CN110383197A

CN110383197A - Mobile platform method for limiting speed and unit and recording medium

Info

Publication number: CN110383197A
Application number: CN201880015909.0A
Authority: CN
Inventors: 谭敏哲; 李罗川; 林灿龙; 于云
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-01-23
Filing date: 2018-01-23
Publication date: 2019-10-25
Also published as: WO2019144299A1

Abstract

A kind of mobile platform method for limiting speed and equipment, mobile platform speed limiting device and computer-readable recording medium.The mobile platform method for limiting speed, make mobile platform close to the prohibited area for forbidding the mobile platform to be moved to, the movement speed of the mobile platform is limited to the allowable speed for allowing the mobile platform mobile, it include: the changing coordinates according to the mobile platform, point nearest away from the changing coordinates on the boundary of the prohibited area is determined, as characteristic point (S1)；According to the characteristic point, the fixed reference feature point (S2) for speed limit reference is determined；It is determined according to distance of the fixed reference feature point away from the changing coordinates and allows maximum speed (S3), wherein this allows maximum movement speed of the maximum speed less than or equal to the mobile platform when unrestricted；Maximum speed is allowed according to described, and the movement speed is limited to the allowable speed (S4).

Description

Method, device and apparatus for limiting speed of mobile platform and recording medium

Technical Field

The present disclosure relates to a mobile platform speed limiting method and apparatus, a mobile platform speed limiting device, and a recording medium.

Background

With the rapid development of communication and automation technologies, the tip technologies of robots, unmanned planes, self-propelled diving equipment, autonomous vehicles, and the like are also rapidly developing. As described above, these self-propelled mobile platforms are generally required to have a limited range of movement for reasons such as avoidance of obstacles, electronic fences, safety restrictions, access restrictions, and distance restrictions.

Take the unmanned plane which is popular nowadays as an example, and particularly take the hoverable aircraft as an example. The objective reasons for the regional limitation include: a region restriction for public safety requirements such as a no-entry region or a no-fly region; e.g., obstacle avoidance, due to regional restrictions of the unmanned aerial vehicle safety requirements; distance, etc. due to area restrictions required by the user, etc.

However, in the past, the area restriction requirements generated by the above various reasons are met by different mechanisms, independent speed restriction is performed on the no-entry area, the obstacle avoidance area and the distance limitation, and when the distance between the unmanned aerial vehicle and the boundary of the flight area restriction is less than a certain distance, the unmanned aerial vehicle is forced to brake and hover. The existing technical scheme can cause that an airplane cannot fly due to obstacle avoidance when the airplane needs to fly at the edge of an obstacle; the forbidden zone, the obstacle avoidance and the limit distance are operated independently, so that the technical problems of conflict and the like exist in different limit requirements.

Therefore, it is a technical problem to be solved and improved in the art how to conveniently and effectively control a self-propelled mobile platform such as an unmanned aerial vehicle so that the mobile platform approaches a prohibited area (including a prohibited area, an obstacle avoidance area, a distance limited area, etc.) to which the mobile platform is prohibited from moving.

Disclosure of Invention

The present disclosure has been made to solve the above-mentioned technical problems.

One aspect of the present disclosure provides a mobile platform speed limiting method for limiting a moving speed of a mobile platform to an allowable speed at which the mobile platform is allowed to move when the mobile platform approaches a prohibited area to which the mobile platform is prohibited from moving, including: determining a point which is closest to the current coordinate on the boundary of the forbidden area according to the current coordinate of the mobile platform, and taking the point as a characteristic point; determining a reference characteristic point for speed limit reference according to the characteristic point; determining an allowable maximum speed according to the distance between the reference characteristic point and the current coordinate, wherein the allowable maximum speed is less than or equal to the maximum moving speed when the moving platform is not limited; limiting the moving speed to the allowable speed according to the allowable maximum speed.

Another aspect of the present disclosure provides a mobile platform speed limiting apparatus that limits a moving speed of a mobile platform to an allowable speed at which movement of the mobile platform is allowable in a case where the mobile platform approaches a prohibition area to which movement of the mobile platform is prohibited, the apparatus including: a processor for controlling the mobile platform speed limiting device, in particular for: determining a point which is closest to the current coordinate on the boundary of the forbidden area according to the current coordinate of the mobile platform, and taking the point as a characteristic point; determining a reference characteristic point for speed limit reference according to the characteristic point; determining an allowable maximum speed according to the distance between the reference characteristic point and the current coordinate, wherein the allowable maximum speed is less than or equal to the maximum moving speed when the moving platform is not limited; limiting the moving speed to the allowable speed according to the allowable maximum speed.

Another aspect of the present disclosure provides a mobile platform speed limiting apparatus comprising a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform the mobile platform speed limiting method of any one of the one aspects.

