0143] In addition, in some scenarios, the operating area of ​​a mobile platform may be constantly updated. For example, at one moment, a user may be carrying a mobile platform to work in one area, while at the next moment, the user may be carrying a mobile platform to work in another area.

[0144] Therefore, specifically, after controlling the movement of the mobile platform based on the restriction strategy, the above method may further include:

[0145] 103. In response to updates to relevant information about the current location, the restrictions on the restriction policy are redefined.

[0146] For example, when the relevant information of the current location indicates that the area where the current location is located is a non-controlled area, the redetering of the restriction policy includes: canceling the restriction policy. That is, in response to obtaining the current location information of the mobile platform, if it is determined that the area where the current location is located is a non-controlled area, the restriction policy is canceled. Optionally, after the restriction policy is canceled, the mobile platform can move according to the user's instructions. In this embodiment, as the relevant information of the current location of the mobile platform is updated, the restriction policy is also dynamically redetered, thereby enabling more real-time and accurate execution of corresponding control policies on the mobile platform based on its current location, improving user experience while meeting security control requirements.

[0147] For example, when the relevant information of the current location indicates that the area where the current location is located is a controlled area, the redetering of the restriction policy includes maintaining or updating the restriction policy. That is, in response to obtaining the current location information of the mobile platform, if it is determined that the area where the current location is located is a controlled area, the restriction policy is maintained or updated. Controlled areas include prohibited movement areas and restricted movement areas. For example, if it is determined that the area where the current location is located is a prohibited movement area, the restriction policy is updated to prohibit movement, i.e., the mobile platform is controlled to stop moving. Taking an unmanned aerial vehicle (UAV) as an example, if it is determined that the area where the current location is located is a no-fly zone, the UAV is controlled to land. As another example, when the above restriction policy is a more lenient second restriction policy, if it is determined that the area where the current location is located is a restricted movement area, the restriction policy is maintained, i.e., the mobile platform continues to be controlled according to the restriction policy.

[0148] Figure 2 is a flowchart illustrating a control method for a mobile platform according to an embodiment of this application, with process 200 shown in the figure. As shown in Figure 2, this method can be applied to a mobile platform and / or its control terminal; that is, the executing entity of this method can be the mobile platform; or, the executing entity of this method can be the control terminal of the mobile platform; or, the executing entity of this method can include both the mobile platform and its control terminal, in which case the mobile platform can communicate with the control terminal. The method will now be described in detail using an application to a control terminal or a mobile platform as an example. As shown in Figure 2, the method includes the following steps:

[0149] 201. Obtain information related to the historical location of the mobile platform. This historical location includes the location prior to the current power-on, and the relevant information includes details about the type of region where the location is located.

[0150] In some embodiments, the historical location includes the most recent historical location before the current power-on. Optionally, the historical location may include other historical locations before the current power-on, wherein these other locations are distinct from the most recent one. Optionally, the historical location before the current power-on may include the activation location of the mobile platform and a historical location determined by combining the most recent historical location locations before power-on. In practical applications, the method for determining the historical location can be selected specifically, and this application embodiment does not impose specific limitations on this.

[0151] Optionally, in response to the inability to obtain the current location information of the mobile platform, relevant information about the historical location of the mobile platform can be obtained.

[0152] Optionally, when the current location information of the mobile platform cannot be obtained, information related to the historical location of the mobile platform can be obtained.

[0153] Optionally, in response to the mobile platform powering on, information related to the mobile platform's historical location can be obtained. In practical applications, one or more of the following situations may occur. For example, due to the mobile platform's own hardware and software limitations, rapid positioning cannot be achieved for a short period after the mobile platform is powered on. Another example is that the mobile platform may be indoors or outdoors but obstructed by external environmental factors, preventing it from achieving positioning or achieving accurate positioning. Therefore, in response to the mobile platform powering on, information related to the mobile platform's historical location can be directly obtained as a reference, allowing for the rapid execution of step 202 below, i.e., quickly determining the restriction strategy.

[0154] In some embodiments, historical location information of the mobile platform can be obtained, and the type of the region where the historical location is located can be determined based on the historical location information of the mobile platform. For example, the mobile platform can obtain the historical location of the mobile platform from its memory, from the control terminal of the mobile platform, or from the server.

[0155] In other embodiments, the mobile platform, control terminal, and / or server store the type of the region where the historical location of the mobile platform is located. Therefore, the type of the region where the historical location of the mobile platform is located can be directly obtained. For example, the mobile platform obtains the type of the region where the historical location of the mobile platform is located from its memory, from the control terminal, or from the server.

[0156] 202. Based on the historical location information of the mobile platform, determine the corresponding restriction strategy. The restriction strategy allows the mobile platform to move under preset restriction conditions.

[0157] In some embodiments, appropriate restriction policies are determined based on the type of region where the historical location of the mobile platform is located.

[0158] The specific implementation of step 202 above can be found in the corresponding content of "Determination of Restriction Strategy" in the above embodiments, and will not be repeated here.

[0159] It should be noted that when the execution subject of the method shown in Figure 2 is the control end, the control end can respond to the restriction policy acquisition request sent by the mobile platform, execute the above step 201, and after step 202, send the restriction policy to the mobile platform so that the mobile platform can control the movement of the mobile platform according to the restriction policy.

[0160] Optionally, when the mobile platform cannot be located, steps 201 and 202 above are performed.

[0161] In the technical solution provided by this application embodiment, when the mobile platform cannot achieve positioning, its movement is not directly prohibited. Instead, a restriction strategy is adopted based on the type of the region where the mobile platform was located before the current power-on, limiting its movement to a reasonable range. This allows the mobile platform to move under the corresponding preset restrictions without waiting for successful positioning, ensuring safe control during movement and improving the user experience. Taking the power-on scenario as an example, the technical solution provided by this application embodiment ensures that the mobile platform can quickly take off and move under the corresponding preset restrictions after power-on without waiting for successful positioning, thus balancing safety control and user experience.

[0162] It should be noted that any steps in the method provided in this application that are not described in detail can be found in the corresponding content of the above embodiments, and will not be repeated here. Furthermore, the method provided in this application may include other parts or all of the steps in the above embodiments, in addition to the steps described above; please refer to the corresponding content of the above embodiments for details, which will not be repeated here.

[0163] To ensure the safe management of mobile platforms such as unmanned aerial vehicles (UAVs) during flight, the current location information of UAVs is typically monitored. However, if the current location information of an UAV cannot be obtained, traditional solutions rely on the UAV's historical location information for decision-making. If the UAV's last location was found to be in a no-fly zone, its flight is directly prohibited. However, such a safety management strategy does not fully consider the actual situation and instead directly adopts the strictest safety management policy, resulting in a poor user experience. For example, the UAV may currently be in an uncontrolled area, but due to signal obstruction or excessively long signal convergence time, its current location information cannot be obtained. However, since its historical location before this launch was in a no-fly zone, takeoff is directly prohibited.

[0164] To solve or partially solve the above-mentioned technical problems, Figure 3 is a flowchart illustrating a control method for a mobile platform according to an embodiment of this application, with process 300 shown in the figure. As shown in Figure 3, this method can be applied to a mobile platform and / or its control terminal; that is, the executing entity of this method can be the mobile platform; or, the executing entity of this method can be the control terminal of the mobile platform; or, the executing entity of this method can include both the mobile platform and its control terminal, in which case the mobile platform can communicate with the control terminal. The method will now be described in detail using an application to a mobile platform as an example. As shown in Figure 3, the method includes the following steps:

[0165] 301. Obtain the current location information of the mobile platform.

[0166] The specific implementation principle, method and effect of step 301 above are the same as those of step 101 above. For the contents not described in detail in this embodiment, please refer to the detailed description of step 102 in the above embodiments.

[0167] 302. In response to the inability to obtain the current location information of the mobile platform, obtain the corresponding restriction policy. The restriction policy allows the mobile platform to move under preset restriction conditions; the restriction policy is determined based on relevant information about the historical location of the mobile platform, including information about the type of the location's area, such as prohibited movement areas, and the restriction policy includes the restriction policy corresponding to prohibited movement areas.

