Control method and control system for movable platform, and storage medium

Abstract

A control method and a control system (90) for a movable platform, and a storage medium. The control method for a movable platform may comprise: acquiring region identification information to be verified, said region identification information being used for indicating a region where the movable platform is allowed to pass (S102); acquiring region identification information corresponding to a region where a target position of the movable platform is located (S104); and in response to the region identification information of the region where the target position is located being inconsistent with the region identification information to be verified, controlling the movable platform to execute a motion restriction measure (S106). Region identification information can be used as a condition for determining whether a movable platform is allowed to pass, thereby facilitating regionalized security management.

Description

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

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

[0002] Mobile platforms such as aircraft and ships are prone to crossing different regions during operation. Different regions may have different movement restriction rules, which may lead to potential safety risks when mobile platforms operate across regions. Summary of the Invention

[0003] In view of this, one of the objectives of the embodiments of this application is to provide a control method, control system and storage medium for a mobile platform.

[0004] In a first aspect, embodiments of this application provide a control method for a mobile platform, the method comprising: acquiring area identification information to be verified, the area identification information to be verified being used to indicate areas where the mobile platform is permitted to pass; acquiring area identification information corresponding to the area to which the target location of the mobile platform belongs; and, in response to a discrepancy between the area identification information of the area to which the target location belongs and the area identification information to be verified, controlling the mobile platform to perform motion restriction measures.

[0005] Secondly, embodiments of this application provide a control method for a mobile platform, the method comprising: obtaining area identification information of a region to which a first location of the mobile platform belongs; obtaining area identification information of a region to which a second location of the mobile platform belongs, wherein the first location is different from the second location; and, in response to an inconsistency between the area identification information of the region to which the first location belongs and the area identification information of the region to which the second location belongs, controlling the mobile platform to perform motion restriction measures.

[0006] Thirdly, embodiments of this application provide a control method for a mobile platform, the method comprising: obtaining area identification information of the area to which the historical location of the mobile platform belongs; obtaining area identification information of the area to which the target location of the mobile platform belongs, wherein the target location is different from the historical location, and the target location includes the current location corresponding to the current moment or the future location corresponding to the moment after the current moment; and in response to the inconsistency between the area identification information of the area to which the target location belongs and the area identification information of the area to which the historical location belongs, controlling the mobile platform to perform motion restriction measures.

[0007] Fourthly, embodiments of this application provide a control system, including: a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the method described in any of the preceding claims.

[0008] Fifthly, embodiments of this application provide a computer-readable storage medium comprising a stored computer program, wherein the computer program, when executed by a processor, controls the method described in any of the preceding claims on the device where the storage medium is located. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 is a flowchart illustrating a mobile platform control method according to an embodiment of this application;

[0011] Figure 2 is a flowchart illustrating another mobile platform control method provided in an embodiment of this application;

[0012] Figure 3 is a flowchart illustrating another mobile platform control method provided in an embodiment of this application;

[0013] Figure 4 is a flowchart illustrating another mobile platform control method provided in an embodiment of this application;

[0014] Figure 5 is a flowchart illustrating another mobile platform control method provided in an embodiment of this application;

[0015] Figure 6 is a flowchart illustrating a method for obtaining future location information of a mobile platform according to an embodiment of this application;

[0016] Figure 7 is a schematic diagram of the execution path of a mobile platform provided in an embodiment of this application;

[0017] Figure 8 is a schematic diagram of a target location on a region boundary provided in an embodiment of this application;

[0018] Figure 9 is a schematic diagram of a control system provided in one embodiment of this application;

[0019] Figure 10 is a schematic diagram of another control system provided in one embodiment of this application. Detailed Implementation

[0020] 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 a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the embodiments of this application.

[0021] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0022] In related technologies, mobile platforms can easily cross different regions during operation, and different regions may have different movement restriction rules, leading to potential security risks when mobile platforms operate across regions. In practical applications, allowing mobile platforms to freely cross different regions without any control could lead to individuals intentionally using mobile platforms to engage in illegal cross-regional activities.

[0023] Firstly, the embodiments of this application aim to provide a control method for a mobile platform, which is beneficial for controlling the cross-regional operation of a mobile platform.

[0024] In some embodiments, the mobile platform described in this application can be a mobile object such as an aircraft (e.g., an unmanned aerial vehicle, a manned aircraft, etc.), a vehicle (e.g., a car, a train, etc.), or a ship (e.g., a cargo ship, a passenger ship, a fishing boat, etc.). Subsequent embodiments of this application use an aircraft as a specific example for description of the mobile platform; other types of mobile platforms follow a similar principle and will not be repeated.

[0025] In some embodiments, the control method for the mobile platform is applied to the mobile platform.

[0026] In some embodiments, the control method for the mobile platform is applied to a control terminal of the mobile platform. This control terminal is capable of communicating with the mobile platform and includes, but is not limited to, mobile phones, tablets, laptops, PDAs (Personal Digital Assistants), remote controls, airport equipment, wearable devices (such as smart glasses, smartwatches, etc.), or cloud platform monitoring devices.

[0027] In some embodiments, the control method for the mobile platform is applied partly to the mobile platform and partly to the control terminal.

[0028] Figure 1 is a flowchart illustrating a mobile platform control method according to an embodiment of this application.

[0029] Please refer to Figure 1. The mobile platform control method provided in this embodiment may include the following steps:

[0030] Step 102: Obtain the area identification information to be verified. The area identification information to be verified is used to indicate the area that the mobile platform is allowed to pass through.

[0031] In some cases, the area identification information to be verified can be used to indicate areas where the aircraft is permitted to pass, and can be pre-stored. For example, the area identification information to be verified can be stored before the aircraft leaves the factory; or, for another example, it can be set and stored by the aircraft user before the aircraft takes off.

[0032] Taking agricultural drones as an example, different countries have different management policies for agricultural drones. These policies include at least one of the following: flight restrictions, requirements for mounted equipment, or load limits. Typically, before an agricultural drone leaves the factory, a country code is built into the system, corresponding to the country it is intended to be sold in. This built-in country code can serve as a specific type of regional identification information to be verified.

[0033] In some examples, the area identification information to be verified can also be used to indicate the area to which the aircraft's historical position belongs. In other words, the area to which the aircraft's historical position belongs can be presumed as the area where the aircraft is allowed to pass. Furthermore, the area identification information to be verified can be dynamically updated based on the aircraft's movement status. For example, after the aircraft reaches a new position, the identification information corresponding to the area to which that new position belongs can be stored as the area identification information to be verified, and used as the area identification information to be referenced when verifying the next position after the new position.

[0034] Step 104: Obtain the area identifier information corresponding to the area to which the target location of the mobile platform belongs.

[0035] In some examples, the target location can be the aircraft's current location or a future location that the aircraft is about to reach. In other words, this step can obtain the area identification information corresponding to the area where the aircraft's current location belongs, or the area identification information corresponding to the area where the aircraft is about to reach.

[0036] Step 106: In response to the inconsistency between the area identification information of the target location and the area identification information to be verified, the mobile platform is controlled to perform motion restriction measures.

[0037] In some examples, the area identification information to be verified can be compared with the area identification information of the target location's area. If the comparison determines that they are inconsistent, it indicates that the aircraft is about to fly out of the permitted area. This allows for the implementation of motion restriction measures to prevent the aircraft from flying out of the permitted area or to fly into the target location's area with restrictions. This avoids the aircraft recklessly crossing multiple areas and violating the relevant operational restrictions of each area, thus preventing safety risks. This embodiment uses area identification information as a criterion for determining whether passage is permitted, which is beneficial for regionalized safety management and is more convenient to implement technically.

[0038] In some cases, if a comparison confirms that the two are consistent, it indicates that the aircraft is still within a permitted area. In such cases, for example, no additional motion restrictions may be imposed, and the aircraft can be operated by the user.

[0039] In related technologies, when a mobile platform moves between different locations, it may consciously or unconsciously traverse different areas corresponding to multiple area identification information, and may move from a permitted area to a restricted area that is not permitted, causing safety hazards.

[0040] Secondly, this application provides another method for controlling a mobile platform. Referring to Figure 2, this method for controlling a mobile platform may include the following steps:

[0041] Step 202: Obtain the area identification information of the region to which the first location of the mobile platform belongs.

[0042] Step 204: Obtain the area identification information of the area to which the second location of the mobile platform belongs, wherein the first location is different from the second location.

[0043] In some examples, the first location may include a historical location, and the second location may include a target location, which may include the current location corresponding to the current moment or a future location corresponding to a time after the current moment.

[0044] For example, the first location includes the historical location, and the second location includes the current location.

[0045] For example, the first location includes the historical location, and the second location includes the future location.

[0046] In some examples, the first position includes the current position, and the second position includes the future position.