Another aspect of the present disclosure provides a computer-readable recording medium storing computer-executable instructions that, when executed by a processor, cause the processor to perform the mobile platform speed limiting method of any one of the aspects.

According to the mobile platform speed limiting method and device, the mobile platform speed limiting device and the computer readable recording medium, the whole speed limitation can be obtained by integrating the forbidden region (such as a forbidden region), avoiding obstacles and limiting far as a series of limiting characteristic points, and by means of the geometrical relationship between the mobile platform such as an unmanned aerial vehicle and the limiting points, the regions generated by different requirements are effectively integrated to be limited to the same frame, and mutual conflict among limiting strategies is avoided. Meanwhile, the instruction direction and the area limiting information are effectively utilized, the controllability and the user experience of the user on the mobile platform such as the unmanned aerial vehicle are guaranteed to the maximum degree, and meanwhile the problems that the user moves at the edge of a forbidden area such as the edge of a protection forest and the like can be effectively solved, so that the user experience is improved.

Drawings

For a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:

fig. 1 schematically shows a diagram of an application scenario of a mobile platform speed limiting device of an embodiment of the present disclosure.

Fig. 2 schematically illustrates a block diagram of a mobile platform speed limiting apparatus of an embodiment of the disclosure.

FIG. 3 schematically illustrates a simplified flow diagram of a mobile platform speed limiting method of an embodiment of the disclosure.

Fig. 4 schematically illustrates an exemplary schematic diagram of determining feature points of a mobile platform speed limiting method according to an embodiment of the disclosure.

Fig. 5 schematically illustrates an exemplary schematic diagram of determining reference feature points of a mobile platform speed limiting method of an embodiment of the present disclosure.

Fig. 6 schematically illustrates a representation of the moving speed of a mobile platform for a mobile platform speed limiting method of an embodiment of the disclosure.

Fig. 7 schematically illustrates an exemplary schematic diagram of a speed limit of a mobile platform speed limiting method according to another embodiment of the present disclosure.

Fig. 8 schematically illustrates an exemplary schematic diagram of a speed limit of a mobile platform speed limiting method according to another embodiment of the present disclosure.

Fig. 9 schematically illustrates a schematic flow chart of determining reference feature points of a mobile platform speed limiting method according to another embodiment of the present disclosure.

Fig. 10 schematically illustrates a block diagram of a mobile platform speed limiting device according to another embodiment of the disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.

As shown in fig. 1, the mobile platform speed limiting device T of the embodiment of the present disclosure is a control device for controlling the moving speed of such a mobile platform M as an unmanned aerial vehicle. The mobile platform speed limiting device T may be directly equipped on the mobile platform M. Of course, the control device may be a wireless remote control device for the mobile platform M.

Furthermore, as the mobile platform M, here, taking a drone as an example, a hovering aerial vehicle is particularly preferable, because in the prior art, a stopping flight strategy is often adopted for the hovering aerial vehicle when the hovering aerial vehicle approaches the prohibited area. In fact, the mobile platform M may be any mobile platform of a self-propelled type, such as a self-propelled robot, a self-propelled diving apparatus, or an autonomous vehicle. Furthermore, an obstacle sensor S for sensing an obstacle B, for example, in the moving direction of the mobile platform M may be mounted on the mobile platform M. The obstacle sensor S may include a module capable of sensing external obstacles such as binocular vision, radar, TOF, ultrasonic waves, etc., which may measure the distance, direction, etc., from one or some points on the obstacle B to the moving platform M.

In addition, the mobile platform speed limiting device T may receive information from the forbidden area database D, or may directly store information of the forbidden area database D, where the forbidden area database D includes a large amount of information of the forbidden area a that the mobile platform M is forbidden to enter, and it may be preferably synchronized with the cloud at an irregular time. Furthermore, the mobile platform speed limitation device T may receive information of the obstacle area from said obstacle sensor S. Furthermore, the mobile platform speed limitation device T may receive information from the GPS device G about the current coordinates of the mobile platform M. In summary, the prohibited area may include at least one of a prohibited area for prohibiting the mobile platform M from entering, an obstacle area defined by the periphery of the obstacle B, and a limited area for limiting the maximum distance moved by the mobile platform M, and may be any other area requiring limitation on the movement of the mobile platform M.

Further, the mobile platform speed limiting device T may be provided with a communication unit or a communication interface, and receive various information from the outside or transmit information to the outside through the communication unit or the communication interface. The communication method may be a wired communication method or a wireless communication method as shown in fig. 1.

Next, the structure of the moving platform speed limiting apparatus according to the embodiment of the present disclosure will be described with reference to fig. 2.

As shown in fig. 2, the mobile platform speed limiting device T may include a communication unit R (here, the communication unit R is shown in dashed lines because the communication unit R may not be present) and a processor C.