[0168] In this embodiment, when the mobile platform cannot be located and its historical location is in a prohibited movement zone, movement of the mobile platform is not directly prohibited. Instead, a restriction strategy based on the prohibited movement zone is adopted to limit the movement of the mobile platform to a reasonable range. Thus, even if historical location data is in a prohibited movement zone, the mobile platform can still move under corresponding preset restrictions when location is currently unavailable. This not only ensures safe control of the mobile platform's movement but also improves the user experience. For example, this can improve the user experience in scenarios where the mobile platform is indoors or outdoors in a non-prohibited movement zone but cannot be located due to obstructions.

[0169] In this embodiment, various embodiments of the aforementioned control method for the mobile platform can also be executed, and this embodiment can be combined with various embodiments of the aforementioned control method. For example, the control method may include the following steps: obtaining the current location information of the mobile platform; in response to the inability to obtain the current location information of the mobile platform, obtaining a corresponding restriction policy, the restriction policy allowing the mobile platform to move under preset restriction conditions; wherein, the restriction policy is determined based on relevant information of the historical location of the mobile platform, the historical location includes the historical location before the current power-on, and the relevant information includes information related to the type of the area where the location is located; the type of the area includes a prohibited movement area, and the restriction policy includes the restriction policy corresponding to the prohibited movement area. Thus, even if the historical location of the mobile platform before the current power-on is located in a prohibited movement area when the current location information of the mobile platform cannot be obtained, the mobile platform can still be allowed to move under relatively strict preset restriction conditions; if the historical location of the mobile platform before the current power-on is located in a non-prohibited movement area, the mobile platform can still be allowed to move under relatively lenient preset restriction conditions. Therefore, different restriction strategies can be adaptively adopted based on the type of information related to the historical location area. This not only ensures the safe control of the mobile platform's movement but also improves the user experience. Specific implementation methods and corresponding technical effects can be found in the description of the foregoing embodiments, and will not be repeated here.

[0170] In some embodiments, the historical location of the mobile platform may include its most recent historical location. Optionally, the historical location of the mobile platform may include other historical location locations, which are distinct from the most recent one. It should be noted that the historical location is obtained in this embodiment to estimate the type of area where the mobile platform is currently located. Therefore, for estimating the type of area where the mobile platform is currently located, historical location locations with a location time closer to the current time are more meaningful.

[0171] In some embodiments, the historical location of the mobile platform may include the historical location of the mobile platform before this power-on, such as the most recent historical location of the mobile platform before this power-on.

[0172] In other embodiments, the historical location of the mobile platform may include: the historical location of the mobile platform since this power-on, for example: the most recent historical location of the mobile platform since this power-on. Using the most recent historical location since this power-on ensures its timeliness as a location reference, thereby more accurately and reasonably analyzing the possible current location of the mobile platform.

[0173] In practical applications, the relevant information of the historical location of the mobile platform after this power-on can be obtained first. If it can be obtained, the restriction policy can be determined based on the relevant information of the historical location of the mobile platform after this power-on; if it cannot be obtained, the relevant information of the historical location of the mobile platform before this power-on can be obtained.

[0174] In this embodiment, when the current location information of the mobile platform cannot be obtained and the area where the historical location of the mobile platform is located is a prohibited movement area, a restriction policy corresponding to the prohibited movement area is obtained. This restriction policy allows the mobile platform to move under preset restriction conditions. Thus, the mobile platform can be subsequently controlled to move under preset restriction conditions based on the restriction policy corresponding to the prohibited movement area.

[0175] In the technical solution provided in this application embodiment, when the mobile platform cannot be located and the area where the historical location of the mobile platform is located is a prohibited movement zone, the movement of the mobile platform is not directly prohibited. Instead, a restriction strategy based on the prohibited movement zone is adopted to limit the movement of the mobile platform to a reasonable range. In this way, even if the historical location is in a prohibited movement zone, the mobile platform can still be allowed to move under the corresponding preset restriction conditions when positioning is currently impossible. This not only ensures the safe control of the movement of the mobile platform but also improves the user experience. For example, this can improve the user experience in scenarios where the mobile platform is indoors or outdoors in a non-prohibited movement zone but cannot be located due to obstruction.

[0176] For example, the technical solution provided in the embodiments of this application can not only deal with the situation where the device cannot be located when it is powered on, but also deal with the situation where the device cannot be located during movement due to reasons such as satellite navigation device losing satellites or network loss.

[0177] In some embodiments, 302 may include:

[0178] 3021. In response to the fact that the area where the historical location of the mobile platform is located is a no-fly zone, the restriction policy is determined to include at least one of the following: limiting the maximum flight altitude and limiting the maximum flight distance.

[0179] The specific implementation principle, method and effect of step 3021 above are the same as the specific implementation principle, method and effect of step 1023 above. For the contents not described in detail in this embodiment, please refer to the detailed description of step 1023 in the above embodiments.

[0180] It should be noted that any steps in the method provided in this application that are not described in detail can be found in the corresponding content of the above embodiments, and will not be repeated here. Furthermore, the method provided in this application may include other parts or all of the steps in the above embodiments, in addition to the steps described above; please refer to the corresponding content of the above embodiments for details, which will not be repeated here.

[0181] Figure 4 is a flowchart illustrating a control method for a mobile platform according to an embodiment of this application, with process 400 shown in the figure. As shown in Figure 4, this method can be applied to a mobile platform and / or its control terminal; that is, the executing entity of this method can be the mobile platform; or, the executing entity of this method can be the control terminal of the mobile platform; or, the executing entity of this method can include both the mobile platform and its control terminal, in which case the mobile platform can communicate with the control terminal. The method will now be described in detail using an application to a control terminal or a mobile platform as an example. As shown in Figure 4, the method includes the following steps:

[0182] 401. Obtain relevant information about the historical location of the mobile platform.

[0183] The relevant information includes information about the type of area where the location is situated, including prohibited movement zones.

[0184] In some embodiments, the historical location of the mobile platform may include the most recent historical location of the mobile platform.

[0185] In some embodiments, the historical location of the mobile platform may include the historical location of the mobile platform before this power-on, such as the most recent historical location of the mobile platform before this power-on.

[0186] In other embodiments, the historical location of the mobile platform may include: the historical location of the mobile platform since the current power-on, for example: the most recent historical location of the mobile platform since the current power-on.

[0187] Optionally, in response to the inability to obtain the current location information of the mobile platform, relevant information about the historical location of the mobile platform can be obtained.

[0188] Optionally, when the current location information of the mobile platform cannot be obtained, information related to the historical location of the mobile platform can be obtained.

[0189] Optionally, in response to the mobile platform powering on, information related to the mobile platform's historical location can be obtained. In practical applications, location services are unavailable for a period of time after the mobile platform is powered on; therefore, information related to the mobile platform's historical location can be obtained directly in response to the mobile platform powering on.

[0190] In some embodiments, historical location information (i.e., historical location location) of the mobile platform can be obtained, and the type of the region where the historical location location is located can be determined based on the historical location information of the mobile platform. For example, the mobile platform obtains the historical location location of the mobile platform from the mobile platform's memory, or from the mobile platform's control terminal, or from the server.

[0191] In other embodiments, the mobile platform, control terminal, and / or server store the type of the region where the historical location of the mobile platform is located. Therefore, the type of the region where the historical location of the mobile platform is located can be directly obtained. For example, the mobile platform obtains the type of the region where the historical location of the mobile platform is located from its memory, from the control terminal, or from the server.

[0192] 402. Based on the historical location information of the mobile platform, determine the corresponding restriction policies. These restriction policies allow the mobile platform to move under preset restrictions, and include restriction policies for prohibited movement areas.

[0193] In some embodiments, in response to the fact that the area where the historical location of the mobile platform is located is a prohibited movement area, the restriction policy is determined to be the restriction policy corresponding to the prohibited movement area.

[0194] It should be noted that when the execution subject of the method shown in Figure 4 is the control end, the control end can respond to the restriction policy acquisition request sent by the mobile platform, execute the above step 401, and after step 402, send the restriction policy to the mobile platform so that the mobile platform can control the movement of the mobile platform according to the restriction policy.

[0195] In the technical solution provided in this application embodiment, when the mobile platform cannot be located and the area where the historical location of the mobile platform is located is a prohibited movement zone, the movement of the mobile platform is not directly prohibited. Instead, a restriction strategy based on the prohibited movement zone is adopted to limit the movement of the mobile platform to a reasonable range. In this way, even if the historical location is in a prohibited movement zone, the mobile platform can still be allowed to move under the corresponding preset restriction conditions when positioning is currently impossible. This not only ensures the safe control of the movement of the mobile platform but also improves the user experience. For example, this can improve the user experience in scenarios where the mobile platform is indoors or outdoors in a non-prohibited movement zone but cannot be located due to obstruction.

