Movable platform and control method and apparatus therefor, and device and storage medium

Abstract

A control method for a movable platform, the control method comprising: obtaining a movement control instruction (S110); in response to positioning information of a movable platform not meeting a preset condition and the movable platform being located indoors, controlling the movement of the movable platform according to a first response strategy, wherein the first response strategy allows the movable platform to move (S120); and in response to the positioning information of the movable platform not meeting the preset condition and the movable platform being located outdoors, restricting the movement of the movable platform according to a second response strategy, wherein the first response strategy is different from the second response strategy (S130). The flexibility in controlling the movable platform is improved. Further provided are a movable platform and a control apparatus therefor, and a device and a storage medium.

Description

Mobile platform and its control method, device, equipment, and storage medium Technical Field

[0001] This application relates to the field of mobile platforms, and more particularly to a mobile platform and its control method, apparatus, device, and storage medium. Background Technology

[0002] Mobile platforms such as aircraft are prohibited from flying in certain restricted areas, or their movement is subject to certain restrictions (such as altitude restrictions), preventing them from moving freely. Related technologies rely on the aircraft's GPS positioning information to determine whether it is within a restricted area. In some cases, GPS positioning information is unavailable, typically leading to a direct prohibition on the aircraft's movement. Existing technologies still have some technical issues that require improvement. Summary of the Invention

[0003] Based on this, this application provides a mobile platform and its control method, apparatus, device, and storage medium, which can improve the control flexibility of the mobile platform.

[0004] In a first aspect, embodiments of this application provide a control method for a mobile platform, including:

[0005] Obtain movement control commands;

[0006] In response to the fact that the positioning information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move;

[0007] If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy.

[0008] The technical solution provided in this application adopts different response strategies for the mobile platform when the positioning information of the mobile platform does not meet the preset conditions, depending on whether the mobile platform is located outdoors or indoors. If the mobile platform is indoors, it is allowed to move; if the mobile platform is outdoors, its movement is restricted. This improves the control flexibility of the mobile platform, expands the indoor usage scenarios of the mobile platform, and ensures the safety of the mobile platform.

[0009] Secondly, embodiments of this application provide a control method for a mobile platform, including:

[0010] Obtain movement control commands;

[0011] If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy of the mobile platform is determined based on whether the mobile platform is located outdoors or indoors.

[0012] The movement of the mobile platform is controlled according to the response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors.

[0013] The technical solution provided in this application improves the control flexibility of the mobile platform by adopting different response strategies for whether the mobile platform is located outdoors or indoors when the positioning information of the mobile platform does not meet the preset conditions.

[0014] Thirdly, embodiments of this application provide a control method for a mobile platform, including:

[0015] Obtain movement control commands;

[0016] In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area.

[0017] The technical solution provided in this application embodiment allows the mobile platform to move without being restricted by the restriction policies of the restricted area when the mobile platform is located indoors in a restricted area. This improves the control flexibility of the mobile platform and expands the indoor use scenarios of the mobile platform.

[0018] Fourthly, embodiments of this application provide a control device for a mobile platform, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0019] Obtain movement control commands;

[0020] In response to the fact that the positioning information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move;

[0021] If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy.

[0022] Fifthly, embodiments of this application provide a portable platform, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0023] The processor is used for:

[0024] Obtain movement control commands;

[0025] In response to the fact that the positioning information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move;

[0026] If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy.

[0027] Sixthly, embodiments of this application provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0028] The processor is used for:

[0029] Obtain movement control commands;

[0030] If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move;

[0031] If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy.

[0032] In a seventh aspect, embodiments of this application provide a control device for a mobile platform, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0033] Obtain movement control commands;

[0034] If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy of the mobile platform is determined based on whether the mobile platform is located outdoors or indoors.

[0035] The movement of the mobile platform is controlled according to the response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors.

[0036] Eighthly, embodiments of this application provide a portable platform, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0037] The processor is used for:

[0038] Obtain movement control commands;

[0039] If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy of the mobile platform is determined based on whether the mobile platform is located outdoors or indoors.

[0040] The movement of the mobile platform is controlled according to the response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors.

[0041] Ninthly, embodiments of this application provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program;

[0042] The processor is used for:

[0043] Obtain movement control commands;

[0044] If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy of the mobile platform is determined based on whether the mobile platform is located outdoors or indoors.

[0045] The movement of the mobile platform is controlled according to the response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors.

[0046] In a tenth aspect, embodiments of this application provide a control device for a mobile platform, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0047] Obtain movement control commands;

[0048] In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area.

[0049] Eleventhly, embodiments of this application provide a portable platform, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0050] The processor is used for:

[0051] Obtain movement control commands;

[0052] In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area.

[0053] In a twelfth aspect, embodiments of this application provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to invoke the computer program.

[0054] The processor is used for:

[0055] Obtain movement control commands;

[0056] In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area.

[0057] In a thirteenth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the aforementioned method.

[0058] The embodiments of this application improve the control flexibility of the mobile platform, expand the application scenarios of the mobile platform, and ensure the security of the mobile platform.

[0059] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0060] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 is a schematic diagram of the control equipment and the mobile platform;

[0062] Figure 2 is a flowchart illustrating a control method for a mobile platform provided in an embodiment of this application;

[0063] Figure 3 is a flowchart illustrating the control method of the mobile platform in the related technology;

[0064] Figure 4 is a flowchart illustrating a control method for a mobile platform according to another embodiment of this application;

[0065] Figure 5 is a flowchart illustrating the control method of a mobile platform according to some embodiments of this application.

[0066] Figure 6 is a flowchart illustrating a control method for a mobile platform according to another embodiment of this application;

[0067] Figure 7 is a schematic diagram of a control device provided in an embodiment of this application;

[0068] Figure 8 is a schematic diagram of a mobile platform provided in an embodiment of this application;

[0069] Figure 9 is a schematic diagram of a control device provided in an embodiment of this application;

[0070] Figure 10 is a schematic diagram of a mobile platform system provided in an embodiment of this application. Detailed Implementation

[0071] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0072] 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.

[0073] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0074] Figure 1 shows a schematic diagram of a mobile platform system provided in an embodiment of this application. The mobile platform system may include a mobile platform and a control device, and the mobile platform and the control device are communicatively connected. The control device can be used to acquire data from the mobile platform and display it, and the control device can also be used to control the mobile platform.

[0075] The control device for the mobile platform can be mounted on the mobile platform, mounted on the control device, or mounted independently of both the mobile platform and the control device. In some other embodiments, the control device mounted on the mobile platform and the control device mounted on the control device jointly execute the steps of the control method of the embodiments of this application.

[0076] Mobile platforms can be manned or unmanned. They can be land-based, such as land robots and automobiles; they can also be water-based or underwater (such as underwater vehicles and vessels); and they can be air-based, such as aircraft, including rotorcraft, fixed-wing aircraft, and combined fixed-wing and rotorcraft (such as helicopters). Rotorcraft can be, for example, single-rotor aircraft (such as helicopters), dual-rotor aircraft, quadcopter aircraft, hexacopter aircraft, or octocopter aircraft. According to application industry, aircraft can be classified as agricultural aircraft, industrial aircraft, aerial photography aircraft, logistics and transportation aircraft, and performance aircraft. Mobile platforms can also be amphibious, such as flying cars. The following explanation uses a mobile platform as an example to illustrate the implementation of this application.

[0077] In some embodiments, the aircraft includes a fuselage and a power system. The fuselage may include a nose. In some embodiments, the aircraft also includes an arm connected to the fuselage, which is used to mount the power system. In some embodiments, the power system may be directly mounted on the fuselage. The power system provides flight propulsion for the aircraft and may include a drive unit (e.g., a motor) and a propeller mounted on and driven by the drive unit. The power system can drive the fuselage to rotate about one or more rotation axes. For example, the rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system drives the fuselage to rotate about the yaw axis, the yaw direction of the fuselage nose changes, meaning the yaw rotation of the fuselage can be controlled by controlling the power system. It should be understood that the motor can be a DC motor or an AC motor. Additionally, the motor can be a brushless motor or a brushed motor. The aircraft may also include a camera, which is directly mounted on or mounted on the fuselage via a gimbal, for capturing images and / or videos.

[0078] The control device may include at least one of a remote control, smartphone, tablet, wearable device (such as a watch, wristband, or head-mounted display device), and server. The head-mounted display device may include a virtual reality (VR) display device or a first-person view (FPV) display device. In some embodiments, the control device may include a terminal device for controlling the mobile platform. The control device can establish a communication connection with the mobile platform via wired or wireless communication methods.

[0079] The control device may include an input device that can detect control operations performed by the user of the control device. The control device can then generate control commands for the mobile platform based on these detected user control operations. For example, the control device can generate a yaw control command based on the user's detected yaw control operation, and send the yaw control command to the mobile platform.

[0080] In some embodiments, the control device includes a remote controller, which is equipped with an input device and a communication device. The communication device may be a wireless communication device, which can use private or public communication methods. The wireless communication device may include at least one of a high-frequency radio transceiver, a Wi-Fi module, and a Bluetooth module. The input device is used to generate corresponding control commands in response to user input, thereby enabling the remote controller to control the movable platform to adjust its flight attitude and / or flight speed via the control commands. The input device includes at least one of buttons, a joystick, a dial, and a touchscreen display. Users can generate control commands by using buttons, joysticks, or dials, or by inputting onto the touchscreen display; there is no limitation on this method.

[0081] The control device may include output devices such as a display device, for example, capable of outputting images captured by the aircraft. For instance, the control device can receive images transmitted by the aircraft and display them via the display device. The display device can be integrated into the control device (in this case, the control device and the display device are integrated together). In other alternative embodiments, the display device can be external, meaning the control device and the display device are separate, and the control device and the display device can establish a communication connection. This communication connection allows the control device to display images captured by the mobile platform using an external display device. This communication connection can be wired or wireless, such as a high-frequency radio transceiver, WiFi connection, or Bluetooth connection. The display device of the control device can be a touch-screen display device with touch functionality.

[0082] The mobile platform and / or control equipment includes positioning devices.

[0083] Currently, the most common positioning method is based on satellite navigation systems (also known as global navigation satellite systems). These systems include, but are not limited to, Global Navigation Satellite System (GNSS), Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), and GLONASS. For example, the location of a mobile platform can be obtained through its onboard satellite positioning device. This device establishes a communication connection with satellites by searching for and locking onto them in the sky, thereby obtaining satellite signals and performing positioning based on these signals.

[0084] Of course, besides positioning based on satellite navigation systems, other positioning methods can also be used, such as: Real-Time Kinematic (RTK) positioning devices, positioning based on wireless communication networks (e.g., cellular networks, WiFi, Bluetooth, ZigBee, Ultra-Wideband (UWB) positioning devices), and positioning based on positioning sensors (e.g., visual sensors, inertial sensors, laser sensors, etc.). Optionally, the positioning method can be one or a combination of wireless positioning, network IP positioning, and network-assisted positioning.

[0085] The positioning principles of the various positioning methods described above can be found in existing technologies and will not be detailed here. It should be noted that both satellite navigation system-based and wireless communication network-based positioning methods can achieve absolute position (i.e., geographic location) positioning of a mobile platform and / or control device. In some embodiments, to improve positioning accuracy, both satellite navigation system-based and wireless communication network-based positioning methods can be used simultaneously to determine the absolute position of the mobile platform. Positioning sensor-based methods are generally used for relative position positioning, for example, determining the relative position of the mobile platform with respect to a reference point (e.g., the starting point of movement), or for auxiliary positioning, such as correcting satellite navigation system-based or wireless communication network-based positioning results using sensor-based positioning results. Of course, when the absolute position of the reference point can be determined through other means, sensor-based positioning methods can also achieve absolute position positioning.