The communication unit R can receive various information transmitted from the outside, for example, information from the prohibited area database D (which may include prohibited area information, limited distance area information, and the like), information of an obstacle area from the obstacle sensor S, and information on the current coordinates of the mobile platform M from the GPS device G. In addition, the communication unit R may also send respective information to the outside, for example, send a manipulation instruction to the mobile platform M. This is only an example, but of course, the communication unit R may be absent.

The processor C is configured to control the mobile platform speed limiting device T, so that the mobile platform M is limited to an allowable speed at which the mobile platform M is allowed to move when approaching a prohibited area to which the mobile platform M is prohibited to move, and specifically, is configured to: determining a point on the boundary of the forbidden area, which is closest to the current coordinate, as a feature point, according to the current coordinate of the mobile platform M received by the communication unit R (in the case of no communication unit R, the current coordinate may also be directly obtained by a sensor); determining a reference characteristic point for speed limit reference according to the characteristic point; determining an allowable maximum speed according to the distance between the reference characteristic point and the current coordinate, wherein the allowable maximum speed is less than or equal to the maximum moving speed when the moving platform is not limited; limiting the moving speed to the allowable speed according to the allowable maximum speed.

Next, a moving platform speed limiting method according to an embodiment of the present disclosure will be specifically described with reference to fig. 3 and the following drawings. It is to be noted herein that this moving platform speed limitation method is a moving platform speed limitation method of the moving platform speed limitation device T of the embodiment of the present disclosure.

As shown in fig. 3, the unmanned aerial vehicle control method according to the embodiment of the present disclosure is a method for limiting a moving speed of a mobile platform M to an allowable speed at which the mobile platform M is allowed to move when the mobile platform M approaches a prohibited area to which the mobile platform M is prohibited from moving, and includes: determining a characteristic point S1; determining a reference feature point S2; determining an allowable maximum speed S3; and speed-limited to allowable speed S4.

First, in the feature point determination S1, a point closest to the current coordinate on the boundary of the prohibited area is determined as a feature point from the current coordinate of the mobile platform M (e.g., drone). The forbidden area may include at least one of a forbidden area for the mobile platform M to enter, an obstacle area determined by the periphery of the obstacle B, and a limited area for limiting the maximum distance moved by the mobile platform M.

Specifically, points at which the current coordinates of the mobile platform M are closest to the boundaries of the various prohibited areas are determined as feature points, respectively, based on the current coordinates of the mobile platform M received by the communication unit R from, for example, the GPS device G, the information on the prohibited area and the limited-distance area from, for example, the prohibited area database D, and the various prohibited area information on the obstacle area of the obstacle B from, for example, the obstacle sensor S.

For example, the communication unit receives, together with the current coordinates of the mobile platform M from, for example, a GPS device G, the distance (and also the direction) to the mobile platform M from an obstacle sensor S, such as binocular vision, radar, TOF, ultrasound, etc., with respect to one or several points on the periphery of the obstacle B, which are characteristic points for area limitation.

In addition, for example, the communication unit receives the current coordinates of the mobile platform M from, for example, the GPS device G, and also receives the information (which may be irregularly synchronized with, for example, the cloud) about a large number of prohibited areas (such as prohibited areas (including limited areas) such as prohibited areas) from, for example, the prohibited area database D, so that the distance (including the direction) from the prohibited area to the mobile platform M can be obtained, and the intersection of the direction and the boundary of the prohibited area is a feature point for area limitation.

Here, this is merely an example, and of course, the respective prohibited area information may be acquired directly by a sensor or the like, for example, without the communication unit R.

As shown in fig. 4, the various exclusion zones (which may include exclusion zones, barrier zones, remote zones, etc.) as described above are generally defined by a series of arcuate boundaries a1 and/or straight boundaries a 2. The determination of the feature point may be determined in accordance with the current coordinate Z of the mobile platform M and the shapes of the boundaries (a1, a2) of various prohibited areas, that is, a point on the boundary closest to the current coordinate Z may be determined as a feature point in accordance with the current coordinate Z of the mobile platform M and the shapes of the boundaries (a1, a2) of various prohibited areas. Specifically, as shown in fig. 4, when the shape of the boundary is a straight line, i.e., a straight line boundary a2, an intersection point formed by a straight line boundary a2 and a vertical line drawn from the current coordinate Z to the straight line boundary a2 is determined as a feature point f 2; in the case where the shape of the boundary is an arc, that is, an arc boundary a1, an intersection point of a normal line of the arc boundary a1 drawn across the current coordinate Z and the arc boundary a1 is determined as a feature point f 1. Thus, the distance from the current coordinate Z to the feature point (f1, f2) is the feature point distance.

In addition, in the case of a restricted area, which is also a restricted area surrounded by a series of arc boundaries and/or straight boundaries, the restricted area is not allowed to be exceeded, as compared with the prohibited area.

Next, in the determination reference feature point S2, a reference feature point for speed limit reference is determined from the feature points (i.e., the feature point set collected by the various feature points).