[0196] It should be noted that any steps in the method provided in this application that are not fully described in detail can be found in the corresponding content of the above embodiments, and will not be repeated here. Furthermore, the method provided in this application may include other parts or all of the steps in the above embodiments in addition to the steps described above; for details, please refer to the corresponding content of the above embodiments, and will not be repeated here.

[0197] The above embodiments describe control methods for a mobile platform when it cannot be located. The following will use an unmanned aerial vehicle (UAV) as an example to illustrate various application scenarios.

[0198] Application Scenario 1:

[0199] As shown in Figure 5, after purchasing UAV 5, a user residing in a no-fly zone activates the UAV at home via Bluetooth using their mobile phone. Upon completion of activation, the UAV, mobile phone, remote controller, or server stores the mobile phone's current location information (which can be obtained from the mobile phone's location via a wireless network device) as the current location information of the mobile platform (i.e., the location information of the mobile platform's network activation). After activation, the user takes the UAV to a non-no-fly zone outdoors and starts it up for the first time. The UAV powers on at time T0. After time T0, the UAV's positioning device begins to acquire its current location information, such as its GPS positioning device performing satellite search. Before the satellite search is completed or successful, in response to the inability to acquire the UAV's current location information, the UAV acquires information related to its most recent historical location before this power-on. Therefore, the location information acquired this time is the location information of the mobile platform's network activation. Since the area where the mobile platform's network activation location is located is a no-fly zone, a relatively strict restriction policy (i.e., the first restriction policy mentioned above) is applied. After acquiring the restriction policy, the UAV is controlled to take off and fly according to the restriction policy (e.g., a 5-meter altitude limit). That is, from the time the UAV is powered on until satellite acquisition is complete, the flight altitude is limited to within 5 meters, meaning the UAV is controlled below altitude limit line a. When the UAV completes satellite acquisition and positioning at time T1, and the current area is determined to be a non-no-fly zone, the above restriction policy can be cancelled, and a new restriction policy can be determined based on the current area type (e.g., a 120-meter altitude limit). The UAV is then controlled according to this new flight policy. In other words, after time T1, the UAV is no longer restricted by altitude limit line a, but only by altitude limit line b, meaning the UAV can fly above altitude limit line a.

[0200] In application scenario 1, after the UAV is activated by network in a no-fly zone, when it is first launched outdoors in a non-no-fly zone, it can quickly take off without waiting for the UAV to successfully locate itself. It can then fly under the corresponding restriction policies, which not only ensures the safe control of the movement of the mobile platform, but also improves the user experience of the mobile platform.

[0201] Application Scenario 2:

[0202] As shown in Figure 6, on the first day, the user flew the drone outdoors in a non-no-fly zone near the no-fly zone. However, due to operational error, the drone mistakenly entered the no-fly zone. Upon entering the no-fly zone, the drone immediately identified its current location as such and forced a landing. After the forced landing, the user shut down the drone, ending the flight. On the second day, the user took the drone to a non-no-fly zone outdoors and started it up. The drone powered on at time T2. After time T2, the drone performed a satellite search. Before completing the satellite search or before successfully obtaining the drone's current location information, in response to the inability to acquire the drone's current location information, the drone retrieved information about its most recent historical location before this startup. Since the area where the mobile platform's most recent historical location was located before this startup was a no-fly zone, a stricter restriction policy (i.e., the first restriction policy mentioned above) was applied. After acquiring the restriction policy, the UAV is controlled to take off and fly according to the restriction policy (e.g., a 5-meter altitude limit). That is, from the time the UAV is powered on until satellite acquisition is complete, the flight altitude is limited to within 5 meters, meaning the UAV is controlled below altitude limit line a. When the UAV completes satellite acquisition and positioning at time T3, and the current area is determined to be a non-no-fly zone, the above restriction policy can be cancelled, and a new restriction policy can be determined based on the current area type (e.g., a 120-meter altitude limit). The UAV is then controlled according to the newly determined restriction policy. In other words, after time T3, the UAV is no longer restricted by altitude limit line a, but only by altitude limit line b, meaning the UAV can fly above altitude limit line a.

[0203] In application scenario 2, the UAV previously flew into a no-fly zone due to operational error and was forced to land there. This time, when the UAV is launched outdoors in a non-no-fly zone, it can quickly take off and fly under the corresponding restriction policies. This not only ensures the safe control of the movement of the mobile platform, but also improves the user experience of the mobile platform.

[0204] Application Scenario 3:

[0205] As shown in Figure 7, on the first day, the user operates UAV 5 in a non-no-fly zone. On the second day, the user takes UAV 5 to an outdoor area within the non-no-fly zone and starts it up. The UAV powers on at time T4. After time T4, the UAV performs satellite search. Before the satellite search is completed or successful, in response to the inability to obtain the UAV's current location information, the UAV obtains information about its most recent historical location before this power-on. Since the area where the mobile platform's most recent historical location was located before this power-on was a non-no-fly zone, a relatively lenient restriction policy (i.e., the second restriction policy mentioned above) is adopted. After obtaining this restriction policy, the user controls the UAV to take off and flies according to this restriction policy (e.g., a 30-meter altitude limit). That is, from the time the UAV powers on until the satellite search is completed or successful, the flight altitude is limited to within 30 meters, i.e., the UAV is controlled to stay below the altitude limit line c. When the UAV completes satellite acquisition and positioning at time T5, and determines that the current area is a non-no-fly zone, the above-mentioned restriction policy can be cancelled, and the current policy can be re-determined based on the current area type (e.g., altitude limit of 120 meters). The UAV will then be controlled to fly according to the re-determined restriction policy. In other words, after time T5, the UAV is not restricted by altitude limit line c, but only by altitude limit line b, meaning that the UAV can fly above altitude limit line c.

[0206] In application scenario 3, the UAV was previously flying in a non-no-fly zone. When the UAV is launched outdoors in a non-no-fly zone this time, it can not only take off quickly, but also enjoy more relaxed restrictions, which further improves the user experience while meeting safety management requirements.

[0207] Application Scenario 4:

[0208] As shown in Figure 8, on the first day, the user flew in a non-no-fly zone near the no-fly zone. However, due to operational error, UAV 5 mistakenly entered the no-fly zone. Upon entering the no-fly zone, the UAV immediately identified its current location as such and forced a landing. After the forced landing, the user shut down the UAV, ending the flight. On the second day, the user started the UAV indoors within the no-fly zone. The UAV powered on at time T6. After time T6, the UAV performed a satellite search. Before completing or successfully acquiring satellite information, in response to the inability to obtain the UAV's current location information, the UAV retrieved information about its most recent historical location before this startup. Since the area where the mobile platform's most recent historical location was located was a no-fly zone, a stricter restriction policy (i.e., the first restriction policy mentioned above) was applied. After acquiring the restriction policy, the UAV is controlled to take off and fly according to the restriction policy (e.g., a 5-meter altitude limit). That is, from the time the UAV is powered on until the satellite acquisition is completed, the flight altitude is limited to within 5 meters, i.e., the UAV is controlled below the altitude limit line 'a'. Since the mobile platform is located indoors, the satellite signal is blocked by the building, preventing the mobile platform from completing the satellite acquisition operation. Therefore, after time T6, the UAV will continue to fly according to the aforementioned relatively strict restriction policy.

[0209] In application scenario 4, the UAV previously entered a no-fly zone due to operational error and was forced to land there. This time, when launching the UAV indoors within the no-fly zone, it can quickly take off. Furthermore, indoor heights are typically only a few meters, so controlling the UAV's flight according to the aforementioned strict restriction strategies has almost no impact on the user's indoor flight experience and also meets safety management requirements.