[0047] Step 206: In response to the inconsistency between the area identification information of the area to which the first location belongs and the area identification information of the area to which the second location belongs, the movable platform is controlled to perform motion restriction measures.

[0048] In some examples, the area identification information of the aircraft in different locations can be compared. If the comparison determines that the two are inconsistent, it indicates that the aircraft has flown across areas or is about to fly across areas. Movement restriction measures can then be implemented to control the aircraft to fly within permitted areas or to conduct restricted cross-area flights. This embodiment uses area identification information as a criterion for determining whether passage is permitted, which is beneficial for regionalized safety management and is more convenient to implement technically.

[0049] In some examples, the second position occurs later than the first position, meaning the aircraft arrives at the first position first and then the second position. When controlling the aircraft to perform motion restriction measures, these measures can be implemented at the second position to promptly prevent safety risks, or before the aircraft reaches the second position to proactively prevent safety risks. This application does not impose any specific limitations on this.

[0050] In some cases, if a comparison confirms that the two are consistent, it indicates that the aircraft is still operating in the same area. In such cases, for example, no additional motion restrictions may be implemented, and the aircraft can be controlled by the user.

[0051] Thirdly, Figure 3 is a flowchart illustrating another mobile platform control method provided in one embodiment of this application.

[0052] Please refer to Figure 3. The mobile platform control method provided in this embodiment may include the following steps:

[0053] Step 302: Obtain the area identification information of the region to which the historical location of the mobile platform belongs.

[0054] For example, the area to which the historical location belongs can correspond to the area where the aircraft is allowed to pass. This allowed area can be preset, or the area that the aircraft has previously visited can be used as the allowed area.

[0055] For example, the region where the historical location belongs can correspond to the region where the aircraft is registered. For instance, the user of the aircraft may have registered with their real name in a certain region before using the aircraft.

[0056] For example, the area to which the historical location belongs may correspond to the area where the mobile platform has reported its movement. For instance, the area where an aircraft reported its intended flight location before takeoff.

[0057] Step 304: Obtain the area identifier information of the region to which the target location of the mobile platform belongs, wherein the target location is different from the historical location, and the target location includes the current location corresponding to the current moment or the future location corresponding to the current moment.

[0058] Step 306: In response to the inconsistency between the area identification information of the target location and the area identification information of the historical location, the mobile platform is controlled to perform motion restriction measures.

[0059] In some cases, when the target location is the current location, the area identification information of the area to which the aircraft's historical location belongs can be compared with the area identification information of the area to which the current location belongs. If the comparison determines that the two are inconsistent, it can be said that the aircraft has now arrived in an area different from the area to which its historical location belongs. In this way, the aircraft can be controlled to implement motion restriction measures to control the aircraft to fly in the area to which its historical location belongs or to fly across areas with restrictions.

[0060] In some cases, where the target location is the future location corresponding to the current moment, the area identification information of the aircraft's historical location can be compared with the area identification information of the future location. If the comparison determines that the two are inconsistent, it can be said that the aircraft is about to fly to an area different from the historical location area, that is, the aircraft is about to fly across areas. The aircraft can be controlled to implement motion restriction measures to control the aircraft to fly within the area of ​​the historical location or to fly across areas with restrictions.

[0061] As can be seen from the above description, this embodiment can, on the one hand, compare the area identification information of the area where the aircraft is located at its current position with the area identification information of the area where its historical position is located. If the comparison determines that the two are inconsistent, it can control the aircraft to implement motion restriction measures, thereby promptly blocking safety risks and controlling the aircraft to fly within permitted areas. On the other hand, it can compare the area identification information of the area where the aircraft is located at its future position with the area identification information of the area where its historical position is located. If the comparison determines that the two are inconsistent, it can control the aircraft to implement motion restriction measures, thereby proactively blocking safety risks. This embodiment utilizes area identification information as a criterion for determining whether passage is permitted, which is beneficial for regionalized safety management and is more convenient to implement technically.

[0062] In some cases, if a comparison confirms that the two are consistent, it indicates that the aircraft is still operating in the same area. In such cases, for example, no additional motion restrictions may be implemented, and the aircraft can be controlled by the user.

[0063] The implementation process of the embodiments of this application will be described in detail below from multiple aspects, in conjunction with the important concepts in the embodiments of this application. The description in the following implementation process can be applied to at least one of the control methods corresponding to Figures 1, 2, and 3, provided that there is no conflict in the content.

[0064] I. Area Identification Information

[0065] The regional identification information in this application embodiment includes identification information that can characterize the corresponding region. The division of regions can be at different levels, such as national, provincial, prefectural, municipal, county, town, village, and private levels. In some cases, the identification of a region is closely related to its administrative and / or judicial attributes.

[0066] In some cases, different area identification information can correspond to different jurisdictions. For example, area identification information A corresponds to administrative jurisdiction 1, and area identification information B corresponds to administrative jurisdiction 2, etc. Generally speaking, administrative jurisdiction 1 and administrative jurisdiction 2 are at least partially adjacent, sharing a common boundary, with administrative jurisdiction 1 on one side and administrative jurisdiction 2 on the other. The boundary can be a three-dimensional or two-dimensional concept, or it can be simplified to a one-dimensional concept.

[0067] In some cases, different region identifiers may correspond to different countries. For example, region identifier A may correspond to China, while region identifier B may correspond to Myanmar.

[0068] In some cases, different area identification information can correspond to different regions. For example, area identification information A corresponds to Shenzhen, and area identification information B corresponds to Dongguan.

[0069] Different regions may adopt different motion restriction rules. For example, different motion restriction rules may include, but are not limited to, one or more of the following rules: (1) the division and requirements of motion restriction zones, that is, imposing restrictions on the flight of aircraft in the area, such as restricting the flight time of the aircraft, restricting the flight parameters of the aircraft (such as flight altitude, flight speed, maximum flight acceleration, etc.); (2) the division and requirements of motion prohibition zones, that is, prohibiting the movement of mobile platforms in the corresponding area. For example, prohibiting the flight of aircraft in a densely populated area; (3) load-related requirements, such as requiring that the maximum take-off load of mobile platforms in some areas does not exceed a preset weight threshold; (4) requirements for the load carried, such as requiring that aircraft cannot carry loads of special operating equipment, such as loads with spraying functions; (5) requirements related to motion certification applications. For example, some areas require mobile platforms to apply for motion registration before movement, or require users of mobile platforms to register, or require motion application in addition to registration. For example, some areas require users of drones to register with their real names and at the same time require drones to apply for flight registration before take-off.

[0070] In some examples, the area identification information described in the embodiments of this application can be encoded using a preset encoding rule. Under the same preset encoding rule, each area has its own unique area identification information for easy differentiation. The area identification information can be composed of a preset number of letters, a preset number of symbols, and / or numbers arranged and combined.

[0071] Taking country codes as an example of regional identification information, they are encoded based on ISO (International Organization for Standardization) standard 3166, assigning a unique two-letter code to each country and region. For example, China is CN, and Myanmar is MM, etc. Both are composed of two letters.

[0072] Taking the regional identification information as the provincial codes of China as an example, it is encoded based on the ISO 3166-2 standard, assigning a unique code to each province in China. For example, Anhui Province is CN-AH, and Beijing is CN-BJ, etc. Both are composed of four letters and a separator symbol.

[0073] Of course, other forms of regional identification information labeling are also acceptable, such as CHN for China and FRA for France, or 0086 for China and 0033 for France. All regional identification information labeling methods in related technologies are applicable to the embodiments of this application and are not limited thereto, as long as they can differentiate and characterize different regions.

[0074] II. The region to which the historical location belongs

[0075] In some examples, the area to which the historical location belongs can be the permitted area in the embodiment shown in Figure 1, and the area identification information of the area to which the historical location belongs can be the area identification information to be verified in the embodiment shown in Figure 1.

[0076] In some examples, the region to which the historical location belongs can be the region to which the first location belongs in the embodiment shown in Figure 2, and the region identification information of the region to which the historical location belongs can be the region identification information of the region to which the first location belongs in the embodiment shown in Figure 2.

[0077] In some cases, the area to which the historical location belongs may correspond to the area where the mobile platform is allowed to pass.

[0078] For example, the permitted passage area can be preset. For instance, the permitted passage area can be pre-set for the aircraft before it leaves the factory. Or, for another example, the permitted passage area can be set for the aircraft before takeoff.

[0079] For example, the permitted passage area may not be pre-defined. For instance, the area the aircraft flies through can be designated as the permitted passage area after takeoff. Alternatively, the permitted passage area can be set after takeoff.

[0080] In some cases, the region to which the historical location belongs may correspond to the region where the mobile platform is registered.