[0086] When a mobile platform uses a satellite navigation system for absolute positioning, it needs to perform a satellite search process every time it is powered on. Only after the satellite search is completed can it achieve accurate positioning. In other words, the mobile platform cannot achieve absolute positioning from the time it is powered on until the satellite search is completed.

[0087] When a mobile platform uses a wireless communication network-based positioning method for absolute location determination, the platform needs to search for a wireless network (e.g., a base station signal) each time it is powered on. Accurate positioning is only possible after connecting to the wireless network. However, the process of finding and connecting to the wireless network takes time, during which the mobile platform cannot achieve absolute location determination.

[0088] Aside from when the device is powered on, the mobile platform cannot achieve absolute positioning when satellite or wireless signals are blocked or interfered with. For example, when the mobile platform is located indoors or between buildings outdoors, satellite signals will be blocked by buildings.

[0089] Taking unmanned aerial vehicles (UAVs) as an example, assuming the UAV uses a satellite navigation system for absolute positioning, it needs to perform a satellite search process after powering on. However, some UAVs with slower satellite search speeds may require more than one minute to complete the search. Therefore, according to the previous safety-based flight strategy, the UAV cannot take off before completing the satellite search, which inevitably affects the user experience. For example, if a user turns on the UAV in a non-no-fly zone, the UAV will have to wait a long time to take off. Or, if a user turns on the UAV indoors, it may be unable to take off because the satellite signal is blocked by buildings. This safety control strategy does not fully consider the actual situation but directly adopts the strictest control mode, resulting in a poor user experience and limiting the usage scenarios of the UAV.

[0090] Currently, related technologies rely on the aircraft's GPS positioning information to determine whether it is within a restricted area. In some cases, GPS positioning information is unavailable, typically leading to a complete prohibition on aircraft movement, impacting usage scenarios and user experience. Conversely, allowing aircraft movement when GPS positioning information is unavailable can sometimes result in non-compliant movement within restricted areas, creating safety risks. Furthermore, the control strategies for indoor and outdoor scenarios are identical in these technologies, resulting in limited control flexibility.

[0091] For example, if the aircraft's GPS location information is unavailable and it cannot be determined whether the aircraft is within a restricted area, directly prohibiting the aircraft from moving would limit the aircraft's usage scenarios and user experience; if the aircraft is allowed to move, it would cause the aircraft to move within the restricted area in violation of regulations, which could easily lead to safety risks.

[0092] For example, as shown in Figure 3, after the aircraft is powered on, it receives positioning information, such as GPS positioning information. After successfully receiving the positioning information, it can determine whether the aircraft is in a prohibited movement area. If the aircraft is not in a prohibited movement area, it can move. If the aircraft is in a prohibited movement area, it is prohibited from moving (e.g., take-off is prohibited). Optionally, if the aircraft fails to receive positioning information within a certain period of time after powering on, it is prohibited from moving.

[0093] For example, the mobile platform is a small, portable platform, such as a handheld drone. Small mobile platforms acquire location information, such as GPS satellite information, relatively slowly, requiring a considerable amount of time to search for and obtain GPS satellite positioning information. Some handheld drones can take off quickly without waiting for the GPS satellite search to complete. Only after the GPS satellite search is complete and positioning information is obtained can it be determined whether the handheld drone is in a restricted area. If the handheld drone is found to be in a restricted area after obtaining GPS satellite positioning information, it will still take some time to implement forced landing measures. This results in the handheld drone flying in the restricted area for a considerable period, making flight control non-compliant and potentially creating safety risks.

[0094] Based on this, this application provides a control method for a mobile platform. As shown in FIG2, the control method for a mobile platform in this application includes steps S110 to S130. This control method for a mobile platform is applied to a control device for a mobile platform and is used to control the movement of the mobile platform, thereby improving the control flexibility of the mobile platform. The control device for the mobile platform can be installed on the mobile platform, or on a control device for controlling the mobile platform, or partly on the mobile platform and partly on the control device. It should be noted that some or all aspects of steps S110 to S130 (or the flowchart of any other method embodiment described in this application, or variations and / or combinations thereof) can be executed by one or more processors or combinations thereof on the mobile platform, control device, any other system or device. Some or all aspects of steps S110 to S130 (or the flowchart of any other method embodiment of this application, or variations and / or combinations thereof) can be executed under the control of one or more computer / control systems configured with executable instructions, and can be collectively executed on one or more processors in the form of code (e.g., executable instructions, one or more computer programs, or one or more application programs) through hardware or a combination thereof. The code may be stored on a computer-readable storage medium, for example, as a computer program containing multiple instructions executable by one or more processors. The computer-readable storage medium may be non-transitory. The order in which the operations are described is not restrictive; any number of described operations can be combined in any order and / or in parallel to implement the flow.

[0095] Step S110: Obtain movement control command.

[0096] Step S120: In response to the fact that the positioning information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move.

[0097] Step S130: In response to the fact that the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy.

[0098] In this embodiment, if the location information of the mobile platform does not meet the preset conditions, the mobile platform is allowed to move if it is indoors, expanding its indoor usage scenarios; if the mobile platform is outdoors, its movement is restricted according to the second response strategy, ensuring the safety of its use. By employing different response strategies for indoor and outdoor locations when the mobile platform's location information does not meet the preset conditions, the control flexibility of the mobile platform is improved, its usage scenarios are expanded, and its safety is ensured.

[0099] In related technologies, aircraft are prohibited from flying in certain restricted areas, or their movement is limited (such as by altitude restrictions), preventing them from moving freely. Furthermore, the control strategies for indoor and outdoor scenarios are identical in these technologies, resulting in poor flexibility in aircraft control.

[0100] Based on this, this application provides a control method for a mobile platform. As shown in FIG4, another embodiment of this application provides a control method for a mobile platform including steps S210 to S230. This control method for a mobile platform is applied to a control device for a mobile platform and is used to control the movement of the mobile platform, thereby improving the control flexibility of the mobile platform. The control device for the mobile platform can be installed on the mobile platform, or on a control device for controlling the mobile platform, or partly on the mobile platform and partly on the control device.

[0101] Step S210: Obtain movement control command.

[0102] Step S220: In response to the fact that the location information of the mobile platform does not meet the preset conditions, determine the corresponding response strategy for the mobile platform based on whether the mobile platform is located outdoors or indoors.

[0103] Step S230: Control the movement of the mobile platform according to the response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors.

[0104] In this embodiment, different response strategies are adopted depending on whether the mobile platform is located outdoors or indoors when the positioning information of the mobile platform does not meet the preset conditions. This improves the control flexibility of the mobile platform. This embodiment can allow the mobile platform to move even when the positioning information does not meet the preset conditions and the mobile platform is indoors. For example, in response to the positioning information not meeting the preset conditions and the mobile platform being indoors, the aircraft is allowed to take off; in response to the positioning information not meeting the preset conditions and the mobile platform being outdoors, the aircraft is prohibited from taking off.

[0105] In some embodiments, the movement control instructions include control instructions for controlling the movable platform to begin moving; controlling the movable platform to move includes: controlling the movable platform to begin moving, and / or, restricting the movement of the movable platform includes: restricting the movable platform to begin moving.

[0106] For example, movement control commands are used to instruct a movable platform to begin moving from a stationary state, such as to control the propulsion system of an aircraft to begin providing flight power to the aircraft.

[0107] For example, the mobile platform includes an aircraft, and control commands for controlling the mobile platform to begin moving include control commands for controlling the aircraft to take off; controlling the mobile platform to move includes: controlling the aircraft to take off, and / or, restricting the movement of the mobile platform includes: restricting the mobile platform to take off.

[0108] In some implementations, movement control commands are triggered based on user input.

[0109] Optionally, user input can be based on the user's own information. For example, this information may include the user's voice, posture, gestures, or movement parameters. Movement parameters, for instance, may include the direction of movement and / or the distance of movement. For example, the mobile platform or its control device may pre-define a mapping relationship between voice, gestures, posture, or movement parameters and commands. When the mobile platform or control device detects the voice, gesture, posture, or movement parameters corresponding to a movement control command, it can trigger the movement control command. For example, the user may input a pre-defined voice (e.g., "take off"), a pre-defined gesture (e.g., "OK"), a pre-defined posture (e.g., raising an arm), or move a pre-defined distance in a pre-defined direction to trigger the user's input, thus instructing the mobile platform to begin moving.

[0110] Optionally, user input is provided through a control device on the mobile platform. For example, input via the control device includes posture adjustments made by the control device or control commands input through physical controls on the control device. For instance, the control device is equipped with a posture sensor, which can be used to acquire the posture adjusted by the control device. For instance, the physical controls of the control device include a first type of physical control or a second type of physical control. The first type of physical control is used to detect user input to virtual controls, and the second type of physical control is used to detect user input by moving the second type of physical control. Optionally, the first type of physical control includes a display interface, and the second type of physical control includes a joystick, physical buttons, or a dial. For example, the user triggers input by moving a joystick, clicking a preset physical button, rotating a dial, or by using a virtual "take off" button displayed on the screen to instruct the mobile platform to begin moving.

[0111] In some implementations, the motion control command is automatically triggered by the mobile platform and / or control device. For example, the motion control command is automatically triggered after the mobile platform is powered on and completes its self-test. The motion control command can be used to instruct the mobile platform to move to a designated location, such as instructing an unmanned aerial vehicle to take off vertically and fly to a preset altitude.

[0112] In some implementations, the positioning information includes one or more of the following: positioning information of the mobile platform's body, and positioning information of the mobile platform's control device. For example, the mobile platform includes a positioning device to obtain the positioning information of the mobile platform's body; or the control device includes a positioning device to obtain the control device's positioning information. For instance, the control device is located on the mobile platform, or generally, the distance between the control device and the mobile platform is relatively short, for example, less than or equal to a preset distance, such as 5 meters. The position of the mobile platform can be roughly determined based on the position of the control device. For example, positioning devices are respectively provided on the mobile platform and the control device; optionally, the position of the mobile platform can be determined by combining the positioning information of the positioning device on the mobile platform and the positioning information of the positioning device on the control device to improve positioning accuracy.

[0113] For example, the positioning information of the mobile platform's body includes: real-time positioning information of the mobile platform's body. Based on the real-time positioning information of the mobile platform's body, the current position of the mobile platform can be determined, allowing for real-time assessment of whether the mobile platform is within a restricted area, and controlling the mobile platform's movement according to the restriction rules of the restricted area. For example, it can prevent the mobile platform from moving in prohibited areas, or prevent movement parameters in restricted areas from exceeding the parameter range limited by the restricted movement area.

[0114] For example, the current location information of the control device includes: the real-time location information of the control device. Based on the real-time location information of the control device, the current position of the mobile platform can be indirectly determined, allowing for real-time assessment of whether the mobile platform is within a restricted area, and control of the mobile platform's movement according to the restriction rules of the restricted area. For example, it can prevent the mobile platform from moving in prohibited areas. Taking an autonomous vehicle as an example, a user rides in an autonomous vehicle and controls it via a mobile phone (i.e., the control device of the autonomous vehicle). In this scenario, the positions of the mobile phone and the autonomous vehicle are almost identical; therefore, it is feasible to directly use the current location information of the mobile phone as the current location information of the autonomous vehicle. Similarly, in scenarios such as a drone taking off or a drone following a user to take photos, the distance between the drone and its control device is not far (e.g., a few meters); therefore, it is feasible to directly use the current location information of the drone's control device as the current location information of the drone.