[0210] Application Scenario 5:

[0211] As shown in Figure 9, on a certain day, a user was flying in a non-no-fly zone near a no-fly zone. However, due to an operational error, UAV 5 mistakenly entered the no-fly zone. The UAV immediately identified itself as being in a no-fly zone upon entering (at time T7) and was forced to land. After the forced landing, at time T8, the UAV lost its satellite signal, meaning it could not locate itself. In response to the inability to obtain its current location information, the UAV retrieved information about its most recent historical location before the current power-on. Since the area where the mobile platform's most recent historical location was located was a no-fly zone, a relatively strict restriction policy (i.e., the first restriction policy mentioned above) was applied. At time T9, the user brought the still-operated UAV back to the non-no-fly zone. Even after being brought back, the UAV still could not locate itself. Therefore, in response to the user's takeoff command, the user controlled the UAV to take off and, after takeoff, controlled its flight according to the aforementioned restriction policy (e.g., a 5-meter altitude limit). In other words, from the time the UAV loses its satellite signal until it completes satellite acquisition, its flight altitude is limited to within 5 meters, meaning the UAV is controlled below altitude restriction line a. When the UAV completes satellite acquisition and positioning at time T10, and the current area is determined to be a non-no-fly zone, the above restriction policy can be cancelled, and a new restriction policy can be determined based on the current area type (e.g., altitude restriction of 120 meters). The UAV will then be controlled according to the newly determined restriction policy. That is, after time T10, the UAV is not restricted by altitude restriction line a, but only by altitude restriction line b, meaning the UAV can fly above altitude restriction line a.

[0212] In application scenario 5, the UAV accidentally flies into a no-fly zone and is forced to land there. It is then taken back to a non-no-fly zone by the user. Even with satellite loss, it can still take off quickly and move under the corresponding restriction policies. Thus, in specific situations, it can meet the needs of safety management and improve the user experience.

[0213] Based on the above application scenarios, it's clear that mobile platforms, such as unmanned aerial vehicles (UAVs), may be unable to obtain current location information. In such cases, determining a suitable control strategy becomes a critical issue. A traditional solution when the current location information of a mobile platform, such as an UAV, is unavailable is to prohibit UAV movement. This could involve hindering takeoff or controlling landing during movement to ensure safety management. Another traditional solution involves referencing the mobile platform's historical location information and applying appropriate control strategies based on the type of area where the historical location was located. For example, if the historical location information indicates a no-fly zone, movement is prohibited. However, both of these approaches fail to fully consider the actual situation and instead directly employ the strictest control strategies, such as preventing takeoff or controlling landing, resulting in a poor user experience.

[0214] Considering that in solutions employing GPS positioning devices to achieve absolute positioning of unmanned aerial vehicles (UAVs), the inability to obtain current positioning information may be due to one or more of the following reasons: For example, the UAV may be indoors, preventing it from positioning. Alternatively, the UAV may be outdoors, but due to environmental obstructions, positioning may be impossible or inaccurate. Furthermore, after the UAV is powered on, limitations of its own positioning device may cause it to wait a considerable amount of time before obtaining positioning information, during which time its location cannot be determined. Additionally, the UAV may be in a no-fly zone or a non-no-fly zone. Therefore, taking all these factors into account, this application's embodiments adopt a more reasonable technical solution that balances safety control and user experience.

[0215] Specifically, in one embodiment, when current location information is unavailable, a corresponding restriction policy can be determined based on historical location information prior to power-on. This restriction policy allows the unmanned aerial vehicle (UAV) to move under preset restrictions. For example, if the historical location information pertains to a specific area (such as a no-fly zone), a relatively strict first restriction policy is adopted. If the historical location information pertains to a non-specific area (such as a non-no-fly zone), a relatively lenient second restriction policy is adopted. Thus, different levels of restriction policies can be selectively applied based on the type of area where the historical location was located prior to power-on, balancing safety control requirements and user experience.

[0216] Consider an application scenario where an unmanned aerial vehicle (UAV) is currently in a specific area, but its current location information cannot be obtained due to one or more of the aforementioned reasons, such as the UAV being indoors. Traditional solutions would retrieve its historical location information before startup, but if the historical location information points to a specific area, they would not consider the user experience and would directly apply the strictest control strategy, such as preventing the UAV from taking off. That is, the UAV is actually unusable in a scenario that meets the corresponding safety control requirements. In the embodiments of this application, however, in this application scenario, the UAV is not prevented from taking off. Instead, a restriction strategy corresponding to the specific area is retrieved. This restriction strategy allows the UAV to move under preset restrictions, such as allowing the UAV to take off. Furthermore, compared to the historical location information pointing to a non-specific area, the UAV will be subject to relatively strict flight restrictions during flight. Therefore, while improving the user experience, relevant safety control requirements are also met.

[0217] Specifically, in one embodiment, when current location information is unavailable, a corresponding restriction strategy can be selected based on historical location information. This restriction strategy allows movement under preset restriction conditions. Even if the area where the historical location is located is a prohibited movement zone, the mobile platform is still allowed to move under the preset restriction conditions. Thus, in some scenarios, such as when the current location of the mobile platform is not a prohibited movement zone, even if the area where its historical location was located was a prohibited movement zone, this application does not directly adopt the most stringent traditional control strategy, such as preventing the UAV from taking off. Instead, it allows the UAV to take off or allows the UAV to continue flying in that scenario, thereby ensuring that users can use the UAV in scenarios where the UAV actually meets the corresponding safety control requirements, thus improving the user experience.

[0218] Consider an application scenario where an unmanned aerial vehicle (UAV) is currently indoors and unable to locate itself, while its historical location indicates a no-fly zone. Traditional solutions would simply employ the strictest control strategies, such as prohibiting UAV takeoff. Clearly, it's unreasonable to apply the most stringent control strategies to a mobile platform when safety is adequately ensured, such as indoor environments. Therefore, this embodiment of the application allows the UAV to take off and fly indoors in this scenario, balancing safety control and user experience.

[0219] Consider another application scenario: the drone is currently outdoors and in a non-no-fly zone, but due to environmental obstructions or limitations of its own positioning device, it cannot obtain positioning information or the obtained positioning information deviates significantly from the true value. Its historical positioning was in a no-fly zone. Previous solutions would directly employ the strictest control strategy, such as prohibiting the drone from taking off. Clearly, it is unreasonable to prohibit the drone from moving even when it is currently located in a non-no-fly zone. Therefore, in this embodiment, in this application scenario, the drone is allowed to move under preset restrictions, such as allowing rapid takeoff. Simultaneously, considering safety management, the drone will be subject to the restrictions corresponding to the no-fly zone during flight. Thus, when the drone is currently in a non-no-fly zone, it will not be incorrectly restricted to the strictest control strategy due to a historical no-fly zone location, thereby affecting the user experience of using the drone to perform corresponding tasks.

[0220] Figure 10 illustrates a control system for a mobile platform according to an embodiment of this application. As shown in Figure 10, the system includes: at least one processor 1001; and at least one memory 1002 including computer program code.

[0221] In some embodiments, at least one memory 1002 and computer program code, together with at least one processor 1001, are configured to cause the control system to perform at least the following steps:

[0222] Obtain the current location information of the mobile platform; and

[0223] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on the relevant information of the mobile platform's historical location, including the most recent historical location before the current power-on. The relevant information includes information about the type of the location area.

[0224] In other embodiments, at least one memory 1002 and computer program code, together with at least one processor 1001, are configured to cause the control system to perform at least the following steps:

[0225] Obtain the current location information of the mobile platform; and

[0226] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on the relevant information of the mobile platform's historical location, including the most recent historical location before the current power-on. The relevant information includes information about the type of the location area.

[0227] In some embodiments of this application, the control system includes at least one of the following: a controller for a mobile platform, a controller for a control terminal of a mobile platform, a mobile platform, and a control terminal of a mobile platform.

[0228] In some embodiments of this application, the historical location includes the most recent historical location before the current power-on.

[0229] In some embodiments of this application, the mobile platform includes at least one of the following: aircraft, automobile, electric bicycle, electric motorcycle, and boat.

[0230] In some embodiments of this application, the mobile platform is an unmanned aerial vehicle.

[0231] In some embodiments of this application, the historical location before the current power-on is the historical location of the most recent flight before the current takeoff of the unmanned aerial vehicle.

[0232] In some embodiments of this application, the limiting strategies include at least one of the following: limiting relative flight altitude, limiting absolute flight altitude, limiting flight distance, limiting flight speed, and limiting flight acceleration.

[0233] In some embodiments of this application, the types of regions include specific regions and non-specific regions.

[0234] In some embodiments of this application, the processor 1001 determines a corresponding restriction strategy, including:

[0235] In response to the fact that the historical location of the mobile platform is located in a specific region, the restriction policy is determined to be the first restriction policy.