[0081] For example, users of an aircraft can register their use with their real names before using the aircraft, and the region of this real-name registration can be determined as the region of their historical location. For instance, if user A registers their use of the aircraft in country A, then the region of their historical location can be country A. Furthermore, if user B registers their use of the aircraft in administrative region B within country A, then the region of their historical location can also be administrative region B within country A.

[0082] In some cases, the area to which the historical location belongs may correspond to an area where the mobile platform has reported its movement.

[0083] For example, the area to which an aircraft is scheduled to fly can be pre-approved and reported before takeoff. For instance, if an aircraft plans to fly to area C, then the flight to area C can be reported in advance, and the area to which the historical location belongs can be area C.

[0084] In some examples, the regions described in the embodiments of this application may correspond to jurisdictions (e.g., administrative jurisdictions), countries, or regions (e.g., Shenzhen, Dongguan, etc.).

[0085] In some examples, the region identification information of the region to which the historical location belongs, used when comparing region identification information, can be determined when the mobile platform is powered on.

[0086] For example, the area identification information of the historical location can be determined after the aircraft is powered on. For instance, the determination of the historical location area can be performed immediately after the aircraft is powered on. Alternatively, it can be performed after a preset duration of aircraft operation, such as 1 minute, 3 minutes, or 5 minutes. This staggers the time for determining the area identification information with the time required to load and start necessary programs after the aircraft is powered on, avoiding problems such as CPU overload and reduced system stability caused by concentrated operation. In the powered-on state, relevant information about the aircraft or control terminal is easily obtained, such as location-related information, network-related information, or firmware update information, which is helpful in determining the area identification information of the historical location area.

[0087] For example, the area identification information of the region to which the historical location belongs can be determined after the aircraft is powered on and receives an area identification information determination command. The area identification information determination command can originate from a user-triggered operation or an automatically triggered event within the system. For instance, after the aircraft is powered on, the aircraft user can send an area identification information determination command to the aircraft via the control terminal as needed, and the aircraft will then perform the determination of the area identification of the region to which the historical location belongs.

[0088] For example, when comparing area identification information, the area identification information of the region to which the historical position belongs, determined in the aircraft's most recent power-on state, can be used to ensure that the area identification information of the region to which the latest historical position belongs is used, thereby ensuring the accuracy and dynamic updating of the comparison results. For instance, the area identification information of the region to which the historical position belongs, determined after the aircraft's current power-on, can be used. "Current power-on" means that the current movement can be traced back to the power-on state without any interruption in operation.

[0089] In some cases, the region identification information of the historical location used for region identification information comparison can be determined before the mobile platform starts moving.

[0090] For example, the area identification information of the region to which the historical location belongs can be determined before the aircraft takes off. For instance, when the aircraft is in a state of power-on but has not yet taken off, the area identification information of the region to which the historical location belongs can be determined first.

[0091] When comparing area identification information, the area identification information of the region to which the aircraft's historical location belonged, as determined before its most recent takeoff, can be used. The region prior to the most recent takeoff better reflects the latest relevant status of the aircraft; in other words, using the most recently determined area identification information improves the accuracy of the area identification information comparison results. For example, if an aircraft's pre-installed country code corresponds to country A, and user A uses it in country A for one year before reselling it to user B in country B, and user B has modified the pre-installed country code to correspond to country B and can take off from country B, then using the area identification information of the region to which the aircraft's historical location belonged, as determined before its most recent takeoff, better reflects the latest permitted areas for the aircraft and better meets the current operational requirements of the aircraft.

[0092] In some cases, the area identification information of the historical location used for comparison can be determined based on one or more different information sources.

[0093] In some examples, the various information sources may include information sources from mobile platforms.

[0094] For example, the information source may include the aircraft's historical location information. This historical location information can be used to identify areas the aircraft has previously visited as permitted areas, thereby determining the corresponding area identification information. The historical location information can be determined by the aircraft using positioning sensors while it is powered on, and may be historical location coordinates.

[0095] For example, the information source may include the aircraft's network identification information (such as IP address). The network identification information can be used to determine the area to which the network used by the aircraft belongs as the area that is allowed to pass through, and then the corresponding area identification information can be determined. The network identification information can be determined by the aircraft through the communication module when it is powered on and connected to the network.

[0096] In some examples, multiple different information sources may include information sources from the control terminal of the mobile platform.

[0097] For example, the information source may include the location information of the control terminal. For instance, the information source may be the historical location information of the control terminal. This historical location information can be used to determine areas previously visited by the control terminal as permitted areas, and thus determine the corresponding area identification information. The historical location information can be determined by the control terminal using a positioning sensor when it is powered on. As another example, the information source may be the current location information of the control terminal. This current location information can be used to determine the area where the control terminal is currently located as a permitted area, and thus also determine the corresponding area identification information.

[0098] For example, the information source may include the device identification information of the control terminal. For instance, the information source may be the Mobile Country Code (MCC) of the control terminal, which identifies the country to which the control terminal belongs, and thus the corresponding regional identification information can be determined based on the country to which the control terminal belongs.

[0099] For example, the information source may include the network identification information of the control terminal. For instance, the information source may be the IP address of the control terminal. This IP address can be used to determine the area to which the network used by the control terminal belongs, thus identifying the permitted area and consequently, the corresponding area identification information.

[0100] For example, the information source may include region identification information cached historically by the control terminal. This region identification information may be determined based on the device identification information of the aforementioned control terminal, or based on the location information of the aforementioned control terminal, or based on the network identification information of the aforementioned control terminal, etc. This application embodiment does not impose any special limitations on this.

[0101] For example, multiple information sources may have different priorities. A higher priority for an information source indicates that, when multiple different information sources can obtain the information, the source with the higher priority is prioritized to determine the region identifier information of the historical location. Alternatively, a higher priority may also indicate that, when multiple different information sources have calculated the region identifier information of the historical location, the region identifier information determined using the relatively higher priority information source is presumed to have the highest confidence level. Factors that may be considered when configuring priorities include: the relative accuracy of the calculation results, the timeliness / latency of the calculation response, the computational power dependence of the calculation process, or the ease of obtaining the information source.

[0102] Taking the aforementioned information sources, including those from the control terminal, as an example, the control terminal's location information has the highest priority, followed by its device identification information, then its network identification information, and finally, the region identification information cached historically by the control terminal. In practical applications, for example, the control terminal's location information is preferentially used to determine the region identification information. If the control terminal's location information cannot be obtained, its device identification information can be used. If the control terminal's device identification information also cannot be obtained, its network identification information can be used. If even the control terminal's network identification information cannot be obtained, then the region identification information cached historically by the control terminal can be used.

[0103] In some examples, multiple different information sources may include location-related information sources and network-related information sources. Among them, location-related information sources have higher priority than network-related information sources.

[0104] For example, assuming that the historical location information of the aircraft and the IP address of its control terminal are available, it can be determined that the historical location information of the aircraft has a higher priority than the IP address of the control terminal. The historical location information of the aircraft can be used first to determine the area identification information. Alternatively, if the area identification information determined by the two is inconsistent, the area identification information determined by the historical location information of the aircraft has a higher confidence level.

[0105] For example, assuming the aircraft's IP address and the control terminal's historical location information are available, it can be determined that the control terminal's historical location information has a higher priority than the aircraft's IP address. The control terminal's historical location information can be used first to determine the area identification information. Alternatively, if the area identification information determined by the two methods is inconsistent, the area identification information determined by the control terminal's historical location information has a higher confidence level.

[0106] In some examples, multiple different information sources may include information sources from the mobile platform and information sources from the control terminal of the mobile platform. Among them, information sources from the mobile platform have higher priority than information sources from the control terminal of the mobile platform.

[0107] For example, assuming that the historical location information of the aircraft and the location information of the control terminal can be obtained, it can be determined that the historical location information of the aircraft has a higher priority than the location information of the control terminal. The historical location information of the aircraft can be used first to determine the area identification information. Alternatively, if the area identification information determined by the two is inconsistent, the area identification information determined by the historical location information of the aircraft has a higher confidence level.

[0108] For example, assuming the aircraft's IP address and the control terminal's location information are available, it can be determined that the aircraft's IP address has a higher priority than the control terminal's location information. The aircraft's IP address can be used first to determine the area identification information. Alternatively, if the area identification information determined by the two is inconsistent, the area identification information determined by the aircraft's IP address has a higher confidence level.

[0109] In some examples, after determining the region to which the historical location belongs, the region identification information of the region to which the historical location belongs can be determined through the mapping relationship between the location range and the region identification information. For the specific implementation process, please refer to the process of determining the region identification information of the target location in the subsequent embodiments.

[0110] III. The area where the target location is located

[0111] In some examples, the target location may be the area of ​​the second location shown in the embodiment of Figure 2, and the area identification information of the target location may be the area identification information of the second location shown in the embodiment of Figure 2.