Specifically, as shown in fig. 5, a feature point f1 closest to the current coordinate Z of the moving platform M is selected from the feature points (i.e., the feature point set f1, f2, f3, …, fn) in the determined feature points S1 and determined as a reference feature point. Thus, the distance from the current coordinate Z to the reference feature point (f1) is the reference feature point distance L.

Next, in the determination of the allowable maximum speed S3, an allowable maximum speed is determined according to the distance of the reference feature point f1 from the current coordinate Z (i.e., a reference feature point distance L). Wherein the allowable maximum speed is less than or equal to the maximum moving speed that the moving platform M can move without any limitation.

As shown in fig. 6, for the flight of a mobile platform M (e.g., a drone, etc.), the moving speed can be described as a circle (which may include a vector). Wherein the radius v of the circle_RRepresents the maximum moving speed of the moving platform M (i.e., the maximum speed at which the moving platform M can move without any restriction); (v)_rθ) represents the current velocity v of the mobile platform M_rAnd the size and direction of, and satisfy v_r≤v_R。

In the determining of the allowable maximum speed S3, specifically, the allowable maximum speed of the mobile platform M is determined according to a relationship between a distance of the reference feature point f1 from the current coordinate Z of the mobile platform M, and a maximum speed limit distance and/or a minimum safety distance. Wherein the maximum speed limiting distance is to allow the moving platform M to move at the maximum moving speed v_RThe closest distance of movement to the boundary of the exclusion zone (i.e. the distance closer than the maximum speed limit distance is about to start decelerating to less than the maximum movement speed v_R) The minimum safe distance is the distance that the mobile platform is allowed to be closest to the boundary of the exclusion area (i.e., the mobile platform is typically stopped or moved back or away when the minimum safe distance is reached).

More specifically, the allowable maximum speed may be determined using the following formula (a),

wherein v is_maxTo allow maximum speed, v_RIs said maximum moving speed, v_CIs a speed less than the maximumA prescribed moving speed of a large moving speed, L being a distance from the current coordinate Z of the moving platform M to the reference feature point f1 (i.e., a reference feature point distance), L_safeIs the minimum safety distance, L_{limit_max}F (L) is any function satisfying the following condition (a-1), and is preferably a monotonic function,

f(L_safe)＝v_C，f(L_{limit_max})＝v_R …(a-1)

that is, the distance L from the current coordinate Z of the moving platform M at the reference feature point f1 is greater than or equal to the maximum speed limit distance L_{limit_max}In the case of (2), the allowable maximum speed v_maxIs determined as the maximum moving speed v_R. The distance L from the current coordinate Z of the mobile platform M at the reference feature point f1 is less than or equal to the minimum safe distance L_safeIn the case of (2), the allowable maximum speed v_maxIs determined as being higher than the maximum moving speed v_RSmall predetermined moving speed v_C. The distance L from the current coordinate Z of the mobile platform M at the reference characteristic point f1 is greater than the minimum safety distance L_safeAnd is less than the maximum speed limit distance L_{limit_max}In the case of (2), the allowable maximum speed v_maxDetermining that the distance variable takes value at the minimum safe distance L_safeDistance L from said maximum speed limit_{limit_max}Any function in between, preferably any monotonic function.

Next, in the speed limit to the allowable speed S4, the maximum speed v is set according to the allowable speed_maxThe moving speed of the moving platform M is limited to an allowable speed at which the moving platform M is allowed to move.

Specifically, the allowable speed may be determined using the following formula (a-2).

v′_r＝MIN(v_max，v_r)

…(a-2)

Wherein, v'_rIs the allowable speed, v_maxIs said allowable maximum speed, v_rIs the current speed of the mobile platform M.

That is, in the speed-limited to allowable speed S4, the allowable maximum speed v is compared_maxWith the current velocity v of the mobile platform M_rBoth of these; according to the comparison result, the allowable speed v 'of the mobile platform M'_rThe lower of the two speeds is set.

Further, the allowable speed v 'finally obtained'_rMay be a scalar. Of course, vectors are also possible.

Thus, according to the above technical solution of the embodiment, by integrating the forbidden area (e.g., forbidden zone), avoiding obstacles, and limiting far into a series of limiting feature points, and obtaining the overall speed limit through the geometric relationship between the mobile platform and the limiting feature points, effectively integrating the area limits generated by different requirements into the same frame, avoiding mutual conflicts between the limiting strategies, and simultaneously effectively utilizing the area limiting information, maximally ensuring the controllability of the user on the mobile platform and the user experience, and meanwhile, because the final allowable speed is not 0 (i.e., a slower moving speed can still be maintained), thereby effectively solving the problems of moving at the forbidden area edge such as the edge of the shelter forest, and the like, and improving the user experience.