[0236] In response to the fact that the type of the area where the historical location of the mobile platform is located is a non-specific area, the restriction policy is determined to be the second restriction policy. The first preset restriction condition of the first restriction policy is different from the second preset restriction condition of the second restriction policy.

[0237] In some embodiments of this application, the difference includes that the number of first preset restrictions is greater than the number of second preset restrictions.

[0238] In some embodiments of this application, the preset limiting conditions include at least one of the following: a limitation on movement speed, a limitation on movement acceleration, a limitation on movement height, a limitation on movement distance, and a limitation on movement direction.

[0239] In some embodiments of this application, the differences include: the first preset restriction condition imposes a more stringent restriction on the same motion parameters of the mobile platform than the second preset restriction condition imposes a more stringent restriction on the same motion parameters of the mobile platform.

[0240] In some embodiments of this application, the motion parameters include at least one of the following: velocity, acceleration, motion height, and motion distance.

[0241] In some embodiments of this application, the specific area is a controlled area.

[0242] In some embodiments of this application, the controlled area includes at least one of the following: a prohibited movement area and a restricted movement area.

[0243] In some embodiments of this application, the controlled area includes at least one of the following: a user-defined controlled area, or a controlled area stipulated by laws and regulations.

[0244] In some embodiments of this application, the non-specific area refers to the unregulated area.

[0245] In some embodiments of this application, the unregulated area includes at least one of the following: a user-defined unregulated area, or a non-regulated area as defined by laws and regulations.

[0246] In some embodiments of this application, the mobile platform is an unmanned aerial vehicle, and the type of area in which it is located includes a no-fly zone.

[0247] In some embodiments of this application, the processor 1001 determines the corresponding restriction strategy specifically including:

[0248] In response to the fact that the area where the historical location of the mobile platform is located is a no-fly zone, the restriction policy is determined to include at least one of the following: limiting the maximum flight altitude and limiting the maximum flight distance.

[0249] In some embodiments of this application, the maximum flight altitude includes at least one of the following: maximum absolute altitude and maximum relative altitude.

[0250] In some embodiments of this application, the farthest flight distance includes at least one of the following: the farthest flight distance from the takeoff position, and the farthest flight distance from the ground control terminal.

[0251] In some embodiments of this application, the current location information includes at least one of the following: the current location information of the body of the mobile platform, and the current location information of the control terminal of the mobile platform.

[0252] In some embodiments of this application, the current positioning information of the mobile platform includes at least one of the following: satellite positioning information of the satellite positioning device carried on the mobile platform, and wireless signal positioning information of the wireless communication device carried on the mobile platform.

[0253] In some embodiments of this application, the current location information of the control terminal includes at least one of the following: satellite location information of the satellite positioning device mounted on the control terminal, and wireless signal location information of the wireless communication device mounted on the control terminal.

[0254] In some embodiments of this application, the current location information of the mobile platform's body includes: the real-time location information of the mobile platform's body.

[0255] In some embodiments of this application, the current location information of the control terminal includes: the real-time location information of the control terminal.

[0256] In some embodiments of this application, the historical location information includes at least one of the following: historical location information of the mobile platform's body, historical location information of the mobile platform's control terminal, and network-activated location information of the mobile platform.

[0257] In some embodiments of this application, the control terminal includes at least one of the following: a mobile phone, a tablet computer, and a remote control.

[0258] In some embodiments of this application, after controlling the movement of the mobile platform based on the restriction policy, the following steps are included: in response to an update of relevant information about the current location, the restrictions of the restriction policy are redefined.

[0259] In some embodiments of this application, the relevant information of the current location includes: the type of the area where the current location is located is an uncontrolled area, and the redetering of the restriction policy includes: canceling the restriction policy.

[0260] In some embodiments of this application, the relevant information of the current location includes that the type of the area where the current location is located is a controlled area, and the redetering of the restriction policy includes: maintaining or updating the restriction policy.

[0261] In some embodiments of this application, the controlled area includes a prohibited movement area and a restricted movement area.

[0262] The implementation principle, process, and effect of the control system shown in Figure 10 are basically the same as those of the methods shown in Figure 1 and Figure 2. For parts not described in detail in this embodiment, please refer to the relevant descriptions of the embodiments shown in Figures 1 and 2.

[0263] Figure 11 illustrates a control system for a mobile platform according to an embodiment of this application. As shown in Figure 11, the system includes: at least one processor 1101; and at least one memory 1102 including computer program code.

[0264] In some embodiments of this application, at least one memory 1102 and computer program code, together with at least one processor 1101, are configured to cause the control system to perform at least the following steps:

[0265] Obtain the current location information of the mobile platform; and

[0266] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on relevant information of the mobile platform's historical location. The relevant information includes information about the type of the area where the location is located. The type of the area includes prohibited movement areas. The restriction policy includes the restriction policy corresponding to the prohibited movement areas.

[0267] In other embodiments of this application, at least one memory 1102 and computer program code, together with at least one processor 1101, are configured to cause the control system to perform at least the following steps:

[0268] Obtain relevant information about the historical location of the mobile platform, including information about the type of area where the location is located, such as prohibited movement zones; and

[0269] Based on the historical location information of the mobile platform, corresponding restriction policies are determined. The restriction policies allow the mobile platform to move under preset restriction conditions, and the restriction policies include restriction policies corresponding to prohibited movement areas.

[0270] In some embodiments of this application, the historical location includes the most recent historical location.

[0271] In some embodiments of this application, the mobile platform includes at least one of the following: aircraft, automobile, electric bicycle, electric motorcycle, and boat.

[0272] In some embodiments of this application, the mobile platform is an unmanned aerial vehicle.

[0273] In some embodiments of this application, the historical location is the historical location of the unmanned aerial vehicle during its most recent flight.

[0274] In some embodiments of this application, the limiting strategies include at least one of the following: limiting relative flight altitude, limiting absolute flight altitude, limiting flight distance, limiting flight speed, and limiting flight acceleration.

[0275] In some embodiments of this application, the preset limiting conditions include at least one of the following: a limitation on movement speed, a limitation on movement acceleration, a limitation on movement height, a limitation on movement distance, and a limitation on movement direction.

[0276] In some embodiments of this application, the mobile platform is an unmanned aerial vehicle, and the prohibited movement area is a prohibited flight area.

[0277] In some embodiments of this application, the processor 1101 determines the corresponding restriction strategy specifically including:

[0278] In response to the fact that the area where the historical location of the mobile platform is located is a no-fly zone, the restriction policy is determined to include at least one of the following: limiting the maximum flight altitude and limiting the maximum flight distance.

[0279] In some embodiments of this application, the maximum flight altitude includes at least one of the following: maximum absolute altitude and maximum relative altitude.

[0280] In some embodiments of this application, the farthest flight distance includes at least one of the following: the farthest flight distance from the takeoff position, and the farthest flight distance from the ground control terminal.

[0281] In some embodiments of this application, the current location information includes at least one of the following: the current location information of the body of the mobile platform, and the current location information of the control terminal of the mobile platform.

[0282] In some embodiments of this application, the current positioning information of the mobile platform includes at least one of the following: satellite positioning information of the satellite positioning device carried on the mobile platform, and wireless signal positioning information of the wireless communication device carried on the mobile platform.

[0283] In some embodiments of this application, the current location information of the control terminal includes at least one of the following: satellite location information of the satellite positioning device mounted on the control terminal, and wireless signal location information of the wireless communication device mounted on the control terminal.

[0284] In some embodiments of this application, the current location information of the mobile platform's body includes: the real-time location information of the mobile platform's body.

[0285] In some embodiments of this application, the current location information of the control terminal includes: the real-time location information of the control terminal.

[0286] In some embodiments of this application, the historical location information includes at least one of the following: historical location information of the mobile platform's body, historical location information of the mobile platform's control terminal, and network-activated location information of the mobile platform.

[0287] In some embodiments of this application, the control terminal includes at least one of the following: a mobile phone, a tablet computer, and a remote control.

[0288] In some embodiments of this application, after controlling the movement of the mobile platform based on the restriction policy, the following steps are included: in response to an update of relevant information about the current location, the restrictions of the restriction policy are redefined.

[0289] In some embodiments of this application, the relevant information of the current location includes: the type of the area where the current location is located is a non-prohibited movement area, and the redetering of the restriction policy includes: canceling the restriction policy.