[0112] In some cases, target location information corresponding to the target location of the mobile platform can be obtained, and the area identification information of the region to which the target location belongs can be determined based on the target location information. The target location is usually the geographical location of the aircraft, and the target location information is usually the location coordinates corresponding to the geographical location. The area identification information of the region to which the target location belongs can be determined through the location coordinates.

[0113] For example, target location information can be determined based on detection information obtained by the aircraft's positioning sensors.

[0114] Examples of positioning sensors used in this application, such as GPS sensors, RTK sensors, and multi-view vision sensors, are not limited to this.

[0115] For example, the region identifier information corresponding to the target location information can be determined based on the mapping relationship between region identifier information and location range information, that is, the region identifier information of the region to which the target location belongs can be determined. The mapping relationship can be pre-stored locally or stored in the cloud, for example, querying the cloud when determining the region identifier information of the region to which the target location belongs.

[0116] Table 1

[0117] Please refer to the example in Table 1. Table 1 shows the mapping relationship between area identification information and location range information. Location range information 1 and location range information 2 can each correspond to a geographical location range, that is, location range information 1 and location range information 2 can each correspond to a region. Assuming that the determined target location information is coordinates (x, y), and this target location information belongs to location range information 1, that is, the target location is within the address location range corresponding to location range 1, then the area identification information corresponding to this target location information can be found to be area identification information A, that is, the area identification information of the region to which the target location belongs is area identification information A.

[0118] In some cases, the area where the target location is located may correspond to an area where mobile platforms are not allowed to pass. For example, the area where the target location is located may be an area where aircraft are prohibited from flying.

[0119] In some cases, the target location may correspond to an area where the mobile platform is not registered. For example, if the user of the aircraft has not registered in country A, then country A is the target location.

[0120] In some cases, the target location may correspond to an area where the mobile platform has not registered its movement. For example, if the user of an aircraft plans to control the aircraft to fly to area C, but has not registered the flight in area C, then the target location area is area C.

[0121] In some examples, the target location includes the current location at the current moment, and the target location information includes the current location information of the mobile platform. Referring to Figure 4, the control method for the mobile platform in this example may include the following steps:

[0122] Step 402: Obtain the area identification information of the region to which the historical location of the mobile platform belongs.

[0123] In this embodiment, the acquisition of the area identification information of the region to which the historical location belongs can refer to the implementation method in the previous embodiments, and will not be described in detail here.

[0124] Step 404: Obtain the area identifier information of the area to which the current location of the mobile platform belongs, wherein the current location is different from the historical location.

[0125] In one example, the current detection information detected by the aircraft's positioning sensors can be obtained first, and then the current position information of the aircraft can be determined based on the current detection information.

[0126] In this embodiment, after determining the current position coordinates corresponding to the current position of the aircraft, the area identification information of the region to which the current position belongs can be determined based on the current position coordinates. Referring to the previous embodiment, the corresponding area identification information can be found in the mapping relationship between area identification information and position range information.

[0127] Step 406: In response to the inconsistency between the area identification information of the current location and the area identification information of the historical location, the mobile platform is controlled to perform motion restriction measures.

[0128] In this embodiment, it is assumed that the area identification information of the historical location of the aircraft is area identification information B, while the area identification information of the current location of the aircraft is area identification information A. The two are inconsistent, which indicates that the aircraft has arrived in an area different from the historical location. In order to avoid safety hazards, the aircraft can be controlled to perform motion restriction measures.

[0129] For example, the aircraft can be controlled to implement motion restriction measures at its current location to promptly block safety risks.

[0130] For example, controlling an aircraft to perform motion restriction measures may include any of the following: (1) controlling the aircraft to automatically stop, thereby preventing the safety risks associated with the aircraft continuing to fly in the restricted area; (2) controlling the aircraft to automatically land, also preventing the safety risks associated with the aircraft continuing to fly in the restricted area; (3) controlling the aircraft to change its direction of motion to move away from the area to which the current location belongs, thereby avoiding safety risks as quickly as possible. For example, the aircraft may be controlled to turn around and leave the area to which the current location belongs along the original route; (4) refusing to respond to the aircraft's start command, wherein the start command may come from the aircraft's control terminal. For example, if the aircraft user is unaware that the aircraft has reached the restricted area, but still sends a start command to the aircraft through the control terminal, in this case, the aircraft may refuse to respond to the start command, that is, not perform the start operation, thereby avoiding flight in the restricted area.

[0131] It can be seen that this embodiment can control the aircraft to perform motion restriction measures when the area identifier of the area to which the aircraft's historical location belongs is inconsistent with the area identifier of the area to which the current location belongs, thereby preventing the aircraft from flying across areas without restriction.

[0132] In some examples, the target location includes the future location corresponding to the current time, and the target location information includes the location information of the mobile platform after a preset time period from the current time.

[0133] The preset duration can be set in advance. The longer the preset duration, the earlier the safety risks of the aircraft can be detected, and thus there is a longer risk blocking time.

[0134] For example, the preset duration can be greater than 0 and less than 10 minutes, that is, the target location is the location that the aircraft will reach within 10 minutes.

[0135] For example, the preset duration can be greater than 0 and less than or equal to 5 minutes, that is, the target location is the location that the aircraft will reach within 5 minutes.

[0136] For example, the preset duration can be greater than or equal to 1 minute and less than or equal to 3 minutes, that is, the target location is the location that the aircraft will reach in 1 minute and within 5 minutes.

[0137] For example, the preset duration can be greater than or equal to 10 seconds and less than or equal to 1 minute, that is, the target position is the position that the aircraft will reach within 10 seconds and 1 minute.

[0138] Please refer to Figure 5. The control method for the movable platform in this example may include the following steps:

[0139] Step 502: Obtain the area identification information of the region to which the historical location of the mobile platform belongs.

[0140] In this embodiment, the acquisition of the area identification information of the region to which the historical location belongs can refer to the implementation method in the previous embodiments, and will not be described in detail here.

[0141] Step 504: Obtain the area identifier information of the region to which the future location of the mobile platform belongs, wherein the future location is different from the historical location.

[0142] In this embodiment, the future location information corresponding to the future location can be obtained first, and then the area identification information of the area to which the future location belongs can be determined based on the future location information.

[0143] Please refer to Figure 6. The process of obtaining future location information for a mobile platform may include the following steps:

[0144] Step 5042: Obtain the current detection information of the positioning sensor of the mobile platform.

[0145] Step 5044: Obtain motion trend-related information of the mobile platform.

[0146] In some examples, motion trend-related information may include information about the expected distance a mobile platform will travel from its current location to a future location.

[0147] For example, the motion parameter information of the aircraft can be obtained, and then the expected distance information can be determined based on the motion parameter information and the preset duration. The expected distance information is the predicted distance that the aircraft needs to fly from the current position to the future position.

[0148] The aforementioned motion parameters may include one or more of the following: speed, acceleration, motion attitude, and execution path information. For example, by obtaining the aircraft's current flight speed and a preset duration, the distance the aircraft can fly in a straight line for the preset duration at that speed can be calculated as the expected distance information. For instance, assuming the aircraft's current flight speed is 30 km / h and the preset duration is 10 minutes, the expected distance information can be calculated as 5 km.

[0149] For example, by obtaining the current flight speed and acceleration of the aircraft, the expected distance information of the aircraft can also be calculated based on the current flight speed, acceleration and preset duration.

[0150] For example, the current flight speed and execution path information of the aircraft can be obtained. The execution path information can be the aircraft's flight path, which can be a straight line or a curve. Referring to Figure 7, assuming the aircraft's execution path is a curve, based on the aircraft's flight speed and preset time, the position that the aircraft can reach by flying at that speed along the curved path shown in Figure 7 can be calculated. Assuming the aircraft starts from point a on the flight path, and it is calculated that the aircraft can fly to point b on the flight path after the preset time, then the distance ab between point a and point b (shown by the dotted line in Figure 7) can be calculated as the expected distance information.

[0151] In some examples, motion trend-related information may include trends in the location information of the mobile platform. These trends may include location information of the aircraft at multiple different locations during flight.

[0152] For example, multiple detection information from the aircraft's positioning sensors can be acquired, including current detection information and historical detection information, and then the trend of the aircraft's position information change can be determined based on the multiple detection information.

[0153] For example, assuming the current time is T3, and the historical times before the current time include T1 and T2, when determining the trend of the change of the aircraft's position information, the detection information detected by the positioning sensor of the aircraft from T1 to T3 can be obtained, and then the position information of the aircraft at these three times can be determined based on the detection information. For example, the position corresponding to T1 is P1, the position corresponding to T2 is P2, and the position corresponding to T3 is P3. The trend of the change of the aircraft's position information is P1-P2-P3.