[0115] In some implementations, the positioning information includes satellite positioning information, positioning information determined based on wireless communication signals, or positioning information determined based on positioning sensors.

[0116] For example, the mobile platform and / or control device includes a GPS positioning device that can receive satellite positioning information from GPS satellites. For example, positioning information determined based on wireless communication signals includes: WiFi positioning information, cellular network positioning information, Bluetooth positioning information, or ZigBee positioning information. For instance, the location of the mobile platform and / or control device can be determined based on the received signal strength indicator (RSSI) or signal transmission delay of wireless signals between the mobile platform and / or control device and multiple wireless devices (such as WiFi devices, cellular network base stations (e.g., 2G, 3G, 4G, etc.), Bluetooth devices, and ZigBee devices); for instance, the location of the mobile platform and / or control device can be determined based on the signal strength of cellular network signals between the mobile platform and / or control device and multiple carrier base stations.

[0117] For example, the positioning information of the mobile platform's body includes one or more of the following: satellite positioning information of a satellite positioning device mounted on the mobile platform, wireless signal positioning information of a wireless communication device mounted on the mobile platform, positioning information of the mobile platform during network activation, or positioning information of a positioning sensor mounted on the mobile platform. The positioning information of the mobile platform during network activation refers to the positioning information of the mobile platform when its control device (e.g., a remote control device, a parking platform, or other device) performs a network activation operation. It should be noted that this positioning information is essentially the positioning information of the control device during the aforementioned network activation. However, since the control device and the mobile platform typically need to connect via Bluetooth during network activation, and the Bluetooth connection distance is within 10 meters, it is feasible to use the positioning information of the control device itself as the positioning information of the mobile platform. Thus, the historical positioning information of the mobile platform can come from one or more sources, ensuring the accuracy and richness of the obtained positioning information. Optionally, multiple positioning information sources can be combined to determine the position of the mobile platform's body, improving positioning accuracy.

[0118] For example, the positioning information of the control device includes one or more of the following: satellite positioning information from a satellite positioning device mounted on the control device, wireless signal positioning information from a wireless communication device mounted on the control device, positioning information activated for network connectivity by the control device, and positioning information obtained by the positioning sensors of the control device. The positioning information activated for network connectivity by the control device refers to the positioning information of the control device when the control device of the mobile platform performs a network activation operation on the mobile platform. Optionally, multiple positioning information can be combined to determine the location of the control device and the mobile platform, improving positioning accuracy.

[0119] In some optional implementations, the mobile platform obtains the current location information of the mobile platform's body; if the acquisition is successful, the current location information of the mobile platform's body is determined as the location information of the mobile platform; if the acquisition fails, it is determined that the location information of the mobile platform cannot be obtained.

[0120] In some alternative implementations, the mobile platform obtains the current location information of the control device. If the acquisition is successful, the current location information of the control device is determined as the location information of the mobile platform. If the acquisition fails, it is determined that the location information of the mobile platform cannot be obtained.

[0121] In another optional implementation, the mobile platform obtains the current location information of the mobile platform's body; if the acquisition is successful, the current location information of the mobile platform's body is determined as the current location information of the mobile platform; if the acquisition is unsuccessful, the current location information of its control device is obtained; if the current location information of the control device can be successfully obtained, the current location information of the control device is determined as the location information of the mobile platform; if the current location information of the control device cannot be successfully obtained, it is determined that the location information of the mobile platform cannot be obtained.

[0122] In practical applications, the mobile platform can perform positioning once every preset time interval after powering on. The shorter the preset time interval, the better the real-time positioning effect can be achieved. The specific duration of the preset time interval can be set according to actual needs, and this application embodiment does not make specific limitations on it.

[0123] In some implementations, the location information does not meet preset conditions, including one or more of the following: failure to obtain a location signal for determining the location information, the signal strength of the location signal being less than or equal to a first preset strength threshold, the number of signal sources for the location signal being less than or equal to a first preset quantity threshold, and the location device corresponding to the location information failing verification. And / or the location information meets preset conditions, including one or more of the following: the location signal for determining the location information can be obtained, the signal strength of the location signal is greater than the first preset strength threshold, the number of signal sources for the location signal is greater than the first preset quantity threshold, and the location device corresponding to the location information successfully verifies. For example, failure to obtain a location signal for determining the location information may refer to a period of time after the mobile platform is powered on before the location signal convergence ends; this period is considered a failure to obtain a location signal for determining the location information. The number of signal sources for the location signal being less than or equal to the first preset quantity threshold may refer to a number of satellite searches for determining the location information being less than a preset threshold. The ability to obtain a location signal for determining the location information may refer to the situation where, after the mobile platform is powered on, a location signal for determining the location information is obtained after the location signal convergence ends. The number of signal sources for the positioning signal is greater than a first preset threshold, for example, the number of satellites used to determine positioning information is greater than the preset threshold.

[0124] For example, the signal source of the positioning signal includes one or more of the following: satellites, RTK devices, and the stationary platform of the mobile platform. For example, if the number of GPS satellites searched by the mobile platform is less than or equal to a first preset number threshold, it is determined that the positioning information of the mobile platform does not meet the preset conditions; for example, if the signal strength of all GPS satellite signals searched by the mobile platform is less than or equal to a first preset strength threshold, or if the number of GPS satellites searched by the mobile platform with signal strength greater than or equal to the first preset strength threshold is less than or equal to the first preset number threshold, it is determined that the positioning information of the mobile platform does not meet the preset conditions; for example, if the positioning signal received by the mobile platform includes a disguised positioning signal, it is determined that the positioning information of the mobile platform does not meet the preset conditions.

[0125] When the location information does not meet preset conditions, the mobile platform and / or control device cannot determine its own location, or cannot accurately determine its own location. Therefore, it cannot determine whether the mobile platform is within a restricted area, and cannot control the mobile platform to move according to the restricted area's rules. This application embodiment can employ different response strategies depending on whether the mobile platform is located outdoors or indoors when the location information does not meet preset conditions. This improves the control flexibility of the mobile platform, expands its application scenarios, and ensures its safety.

[0126] Optionally, the above method further includes: in response to the location information not meeting preset conditions, outputting a location failure prompt message so that the user can determine whether to stop controlling the movable platform to move in a timely manner, for example, stopping the control of the movable platform to move in response to a stop movement command triggered by the user's input; in response to no stop movement command being obtained and the movable platform being located indoors, controlling the movable platform to move according to a first response strategy; in response to no stop movement command being obtained and the movable platform being located outdoors, restricting the movement of the movable platform according to a second response strategy. In other embodiments, the user can also adjust the position of the movable platform and / or control device according to the location failure prompt message so that the location information of the movable platform can switch from not meeting the preset conditions to meeting the preset conditions.

[0127] In some implementations, both the first and second response strategies have limiting conditions to impose different restrictions on the movement of the mobile platform when its location information does not meet preset conditions. This improves the security and flexibility of controlling the mobile platform when its location information does not meet preset conditions.

[0128] For example, the first preset restriction condition of the first response strategy is different from the second preset restriction condition of the second response strategy. When the location information of the mobile platform does not meet the preset conditions, different preset restriction conditions are applied to restrict the movement of the mobile platform depending on whether it is located outdoors or indoors. This improves the control flexibility of the mobile platform, expands the application scenarios of the mobile platform, and ensures the safety of the mobile platform.

[0129] For example, the first preset restriction condition differs from the second preset restriction condition in that the second preset restriction condition imposes stricter restrictions on the same movement parameters of the mobile platform than the first preset restriction condition does. For instance, if the mobile platform is located indoors, it can be allowed to move within a larger range, thus expanding its usage scenarios; if the mobile platform is located outdoors, its movement is restricted to a smaller range or prohibited, to ensure the safety of its use.

[0130] For example, the movement parameters include one or more of the following: speed, acceleration, movement height, movement distance, and movement direction. For instance, the first preset constraint or the second preset constraint includes one or more of the following: a constraint on movement speed, a constraint on movement acceleration, a constraint on movement height, a constraint on movement distance, and a constraint on movement direction.

[0131] For example, when the mobile platform is located indoors, it can move at a higher speed and / or acceleration, and the height and / or distance it can move can also be greater. The allowed directions and range of movement are also wider, thus expanding the usage scenarios of the mobile platform and enriching the user experience. When the mobile platform is located outdoors, its speed and / or acceleration are limited, the allowed height and / or distance it can move is also smaller, and the allowed directions and range of movement are narrower. For example, the mobile platform can be allowed to move towards the control device but restricted from moving away from the control device, to ensure the safety of using the mobile platform.

[0132] In other implementations, the first response strategy has no limitations, while the second response strategy has limitations. For example, if the location information of the mobile platform does not meet preset conditions and the mobile platform is located indoors, the movement parameters of the mobile platform are not limited; for instance, it can move to a height of more than 10 meters according to the control command of the control device, and the speed and / or acceleration of movement can also be unrestricted. If the location information of the mobile platform does not meet preset conditions and the mobile platform is located outdoors, then the movement of the mobile platform is restricted based on the limitations of the second response strategy to ensure the safety of using the mobile platform.

[0133] In some implementations, the first response strategy includes restricting the movement range of the mobile platform to a first specified range. Restricting the movement range of the mobile platform to the first specified range can expand the usage scenarios of the mobile platform while improving its security.

[0134] For example, the first specified range includes one or more of the following: indoor, specified relative height of movement, specified absolute height of movement, specified distance of movement, specified speed of movement, specified acceleration of movement, and specified direction of movement. For instance, the mobile platform and / or control device can acquire the indoor boundary. In response to the mobile platform's positioning information not meeting preset conditions and the mobile platform being located indoors, the movement of the mobile platform is restricted to within the indoor boundary to prevent the mobile platform from moving to the outdoor area of ​​the restricted zone and thus creating a risk of violation. For example, in response to the mobile platform's positioning information not meeting preset conditions and the mobile platform being located indoors, the relative height of movement of the mobile platform is restricted to be less than or equal to a specified relative height of movement, the absolute height of movement of the mobile platform is restricted to be less than or equal to a specified absolute height of movement, the distance of movement of the mobile platform is restricted to be less than or equal to a specified distance of movement, the speed of movement of the mobile platform is restricted to be less than or equal to a specified speed of movement, the acceleration of movement of the mobile platform is restricted to be less than or equal to a specified acceleration of movement, and the direction of movement of the mobile platform is within the specified direction of movement to ensure the safety of the mobile platform when moving indoors.

[0135] In other embodiments, the first response strategy includes allowing the mobile platform to move without restriction. For example, in response to the mobile platform's location information not meeting preset conditions and the mobile platform being indoors, the movement parameters of the mobile platform are not restricted; for instance, it can move to a height of more than 10 meters according to the control command of the control device, and the speed and / or acceleration of movement can also be unrestricted. In response to the mobile platform's location information not meeting preset conditions and the mobile platform being outdoors, the movement of the mobile platform is restricted based on the restrictions of the second response strategy to ensure the safety of using the mobile platform.