[0290] In some embodiments of this application, the relevant information of the current location includes that the type of the area where the current location is located is a prohibited movement area, and the redetering of the restriction policy includes updating the restriction policy to prohibit movement.

[0291] The specific implementation principle, process, and effect of the control system shown in Figure 11 are consistent with those of the methods shown in Figure 3 and Figure 4. For parts not described in detail in this embodiment, please refer to the relevant descriptions of the embodiments shown in Figures 3 and 4.

[0292] This application provides a machine-readable storage medium including instructions stored thereon. When executed by a processor, the instructions cause the processor to perform operations, including:

[0293] Obtain the current location information of the mobile platform; and

[0294] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on the relevant information of the mobile platform's historical location, including the most recent historical location before the current power-on. The relevant information includes information about the type of the location area.

[0295] In this embodiment, when the instruction is executed by the processor, it causes the processor to implement the control method of the embodiment shown in FIG1 above.

[0296] This application provides a machine-readable storage medium including instructions stored thereon. When executed by a processor, the instructions cause the processor to perform operations, including:

[0297] Obtain information related to the historical location of the mobile platform, including the most recent historical location before this power-on, and related information such as the type of the location's region; and

[0298] Based on the historical location information of the mobile platform, a corresponding restriction strategy is determined, which allows the mobile platform to move under preset restriction conditions.

[0299] In this embodiment, when the instruction is executed by the processor, it causes the processor to implement the control method of the embodiment shown in FIG2 above.

[0300] This application provides a machine-readable storage medium including instructions stored thereon. When executed by a processor, the instructions cause the processor to perform operations, including:

[0301] Obtain the current location information of the mobile platform; and

[0302] In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. The restriction policy allows the mobile platform to move under preset restriction conditions. The restriction policy is determined based on relevant information of the mobile platform's historical location. The relevant information includes information about the type of the area where the location is located. The type of the area includes prohibited movement areas. The restriction policy includes the restriction policy corresponding to the prohibited movement areas.

[0303] In this embodiment, when the instruction is executed by the processor, it causes the processor to implement the control method of the embodiment shown in FIG3 above.

[0304] This application provides a machine-readable storage medium including instructions stored thereon. When executed by a processor, the instructions cause the processor to perform operations, including:

[0305] Obtain relevant information about the historical location of the mobile platform, including information about the type of area where the location is located, such as prohibited movement zones; and

[0306] Based on the historical location information of the mobile platform, corresponding restriction policies are determined. The restriction policies allow the mobile platform to move under preset restriction conditions, and the restriction policies include restriction policies corresponding to prohibited movement areas.

[0307] In this embodiment, when the instruction is executed by the processor, it causes the processor to implement the control method of the embodiment shown in FIG4 above.

[0308] The technical solutions and features in the above embodiments can be used individually or in combination if they conflict with this invention. As long as they do not exceed the knowledge of those skilled in the art, they are all equivalent embodiments within the scope of protection of this application.