Next, the inventors of the present application decomposed the current velocity of the moving platform M into a normal moving velocity and a radial moving velocity by a velocity decomposition method (for example, an orthogonal decomposition method, a parallelogram decomposition method, or the like), and further studied the moving platform velocity limit as another embodiment.

In the method for limiting the speed of the mobile platform according to the another embodiment, as in the above-described embodiment, the method includes: determining a characteristic point S1; determining a reference feature point S2; determining an allowable maximum speed S3; and speed-limited to allowable speed S4. The determining feature point S1 and the determining reference feature point S2 are the same as those in the above embodiments, and are not described here again. Only the differences between this other embodiment and the above-described embodiment will be described in detail below.

As shown in fig. 7, in the method for limiting the speed of a mobile platform according to another embodiment of the present disclosure, the current speed of the mobile platform M (here, the allowable speed v ″, which is the final output result of the above embodiment, may also be used'_rWhich can further merge the advantages of the two embodiments) into the normal moving speed v resolved into the reference feature point f1_xAnd a speed v of movement perpendicular to said normal direction_xRadial moving speed v_y。

Thus, in determining the allowable maximum speed S3, the allowable maximum speed is the speed v corresponding to the normal moving speed v_xCorresponding allowable maximum normal velocity.

Specifically, in determining the allowable maximum speed S3, the allowable maximum normal speed is determined using the following formula (b),

wherein, v'_maxTo allow maximum normal velocity, v_RL is the distance from the current coordinate Z of the mobile platform M to the reference characteristic point f1, and L is the maximum moving speed_safeIs the minimum safety distance, L_{limit_max}For the maximum speed limit distance, g (L) is any function that satisfies the following condition (b-1), and is preferably a monotonic function.

g(L_safe)＝0，g(L_{limit_max})＝v_R

…(b-1)

That is, the distance L (and, reference feature point distance) at the reference feature point f1 from the current coordinate Z of the mobile platform M is greater than or equal to the maximum speed limit distance L_{limit_max}Of said permissible maximum normal speed v'_maxIs determined as the maximum moving speed v_R. The distance L from the current coordinate Z of the mobile platform M at the reference feature point f1 is less than or equal to the minimum safe distance L_safeIn the case of (2), the allowable maximumNormal velocity v'_maxIs determined to be 0. Here, 0 is determined as an example, but of course, the allowable maximum normal speed v 'is actually set'_maxIt may be determined not to be 0. The distance L from the current coordinate Z of the mobile platform M at the reference characteristic point f1 is greater than the minimum safety distance L_safeAnd is less than the maximum speed limit distance L_{limit_max}Of said permissible maximum normal speed v'_maxDetermining that the distance variable takes value at the minimum safe distance L_safeDistance L from said maximum speed limit_{limit_max}And preferably a monotonic function.

Next, in a speed bump to allowable speed S4, according to the allowable maximum normal speed v'_maxThe moving speed of the moving platform M is limited to an allowable speed at which the moving platform M is allowed to move.

Specifically, the allowable normal velocity may be determined using the following equation (b-2).

v′_x＝MIN(v′_max，v_x)

…(b-2)

Wherein, v'_xIs the allowable normal speed, v'_maxFor said permissible maximum normal velocity, v_xIs the normal movement speed of the mobile platform M.

Finally, the resulting permissible normal speed v'_xThe radial moving speed v of the moving platform M_yAfter synthesis, the allowable speed of the mobile platform M is determined.

That is, by comparing the allowable maximum normal speed v'_maxA normal moving speed v with the moving platform M_xBoth of these; according to the comparison result, the slower of the two is compared with the radial moving speed v_yAfter synthesis, the permissible speed v ″, is obtained_r。

In addition, the permissible speed v ″, which is obtained here_rEither scalar or trueIn the case of a vector, the vector is positive in the direction approaching the reference feature point f1 and negative in the direction away from the nearest feature point f 1. Furthermore, the current velocity of the moving platform M may also be considered as a vector, such that its normal moving velocity v_xI.e. vector, when said normal moving speed v_xAway from the reference characteristic point f1, the value is negative due to v'_max> 0, so the allowable normal speed v'_x＝v_xThis is equivalent to not limiting the allowable normal velocity v' x.

Therefore, according to the technical scheme of the other embodiment, the same remarkable technical effect as the embodiment can be obtained, the accuracy of speed limit is further improved through speed decomposition, and the user experience is further improved.

Next, the inventors of the present application have further studied the speed limit of the moving platform as another embodiment, specifically considering the case where the moving platform M approaches the forbidden area on the extension line of the moving direction thereof.

The method for limiting the speed of the mobile platform according to the another embodiment includes, as in the above-described embodiment and the another embodiment: determining a characteristic point S1; determining a reference feature point S2; determining an allowable maximum speed S3; and speed-limited to allowable speed S4. Here, the determination of the feature point S1 is the same as in the above embodiment, and is not described here again. Only the differences between the other embodiment and the above embodiment will be described in detail.