[0154] Step 5046: Determine the future location information based on the current detection information and the motion trend related information.

[0155] In some cases, the future position of the aircraft can be determined based on the aircraft's current detection information and the determined motion trend information.

[0156] For example, when the motion trend-related information is the expected distance information corresponding to the movement of a mobile platform from its current location to a future location, the process of determining the future location information may include: determining the future location information based on the current detection information and the expected distance information. For instance, if the current detection information is the current location information, the vector sum of the current location information and the expected distance information can be calculated, and this vector sum can be determined as the future location information. As another example, if the current detection information is information such as satellite signals, the current location information can be determined based on the current detection information, and then the vector sum of the current location information and the expected distance information can be calculated as the future location information.

[0157] For example, when the motion trend-related information is the changing trend of the mobile platform's position information, the process of determining future position information may include: determining future position information based on current detection information and the changing trend of position information. Taking the changing trend of an aircraft's position information as P1-P2-P3 as an example, the average velocity of the aircraft at times T1-T3 can be calculated based on this changing trend. Then, based on this average velocity and a preset time duration, the position information of the aircraft after the preset time duration can be calculated, thus determining the future position information.

[0158] In this embodiment, after determining the future location information of the future location, the area identification information of the region to which the future location belongs can be determined using the method provided in the aforementioned embodiment.

[0159] Step 506: In response to the inconsistency between the area identification information of the current location and the area identification information of the future location, the mobile platform is controlled to perform motion restriction measures.

[0160] In this embodiment, it is assumed that the area identification information of the historical location of the aircraft is area identification information B, while the area identification information of the future location of the aircraft is area identification information C. The two are not consistent, which indicates that the aircraft will reach an area different from the historical location after a preset time. In order to avoid safety hazards, the aircraft can be controlled to perform motion restriction measures.

[0161] For example, the aircraft can be controlled to perform motion restriction measures at its current location in advance to respond in advance, thereby avoiding safety risks when the aircraft reaches its future location and achieving early prevention of safety risks.

[0162] For example, controlling an aircraft to perform motion restriction measures may include: (1) controlling the aircraft to automatically stop, thereby preventing the aircraft from flying into the restricted area; (2) controlling the aircraft to automatically land, also preventing the aircraft from flying into the restricted area; (3) controlling the aircraft to change its direction of motion to move away from the area where its future location belongs, thereby preventing the aircraft from flying into the restricted area. For example, the aircraft may be controlled to turn around and return along the original route, or the aircraft may be controlled to fly in other directions; (4) refusing to respond to the aircraft's start command. The start command may come from the aircraft's control terminal. For example, if the aircraft user is unaware that the aircraft is about to fly into the restricted area, but still sends a start command to the aircraft through the control terminal, in this case, the aircraft may refuse to respond to the start command, that is, not perform the start operation, thereby avoiding flying into the restricted area.

[0163] For example, since the aircraft may not have reached the restricted area at its current location, controlling the aircraft to perform motion restriction measures may also include controlling the aircraft to automatically decelerate, thereby gradually braking or landing to avoid the safety risks of immediate braking or landing.

[0164] For example, the shorter the preset duration, the less time is left for the aircraft to mitigate safety risks, and the more stringent motion restriction measures can be adopted.

[0165] For example, the shorter the preset duration, the greater the degree of restriction on motion. For instance, a relatively long preset duration can control the aircraft to gradually decelerate, while a relatively long preset duration can control the aircraft to decelerate and brake to a rapid stop.

[0166] For example, the shorter the preset duration, the more types of motion restriction measures are available. For instance, when the preset duration is relatively long, the aircraft can be controlled to decelerate, while when the preset duration is relatively short, the aircraft can be controlled to decelerate and the shooting state of the mounted camera can be restricted, such as restricting the camera from shooting towards the area where the target location is located.

[0167] For example, the shorter the preset duration, the longer the motion restriction measures will be implemented. For instance, when the preset duration is relatively long, the aircraft can be controlled to implement motion restriction measures for a first preset duration (e.g., 1 minute). After the first preset duration is reached, the aircraft can be taken over by the pilot. When the preset duration is relatively short, the aircraft can be controlled to implement motion restriction measures for a second preset duration (e.g., 2 minutes). The second preset duration is longer than the first preset duration. Only after the second preset duration is reached can the aircraft be taken over by the pilot.

[0168] As can be seen, this embodiment can control the aircraft to perform motion restriction measures when the area identifier of the area to which the aircraft's historical location belongs is inconsistent with the area identifier of the area to which its future location belongs, thereby avoiding the safety risks caused by the aircraft flying into the restricted area and achieving early prevention of safety risks.

[0169] In some examples, the target location includes at least one location on the boundary of the region to which the target location belongs. In other words, the target location is a location on the boundary of a region. When the region identification information is a country code, the corresponding boundary is a national border.

[0170] Please refer to the example in Figure 8. Figure 8 shows regions D and F. The boundary line of region D facing region F is curve d1d2, while the boundary line of region F facing region D is curve f1f2. A river separates the two regions between curves d1d2 and f1f2. Assume the historical location belongs to region D, with region identification information CN, and the aircraft takes off from point d3 in region D. Also assume the target location is position f3 on curve f1f2, and the region identification information of region F, which belongs to the target location, is MM, different from the region identification information CN of the historical location. Then, motion restriction measures can be implemented to prevent the aircraft from crossing the boundary of the target location region and entering the target location region, and to prevent it from approaching the historical location region. In other words, motion restriction measures can be implemented to prevent the aircraft from crossing the boundary line f1f2 and entering region F, thus avoiding safety hazards. For example, the aircraft can be controlled to change its direction of movement to move away from the boundary line and closer to region D.

[0171] It should be noted that in the example shown in Figure 8, the boundaries of the two regions are different. In some examples, two adjacent regions may share a boundary line, or the boundaries of two adjacent regions may be simplified to a single boundary line for convenience during processing. This application embodiment does not impose any special restrictions on this.

[0172] It can be seen that this embodiment can control the aircraft to perform motion restriction measures to avoid the safety risks caused by the aircraft crossing the boundary of the target location area and entering the target location area when the area identification information of the historical location area of ​​the aircraft is inconsistent with the area identification information of the boundary line of the aircraft.

[0173] IV. Flight Restrictions

[0174] The motion restriction measures implemented by the embodiments of this application to control the mobile platform may include one or more of the following methods: restricting the operating parameters of the mobile platform, restricting specific functions of the mobile platform, controlling the mobile platform to automatically stop, refusing to respond to the start command of the mobile platform, controlling the mobile platform to automatically land, controlling the mobile platform to automatically decelerate, and changing the trajectory of motion to move away from the area where the target location belongs and closer to the area where the historical location belongs.

[0175] In some cases, limiting the specific functions of a mobile platform includes restricting some of the platform's own functions, such as restricting the platform from carrying certain loads (e.g., overweight loads) or restricting the platform from performing specific tasks (e.g., it can only move through the area and cannot perform other tasks while moving through the area, such as plant protection, transportation, or inspection tasks).

[0176] In other examples, restricting specific functions of a mobile platform includes limiting certain functions of the payload carried by the mobile platform, such as taking photos or recording videos. For instance, in densely populated or restricted areas, if an aircraft carrying a camera were to take photos or record videos, it could lead to privacy issues, thus necessitating restrictions on the camera's photo-taking and video-recording functions.

[0177] In some cases, the operational restrictions corresponding to the target location including the current location differ from those corresponding to the target location including the future location. For example, the current location needs to block security risks in a timely manner, so the corresponding movement restrictions are more stringent, while the future location can block security risks in advance, so the corresponding security restrictions can be relatively milder.

[0178] Figure 9 is a schematic diagram of a control system provided in one embodiment of this application.

[0179] Please refer to Figure 9, the control system 90 includes a processor 91 and a memory 92 for storing computer programs executable by the processor 91.

[0180] In some examples, when the processor 91 executes a computer program, it is used to obtain area identification information to be verified, the area identification information to be verified being used to indicate the area that the mobile platform is allowed to pass through;

[0181] Obtain the area identifier information corresponding to the area where the target location of the mobile platform belongs; and

[0182] If the area identification information of the target location is inconsistent with the area identification information to be verified, the mobile platform is controlled to perform motion restriction measures.

[0183] In some examples, the area identification information to be verified is also used to indicate the area to which the historical location of the mobile platform belongs.

[0184] In some examples, when the processor 91 executes the computer program, it is used to obtain the area identification information of the region to which the first location of the mobile platform belongs;

[0185] Obtain the region identifier information of the area to which the second location of the mobile platform belongs, wherein the first location is different from the second location; and

[0186] If the area identification information of the area to which the first location belongs is inconsistent with the area identification information of the area to which the second location belongs, the movable platform is controlled to perform motion restriction measures.