[0309] The above are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

[0310] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

A control method for a mobile platform, characterized in that, include: Obtain the current location information of the mobile platform; as well as In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained, which allows the mobile platform to move under preset restriction conditions; wherein, the restriction policy is determined based on relevant information of the historical location of the mobile platform, including the historical location before the current power-on, and the relevant information includes information related to the type of the location area. A control method for a mobile platform, characterized in that, include: Obtain relevant information about the historical location of the mobile platform, wherein the historical location includes the historical location before the current power-on, and the relevant information includes information about the type of the location area; as well as Based on the relevant information of the historical location of the mobile platform, a corresponding restriction strategy is determined, which allows the mobile platform to move under preset restriction conditions. The method according to claim 1 or 2, characterized in that, The historical location includes the most recent historical location before this power-on. The method according to claim 1 or 2, characterized in that, The mobile platform includes at least one of the following: aircraft, automobiles, electric bicycles, electric motorcycles, and boats. The method according to claim 1 or 2, characterized in that, The mobile platform is an unmanned aerial vehicle. The method according to claim 5, characterized in that, The historical location prior to this startup is the historical location of the most recent flight before the current takeoff of the unmanned aerial vehicle. The method according to claim 5, characterized in that, The restriction strategy includes at least one of the following: restriction on relative flight altitude, restriction on absolute flight altitude, restriction on flight distance, restriction on flight speed, and restriction on flight acceleration. The method according to claim 1 or 2, characterized in that, The types of regions include specific regions and non-specific regions. The method according to claim 8, characterized in that, The determination of the corresponding restriction strategy includes: In response to the fact that the type of the region where the historical location of the mobile platform is located is a specific region, the restriction policy is determined to be the first restriction policy; In response to the fact that the type of the region where the historical location of the mobile platform is located is a non-specific region, the restriction policy is determined to be the second restriction policy, and the first preset restriction condition of the first restriction policy is different from the second preset restriction condition of the second restriction policy. The method according to claim 9, characterized in that, The difference includes: the number of the first preset restrictions is greater than the number of the second preset restrictions. The method according to claim 10, characterized in that, The first preset restriction or the second preset restriction includes at least one of the following: a restriction on movement speed, a restriction on movement acceleration, a restriction on movement height, a restriction on movement distance, and a restriction on movement direction. The method according to claim 9, characterized in that, The differences include: the first preset restriction bar The restrictions imposed by the component on the same motion parameters of the movable platform are more stringent than those imposed by the second preset restriction on the same motion parameters of the movable platform. The method according to claim 12, characterized in that, The motion parameters include at least one of the following: velocity, acceleration, motion height, and motion distance. The method according to claim 8, characterized in that, The specific area mentioned is a controlled area. The method according to claim 14, characterized in that, The controlled area includes at least one of the following: a prohibited movement area and a restricted movement area. The method according to claim 14, characterized in that, The controlled area includes at least one of the following: a user-defined controlled area, or a controlled area stipulated by laws and regulations. The method according to claim 8, characterized in that, The non-specific area refers to the unregulated area. The method according to claim 17, characterized in that, The unregulated area includes at least one of the following: a user-defined unregulated area, or a non-regulated area as defined by laws and regulations. The method according to claim 1 or 2, characterized in that, The mobile platform is an unmanned aerial vehicle, and the type of the area in which it is located includes a no-fly zone. The method according to claim 19, characterized in that, The determination of the corresponding restriction strategy includes: In response to the fact that the area where the historical location of the mobile platform is located is a no-fly zone, the restriction strategy is determined to include at least one of the following: limiting the maximum flight altitude and limiting the maximum flight distance. The method according to claim 20, characterized in that, The maximum flight altitude includes at least one of the following: maximum absolute altitude and maximum relative altitude. The method according to claim 20, characterized in that, The maximum flight distance includes at least one of the following: the maximum flight distance from the takeoff position, and the maximum flight distance from the ground control terminal. The method according to claim 1 or 2, characterized in that, The current location information includes at least one of the following: the current location information of the body of the mobile platform, and the current location information of the control terminal of the mobile platform. The method according to claim 23, characterized in that, The current positioning information of the mobile platform includes at least one of the following: satellite positioning information of the satellite positioning device carried by the mobile platform, and wireless signal positioning information of the wireless communication device carried by the mobile platform. The method according to claim 23, characterized in that, The current location information of the control terminal includes at least one of the following: satellite location information of the satellite positioning device carried by the control terminal, and wireless signal location information of the wireless communication device carried by the control terminal. The method according to claim 23, characterized in that, The current location information of the mobile platform includes: the real-time location information of the mobile platform. The method according to claim 23, characterized in that, The current location information of the control terminal includes: the real-time location information of the control terminal. The method according to claim 1 or 2, characterized in that, The historical location information includes at least one of the following: historical location information of the mobile platform's body, historical location information of the mobile platform's control terminal, and network-activated location information of the mobile platform. The method according to claim 28, characterized in that, The control terminal includes at least one of the following: a mobile phone, a tablet computer, or a remote control. The method according to claim 1 or 2, characterized in that, After controlling the movable platform to move based on the restriction policy, the method includes: re-determining the restrictions of the restriction policy in response to an update of relevant information about the current location. The method according to claim 30, characterized in that, The relevant information of the current location includes: the type of the area where the current location is located is an uncontrolled area, and the re-determination of the restriction policy includes: canceling the restriction policy. The method according to claim 30, characterized in that, The relevant information of the current location includes that the type of the area where the current location is located is a controlled area, and the re-determination of the restriction policy includes: maintaining or updating the restriction policy. The method according to claim 32, characterized in that, The controlled area includes areas where movement is prohibited and areas where movement is restricted. A control method for a mobile platform, characterized in that, include: Obtain the current location information of the mobile platform; as well as In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained, which allows the mobile platform to move under preset restriction conditions; wherein, the restriction policy is determined based on relevant information of the historical location of the mobile platform, the relevant information includes information about the type of the area where the location is located, the type of the area includes a prohibited movement area, and the restriction policy includes the restriction policy corresponding to the prohibited movement area. A control method for a mobile platform, characterized in that, include: Obtain relevant information about the historical location of the mobile platform, wherein the relevant information includes information about the type of the area where the location is located, and the type of the area includes a prohibited movement zone; and Based on the relevant information of the historical location of the mobile platform, a corresponding restriction policy is determined, wherein the restriction policy allows the mobile platform to move under preset restriction conditions, and the restriction policy includes the restriction policy corresponding to the prohibited movement area. The method according to claim 34 or 35 is characterized in that, The historical location includes the most recent historical location. The method according to claim 34 or 35 is characterized in that, The mobile platform includes at least one of the following: aircraft, automobiles, electric bicycles, electric motorcycles, and boats. The method according to claim 34 or 35 is characterized in that, The mobile platform is an unmanned aerial vehicle. The method according to claim 38, characterized in that, The historical location is the location of the unmanned aerial vehicle during its most recent flight. The method according to claim 38, characterized in that, The restriction strategy includes at least one of the following: restriction on relative flight altitude, restriction on absolute flight altitude, restriction on flight distance, restriction on flight speed, and restriction on flight acceleration. The method according to claim 34 or 35 is characterized in that, The preset restrictions include at least one of the following: restrictions on movement speed, restrictions on movement acceleration, restrictions on movement height, restrictions on movement distance, and restrictions on movement direction. The method according to claim 34 or 35 is characterized in that, The mobile platform is an unmanned aerial vehicle, and the prohibited movement area is a prohibited flight area. The method according to claim 42, characterized in that, The determination of the corresponding restriction strategy includes: In response to the fact that the area where the historical location of the mobile platform is located is a no-fly zone, the restriction strategy is determined to include at least one of the following: limiting the maximum flight altitude and limiting the maximum flight distance. The method according to claim 43, characterized in that, The maximum flight altitude includes at least one of the following: maximum absolute altitude and maximum relative altitude. The method according to claim 43, characterized in that, The maximum flight distance includes at least one of the following: the maximum flight distance from the takeoff position, and the maximum flight distance from the ground control terminal. The method according to claim 34 or 35 is characterized in that, The current location information includes at least one of the following: the current location information of the body of the mobile platform, and the current location information of the control terminal of the mobile platform. The method according to claim 46, characterized in that, The current positioning information of the mobile platform includes at least one of the following: satellite positioning information of the satellite positioning device carried by the mobile platform, and wireless signal positioning information of the wireless communication device carried by the mobile platform. The method according to claim 46, characterized in that, The current location information of the control terminal includes at least one of the following: satellite location information of the satellite positioning device carried by the control terminal, and wireless signal location information of the wireless communication device carried by the control terminal. The method according to claim 46, characterized in that, The current location information of the mobile platform includes: the real-time location information of the mobile platform. The method according to claim 46, characterized in that, The current location information of the control terminal includes: the real-time location information of the control terminal. The method according to claim 34 or 35 is characterized in that, The historical location information includes at least one of the following: historical location information of the mobile platform's body, historical location information of the mobile platform's control terminal, and network-activated location information of the mobile platform. The method according to claim 51, characterized in that, The control terminal includes at least one of the following: a mobile phone, a tablet computer, or a remote control. The method according to claim 34 or 35 is characterized in that, After controlling the movable platform to move based on the restriction policy, the method includes: re-determining the restrictions of the restriction policy in response to an update of relevant information about the current location. The method according to claim 53 is characterized in that, The relevant information of the current location includes: the type of the area where the current location is located is a non-prohibited movement area, and the re-determination of the restriction policy includes: canceling the restriction policy. The method according to claim 53 is characterized in that, The relevant information of the current location includes that the area where the current location is located is a prohibited movement area, and the re-determination of the restriction policy includes updating the restriction policy to prohibit movement. A control system for a mobile platform, characterized in that, include: At least one processor; as well as At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to cause the control system to perform at least the following steps: Obtain the current location information of the mobile platform; and In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained, which allows the mobile platform to move under preset restriction conditions; wherein, the restriction policy is determined based on relevant information of the historical location of the mobile platform, including the historical location before the current power-on, and the relevant information includes information related to the type of the location area. A control system for a mobile platform, characterized in that, include: At least one processor; as well as At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to cause the control system to perform at least the following steps: Obtain relevant information about the historical location of the mobile platform, wherein the historical location includes the historical location before the current power-on, and the relevant information includes information about the type of the location area; as well as Based on the relevant information of the historical location of the mobile platform, a corresponding restriction strategy is determined, which allows the mobile platform to move under preset restriction conditions. The control system according to claim 56 or 57 is characterized in that, The historical location includes the most recent historical location before this power-on. The control system according to claim 56 or 57 is characterized in that, The mobile platform includes at least one of the following: aircraft, automobiles, electric bicycles, electric motorcycles, and boats. The control system according to claim 56 or 57 is characterized in that, The mobile platform is an unmanned aerial vehicle. The control system according to claim 60 is characterized in that, The historical location prior to this startup is the historical location of the most recent flight before the current takeoff of the unmanned aerial vehicle. The control system according to claim 60 is characterized in that, The restriction strategy includes at least one of the following: restriction on relative flight altitude, restriction