As shown in fig. 8, in the method for limiting the speed of the mobile platform according to another embodiment of the present disclosure, first, a current speed of the mobile platform M is assumed (here, the allowable speed v ″, which is the final output result of the above another embodiment, may also be used as the above another embodiment)_rThis can further blend the advantages of these embodiments) into a vector, i.e., the velocity includes the direction. The direction thereof can be specified as: taking the direction close to the reference characteristic point as the positive directionAnd taking the direction far away from the nearest characteristic point as the negative direction.

Fig. 9 schematically illustrates a brief flowchart of determining reference feature points of a mobile platform speed limiting method according to another embodiment of the present disclosure.

Next, a brief flow of determining the reference feature point of the mobile platform speed limiting method according to another embodiment of the present disclosure is specifically described with reference to fig. 9 and fig. 8.

As shown in fig. 9, in determining the reference feature point S2, the determining may include: determining an extension line intersection point S2-1; the nearest intersection point is determined as the reference feature point S2-2.

In the determination of the extension line intersection point S2-1, as shown in FIG. 8, the current velocity along the moving platform M (e.g., the allowable velocity v ″, which is the final output result of the above-mentioned another embodiment)_r) Generating a main extension line Em (here, the main extension line is generally generated in the positive direction of the current velocity), generating radial extension lines (E1, E2, E3) in radial directions of the respective feature points (f1, f2, f3) with respect to the current coordinate Z of the moving platform M, respectively, and determining intersection points of the main extension line Em and the radial extension lines (E1, E2, E3) (i.e., an intersection point B of Em and E1, an intersection point a of Em and E2, and an intersection point C of Em and E3) as extension line intersection points;

next, in determining the closest intersection point as the reference feature point S2-2, the intersection point closest to the current coordinate Z of the moving platform M (here, intersection point a) is selected from the extension line intersection points (a, B, C) and determined as the reference feature point.

Next, in determining the allowable maximum speed S3, the distance L from the reference feature point (i.e., the closest intersection point a) to the current coordinate Z of the moving platform M is determined according to_ATo determine the allowable maximum speed.

Specifically, in determining the allowable maximum speed S3, the allowable maximum speed is determined using the following formula (c),

wherein, v ″)_maxIs said allowable maximum speed, v_RIs the maximum moving speed, L_AIs the distance of the reference feature point (i.e. the nearest intersection point A) from the current coordinates Z of the mobile platform MFrom, L_safeIs the minimum safety distance, L_{limit_max}Limiting the distance for said maximum speed, g (L)_A) Is any function satisfying the following condition (c-1), and is preferably a monotonic function.

g(L_safe)＝0，g(L_{limit_max})＝v_R

…(c-1)

That is, in the determined allowable maximum speed S3, the distance L from the current coordinate Z of the moving platform M at the reference feature point (i.e., the closest intersection point a) is_AGreater than or equal to the maximum speed limit distance L_{limit_max}In the case of (2), the allowable maximum speed v ″)_maxIs determined as the maximum moving speed v_R. Distance L between the reference feature point and the current coordinate Z of the mobile platform M_ALess than or equal to the minimum safety distance L_safeIn the case of (2), the allowable maximum speed v ″)_maxIs determined to be 0. Here, 0 is determined as an example, but of course, the allowable maximum normal velocity v ″, depending on the actual situation, is set to 0_maxIt may be determined not to be 0. Distance L between the reference feature point and the current coordinate Z of the mobile platform M_AGreater than the minimum safe distance L_safeAnd is less than the maximum speed limit distance L_{limit_max}In the case of (2), the allowable maximum speed v ″)_maxDetermining that the distance variable takes value at the minimum safe distance L_safeDistance L from said maximum speed limit_{limit_max}Preferably a monotonic function.

Next, in the speed limit to the allowable speed S4, according to the allowable maximum speed v ″_maxThe moving speed of the moving platform M is limited to an allowable speed at which the moving platform M is allowed to move.

Specifically, the allowable speed may be determined using the following formula (c-2).

v″′_r＝MIN(v″_max，v″_r)

…(c-2)

Wherein, v'_rIs the allowable speed, v ″)_maxIs the maximum speed allowed, v ″)_rIs the current speed of the mobile platform M.

That is, in the speed limit to allowable speed S4, the allowable maximum speed v ″, is compared_maxWith the current velocity v ″' of the moving platform M_rBoth of these; according to the comparison result, the allowable speed v 'of the mobile platform M'_rThe lower of the two speeds is set.

Therefore, according to the above technical solution of the another embodiment, the same significant technical effect as the above embodiment can be obtained, and by considering the forbidden area on the extension line of the current speed, the speed-limiting scheme of the next forbidden area in the traveling direction can be further obtained, the continuity and accuracy of the speed limit are further improved, and the user experience is further improved.