[0187] In some examples, the first position and the second position meet any of the following conditions:

[0188] Scenario 1: The first position includes a historical position, and the second position includes a target position, wherein the target position includes the current position corresponding to the current moment or the future position corresponding to the moment after the current moment;

[0189] Scenario 2: The first position includes the current position, and the second position includes the future position.

[0190] In some examples, such as in scenario one, the first location includes the historical location, and the second location includes the current location.

[0191] In some examples, such as in scenario one, the first location includes the historical location, and the second location includes the future location.

[0192] In some instances, the second position occurs later than the first position, and controlling the movable platform to perform motion restriction measures includes:

[0193] The movable platform is controlled to perform the motion restriction measures upon reaching the second position, or the movable platform is controlled to perform the motion restriction measures before reaching the second position.

[0194] In some examples, when the processor 91 executes the computer program, it is used to obtain the area identification information of the region to which the historical location of the mobile platform belongs;

[0195] Obtain the region identifier information of the area to which the target location of the mobile platform belongs, wherein the target location is different from the historical location, and the target location includes the current location corresponding to the current moment or the future location corresponding to the moment after the current moment; and

[0196] If the area identification information of the target location is inconsistent with the area identification information of the historical location, the mobile platform is controlled to perform motion restriction measures.

[0197] In some examples, the target location includes at least one location on the boundary of the area to which the target location belongs.

[0198] In some examples, controlling the mobile platform to perform motion restriction measures includes:

[0199] The movable platform is controlled to perform the motion restriction measures to prevent the movable platform from crossing the boundary of the area to which the target location belongs and entering the area to which the target location belongs.

[0200] In some instances, the area to which the target location is located corresponds to an area where the mobile platform is not permitted to pass.

[0201] In some instances, the target location corresponds to an area where the mobile platform is not registered.

[0202] In some cases, the area to which the target location belongs corresponds to an area where the mobile platform has not reported its movement.

[0203] In some examples, obtaining the region identifier information of the area to which the target location of the mobile platform belongs includes:

[0204] Obtain the target location information corresponding to the target location of the mobile platform; and

[0205] Based on the target location information, the area identification information of the region to which the target location belongs is determined.

[0206] In some examples, the target location includes the current location at the current moment, and the target location information includes the current location information of the mobile platform.

[0207] In some examples, controlling the mobile platform to perform motion restriction measures includes:

[0208] The movable platform is controlled to perform the motion restriction measures at the current location.

[0209] In some examples, the control of the mobile platform to perform motion restriction measures includes any of the following:

[0210] The system controls the mobile platform to automatically brake to a stop, automatically land, change its direction of movement to move away from the area where the target location is located, and refuses to respond to the start command of the mobile platform.

[0211] In some examples, obtaining the target location information corresponding to the target location of the mobile platform includes:

[0212] Obtain the current detection information of the positioning sensors of the mobile platform; and

[0213] Based on the current detection information, the target location information is determined.

[0214] In some examples, the target location includes the future location corresponding to the current time, and the target location information includes the location information of the mobile platform after a preset time period from the current time.

[0215] In some examples, obtaining the target location information corresponding to the target location of the mobile platform includes:

[0216] Obtain the current detection information of the positioning sensors of the mobile platform;

[0217] Obtain motion trend-related information of the mobile platform; and

[0218] Based on the current detection information and the information related to the movement trend, the target location information is determined.

[0219] In some examples, the motion trend-related information includes the expected distance information corresponding to the mobile platform moving from its current position to the future position. Determining the target location information based on the current detection information and the motion trend-related information includes:

[0220] Obtain the motion parameter information of the mobile platform;

[0221] Based on the motion parameter information and the preset duration, the expected distance information is determined; and

[0222] Based on the current detection information and the expected distance information, the target location information is determined.

[0223] In some examples, the motion parameter information includes one or more of the following: velocity, acceleration, motion posture, and execution path information.

[0224] In some examples, the motion parameter information includes the motion parameter information of the movable platform at its current location.

[0225] In some examples, determining the target location information based on the current detection information and the expected distance information includes:

[0226] The target location information is determined by the vector sum of the current detection information and the expected distance information.

[0227] In some examples, the motion trend-related information includes the changing trend of the mobile platform's location information, and determining the target location information based on the current detection information and the motion trend-related information includes:

[0228] Acquire multiple detection information from the positioning sensors of the mobile platform, including current detection information and historical detection information;

[0229] Based on the multiple detection information, the changing trend of the mobile platform's location information is determined; and

[0230] Based on the changing trends of the current detection information and the location information, the location information of the mobile platform after a preset time from the current time is determined.

[0231] In some examples, the preset duration is greater than 0 and less than or equal to 10 minutes.

[0232] In some examples, the preset duration is greater than 0 and less than or equal to 5 minutes.

[0233] In some examples, the preset duration is greater than or equal to 1 minute and less than or equal to 3 minutes.

[0234] In some examples, the preset duration is greater than or equal to 10 seconds and less than or equal to 1 minute.

[0235] In some cases, the shorter the preset duration, the greater the degree of restriction of the movement restriction measures.

[0236] In some cases, the shorter the preset duration, the more types of restrictions the movement restriction measures can have.

[0237] In some cases, the shorter the preset duration, the longer the motion restriction measures are implemented.

[0238] In some examples, controlling the mobile platform to perform motion restriction measures includes:

[0239] The movable platform is controlled to perform the motion restriction measures at the current location in order to respond in advance.

[0240] In some examples, controlling the mobile platform to perform motion restriction measures includes any of the following: controlling the mobile platform to automatically decelerate, controlling the mobile platform to automatically stop, controlling the mobile platform to automatically land, controlling the mobile platform to change its direction of movement to move away from the area where the target location is located, and refusing to respond to the mobile platform's start command.

[0241] In some examples, the area to which the historical location belongs corresponds to the area where the mobile platform is allowed to pass.

[0242] In some examples, the region to which the historical location belongs corresponds to the region where the mobile platform is registered.

[0243] In some examples, the area to which the historical location belongs corresponds to the area where the mobile platform has reported its movement.

[0244] In some examples, the region identification information of the area to which the historical location belongs is determined when the mobile platform is powered on.

[0245] In some examples, the region identification information of the area to which the historical location belongs is determined in the most recent power-on state of the mobile platform.

[0246] In some instances, the region identification information of the area to which the historical location belongs is determined before the movement of the mobile platform is initiated.

[0247] In some instances, the region identification information of the area to which the historical location belongs is determined before the most recent movement of the mobile platform in the past.

[0248] In some instances, the area identification information of the region to which the historical location belongs is determined based on one or more of a variety of different information sources.

[0249] In some examples, multiple different information sources have different priorities, wherein a higher priority of an information source indicates a higher confidence level in the area identification information of the region to which the historical location belongs, and / or that the information source is preferred for determining the area identification information of the region to which the historical location belongs.

[0250] In some examples, the various information sources include location-related information sources and network-related information sources, wherein the location-related information sources have a higher priority than the network-related information sources.

[0251] In some examples, the various information sources include information sources from the mobile platform and information sources from the control terminal of the mobile platform, wherein the information sources from the mobile platform have a higher priority than the information sources from the control terminal of the mobile platform.

[0252] In some instances, the various information sources include information sources from the mobile platform.

[0253] In some examples, the various information sources include historical location information of the mobile platform.

[0254] In some examples, the various information sources include information sources from the control terminal of the mobile platform.

[0255] In some examples, the various information sources include one or more of the following: location information of the control terminal of the mobile platform, device identification information of the control terminal of the mobile platform, network identification information of the control terminal of the mobile platform, and area identification information of the historical cache of the control terminal of the mobile platform.

[0256] In some examples, the location information of the control terminal of the mobile platform includes: the historical location information of the control terminal of the mobile platform, or the current location information of the control terminal of the mobile platform.

[0257] In some examples, the device identification information of the control terminal of the mobile platform includes the Mobile Country Code (MCC).

[0258] In some examples, the control terminal network identification information of the mobile platform includes an IP address.

[0259] In some examples, the priority of the location information of the control terminal of the mobile platform, the device identification information of the control terminal of the mobile platform, the network identification information of the control terminal of the mobile platform, and the region identification information cached in the history of the control terminal of the mobile platform decreases in that order.

[0260] In some cases, different area identification information corresponds to different jurisdictions.

[0261] In some cases, different regional identification information corresponds to different countries.

[0262] In some cases, different area identification information corresponds to different regions, and different regions adopt different traffic control requirements.