on absolute flight altitude, restriction on flight distance, restriction on flight speed, and restriction on flight acceleration. The control system according to claim 56 or 57 is characterized in that, The types of regions include specific regions and non-specific regions. The control system according to claim 63 is characterized in that, The processor determines the corresponding restriction strategy specifically including: In response to the fact that the area where the historical location of the mobile platform is located is a specific area, a restriction policy is determined. The first restriction strategy; In response to the fact that the type of the region where the historical location of the mobile platform is located is a non-specific region, the restriction policy is determined to be the second restriction policy, and the first preset restriction condition of the first restriction policy is different from the second preset restriction condition of the second restriction policy. The control system according to claim 64 is characterized in that, The difference includes: the number of the first preset restrictions is greater than the number of the second preset restrictions. The control system according to claim 65 is characterized in that, The preset restrictions include at least one of the following: restrictions on movement speed, restrictions on movement acceleration, restrictions on movement height, restrictions on movement distance, and restrictions on movement direction. The control system according to claim 64 is characterized in that, The differences include: the first preset restriction condition imposes a more stringent restriction on the same motion parameters of the mobile platform than the second preset restriction condition imposes a more stringent restriction on the same motion parameters of the mobile platform. The control system according to claim 67 is characterized in that, The motion parameters include at least one of the following: velocity, acceleration, motion height, and motion distance. The control system according to claim 63 is characterized in that, The specific area mentioned is a controlled area. The control system according to claim 69 is characterized in that, The controlled area includes at least one of the following: a prohibited movement area and a restricted movement area. The control system according to claim 69 is characterized in that, The controlled area includes at least one of the following: a user-defined controlled area, or a controlled area stipulated by laws and regulations. The control system according to claim 63 is characterized in that, The non-specific area refers to the unregulated area. The control system according to claim 72 is characterized in that, The unregulated area includes at least one of the following: a user-defined unregulated area, or a non-regulated area as defined by laws and regulations. The control system according to claim 56 or 57 is characterized in that, The mobile platform is an unmanned aerial vehicle, and the type of the area in which it is located includes a no-fly zone. The control system according to claim 74 is characterized in that, The processor determines the corresponding restriction strategy specifically including: In response to the fact that the area where the historical location of the mobile platform is located is a no-fly zone, the restriction strategy is determined to include at least one of the following: limiting the maximum flight altitude and limiting the maximum flight distance. The control system according to claim 75 is characterized in that, The maximum flight altitude includes at least one of the following: maximum absolute altitude and maximum relative altitude. The control system according to claim 75 is characterized in that, The maximum flight distance includes at least one of the following: the maximum flight distance from the takeoff position, and the maximum flight distance from the ground control terminal. The control system according to claim 56 or 57 is characterized in that, The current location information includes at least one of the following: the current location information of the body of the mobile platform, and the current location information of the control terminal of the mobile platform. The control system according to claim 78 is characterized in that, The current state of the body of the movable platform The location information includes at least one of the following: satellite location information of the satellite positioning device carried by the mobile platform, and wireless signal location information of the wireless communication device carried by the mobile platform. The control system according to claim 78 is characterized in that, The current location information of the control terminal includes at least one of the following: satellite location information of the satellite positioning device carried by the control terminal, and wireless signal location information of the wireless communication device carried by the control terminal. The control system according to claim 78 is characterized in that, The current location information of the mobile platform includes: the real-time location information of the mobile platform. The control system according to claim 78 is characterized in that, The current location information of the control terminal includes: the real-time location information of the control terminal. The control system according to claim 56 or 57 is characterized in that, The historical location information includes at least one of the following: historical location information of the mobile platform's body, historical location information of the mobile platform's control terminal, and network-activated location information of the mobile platform. The control system according to claim 83 is characterized in that, The control terminal includes at least one of the following: a mobile phone, a tablet computer, or a remote control. The control system according to claim 56 or 57 is characterized in that, After controlling the movable platform to move based on the restriction policy, the processor, in response to the update of relevant information about the current location, redetermines the restrictions of the restriction policy. The control system according to claim 85 is characterized in that, The relevant information of the current location includes: the type of the area where the current location is located is an uncontrolled area, and the re-determination of the restriction policy includes: canceling the restriction policy. The control system according to claim 85 is characterized in that, The relevant information of the current location includes that the type of the area where the current location is located is a controlled area, and the re-determination of the restriction policy includes: maintaining or updating the restriction policy. The control system according to claim 87 is characterized in that, The controlled area includes areas where movement is prohibited and areas where movement is restricted. The control system according to claim 56 or 57 is characterized in that, The control system includes at least one of the following: a controller for the mobile platform, a controller for the control terminal of the mobile platform, the mobile platform, and the control terminal of the mobile platform. A control system for a mobile platform, characterized in that, include: At least one processor; as well as At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to cause the control system to perform at least the following steps: Obtain the current location information of the mobile platform; and In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained. This restriction policy allows the mobile platform to move under preset restrictions. The restriction policy is determined based on relevant information from the mobile platform's historical location data, including the type of the location's region. The relevant information includes the type of the area, which includes a prohibited movement area, and the restriction policy, which includes the restriction policy corresponding to the prohibited movement area. A control system for a mobile platform, characterized in that, include: At least one processor; as well as At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to cause the control system to perform at least the following steps: Obtain relevant information about the historical location of the mobile platform, wherein the relevant information includes information about the type of the area where the location is located, and the type of the area includes a prohibited movement zone; and Based on the relevant information of the historical location of the mobile platform, a corresponding restriction policy is determined, wherein the restriction policy allows the mobile platform to move under preset restriction conditions, and the restriction policy includes the restriction policy corresponding to the prohibited movement area. The control system according to claim 90 or 91 is characterized in that, The historical location includes the most recent historical location. The control system according to claim 90 or 91 is characterized in that, The mobile platform includes at least one of the following: aircraft, automobiles, electric bicycles, electric motorcycles, and boats. The control system according to claim 90 or 91 is characterized in that, The mobile platform is an unmanned aerial vehicle. The control system according to claim 94 is characterized in that, The historical location is the location of the unmanned aerial vehicle during its most recent flight. The control system according to claim 94 is characterized in that, The restriction strategy includes at least one of the following: restriction on relative flight altitude, restriction on absolute flight altitude, restriction on flight distance, restriction on flight speed, and restriction on flight acceleration. The control system according to claim 90 or 91 is characterized in that, The preset restrictions include at least one of the following: restrictions on movement speed, restrictions on movement acceleration, restrictions on movement height, restrictions on movement distance, and restrictions on movement direction. The control system according to claim 90 or 91 is characterized in that, The mobile platform is an unmanned aerial vehicle, and the prohibited movement area is a prohibited flight area. The control system according to claim 98 is characterized in that, The processor determines the corresponding restriction strategy specifically including: In response to the fact that the area where the historical location of the mobile platform is located is a no-fly zone, the restriction strategy is determined to include at least one of the following: limiting the maximum flight altitude and limiting the maximum flight distance. The control system according to claim 99 is characterized in that, The maximum flight altitude includes at least one of the following: maximum absolute altitude and maximum relative altitude. The control system according to claim 99 is characterized in that, The maximum flight distance includes at least one of the following: the maximum flight distance from the takeoff position, and the maximum flight distance from the ground control terminal. The control system according to claim 90 or 91 is characterized in that, The current location information includes At least one of the following: the current location information of the body of the mobile platform, and the current location information of the control terminal of the mobile platform. The control system according to claim 102 is characterized in that, The current positioning information of the mobile platform includes at least one of the following: satellite positioning information of the satellite positioning device carried by the mobile platform, and wireless signal positioning information of the wireless communication device carried by the mobile platform. The control system according to claim 102 is characterized in that, The current location information of the control terminal includes at least one of the following: satellite location information of the satellite positioning device carried by the control terminal, and wireless signal location information of the wireless communication device carried by the control terminal. The control system according to claim 102 is characterized in that, The current location information of the mobile platform includes: the real-time location information of the mobile platform. The control system according to claim 102 is characterized in that, The current location information of the control terminal includes: the real-time location information of the control terminal. The control system according to claim 90 or 91 is characterized in that, The historical location information includes at least one of the following: historical location information of the mobile platform's body, historical location information of the mobile platform's control terminal, and network-activated location information of the mobile platform. The control system according to claim 107 is characterized in that, The control terminal includes at least one of the following: a mobile phone, a tablet computer, or a remote control. The control system according to claim 90 or 91 is characterized in that, After controlling the movable platform to move based on the restriction policy, the processor, in response to the update of relevant information about the current location, redetermines the restrictions of the restriction policy. The control system according to claim 109 is characterized in that, The relevant information of the current location includes: the type of the area where the current location is located is a non-prohibited movement area, and the re-determination of the restriction policy includes: canceling the restriction policy. The control system according to claim 109 is characterized in that, The relevant information of the current location includes that the area where the current location is located is a prohibited movement area, and the re-determination of the restriction policy includes updating the restriction policy to prohibit movement. The control system according to claim 90 or 91 is characterized in that, The control system includes at least one of the following: a controller for the mobile platform, a controller for the control terminal of the mobile platform, the mobile platform, and the control terminal of the mobile platform. A machine-readable storage medium, characterized in that, This includes instructions stored thereon, which, when executed by a processor, cause the processor to perform operations, including: Obtain the current location information of the mobile platform; and In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained, which allows the mobile platform to move under preset restriction conditions; wherein, the restriction policy is determined based on relevant information of the historical location of the mobile platform, including the historical location before the current power-on, and the relevant information includes information related to the type of the location area. A machine-readable storage medium, characterized in that, This includes instructions stored thereon, which, when executed by a processor, cause the processor to perform operations, including: Obtain relevant information about the historical location of the mobile platform, wherein the historical location includes the historical location before this power-on, and the relevant information includes information about the type of the location's region; and Based on the relevant information of the historical location of the mobile platform, a corresponding restriction strategy is determined, which allows the mobile platform to move under preset restriction conditions. A machine-readable storage medium, characterized in that, This includes instructions stored thereon, which, when executed by a processor, cause the processor to perform operations, including: Obtain the current location information of the mobile platform; and In response to the inability to obtain the current location information of the mobile platform, a corresponding restriction policy is obtained, which allows the mobile platform to move under preset restriction conditions; wherein, the restriction policy is determined based on relevant information of the historical location of the mobile platform, the relevant information includes information about the type of the area where the location is located, the type of the area includes a prohibited movement area, and the restriction policy includes the restriction policy corresponding to the prohibited movement area. A machine-readable storage medium, characterized in that, This includes instructions stored thereon, which, when executed by a processor, cause the processor to perform operations, including: Obtain relevant information about the historical location of the mobile platform, wherein the relevant information includes information about the type of the area where the location is located, and the type of the area includes a prohibited movement zone; and Based on the relevant information of the historical location of the mobile platform, a corresponding restriction policy is determined, wherein the restriction policy allows the mobile platform to move under preset restriction conditions, and the restriction policy includes the restriction policy corresponding to the prohibited movement area.

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