Furthermore, the embodiments described above can be applied to both three-dimensional scenes and two-dimensional scenes. The two-dimensional scene is not limited to being parallel to the ground, and may of course include two-dimensional scenes in any other directions. In addition, as a three-dimensional scene, taking the above fig. 8 as an example, it can be considered that: in the determination of the extension line intersection point S2-1, after the main extension line Em is generated along the current velocity of the moving platform M, for example, a plurality of radial tangential planes are generated along the radial directions of the respective feature points (f1, f2, f3) with respect to the current coordinate Z of the moving platform M, respectively, and the intersection point of the main extension line Em and the plurality of radial tangential planes is determined as an extension line intersection point.

Furthermore, the mobile platform speed limiting device shown in fig. 2 provided as another aspect of the present disclosure may be configured to limit the moving speed of the mobile platform M to an allowable speed at which the mobile platform M is allowed to move when the mobile platform M approaches a prohibited area to which the mobile platform M is prohibited to move, and the device may include a processor configured to control the mobile platform speed limiting device, specifically configured to: determining a point closest to the current coordinate on the boundary of the forbidden area according to the current coordinate of the mobile platform M, and taking the point as a characteristic point; determining a reference characteristic point for speed limit reference according to the characteristic point; determining an allowable maximum speed according to the distance between the reference characteristic point and the current coordinate, wherein the allowable maximum speed is less than or equal to the maximum moving speed when the moving platform is not limited; limiting the moving speed to the allowable speed according to the allowable maximum speed.

The mobile platform speed limiting apparatus according to the another aspect, the prohibited area includes at least one of a prohibited area that prohibits the mobile platform from entering, an obstacle area determined by an outer periphery of an obstacle, and a limited area that limits a maximum distance that the mobile platform moves.

The apparatus for limiting a speed of a mobile platform according to the another aspect, wherein the determining, according to the current coordinate of the mobile platform, a point on the boundary of the forbidden area closest to the current coordinate as a feature point specifically includes: and determining a point which is closest to the current coordinate on the boundary as a characteristic point according to the current coordinate of the mobile platform and the shape of the boundary.

In the moving platform speed limiting apparatus according to the another aspect, in a case where the shape of the boundary is a straight line, that is, a straight line boundary, an intersection point formed by drawing a perpendicular line from the current coordinate to the straight line boundary and the straight line boundary is determined as the feature point.

In the case where the shape of the boundary is an arc, that is, an arc boundary, an intersection point formed by a normal line of the arc boundary drawn through the current coordinates and the arc boundary is determined as the feature point.

According to the another aspect, the determining a reference feature point for a speed limit reference according to the feature point specifically includes: and selecting the characteristic point closest to the current coordinate of the mobile platform from the characteristic points, and determining the characteristic point as the reference characteristic point.

The mobile platform speed limiting apparatus according to the another aspect, wherein the determining an allowable maximum speed according to the distance of the reference feature point from the current coordinate specifically includes:

determining the allowable maximum speed according to the relation between the distance of the reference feature point from the current coordinate and a maximum speed limit distance and/or a minimum safety distance, wherein the maximum speed limit distance is the distance which allows the mobile platform to move at the maximum moving speed and is closest to the boundary of the forbidden area, and the minimum safety distance is the distance which allows the mobile platform to be closest to the boundary of the forbidden area.

The moving platform speed limit apparatus according to the other aspect, the allowable maximum speed is determined as the maximum moving speed in a case where a distance of the reference feature point from the current coordinate is greater than or equal to the maximum speed limit distance.

The moving platform speed limiting apparatus according to the other aspect, in a case where the distance of the reference feature point from the current coordinate is less than or equal to the minimum safe distance, the allowable maximum speed is determined as a prescribed moving speed that is less than the maximum moving speed.

According to the mobile platform speed limiting apparatus of the another aspect, in a case where the distance from the reference feature point to the current coordinate is greater than the minimum safe distance and less than the maximum speed limiting distance, the allowable maximum speed is determined as any monotonic function of a distance variable value between the minimum safe distance and the maximum speed limiting distance.

The moving platform speed limiting device according to the another aspect, wherein limiting the moving speed to the allowable speed according to the allowable maximum speed specifically includes:

comparing both the allowable maximum speed and the moving speed;

the allowable speed is set to be the slower of the two speeds according to the comparison result.

The mobile platform speed limiting apparatus according to the another aspect, the allowable speed is a scalar.

The moving platform speed limitation device according to the other aspect, the moving speed includes a normal moving speed resolved from a current moving speed of the moving platform to the reference feature point and a radial moving speed perpendicular to the normal moving speed, and the allowable maximum speed is an allowable maximum normal speed corresponding to the normal moving speed.