[0136] In some implementations, the second response strategy includes: prohibiting the mobile platform from moving, or restricting the movement range of the mobile platform to a second specified range, or determining the second response strategy based on the historical location of the mobile platform; the second specified range is different from the first specified range corresponding to the first response strategy. This ensures the security of using the mobile platform.

[0137] For example, in response to the mobile platform's location information not meeting preset conditions and the mobile platform being located outdoors, the mobile platform is prohibited from moving. This can prevent the mobile platform from moving in prohibited areas, or from moving in restricted areas outdoors where the movement parameters do not meet the restrictions corresponding to the restricted movement areas.

[0138] For example, in response to the mobile platform's location information not meeting preset conditions and the mobile platform being located outdoors, restricting the mobile platform's movement range to a second specified range can improve the safety of the mobile platform moving outdoors. For instance, it can prevent the mobile platform's movement parameters from meeting the restriction conditions corresponding to the restricted movement area when moving outdoors in a restricted movement area.

[0139] For example, in response to the mobile platform's location information not meeting preset conditions and the mobile platform being located outdoors, a second response strategy is determined based on the mobile platform's historical location. This second response strategy restricts the movement of the mobile platform, and the control strategy of the mobile platform is obtained by utilizing the mobile platform's historical location. This ensures the safety of the mobile platform and expands its usage scenarios when the mobile platform's location information does not meet preset conditions.

[0140] For example, determining a second response strategy based on the historical location information of a mobile platform includes: in response to the mobile platform's historical location being in a specific area, determining a second response strategy includes prohibiting the mobile platform from moving; or in response to the mobile platform's historical location being in a specific area, determining a second response strategy includes restricting the mobile platform's movement range to a second specified range. For example, in response to the mobile platform's location information not meeting preset conditions, and the mobile platform's historical location being in a specific area, then prohibiting the mobile platform from moving is implemented to ensure the security of using the mobile platform; in response to the mobile platform's location information not meeting preset conditions, and the mobile platform's historical location being in a specific area, then restricting the mobile platform's movement range to a second specified range is implemented, so that when the mobile platform's location information does not meet preset conditions, historical location information can be used to more accurately ensure the security of using the mobile platform and expand the mobile platform's usage scenarios.

[0141] For example, determining a second response strategy based on the historical location information of a mobile platform includes: in response to the mobile platform's historical location being in a non-specific area, determining the second response strategy includes restricting the mobile platform's movement range to a second specified range. For instance, in response to the mobile platform's location information not meeting preset conditions and the mobile platform's historical location not being in a specific area, since the mobile platform's current location cannot be accurately determined, restricting the mobile platform's movement range to a second specified range can ensure the security of using the mobile platform.

[0142] For example, a specific area can be a designated controlled area. The granularity of this controlled area can be divided at the level of administrative jurisdictions such as countries, provinces, cities, and counties, or at the level of specific restricted areas such as no-fly zones and no-altitude zones. This application embodiment does not limit this. For example, the specific area is Beijing or other similar areas.

[0143] For example, a specific area includes a controlled area. A controlled area may include one or more of the following: a user-defined controlled area, or a controlled area stipulated by laws and regulations. If the location information of the mobile platform does not meet preset conditions, embodiments of this application may prohibit the mobile platform from moving when its historical location is within a controlled area to ensure the safety of its use, or restrict the movement range of the mobile platform to a second specified range to ensure the safety of its use and expand its application scenarios.

[0144] For example, a controlled area may include one or more of the following: a no-movement area and a restricted-movement area. For instance, a mobile platform may include an aircraft, a no-movement area may include a no-fly zone, and a restricted-movement area may include a restricted-fly zone, such as a height-restricted zone.

[0145] For example, in response to the mobile platform's location information not meeting preset conditions and the mobile platform being located outdoors, and the mobile platform's historical location being located in a specific area (such as a prohibited or restricted area), the mobile platform is prohibited from moving to prevent it from moving within the prohibited area. For instance, determining a second response strategy based on the mobile platform's historical location information includes: in response to the aircraft's historical location being located in a specific area (such as a prohibited or restricted area), determining a second response strategy including prohibiting the aircraft from taking off; this can prevent the mobile platform from taking off in a prohibited flight area and thus avoiding the risk of violation. For example, if the mobile platform includes an aircraft, the specific area includes the Beijing area, and the aircraft's historical location is located in the Beijing area, then the aircraft's takeoff is prohibited in this instance.

[0146] For example, in response to the mobile platform's location information not meeting preset conditions and the mobile platform being located outdoors, or the mobile platform's historical location being located in a specific area (such as a prohibited or restricted area), the mobile platform's movement range is restricted to a second specified range. This ensures the safety of the mobile platform's use and expands its application scenarios. For instance, if the mobile platform includes an aircraft, the specific area includes the Beijing area, and the aircraft's historical location is located in the Beijing area, then the aircraft's movement range will be restricted to the second specified range.

[0147] Optionally, determining the second response strategy based on the historical positioning information of the mobile platform includes: in response to the aircraft's historical positioning location being in a specific area (such as a prohibited or restricted area), determining the second response strategy includes one or more of the following: limiting the maximum flight altitude, limiting the maximum flight distance, limiting the maximum flight speed, limiting the maximum flight acceleration, and limiting the flight direction. Responding to the aircraft's historical positioning location being in a specific area (such as a prohibited or restricted area), limiting flight parameters such as the maximum flight altitude of the mobile platform outdoors can ensure the safety of aircraft use and expand the aircraft's usage scenarios.

[0148] For example, the maximum flight altitude includes one or more of the following: maximum absolute altitude and maximum relative altitude; wherein, the absolute altitude can be the altitude relative to the horizontal plane, and the relative altitude can be the altitude relative to the ground or the water surface below. For example, the maximum flight distance includes one or more of the following: the maximum flight distance from the takeoff position and the maximum flight distance from the control equipment of the movable platform. Limiting the maximum flight distance from the takeoff position prevents the aircraft from deviating too far from its historical positioning and flying into a no-fly zone; limiting the maximum flight distance from the control equipment prevents the aircraft from being too far from the control equipment, thus preventing the user from failing to detect the aircraft flying into a no-fly zone in time.

[0149] For example, the second specified range includes one or more of the following: specified relative height of movement, specified absolute height of movement, specified distance of movement, specified speed of movement, specified acceleration of movement, and specified direction of movement.

[0150] If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement range of the mobile platform will be restricted to a second specified range. For example, if the location information of the mobile platform does not meet the preset conditions, the mobile platform is located outdoors, and the historical location of the mobile platform is within a specific area (such as a prohibited or restricted movement area), the movement range of the mobile platform will be restricted to a second specified range. By restricting movement parameters such as the relative height of the mobile platform outdoors, the safety of the mobile platform can be ensured and the application scenarios of the mobile platform can be expanded.

[0151] Optionally, and for example, the historical location includes the historical location of the mobile platform prior to this power-on. For instance, the historical location of the mobile platform can be stored in the mobile platform, its control device, and / or server. When the mobile platform is powered on, if the location information of the mobile platform does not meet preset conditions, the historical location can be read.

[0152] The historical positioning information of the mobile platform's body is obtained from the historical positioning by the positioning device mounted on the mobile platform. Specific positioning methods can be found in the corresponding contents of the above embodiments. The historical positioning information of the mobile platform's control device is obtained from the historical positioning by the positioning device mounted on the control device. Specific positioning methods can also be found in the corresponding contents of the above embodiments. The positioning information for network activation of the mobile platform refers to the positioning information of the mobile platform when the control device performs network activation. It should be noted that this positioning information is essentially the positioning information of the control device when performing the aforementioned network activation. However, since the control device and the mobile platform usually need to connect via Bluetooth when activating the mobile platform, and the Bluetooth connection distance is within 10 meters, it is feasible to use the positioning information of the control device itself as the positioning information of the mobile platform. Thus, the historical positioning information of the mobile platform can come from one or more sources, ensuring the accuracy of obtaining its historical positioning information.

[0153] In some embodiments, the historical location before this power-on may include the most recent historical location before this power-on. Optionally, the historical location before this power-on may include other historical location locations before this power-on, where the other locations are distinct from the most recent one. It should be noted that the historical location before this power-on is obtained in this embodiment to estimate the current location of the mobile platform. Therefore, for estimating the current location of the mobile platform, the historical location before this power-on, and the closer the location time is to the current time, the greater its reference value. Optionally, the historical location before this power-on may include the activation location of the mobile platform and a historical location determined by combining the most recent historical location locations before power-on. Based on the most recent historical location before the mobile platform began moving, it is possible to more accurately determine whether the mobile platform is currently in a specific area, thereby more accurately determining the corresponding second response strategy.

[0154] Taking a mobile platform as an example of an unmanned aerial vehicle (UAV), the historical location before this startup is the historical location of the UAV's most recent flight before this takeoff. In other words, the historical location of the mobile platform includes the historical location of the UAV's most recent flight before this takeoff.

[0155] For example, historical location data may include one or more of the following: the historical location data of the mobile platform's fuselage, the historical location data of the mobile platform's control equipment, and the historical network-activated location data of the mobile platform. The historical network-activated location data of the mobile platform or control equipment may be the location of the device that most recently activated the mobile platform or control equipment (such as the parking platform of a mobile platform like an unmanned aerial vehicle). Optionally, the historical location data of the mobile platform may be determined by combining multiple historical location data to more accurately determine whether the mobile platform is currently in a specific area, thereby more accurately determining the corresponding second response strategy.

[0156] For example, the second specified range corresponding to the second response strategy differs from the first specified range corresponding to the first response strategy, including one or more of the following: the specified relative movement height of the first specified range is greater than the specified relative movement height of the second specified range; the specified absolute movement height of the first specified range is greater than the specified absolute movement height of the second specified range; the specified movement distance of the first specified range is greater than the specified movement distance of the second specified range; the specified movement speed of the first specified range is greater than the specified movement speed of the second specified range; and / or the specified movement acceleration of the first specified range is greater than the specified movement acceleration of the second specified range. For instance, if the positioning information of the mobile platform does not meet preset conditions, when the mobile platform is located indoors, it can be allowed to move within a larger range (e.g., the flight altitude of an aircraft is less than or equal to 10 meters), thus expanding the usage scenarios of the mobile platform; when the mobile platform is located outdoors, its movement is restricted to a smaller range (e.g., the flight altitude of an aircraft is less than or equal to 3 meters) or its movement is prohibited, to ensure the safety of the mobile platform.

[0157] In some implementations, after controlling the mobile platform to move according to a first response strategy, or restricting the movement of the mobile platform according to a second response strategy, the method further includes: re-determining the response strategy of the mobile platform in response to a change in the location information of the mobile platform meeting preset conditions or a change in the current indoor or outdoor status of the mobile platform; and controlling the movement of the mobile platform according to the re-determined response strategy. This ensures that the re-determined response strategy conforms to the current usage scenario of the mobile platform and / or the control terminal, thereby updating the response strategy of the mobile platform in a timely manner.

[0158] For example, in response to the location information of a mobile platform meeting preset conditions, the response strategy of the mobile platform is redefined, including: redefined the response strategy based on the current location of the mobile platform. For instance, in response to the location information of the mobile platform meeting preset conditions, the current location of the mobile platform is obtained based on the location information; in response to the current location of the mobile platform being in a restricted area, the response strategy of the mobile platform in that restricted area is determined based on the restriction rules corresponding to the restricted area, so as to ensure the safety of the mobile platform's use. For instance, in response to the current location of the mobile platform being in a prohibited movement area, the mobile platform is prohibited from moving (e.g., aircraft takeoff is prohibited); in response to the current location of the mobile platform being in a restricted movement area, the mobile platform is controlled to move according to the restriction conditions corresponding to that restricted movement area. In response to the current location of the mobile platform being in an unrestricted area, the speed, altitude, and other movement parameters of the mobile platform in that unrestricted area can be left unrestricted, thereby expanding the usage scenarios of the mobile platform.