[0263] In some examples, the traffic control requirements include controls for one or more of the following categories: restricted sports zones, prohibited sports zones, sports height restrictions, sports speed restrictions, load requirements, sports applications and permits, and / or registration.

[0264] In some instances, the traffic control requirements include the traffic control regulations.

[0265] In some examples, the area identification information is encoded using a preset encoding rule.

[0266] In some examples, under the same preset encoding rules, each region has its own unique region identification information.

[0267] In some examples, the area identification information is composed of a preset number of letters, a preset number of symbols, and / or numbers arranged in combination.

[0268] In some examples, controlling the mobile platform to perform motion restriction measures includes: limiting the flight altitude of the mobile platform, limiting the flight speed of the mobile platform, and restricting specific functions of the mobile platform.

[0269] In some examples, controlling the mobile platform to perform motion limiting measures includes controlling the mobile platform to automatically stop.

[0270] In some examples, controlling the mobile platform to perform motion restriction measures includes: refusing to respond to the mobile platform's startup command.

[0271] In some examples, controlling the mobile platform to perform motion restriction measures includes controlling the mobile platform to land automatically.

[0272] In some examples, controlling the mobile platform to perform motion limiting measures includes controlling the mobile platform to automatically decelerate.

[0273] In some examples, controlling the mobile platform to perform motion restriction measures includes controlling the mobile platform to change its trajectory to move away from the area where the target location is located.

[0274] In some examples, controlling the mobile platform to automatically perform motion restriction measures includes: controlling the mobile platform to change its trajectory to move away from the area where the target location is located and closer to the area where the historical location is located.

[0275] In some examples, the mobile platform includes any of the following: aircraft, vehicles, or ships.

[0276] In some examples, the mobile platform is an unmanned aerial vehicle (UAV).

[0277] The processor 91 executes the computer program instructions included in the memory 92. The processor 91 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0278] The memory 92 stores computer program instructions for the control method. The memory 92 may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. Furthermore, the device can cooperate with network storage devices that perform the storage functions of the memory via a network connection. The memory 92 may be an internal storage unit of the system 90, such as the hard disk or RAM of the system 90. The memory 92 may also be an external storage device of the system 90, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the system 90. Further, the memory 92 may include both internal storage units and external storage devices of the system 90. The memory 92 is used to execute instructions and other programs and data required by the system. The memory 92 can also be used to temporarily store data that has been output or will be output.

[0279] In some examples, processor 91 may be located on the removable platform.

[0280] In some examples, the processor 91 may be located at the control terminal of the mobile platform.

[0281] In some examples, the processor 91 may be located partly on the mobile platform and partly on the control terminal of the mobile platform.

[0282] In some examples, the system 90 includes a mobile platform.

[0283] In some examples, the system 90 includes a control terminal for a mobile platform.

[0284] In some examples, referring to Figure 10, the control system 10 includes a system consisting of a mobile platform and a control terminal for the mobile platform.

[0285] The various technical features in the above embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features. Therefore, the arbitrary combination of various technical features in the above embodiments also falls within the scope of the embodiments disclosed in this application.

[0286] This application also provides a control device, which in some examples can be used to execute the control methods described in the above embodiments.

[0287] The specific implementation process of the above control device can be referred to the description of the above control method, and will not be repeated here.

[0288] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0289] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0290] The various embodiments described herein can be implemented using, for example, computer software, hardware, or any combination thereof, on a computer-readable medium. For hardware implementations, the embodiments described herein can be implemented using at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field-programmable gate array (FPGA), a processor, a controller, a microcontroller, a microprocessor, or an electronic unit designed to perform the functions described herein. For software implementations, embodiments such as processes or functions can be implemented with a separate software module that allows the performance of at least one function or operation. The software code can be implemented by a software application (or program) written in any suitable programming language, and the software code can be stored in memory and executed by a controller.

[0291] The specific implementation process of the functions and roles of each unit in the above-mentioned equipment can be found in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0292] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions that can be executed by a processor of the device to perform the described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0293] A non-transitory computer-readable storage medium that, when instructions in the storage medium are executed by a terminal's processor, enables the terminal to perform the methods described above.

[0294] The methods and apparatus provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the embodiments of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of the embodiments of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the embodiments of this application. Therefore, the content of the embodiments of this application should not be construed as a limitation on the embodiments of this application.

Claims

1. A control method for a mobile platform, characterized in that, The method includes: Obtain the area identification information to be verified, which is used to indicate the area that the mobile platform is allowed to pass through; Obtain the area identifier information corresponding to the area where the target location of the mobile platform belongs; and If the area identification information of the target location is inconsistent with the area identification information to be verified, the mobile platform is controlled to perform motion restriction measures.

2. The control method according to claim 1, characterized by, The area identification information to be verified is also used to indicate the area to which the historical location of the mobile platform belongs.

3. A method of controlling a movable platform, characterized by, The method includes: Obtain the area identification information of the region to which the first location of the mobile platform belongs; Obtain the region identifier information of the area to which the second location of the mobile platform belongs, wherein the first location is different from the second location; and If the area identification information of the area to which the first location belongs is inconsistent with the area identification information of the area to which the second location belongs, the movable platform is controlled to perform motion restriction measures.

4. The method of claim 3, wherein, The first position and the second position meet any of the following conditions: Scenario 1: The first position includes a historical position, and the second position includes a target position, wherein the target position includes the current position corresponding to the current moment or the future position corresponding to the moment after the current moment; Scenario 2: The first position includes the current position, and the second position includes the future position.

5. The method of claim 4, wherein, In scenario one, the first location includes the historical location, and the second location includes the current location.

6. The method of claim 4, wherein, In scenario one, the first location includes the historical location, and the second location includes the future location.

7. The method of claim 3, wherein, The occurrence of the second position is later than the occurrence of the first position, and the step of controlling the movable platform to perform motion restriction measures includes: The movable platform is controlled to perform the motion restriction measures upon reaching the second position, or the movable platform is controlled to perform the motion restriction measures before reaching the second position.

8. A method of controlling a movable platform, characterized by, The method includes: Obtain the area identifier information of the region to which the historical location of the mobile platform belongs; Obtain the region identifier information of the area to which the target location of the mobile platform belongs, wherein the target location is different from the historical location, and the target location includes the current location corresponding to the current moment or the future location corresponding to the moment after the current moment; and If the area identification information of the target location is inconsistent with the area identification information of the historical location, the mobile platform is controlled to perform motion restriction measures.

9. The method according to claim 1, 4, or 8, characterized in that, The target location includes at least one location on the boundary of the area to which the target location belongs.

10. The method according to claim 9, characterized in that, The control of the mobile platform to perform motion restriction measures includes: The movable platform is controlled to perform the motion restriction measures to prevent the movable platform from crossing the boundary of the area to which the target location belongs and entering the area to which the target location belongs.

11. The method according to claim 1, 4, or 8, characterized in that, The area to which the target location belongs corresponds to an area where the mobile platform is not allowed to pass.

12. The method according to claim 1, 4, or 8, characterized in that, The target location corresponds to an area that is not registered on the mobile platform.

13. The method according to claim 1, 4, or 8, characterized in that, The target location corresponds to an area where the mobile platform has not reported its movement.

14. The method according to claim 1, 4, or 8, characterized in that, The step of obtaining the region identifier information of the area to which the target location of the mobile platform belongs includes: Obtain the target location information corresponding to the target location of the mobile platform; and Based on the target location information, the area identification information of the region to which the target location belongs is determined.

15. The method according to claim 14, characterized in that, The target location includes the current location corresponding to the current moment, and the target location information includes the current location information of the mobile platform.

16. The method according to claim 15, characterized in that, The control of the mobile platform to perform motion restriction measures includes: The movable platform is controlled to perform the motion restriction measures at the current location.

17. The method according to claim 15, characterized in that, The control of the mobile platform to perform motion restriction measures includes any one of the following: The system controls the mobile platform to automatically brake to a stop, automatically land, change its direction of movement to move away from the area where the target location is located, and refuses to respond to the start command of the mobile platform.

18. The method according to claim 15, characterized in that, The step of obtaining the target location information corresponding to the target location of the mobile platform includes: Obtain the current detection information of the positioning sensors of the mobile platform; and Based on the current detection information, the target location information is determined.

19. The method according to claim 14, characterized in that, The target location includes the future location corresponding to the current time, and the target location information includes the location information of the mobile platform after a preset time period from the current time.

20. The method according to claim 19, characterized in that, The step of obtaining the target location information corresponding to the target location of the mobile platform includes: Obtain the current detection information of the positioning sensors of the mobile platform; Obtain motion trend-related information of the mobile platform; and Based on the current detection information and the information related to the movement trend, the target location information is determined.

21. The method according to claim 20, characterized in that, The motion trend-related information includes the expected distance information corresponding to the mobile platform moving from its current position to its future position. Determining the target location information based on the current detection information and the motion trend-related information includes: Obtain the motion parameter information of the mobile platform; Based on the motion parameter information and the preset duration, the expected distance information is determined; and Based on the current detection information and the expected distance information, the target location information is determined.

22. The method according to claim 21, characterized in that, The motion parameter information includes one or more of the following: speed, acceleration, motion posture, and execution path information.

23. The method according to claim 21, characterized in that, The motion parameter information includes the motion parameter information of the movable platform at its current location.

24. The method according to claim 21, characterized in that, Determining the target location information based on the current detection information and the expected distance information includes: The target location information is determined by the vector sum of the current detection information and the expected distance information.

25. The method according to claim 20, characterized in that, The motion trend-related information includes the changing trend of the mobile platform's location information. Determining the target location information based on the current detection information and the motion trend-related information includes: Acquire multiple detection information from the positioning sensors of the mobile platform, including current detection information and historical detection information; Based on the multiple detection information, the changing trend of the mobile platform's location information is determined; and Based on the changing trends of the current detection information and the location information, the location information of the mobile platform after a preset time from the current time is determined.

26. The method according to claim 25, characterized in that, The preset duration is greater than 0 and less than or equal to 10 minutes.

27. The method according to claim 26, characterized in that, The preset duration is greater than 0 and less than or equal to 5 minutes.

28. The method according to claim 26, characterized in that, The preset duration is greater than or equal to 1 minute and less than or equal to 3 minutes.

29. The method according to claim 26, characterized in that, The preset duration is greater than or equal to 10 seconds and less than or equal to 1 minute.

30. The method according to claim 25, characterized in that, The shorter the preset duration, the greater the degree of restriction of the movement restriction measures.

31. The method according to claim 25, characterized in that, The shorter the preset duration, the more types of restrictions the movement restriction measures can have.

32. The method according to claim 25, characterized in that, The shorter the preset duration, the longer the motion restriction measures will be implemented.

33. The method according to claim 25, characterized in that, The control of the mobile platform to perform motion restriction measures includes: The movable platform is controlled to perform the motion restriction measures at the current location in order to respond in advance.

34. The method according to claim 25, characterized in that, The control of the mobile platform to perform motion restriction measures includes any one of the following: controlling the mobile platform to automatically decelerate, controlling the mobile platform to automatically stop, controlling the mobile platform to automatically land, controlling the mobile platform to change its direction of movement to move away from the area where the target location is located, and refusing to respond to the start command of the mobile platform.

35. The control method according to claim 2, 4, or 8, characterized in that, The area to which the historical location belongs corresponds to the area that the mobile platform is allowed to pass through.

36. The control method according to claim 2, 4, or 8, characterized in that, The region to which the historical location belongs corresponds to the region where the mobile platform is registered.

37. The control method according to claim 2, 4, or 8, characterized in that, The area to which the historical location belongs corresponds to the area where the mobile platform has reported its movement.

38. The control method according to claim 2, 4, or 8, characterized in that, The region identifier information of the area to which the historical location belongs is determined when the mobile platform is powered on.

39. The control method according to claim 38, characterized in that, The region identifier information of the area to which the historical location belongs is determined in the most recent power-on state of the mobile platform.

40. The control method according to claim 2, 4, or 8, characterized in that, The region identifier information of the area to which the historical location belongs is determined before the movement of the mobile platform is initiated.

41. The control method according to claim 40, characterized in that, The region identifier information of the area to which the historical location belongs is determined before the most recent movement of the mobile platform.

42. The control method according to claim 2, 4, or 8, characterized in that, The region identification information of the area to which the historical location belongs is determined based on one or more different information sources.

43. The control method according to claim 42, characterized in that, The various information sources have different priorities. A higher priority of an information source indicates a higher confidence level in the area identification information of the region to which the historical location belongs, and / or that the information source is preferred for determining the area identification information of the region to which the historical location belongs.

44. The control method according to claim 43, characterized in that, The various information sources include location-related information sources and network-related information sources, wherein the location-related information sources have a higher priority than the network-related information sources.

45. The control method according to claim 43, characterized in that, The various information sources include information sources from the mobile platform and information sources from the control terminal of the mobile platform, wherein the information sources from the mobile platform have a higher priority than the information sources from the control terminal of the mobile platform.

46. ​​The control method according to claim 42, characterized in that, The various information sources include information sources from the mobile platform.

47. The control method according to claim 46, characterized in that, The various information sources include the historical location information of the mobile platform.

48. The control method according to claim 42, characterized in that, The various information sources include information sources from the control terminal of the mobile platform.

49. The control method according to claim 48, characterized in that, The various information sources include one or more of the following: location information of the control terminal of the mobile platform, device identification information of the control terminal of the mobile platform, network identification information of the control terminal of the mobile platform, and area identification information of the historical cache of the control terminal of the mobile platform.

50. The control method according to claim 49, characterized in that, The location information of the control terminal of the mobile platform includes: the historical location information of the control terminal of the mobile platform, or the current location information of the control terminal of the mobile platform.

51. The control method according to claim 49, characterized in that, The device identification information of the control terminal of the mobile platform includes the Mobile Country Code (MCC).

52. The control method according to claim 49, characterized in that, The network identification information of the control terminal of the mobile platform includes its IP address.

53. The control method according to claim 49, characterized in that, The priority of the location information of the control terminal of the mobile platform, the device identification information of the control terminal of the mobile platform, the network identification information of the control terminal of the mobile platform, and the region identification information cached in the history of the control terminal of the mobile platform decreases in that order.

54. The control method according to claim 1, 3, or 8, characterized in that, Different regional identification information corresponds to different jurisdictions.

55. The control method according to claim 1, 3, or 8, characterized in that, Different regional identification information corresponds to different countries.

56. The control method according to claim 1, 3, or 8, characterized in that, Different area identification information corresponds to different regions, and different regions adopt different traffic control requirements.

57. The control method according to claim 56, characterized in that, The traffic control requirements include control requirements for one or more of the following categories: restricted sports zones, prohibited sports zones, sports height restrictions, sports speed restrictions, load requirements, sports applications and permits and / or registration.

58. The control method according to claim 56, characterized in that, The traffic control requirements include the traffic control regulations.

59. The control method according to claim 1, 3, or 8, characterized in that, The area identification information is encoded using a preset encoding rule.

60. The control method according to claim 59, characterized in that, Under the same preset encoding rules, each region has its own unique region identification information.

61. The control method according to claim 59, characterized in that, The area identification information is composed of a preset number of letters, a preset number of symbols and / or numbers arranged in combination.

62. The control method according to claim 1, 3, or 8, characterized in that, The control of the mobile platform to perform motion restriction measures includes: limiting the flight altitude of the mobile platform, limiting the flight speed of the mobile platform, and limiting specific functions of the mobile platform.

63. The control method according to claim 1, 3, or 8, characterized in that, The control of the mobile platform to perform motion restriction measures includes: controlling the mobile platform to automatically stop.

64. The control method according to claim 1, 3, or 8, characterized in that, The control of the mobile platform to perform motion restriction measures includes: refusing to respond to the mobile platform's start command.

65. The control method according to claim 1, 3, or 8, characterized in that, The control of the mobile platform to perform motion restriction measures includes: controlling the mobile platform to land automatically.

66. The control method according to claim 1, 3, or 8, characterized in that, The control of the mobile platform to perform motion restriction measures includes: controlling the mobile platform to automatically decelerate.

67. The control method according to claim 1, 3, or 8, characterized in that, The control of the mobile platform to perform motion restriction measures includes: controlling the mobile platform to change its motion trajectory to move away from the area where the target location is located.

68. The control method according to claim 67, characterized in that, The control of the mobile platform to automatically execute motion restriction measures includes: controlling the mobile platform to change its motion trajectory to move away from the area where the target location belongs and to move closer to the area where the historical location belongs.

69. The control method according to claim 1, 3, or 8, characterized in that, The mobile platform includes any of the following: aircraft, vehicle, or ship.

70. The control method according to claim 1, 3, or 8, characterized in that, The mobile platform is an unmanned aerial vehicle.

71. A control system, characterized in that, include: Including memory and processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the method of any one of claims 1-70.

72. The system according to claim 71, characterized in that, The processor is located on the mobile platform; The processor is located in the control terminal of the mobile platform; or The processor is partially located on the mobile platform and partially located on the control terminal of the mobile platform.

73. The system according to claim 71, characterized in that, The system includes a mobile platform, a control terminal for the mobile platform, or a system consisting of a mobile platform and a control terminal for the mobile platform.

74. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein the computer program, when executed by a processor, controls the device on which the storage medium is located to perform the method of any one of claims 1-70.

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