[0159] For example, the response strategy of a mobile platform is redefined based on its current location. This includes: in response to the mobile platform's current location being within a restricted area and the platform being indoors, the redefined response strategy includes a third response strategy, which may be the same as or different from the first response strategy. For instance, if the mobile platform's current location is within a restricted area, but laws and regulations do not restrict its movement indoors, the third response strategy can be unrestricted to expand the platform's usage scenarios, or it can have restrictions to ensure the platform's safety.

[0160] Optionally, the constraints of the third response strategy can be the same as the first preset constraints of the first response strategy, such as one or more of the following constraints: restrictions on movement speed, restrictions on movement acceleration, restrictions on movement height, restrictions on movement distance, and restrictions on movement direction.

[0161] Optionally, the third response strategy differs from the first response strategy in that it imposes stricter restrictions on the same movement parameters of the mobile platform compared to the first response strategy. Optionally, the movement parameters include one or more of the following: speed, acceleration, movement height, movement distance, and movement direction. When employing the third response strategy, the current location of the mobile platform is within a restricted area. By imposing stricter restrictions on the mobile platform within the indoor area of ​​the restricted area, the safety of its use can be ensured; for example, it can prevent the mobile platform from moving from indoors to outdoors and thus avoiding the risk of violations.

[0162] For example, the first response strategy can be unrestricted, while the third response strategy has restrictions; or the first response strategy allows the mobile platform to move within a large range to expand its application scenarios, while the third response strategy limits the speed and / or acceleration of the mobile platform to a smaller extent, the allowed movement height and / or movement distance to a smaller extent, and the range of allowed movement directions to a narrower extent, such as allowing the mobile platform to move towards the control device while restricting it from moving away from the control device, in order to ensure the safety of the mobile platform.

[0163] For example, the response strategy of the mobile platform is redefined based on its current location. This includes: in response to the mobile platform's current location being within a restricted area and the mobile platform being outdoors, the redefined response strategy includes a fourth response strategy, which differs from the second response strategy. This ensures that the current fourth response strategy conforms to the requirements of the restricted area where the mobile platform is located, thereby guaranteeing the safety of using the mobile platform.

[0164] For example, in response to a redefined response strategy, including a fourth response strategy, the movement of the mobile platform is controlled according to the redefined response strategy. This includes: in response to a restricted area being a restricted movement area, restricting the movement of the mobile platform according to movement parameters specified in the restricted movement area; and in response to a restricted area being a prohibited movement area, prohibiting the mobile platform from entering the prohibited movement area. This ensures the security of using the mobile platform.

[0165] For example, the response strategy of the mobile platform is redefined based on its current location. This includes: in response to the mobile platform's current location being outside a restricted area, the redefined response strategy allows the mobile platform to move. For instance, allowing unrestricted movement of the mobile platform can be achieved without limiting its movement parameters, thereby expanding the platform's usage scenarios.

[0166] For example, in response to the location information of the mobile platform not meeting preset conditions and the mobile platform changing from indoors to outdoors, the response strategy of the mobile platform is redefined, including: switching the first response strategy to the second response strategy; and / or in response to the location information of the mobile platform not meeting preset conditions and the mobile platform changing from outdoors to indoors, the response strategy of the mobile platform is redefined, including: switching the second response strategy to the first response strategy. This approach improves the control flexibility of the mobile platform, expands its application scenarios, and ensures its safety when the location information does not meet preset conditions by employing a targeted response strategy based on whether the mobile platform is currently indoors or outdoors.

[0167] In some implementations, the location of the mobile platform indoors or outdoors is detected either after the mobile platform is powered on or in real time during its operation. For example, detection of whether the mobile platform is indoors or outdoors may begin automatically after power-on, or it may begin detecting whether the mobile platform is indoors or outdoors in response to a pre-defined condition that the platform's location information does not meet the pre-defined criteria. Based on the result of whether the mobile platform is indoors or outdoors, a corresponding response strategy for the mobile platform is determined. For example, the mobile platform may be controlled to move according to a first response strategy, or its movement may be restricted according to a second response strategy, and then, in response to a change in the current indoor or outdoor status of the mobile platform, a new response strategy may be determined; and the movement of the mobile platform may be controlled according to the newly determined response strategy.

[0168] For example, whether the mobile platform is located indoors or outdoors is detected within a preset time period after the mobile platform is powered on. For instance, if the location information of the mobile platform does not meet preset conditions after the mobile platform is powered on, the system detects whether the mobile platform is indoors or outdoors within the preset time period after the mobile platform is powered on, so as to determine the corresponding response strategy of the mobile platform based on the result of whether the mobile platform is indoors or outdoors.

[0169] In some implementations, the location of the mobile platform indoors or outdoors is detected by the mobile platform itself, or by the control device of the mobile platform. For example, the control device is located on the mobile platform, or the distance between the control device and the mobile platform is less than or equal to a preset distance, such as 2 meters. The location of the mobile platform indoors or outdoors can be determined based on whether the control device is located indoors or outdoors.

[0170] For example, the mobile platform is located indoors, including both the platform's body and its control equipment. This allows for more accurate detection of the mobile platform being indoors, preventing violations caused by controlling its movement according to a first-response strategy when the platform is actually outdoors, such as in a transitional area between indoors and outdoors, but its current location is within a restricted area.

[0171] In some implementations, the location of the mobile platform indoors or outdoors is identified by one or more first sensors on the mobile platform, and / or by one or more second sensors on the control device of the mobile platform. The types of the multiple first sensors can be the same or different, the types of the multiple second sensors can be the same or different, and the types of the first sensors and second sensors can be the same or different. Using multiple sensors to identify whether the mobile platform is indoors or outdoors can improve the accuracy of identification, and using various sensors to identify whether the mobile platform is indoors or outdoors can further improve the accuracy of identification.

[0172] For example, the first sensor includes one or more of the following: a visual perception sensor, an image capture sensor, and a processor. Optionally, the image capture sensor includes an image capture sensor and / or a point cloud capture sensor. For instance, the visual perception sensor is used to detect obstacles and other objects in the environment surrounding the mobile platform, and the visual perception sensor may include a visual obstacle avoidance sensor. The processor can analyze the data from the visual perception sensor and / or the images or point clouds captured by the image capture sensor to identify whether the mobile platform is located indoors or outdoors. Optionally, the image capture sensor may include a wide-angle camera such as a fisheye camera, or the image capture sensor may be mounted on the mobile platform via a gimbal. The gimbal can adjust the orientation of the image capture sensor to capture a wider range, thereby improving the accuracy of identifying whether the mobile platform is located indoors or outdoors. The data type collected by the visual perception sensor is depth information, and the data type collected by the image capture sensor is image information (including but not limited to RGB image information).

[0173] For example, the first sensor can detect environmental information in one or more of the following directions: front, rear, left, right, above, or below the mobile platform. When the first sensor can detect environmental information in multiple directions of the mobile platform, it can identify whether the mobile platform is located indoors or outdoors based on the environmental information in multiple directions, thereby improving the accuracy of identifying whether the mobile platform is located indoors or outdoors.

[0174] For example, the second sensor includes one or more of the following: a visual perception sensor, an image sensor, and a processor. For instance, the image sensor includes an image capture sensor and / or a point cloud capture sensor. For example, the second sensor is capable of detecting environmental information in one or more directions: in front, behind, to the left, to the right, above, or below the control device. Using multiple sensors to identify whether the mobile platform is indoors or outdoors can improve the accuracy of identification; using multiple sensors to identify whether the mobile platform is indoors or outdoors can further improve the accuracy of identification. Identifying whether the mobile platform is indoors or outdoors based on environmental information from multiple directions of the mobile platform can improve the accuracy of identifying whether the mobile platform is indoors or outdoors.

[0175] For example, in response to the first sensor and / or the second sensor detecting the sky, it is determined that the mobile platform is located outdoors. For instance, the first sensor can detect environmental information above the mobile platform to determine whether the sky is detected. Specifically, in response to the first sensor and / or the second sensor detecting an area of ​​sky greater than or equal to a preset area threshold, it is determined that the mobile platform is outdoors; in response to the first sensor and / or the second sensor detecting an area of ​​sky less than the preset area threshold, such as no sky being detected, it is determined that the mobile platform is indoors.

[0176] For example, in response to the first sensor and / or the second sensor detecting surrounding walls, it is determined that the movable platform is located indoors. For instance, in response to the first sensor detecting that the surrounding area is entirely composed of walls, or that the proportion of surrounding walls is greater than or equal to a preset proportion threshold, it is determined that the movable platform is located indoors; in response to the first sensor and / or the second sensor detecting that the proportion of surrounding walls is less than a preset proportion threshold, it is determined that the movable platform is located outdoors.

[0177] In some implementations, referring to Figure 5, the control method for the mobile platform includes: after the mobile platform is powered on, the mobile platform and / or the control device receive the positioning information of the mobile platform; in response to the positioning information of the mobile platform not meeting preset conditions, such as failing to successfully obtain the current positioning information of the mobile platform's body and failing to successfully obtain the current positioning information of the control device, the mobile platform is detected to be located indoors or outdoors; in response to the positioning information of the mobile platform not meeting preset conditions and the mobile platform being located indoors, the mobile platform is controlled to move according to a first response strategy; in response to the positioning information of the mobile platform not meeting preset conditions and the mobile platform being located outdoors, the movement of the mobile platform is restricted according to a second response strategy. The second response strategy includes: in response to the historical positioning location of the mobile platform being in a specific area, determining that the second response strategy includes prohibiting the mobile platform from moving; or in response to the historical positioning location of the mobile platform being in a specific area, determining that the second response strategy includes restricting the movement range of the mobile platform to a second specified range; and / or, in response to the historical positioning location of the mobile platform being in a non-specific area, determining that the second response strategy includes restricting the movement range of the mobile platform to a second specified range.

[0178] Referring again to Figure 5, the control method for the mobile platform may further include: after the mobile platform is powered on, the mobile platform and / or the control device acquire positioning information; in response to the positioning information of the mobile platform meeting preset conditions, such as successfully acquiring the current positioning information of the mobile platform's body or the current positioning information of the control device, and the current positioning location of the mobile platform being outside the restricted area, allowing the mobile platform to move; in response to the positioning information of the mobile platform meeting preset conditions and the current positioning location of the mobile platform being within the restricted area, determining a corresponding response strategy based on whether the mobile platform is currently indoors or outdoors. For example, in response to the current positioning location of the mobile platform being within the restricted area and the mobile platform being indoors, controlling the mobile platform to move according to the third response strategy; in response to the current positioning location of the mobile platform being within the restricted area and the mobile platform being outdoors, controlling the mobile platform to move according to the fourth response strategy.

[0179] Specifically, after controlling the mobile platform to move according to the first response strategy, or restricting the movement of the mobile platform according to the second response strategy, in response to a change in the location information of the mobile platform meeting preset conditions or a change in the current indoor or outdoor status of the mobile platform, the response strategy of the mobile platform is redefined; and the movement of the mobile platform is controlled according to the redefined response strategy. Similarly, after controlling the mobile platform to move according to the third response strategy, or restricting the movement of the mobile platform according to the fourth response strategy, in response to a change in the current indoor or outdoor status of the mobile platform, the response strategy of the mobile platform is redefined; and the movement of the mobile platform is controlled according to the redefined response strategy.

[0180] For example, the mobile platform includes an unmanned aerial vehicle (UAV). When the UAV is first powered on, it needs time to search for and acquire GPS satellite positioning information before its accurate location can be determined. Before the UAV's location is determined, it can be determined whether the UAV is indoors or outdoors. If the UAV is indoors, it is allowed to fly; if the UAV is outdoors, it is prohibited from flying or its flight is restricted with a stricter strategy than that for indoor flights. For example, the flight altitude could be restricted to less than or equal to 10 meters indoors and less than or equal to 3 meters outdoors. This application's embodiments improve the control flexibility of the mobile platform, expand its application scenarios, and ensure its safety.

[0181] In related technologies, aircraft are prohibited from flying in certain restricted areas, or their movement is restricted (such as by altitude restrictions), preventing them from moving freely. These technologies rely on the aircraft's GPS positioning information to determine whether the aircraft is within a restricted area and to adopt corresponding response strategies for that area. However, this can sometimes impose unnecessary restrictions on the aircraft, affecting its usage scenarios and user experience.

[0182] Please refer to Figure 6 in conjunction with the foregoing embodiments. Figure 6 is a flowchart illustrating a control method for a mobile platform according to another embodiment of this application. This control method for a mobile platform is applied to a control device for a mobile platform. As shown in Figure 6, the control method for a mobile platform in this embodiment includes steps S310 to S320.

[0183] Step S310: Obtain movement control command.

[0184] Step S320: In response to the location information of the mobile platform meeting the preset conditions and the mobile platform being located indoors in the restricted area, the mobile platform is controlled to move according to the third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area.

[0185] When the mobile platform is located indoors in a restricted area, it allows the platform to move, which improves the control flexibility of the mobile platform, expands the scenarios in which the mobile platform can be used, and enhances the user experience.

[0186] For example, the current GPS location of the mobile platform is within a restricted area, but laws and regulations do not restrict the movement of the mobile platform indoors; alternatively, the third response strategy can be unrestricted to expand the use cases of the mobile platform, or it can be subject to restrictions to ensure the security of the mobile platform.

[0187] In some implementations, the restricted area includes a restricted movement area or a prohibited movement area. The restricted movement area can limit the movement parameters of the mobile platform within that area. These movement parameters may include, for example, one or more of the following: speed, acceleration, movement altitude, movement distance, and movement direction. For instance, the mobile platform may include an aircraft, the restricted movement area may include a height-restricted zone, and the prohibited movement area may include a no-fly zone.

[0188] In some implementations, the third response strategy includes allowing the mobile platform to move without restriction. For example, the movement parameters of the mobile platform can be left unrestricted to expand the use cases of the mobile platform.

[0189] For example, the third response strategy may be the same as or different from the first response strategy. Optionally, the first response strategy may be unrestricted, while the third response strategy may have restrictions; or both the first and third response strategies may have restrictions, and the restrictions may be different.

[0190] In some implementations, the third response strategy includes restricting the movement range of the movable platform to a third specified range. For example, the third specified range may include one or more of the following: indoors, a specified relative height of movement, a specified absolute height of movement, a specified distance of movement, a specified speed of movement, a specified acceleration of movement, or a specified direction of movement.

[0191] For example, the restricted area includes a restricted movement area. The restriction policy inherent in the restricted movement area imposes stricter restrictions on the movement parameters of the movable platform than the restrictions imposed by the third response policy on the same movement parameters of the movable platform. The movement parameters include one or more of the following: speed, acceleration, movement height, movement distance, and movement direction. For instance, one or more of the following specified ranges in the third specified range are greater than the same specified range of the restriction policy in the restricted movement area: the restricted range for movement speed, the restricted range for movement acceleration, the restricted range for movement height, the restricted range for movement distance, and the restricted range for movement direction. When using the third response policy, if the movable platform is indoors within the restricted area, it does not need to follow the restriction policy of the restricted area itself, but can use a more lenient third response policy to move within the restricted area. The movable platform has greater freedom of movement, which can expand the application scenarios of the movable platform.

[0192] Optionally, the third specified range of the third response strategy can be the same as the first specified range of the first response strategy, such as the same as one or more of the following specified ranges: the range of movement speed limit, the range of movement acceleration limit, the range of movement height limit, the range of movement distance limit, and the range of movement direction limit.

[0193] Optionally, the third response strategy can differ from the first response strategy. For example, the third response strategy may impose stricter restrictions on the movement parameters of the mobile platform than the first response strategy may impose stricter restrictions on the same movement parameters. These movement parameters include one or more of the following: speed, acceleration, movement height, movement distance, and movement direction. For instance, one or more of the following specified ranges in the third specified range may be smaller than the same specified range in the first specified range: the range limiting movement speed, the range limiting movement acceleration, the range limiting movement height, the range limiting movement distance, and the range limiting movement direction. When using the third response strategy, the current location of the mobile platform is within the restricted area. By imposing stricter restrictions on the mobile platform within the restricted indoor area, the safety of its use can be ensured, for example, preventing the mobile platform from moving from indoors to outdoors and thus avoiding the risk of violations.

[0194] In some embodiments, the method further includes: responding to the location information of the mobile platform meeting preset conditions and the mobile platform being located outdoors in a restricted area, controlling the movement of the mobile platform according to a fifth response strategy; the fifth response strategy is different from the third response strategy. By employing different response strategies for outdoor or indoor locations when the mobile platform is in a restricted area, the control flexibility of the mobile platform is improved, the application scenarios of the mobile platform are expanded, and the safety of using the mobile platform is ensured.

[0195] For example, controlling the movement of a mobile platform according to the fifth response policy includes: in response to a restricted area being a restricted movement area, restricting the movement of the mobile platform according to movement parameters specified in the restricted movement area; and in response to a restricted area being a prohibited movement area, prohibiting the mobile platform from entering the prohibited movement area. This ensures that the fifth response policy conforms to the requirements of the restricted area where the mobile platform is currently located, thereby guaranteeing the security of using the mobile platform.

[0196] Optionally, the fifth response strategy can be the same as or different from the fourth response strategy. Optionally, in response to a restricted area being a restricted movement area, the restrictions on the specified movement parameters imposed by the fifth response strategy and the fourth response strategy can be the same or different.

[0197] For example, the fifth response strategy imposes stricter restrictions on the movement parameters of the mobile platform than the fourth response strategy does on the same movement parameters. These movement parameters include one or more of the following: speed, acceleration, movement height, movement distance, and movement direction. For instance, when the mobile platform is first powered on, if its location information meets preset conditions and the platform is located outdoors within a restricted area, controlling its movement according to the stricter fifth response strategy can better ensure the platform's safety. If, however, the location information does not meet preset conditions and the platform's movement is restricted for a period of time according to the first or second response strategy, then when the location information meets preset conditions and the platform's current location is outdoors within the restricted area, controlling its movement according to the fourth response strategy can improve the platform's control flexibility. For example, after the location information of the mobile platform does not meet the preset conditions and the mobile platform is restricted from moving for a period of time according to the first response strategy or the second response strategy, the mobile platform can be prohibited from moving within the prohibited area when the location information of the mobile platform meets the preset conditions and the current location of the mobile platform is outdoors in the prohibited area.

[0198] In some implementations, the method further includes allowing the mobile platform to move in response to the current location of the mobile platform being outside the restricted area. For example, allowing the mobile platform to move without restriction can expand the application scenarios of the mobile platform by not limiting its movement parameters.

[0199] In some implementations, the signal source for the positioning signal used to determine the positioning information includes satellites, such as GPS satellites. However, this is not the only possibility; for example, the signal source for the positioning signal used to determine the positioning information may also include one or more of the following wireless devices: WiFi devices, cellular network base stations, Bluetooth devices, and ZigBee devices.

[0200] For example, in response to the signal strength of the positioning signal being greater than a second preset strength threshold, and / or the number of positioning satellites corresponding to the positioning signal being greater than a second preset number threshold, it is determined that the mobile platform is located outdoors; in response to the signal strength of the positioning signal being less than a third preset strength threshold, and / or the number of positioning satellites corresponding to the positioning signal being less than a third preset number threshold, it is determined that the mobile platform is located indoors. For example, when the number of GPS satellites searched by the mobile platform and / or the control device is less than the third preset number threshold, it can be determined that the mobile platform is located indoors; or when the signal strength of the positioning signals of the GPS satellites searched by the mobile platform and / or the control device is less than the third preset strength threshold, it is determined that the mobile platform is located indoors.

[0201] In some implementations, the location information meets preset conditions, including one or more of the following: a location signal for determining the location information can be obtained, the signal strength of the location signal is greater than a first preset strength threshold, the number of signal sources of the location signal is greater than a first preset number threshold, and the location device corresponding to the location information is successfully verified.

[0202] For example, the signal source of the positioning signal includes one or more of the following: satellite, RTK equipment, and a docking platform of a mobile platform.

[0203] For example, the method further includes: outputting a location failure message in response to the location information not meeting preset conditions.

[0204] For example, the location information includes satellite positioning information or location information determined based on wireless communication signals.

[0205] For example, location information determined based on wireless communication signals includes: WiFi location information, cellular network location information, Bluetooth location information, or ZigBee location information.

[0206] For example, the location information includes one or more of the following: location information of the body of the mobile platform, and location information of the control device of the mobile platform.

[0207] For example, the location information of a mobile platform includes: the real-time location information of the mobile platform.

[0208] For example, the positioning information of the mobile platform's body includes one or more of the following: satellite positioning information of the satellite positioning device carried on the mobile platform, wireless signal positioning information of the wireless communication device carried on the mobile platform, positioning information activated by the mobile platform's network, and positioning information obtained by the positioning sensor of the mobile platform.

[0209] For example, the current location information of the control device includes: the real-time location information of the control device.

[0210] For example, the positioning information of the control device includes one or more of the following: satellite positioning information of the satellite positioning device carried by the control device, wireless signal positioning information of the wireless communication device carried by the control device, positioning information activated by the network connection of the control device, and positioning information obtained by the positioning sensor of the control device.

[0211] For example, the mobile platform may be located indoors or outdoors, and the detection may be performed after the mobile platform is powered on, or in real time during the operation of the mobile platform.

[0212] For example, whether the mobile platform is located indoors or outdoors, the detection is performed within a preset time after the mobile platform is powered on.

[0213] For example, the mobile platform may be located indoors or outdoors, or it may be detected by the mobile platform itself, or by the control device of the mobile platform.

[0214] For example, the mobile platform is located indoors, including the body of the mobile platform and the control equipment of the mobile platform.

[0215] For example, whether the mobile platform is located indoors or outdoors is identified by one or more first sensors of the mobile platform, and / or by one or more second sensors of the control device of the mobile platform.

[0216] For example, the first sensor may include one or more of the following: a visual perception sensor, an image sensor, and a processor.

[0217] Optionally, the imaging sensors include: an image imaging sensor and / or a point cloud imaging sensor.

[0218] Optionally, the first sensor can detect environmental information in one or more of the following directions: in front, behind, to the left, to the right, above, or below the mobile platform.

[0219] For example, the second sensor may include one or more of the following: a visual perception sensor, an image sensor, and a processor.

[0220] Optionally, the imaging sensors include: an image imaging sensor and / or a point cloud imaging sensor.

[0221] Optionally, the second sensor can detect environmental information in one or more of the following directions: in front, behind, to the left, to the right, above, or below the control device.

[0222] For example, in response to the first sensor detecting the sky, it is determined that the mobile platform is located outdoors.

[0223] For example, in response to the first sensor detecting the surrounding walls, it is determined that the movable platform is located indoors.

[0224] The movement control instructions include control instructions for controlling the movable platform to begin moving; controlling the movable platform to move includes: controlling the movable platform to begin moving; and / or, restricting the movement of the movable platform includes: restricting the movable platform to begin moving.

[0225] Optionally, the mobile platform includes an aircraft, and control commands for controlling the mobile platform to begin moving include control commands for controlling the aircraft to take off; controlling the mobile platform to move includes: controlling the aircraft to take off, and / or, restricting the movement of the mobile platform includes: restricting the mobile platform to take off.

[0226] The specific principles and implementation methods of the control method for the mobile platform provided in this application are similar to those of the control methods for the mobile platform shown in the embodiments of Figure 2 or Figure 4 above, and will not be repeated here. Furthermore, any parts not mentioned in this application's embodiments can be referred to the relevant descriptions of the foregoing method embodiments, and will not be repeated here.

[0227] Please refer to FIG7 in conjunction with the above embodiments. FIG7 is a schematic block diagram of the control device 60 for a mobile platform provided in this application embodiment. The control device 60 includes a memory 61 and a processor 62. The memory 61 is used to store a computer program; the processor 62 is used to execute the computer program and, when executing the computer program, implement the steps of the control method for the mobile platform of the aforementioned embodiments.

[0228] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0229] Obtain movement control commands;

[0230] If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move.

[0231] In response to the mobile platform's location information not meeting preset conditions and the mobile platform being located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy.

[0232] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0233] Obtain movement control commands;

[0234] If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy for the mobile platform is determined based on whether the mobile platform is located outdoors or indoors.

[0235] The movement of the mobile platform is controlled according to a response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors.

[0236] In some implementations, the processor 62 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0237] Obtain movement control commands;

[0238] In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area.

[0239] The specific principles and implementation methods of the control device for the mobile platform provided in this application embodiment are similar to those of the methods in the foregoing embodiments, and will not be repeated here. Furthermore, any parts not mentioned in this application embodiment can be referred to the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0240] Please refer to FIG8 in conjunction with the above embodiments. FIG8 is a schematic block diagram of a movable platform 70 provided in an embodiment of this application. The movable platform 70 includes a memory 71 and a processor 72, and may also include a communication interface 73. The memory 71 is used to store computer programs; the processor 72 is used to execute the computer programs and, when executing the computer programs, implement the steps of the control method of the movable platform in the foregoing embodiments.

[0241] In some implementations, the processor 72 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0242] Motion control commands are obtained through communication interface 73;

[0243] If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move.

[0244] In response to the mobile platform's location information not meeting preset conditions and the mobile platform being located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy.

[0245] In some implementations, the processor 72 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0246] Motion control commands are obtained through communication interface 73;

[0247] If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy for the mobile platform is determined based on whether the mobile platform is located outdoors or indoors.

[0248] The movement of the mobile platform is controlled according to a response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors.

[0249] In some implementations, the processor 72 is configured to execute a computer program and, while executing the computer program, perform the following steps:

[0250] Motion control commands are obtained through communication interface 73;

[0251] In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area.

[0252] The specific principles and implementation methods of the mobile platform provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here. Furthermore, any parts not mentioned in this application's embodiments can be referred to the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0253] Please refer to FIG9 in conjunction with the above embodiments. FIG9 is a schematic block diagram of the control device 90 provided in the embodiments of this application. The control device 90 includes at least a memory 91 and a processor 92. The memory 91 is used to store computer programs; the processor 92 is used to execute the computer programs and, when executing the computer programs, implement the steps of the control method for the movable platform of the aforementioned embodiments.

[0254] In some embodiments, the control device 90 may further include a display device 93. The display device 93 is used to display images. The specific principles and implementation methods of the devices provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here. The control device 90 may also include a communication interface 94 for acquiring images collected by the unmanned aerial vehicle during operation. The memory 91, processor 92, display device 93, and communication interface 94 can be connected via a bus. The control device 90 may also include an input device (not shown).

[0255] In some implementations, processor 92 is configured to execute a computer program and, while executing the computer program, to perform:

[0256] Obtain movement control commands (e.g., obtain movement control commands via an input device);

[0257] In response to the fact that the positioning information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move through the communication interface 94 according to the first response strategy, wherein the first response strategy allows the mobile platform to move.

[0258] In response to the fact that the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted through the communication interface 94 according to the second response strategy, wherein the first response strategy is different from the second response strategy.

[0259] In some implementations, processor 92 is configured to execute a computer program and, while executing the computer program, to perform:

[0260] Obtain movement control commands (e.g., obtain movement control commands via an input device);

[0261] If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy for the mobile platform is determined based on whether the mobile platform is located outdoors or indoors.

[0262] The movement of the mobile platform is controlled via communication interface 94 according to the response strategy. The response strategy for the mobile platform located indoors is different from that for the mobile platform located outdoors.

[0263] In some implementations, processor 92 is configured to execute a computer program and, while executing the computer program, to perform:

[0264] Obtain movement control commands (e.g., obtain movement control commands via an input device);

[0265] In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move via communication interface 94 according to the third response strategy. The third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area.

[0266] The specific principles and implementation methods of the control device provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here. Furthermore, any parts not mentioned in this application's embodiments can be referred to the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0267] Referring to Figure 10 in conjunction with the above embodiments, this application also provides a mobile platform system 100, including a mobile platform 1001 and a control device 1002 for the mobile platform 1001. The mobile platform 1001 and / or the control device 1002 can implement the control method of the mobile platform shown in the embodiments of Figures 2, 4 or 6 above.

[0268] The specific principles and implementation methods of the system provided in this application are similar to those of the methods shown in the embodiments of Figures 2, 4, or 6 above, and will not be repeated here. Furthermore, any parts not mentioned in this application's embodiments can be referred to the relevant descriptions of the foregoing method embodiments, and will not be repeated here.

[0269] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the steps of the method provided in the above embodiments.

[0270] The computer-readable storage medium can be an internal storage unit of the apparatus, device, or mobile platform in any of the foregoing embodiments, such as a hard disk or memory of the apparatus, device, or mobile platform. The computer-readable storage medium can also be an external storage device of the apparatus, device, or mobile platform, such as a pluggable hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., mounted on the apparatus, device, or mobile platform.

[0271] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application.

[0272] It should also be understood that the term “and / or” as used in this application and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0273] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

A control method of a movable platform, characterized by, include: Obtain movement control commands; In response to the fact that the positioning information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move; If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy. A control method for a mobile platform, characterized in that, include: Obtain movement control commands; If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy of the mobile platform is determined based on whether the mobile platform is located outdoors or indoors. The movement of the mobile platform is controlled according to the response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors. A control method for a mobile platform, characterized in that, include: Obtain movement control commands; In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area. The method according to any one of claims 1-3 is characterized in that, The positioning information includes satellite positioning information, positioning information determined based on wireless communication signals, or positioning information determined based on positioning sensors. The method according to claim 4, characterized in that, The location information determined based on wireless communication signals includes: WiFi location information, cellular network location information, Bluetooth location information, or ZigBee location information. The method according to claim 1 or 2, characterized in that, The location information does not meet the preset conditions, including one or more of the following: The following conditions were met: failure to obtain a positioning signal for determining the positioning information; the signal strength of the positioning signal is less than or equal to a first preset strength threshold; the number of signal sources for the positioning signal is less than or equal to a first preset number threshold; or the positioning device corresponding to the positioning information failed to be verified. The method according to claim 3, characterized in that, The location information satisfies the preset conditions, including one or more of the following: a location signal for determining the location information can be obtained, the signal strength of the location signal is greater than a first preset strength threshold, the number of signal sources of the location signal is greater than a first preset number threshold, and the location device corresponding to the location information is successfully verified. The method according to claim 6 or 7, characterized in that, The location signal source includes one or more of the following: satellite, RTK equipment, and the docking platform of the mobile platform. The method according to claim 1 or 2, characterized in that, The method further includes: in response to the location information not meeting the preset conditions, outputting a location failure prompt message. The method according to any one of claims 1-3 is characterized in that, The positioning information includes one or more of the following: positioning information of the body of the mobile platform, and positioning information of the control device of the mobile platform. The method according to claim 10, characterized in that, The positioning information of the mobile platform includes: the real-time positioning information of the mobile platform. The method according to claim 10 or 11 is characterized in that, The positioning information of the mobile platform includes one or more of the following: satellite positioning information of the satellite positioning device carried by the mobile platform, wireless signal positioning information of the wireless communication device carried by the mobile platform, positioning information activated by the network of the mobile platform, and positioning information obtained by the positioning sensor of the mobile platform. The method according to claim 10, characterized in that, The current location information of the control device includes: the real-time location information of the control device. The method according to claim 10 or 13 is characterized in that, The positioning information of the control device includes one or more of the following: satellite positioning information of the satellite positioning device carried by the control device, wireless signal positioning information of the wireless communication device carried by the control device, positioning information activated by the network of the control device, and positioning information obtained by the positioning sensor of the control device. The method according to claim 1, characterized in that, Both the first response strategy and the second response strategy have limitations. The method according to claim 15, characterized in that, The first preset constraint of the first response strategy is different from the second preset constraint of the second response strategy. The method according to claim 16, characterized in that, The first preset constraint differs from the second preset constraint, including: The second preset restriction condition imposes a more stringent restriction on the same movement parameters of the movable platform than the first preset restriction condition imposes a more stringent restriction on the same movement parameters of the movable platform. The method according to claim 17, characterized in that, The movement parameters include one or more of the following: speed, acceleration, movement height, movement distance, and movement direction. The method according to claim 16, characterized in that, The first preset restriction or the second preset restriction includes one or more of the following: restriction on movement speed, restriction on movement acceleration, restriction on movement height, restriction on movement distance, and restriction on movement direction. The method according to claim 1, characterized in that, The first response strategy has no restrictions, while the second response strategy has restrictions. The method according to claim 1, characterized in that, The first response strategy includes: limiting the movement range of the mobile platform to a first specified range. The method according to claim 21, characterized in that, The first specified range includes one or more of the following: indoor, specified relative height of movement, specified absolute height of movement, specified distance of movement, specified speed of movement, specified acceleration of movement, and specified direction of movement. The method according to claim 1, characterized in that, The first response strategy includes allowing the mobile platform to move without restriction. The method according to claim 1, characterized in that, The second response strategy includes: The movable platform is prohibited from moving, or, The movement range of the movable platform is restricted to a second specified range, or... The second response strategy is determined based on the historical location of the mobile platform, and the second specified range is different from the first specified range corresponding to the first response strategy. The method according to claim 24, characterized in that, The determination of the second response strategy based on the historical location information of the mobile platform includes: In response to the historical location of the mobile platform being in a specific area, the second response strategy is determined to include prohibiting the mobile platform from moving; or in response to the historical location of the mobile platform being in a specific area, the second response strategy is determined to include restricting the movement range of the mobile platform to the second specified range; and / or, In response to the fact that the historical location of the mobile platform is in a non-specific area, the second response strategy is determined to include restricting the movement range of the mobile platform to the second specified range. The method according to claim 25, characterized in that, The specific area includes the regulated area. The method according to claim 26, characterized in that, The controlled area includes one or more of the following: user-defined controlled areas, and controlled areas stipulated by laws and regulations. The method according to claim 25 or 26 is characterized in that, The controlled area includes one or more of the following: no-movement area, restricted movement area. The method according to claim 28, characterized in that, The mobile platform includes an aircraft, and the prohibited movement area includes a prohibited flight area. The method according to claim 25, characterized in that, The mobile platform includes an aircraft, and determining the second response strategy based on the historical positioning information of the mobile platform includes: In response to the aircraft's historical location being in a specific area, the second response strategy is determined to include prohibiting the aircraft from taking off. The method according to claim 28, characterized in that, The mobile platform includes an aircraft, and the restricted movement area includes a restricted flight area. The method according to claim 25, characterized in that, The mobile platform includes an aircraft, and determining the second response strategy based on the historical positioning information of the mobile platform includes: In response to the aircraft's historical location being in a specific area, the second response strategy is determined to include one or more of the following: Limits the maximum flight altitude, the maximum flight distance, the maximum flight speed, the maximum flight acceleration, and the flight direction. The method according to claim 32, characterized in that, The maximum flight altitude includes one or more of the following: maximum absolute altitude, maximum relative altitude. The method according to claim 32, characterized in that, The maximum flight distance includes one or more of the following: the maximum flight distance from the takeoff position, and the maximum flight distance from the control device of the mobile platform. The method according to claim 24 or 25 is characterized in that, The second specified range includes one or more of the following: specified relative movement height, specified absolute movement height, specified movement distance, specified movement speed, specified movement acceleration, and specified movement direction. The method according to claim 24, characterized in that, The historical location includes the historical location of the mobile platform before this power-on. The method according to claim 36, characterized in that, The historical location prior to this power-on is the most recent historical location of the mobile platform before it began moving this time. The method according to claim 36, characterized in that, The mobile platform includes an aircraft, and the historical positioning location prior to this startup is the historical positioning location of the aircraft during its most recent flight before this takeoff. The method according to claim 24, characterized in that, The historical location includes one or more of the following: the historical location of the mobile platform's body, the historical location of the mobile platform's control device, and the historical location of the mobile platform when it was activated for network connectivity. The method according to claim 24 or 25 is characterized in that, The second specified range differs from the first specified range and includes one or more of the following: The specified relative height of movement within the first specified range is greater than the specified relative height of movement within the second specified range; The specified absolute height of movement within the first specified range is greater than the specified absolute height of movement within the second specified range; The specified movement distance within the first specified range is greater than the specified movement distance within the second specified range; The specified movement speed within the first specified range is greater than the specified movement speed within the second specified range; and / or The specified acceleration within the first specified range is greater than the specified acceleration within the second specified range. The method according to claim 1, characterized in that, After controlling the movable platform to move according to the first response strategy, or restricting the movement of the movable platform according to the second response strategy, the method further includes: In response to a change in the location information of the mobile platform meeting the preset conditions or a change in the current indoor or outdoor status of the mobile platform, the response strategy of the mobile platform is redefined; and the movement of the mobile platform is controlled according to the redefined response strategy. The method according to claim 41, characterized in that, The step of re-determining the response strategy of the mobile platform in response to the location information of the mobile platform satisfying the preset conditions includes: re-determining the response strategy of the mobile platform based on the current location of the mobile platform. The method according to claim 42, characterized in that, The strategy for re-determining the response of the mobile platform based on its current location includes: In response to the fact that the current location of the mobile platform is within a restricted area and the mobile platform is located indoors, the redefined response strategy includes a third response strategy, which may be the same as or different from the first response strategy; In response to the mobile platform's current location being within a restricted area and the mobile platform being outdoors, the redefined response strategy includes a fourth response strategy, which differs from the second response strategy; and / or, In response to the current location of the mobile platform being outside the restricted area, the redefined response strategy includes allowing the mobile platform to move. The method according to claim 43, characterized in that, In response to the redefined response strategy, which includes a fourth response strategy, controlling the movement of the mobile platform according to the redefined response strategy includes: In response to the restricted area being a restricted movement area, the movement of the movable platform is restricted according to the movement parameters specified in the restricted movement area; In response to the restricted area being a no-movement zone, the movable platform is prohibited from entering the no-movement zone. The method according to claim 43, characterized in that, The third response strategy differs from the first response strategy in that the third response strategy imposes stricter restrictions on the same movement parameters of the mobile platform than the first response strategy does on the same movement parameters of the mobile platform. The method according to claim 44 or 45 is characterized in that, The movement parameters include one or more of the following: speed, acceleration, movement height, movement distance, and movement direction. The method according to claim 41, characterized in that, In response to the mobile platform's location information not meeting the preset conditions and the mobile platform changing from indoors to outdoors, the re-determination of the mobile platform's response strategy includes: switching the first response strategy to the second response strategy; and / or In response to the mobile platform's location information not meeting the preset conditions and the mobile platform changing from outdoors to indoors, the re-determination of the mobile platform's response strategy includes: switching the second response strategy to the first response strategy. The method according to any one of claims 1-3 is characterized in that, The mobile platform is located indoors or outdoors, and is detected either after the mobile platform is powered on or in real time during the operation of the mobile platform. The method according to claim 48, characterized in that, The mobile platform is located indoors or outdoors, and the detection is performed within a preset time after the mobile platform is powered on. The method according to any one of claims 1-3 is characterized in that, The mobile platform is located indoors or outdoors, and is detected by the mobile platform itself, or by the control equipment of the mobile platform. The method according to claim 50, characterized in that, The mobile platform is located indoors, including: the body of the mobile platform and the control equipment of the mobile platform, both of which are located indoors. The method according to any one of claims 1-3 is characterized in that, The location of the mobile platform indoors or outdoors is identified by one or more first sensors of the mobile platform, and / or by one or more second sensors of the control device of the mobile platform. The method according to claim 52, characterized in that, The first sensor includes one or more of the following: a visual perception sensor, an image sensor, and a processor. The method according to claim 53 is characterized in that, The imaging sensors include: an image imaging sensor and / or a point cloud imaging sensor. The method according to claim 54, characterized in that, The first sensor is capable of detecting environmental information in one or more of the following directions: front, rear, left, right, above, or below the mobile platform. The method according to claim 52, characterized in that, The second sensor includes one or more of the following: a visual perception sensor, an image sensor, and a processor. The method according to claim 56, characterized in that, The imaging sensors include: an image imaging sensor and / or a point cloud imaging sensor. The method according to claim 56, characterized in that, The second sensor is capable of detecting environmental information in one or more of the following directions: in front, behind, to the left, to the right, above, or below the control device. The method according to claim 52, characterized in that, In response to the first sensor and / or the second sensor detecting the sky, it is determined that the mobile platform is located outdoors. The method according to claim 52, characterized in that, In response to the first sensor and / or the second sensor detecting a surrounding wall, it is determined that the movable platform is located indoors. The method according to claim 3, characterized in that, The signal source for the positioning signal used to determine the positioning information includes satellites; If the signal strength of the positioning signal is greater than a second preset strength threshold, and / or the number of positioning satellites corresponding to the positioning signal is greater than a second preset number threshold, it is determined that the mobile platform is located outdoors; If the signal strength of the positioning signal is less than a third preset strength threshold, and / or the number of positioning satellites corresponding to the positioning signal is less than a third preset number threshold, it is determined that the mobile platform is located indoors. The method according to claim 3, characterized in that, The third response strategy includes: restricting the movement range of the mobile platform to a third specified range. The method according to claim 62, characterized in that, The third specified range includes one or more of the following: indoor, specified relative height of movement, specified absolute height of movement, specified distance of movement, specified speed of movement, specified acceleration of movement, and specified direction of movement. The method according to claim 3, characterized in that, The method further includes: In response to the location information of the mobile platform satisfying the preset conditions and the mobile platform being located outdoors in the restricted area, the movement of the mobile platform is controlled according to the fifth response strategy; the fifth response strategy is different from the third response strategy; and / or, In response to the fact that the current location of the mobile platform is outside the restricted area, the mobile platform is allowed to move. The method according to claim 64, characterized in that, The step of controlling the movement of the mobile platform according to the fifth response strategy includes: In response to the restricted area being a restricted movement area, the movement of the movable platform is restricted according to the movement parameters specified in the restricted movement area; In response to the restricted area being a no-movement zone, the movable platform is prohibited from entering the no-movement zone. The method according to claim 3, characterized in that, The third response strategy includes allowing the mobile platform to move without restriction. The method according to any one of claims 1-3 is characterized in that, The movement control command includes a control command for controlling the movable platform to begin moving; The control of the movable platform to move includes: controlling the movable platform to start moving, and / or, the restriction of the movement of the movable platform includes: restricting the movable platform from starting to move. The method according to claim 67, characterized in that, The mobile platform includes an aircraft, and the control commands for controlling the mobile platform to begin moving include control commands for controlling the aircraft to take off. Controlling the movement of the mobile platform includes: controlling the aircraft to take off, and / or restricting the movement of the mobile platform includes: restricting the mobile platform from taking off. The method according to claim 3, characterized in that, The restricted areas include restricted movement areas or prohibited movement areas. The method according to claim 69, characterized in that, The mobile platform includes an aircraft, the restricted movement area includes a height-restricted area, and the prohibited movement area includes a no-fly zone. A control device for a mobile platform, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Obtain movement control commands; In response to the fact that the positioning information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move; If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy. A mobile platform, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Obtain movement control commands; In response to the fact that the positioning information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move; If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy. A control device, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Obtain movement control commands; If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located indoors, the mobile platform is controlled to move according to the first response strategy, wherein the first response strategy allows the mobile platform to move; If the location information of the mobile platform does not meet the preset conditions and the mobile platform is located outdoors, the movement of the mobile platform is restricted according to the second response strategy, wherein the first response strategy is different from the second response strategy. A control device for a mobile platform, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Obtain movement control commands; If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy of the mobile platform is determined based on whether the mobile platform is located outdoors or indoors. The movement of the mobile platform is controlled according to the response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors. A mobile platform, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Obtain movement control commands; If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy of the mobile platform is determined based on whether the mobile platform is located outdoors or indoors. The movement of the mobile platform is controlled according to the response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors. A control device, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Obtain movement control commands; If the location information of the mobile platform does not meet the preset conditions, the corresponding response strategy of the mobile platform is determined based on whether the mobile platform is located outdoors or indoors. The movement of the mobile platform is controlled according to the response strategy, wherein the response strategy for the mobile platform located indoors is different from the response strategy for the mobile platform located outdoors. A control device for a mobile platform, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Obtain movement control commands; In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area. A mobile platform, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Obtain movement control commands; In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area. A control device, characterized in that, include: A memory and a processor, wherein the memory is used to store computer programs; and the processor is used to invoke the computer programs. The processor is used for: Obtain movement control commands; In response to the location information of the mobile platform meeting preset conditions and the mobile platform being located indoors in a restricted area, the mobile platform is controlled to move according to a third response strategy, wherein the third response strategy allows the mobile platform to move without being restricted by the restriction strategy of the restricted area. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the method of any one of claims 1-70.

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