The moving platform speed limiting device according to the another aspect, wherein limiting the moving speed to the allowable speed according to the allowable maximum speed specifically includes: comparing both the allowable maximum normal velocity and the normal moving velocity; and combining the slower of the two speeds with the radial moving speed according to the comparison result to obtain the allowable speed.

The mobile platform speed limiting apparatus according to the another aspect, wherein the determining an allowable maximum speed according to the distance of the reference feature point from the current coordinate specifically includes: determining the allowable maximum speed according to the relation between the distance of the reference feature point from the current coordinate and a maximum speed limit distance and/or a minimum safety distance, wherein the maximum speed limit distance is the distance which allows the mobile platform to move at the maximum moving speed and is closest to the boundary of the forbidden area, and the minimum safety distance is the distance which allows the mobile platform to be closest to the boundary of the forbidden area.

The mobile-platform speed-limiting apparatus according to the other aspect, the allowable maximum speed is determined to be 0 in a case where the distance of the reference feature point from the current coordinate is less than or equal to the minimum safe distance.

According to the mobile platform speed limiting device of the another aspect, in a case where the distance from the reference feature point to the current coordinate is greater than the minimum safe distance and less than the maximum speed limiting distance, the allowable maximum speed is determined as any monotonic function of a distance variable value between the minimum safe distance and the maximum speed limiting distance.

The mobile platform speed limiting apparatus according to the another aspect, the allowable speed is a vector.

The mobile platform speed limiting apparatus according to the another aspect, the moving speed is a vector.

According to the mobile platform speed limiting device of the another aspect, the determining, according to the feature points, reference feature points for speed limit reference specifically includes: generating a main extension line along the moving speed, generating a radial extension line along the radial direction of the characteristic point relative to the current coordinate, and determining an intersection point of the main extension line and the radial extension line as an extension line intersection point; and selecting the intersection point which is closest to the current coordinate of the mobile platform from the intersection points of the extension lines as the reference feature point.

The mobile platform speed limiting apparatus according to the another aspect, wherein the determining the allowable maximum speed according to the distance of the reference feature point from the current coordinate includes:

The mobile platform speed limiting apparatus of the another aspect, the mobile platform being a drone.

The mobile platform speed limiting apparatus of the another aspect, the drone is a hoverable aerial vehicle.

Next, another moving platform speed limiting apparatus in which the moving platform speed limiting method is implemented in a hardware manner is described by taking fig. 10 as an example.

Fig. 10 schematically shows a schematic block diagram of a mobile platform speed limiting apparatus having a hardware and software structure corresponding to the mobile platform speed limiting method of the above-described embodiment according to another embodiment of the present disclosure.

As shown in fig. 10, the mobile platform speed limiting apparatus 300 may include: a processor 310 (e.g., a CPU, etc.), and a memory 320 (e.g., a hard disk HDD, a read only memory ROM, etc.). Also included may be a readable storage medium 321 (e.g., a magnetic disk, optical disk CD-ROM, USB, etc.) represented by dashed lines.

In addition, fig. 10 is only an example, and does not limit the technical solution of the present disclosure. The number of the parts of the mobile platform speed limiting apparatus 300 may be one or more, for example, the processor 310 may be one or more processors.

As such, it is understood that the processes described above with reference to the flowcharts (fig. 3, 9, etc.) of the mobile platform speed limiting method of the embodiments of the present disclosure may be implemented as computer software programs. Here, the computer software program may be one or more.

Thus, for example, the computer software program is stored in the memory 320 of the mobile platform speed limiting device 300 as a storage device, and the computer software program is executed to cause the one or more processors 310 of the mobile platform speed limiting device 300 to execute the mobile platform speed limiting method and its variations shown in the flowcharts of fig. 3 and 9 of the present disclosure.

Therefore, the whole speed limit can be obtained by integrating the forbidden region (such as a forbidden zone), avoiding obstacles and limiting far into a series of limiting characteristic points, and by the geometrical relationship between the mobile platform such as an unmanned aerial vehicle and the like and the limiting points, the regions generated by different requirements are effectively integrated and limited under the same frame, and the mutual conflict between the limiting strategies is avoided. Meanwhile, the instruction direction and the area limiting information are effectively utilized, the controllability and the user experience of the user on the mobile platform such as the unmanned aerial vehicle are guaranteed to the maximum degree, and meanwhile the problems that the user moves at the edge of a forbidden area such as the edge of a protection forest and the like can be effectively solved, so that the user experience is improved.

Furthermore, it is understood that the mobile platform speed limiting method may also be stored in a computer readable storage medium (e.g., the readable storage medium 521 shown in fig. 7) as a computer program, which may include code/computer executable instructions to cause a computer to perform the mobile platform speed limiting method and its variations, for example, as shown in the flowcharts of fig. 3, 9, etc. of the present disclosure.

Furthermore, a computer-readable storage medium may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.

In addition, the computer program may be configured with computer program code, for example, comprising computer program modules. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, and when the program modules are executed by a computer (or a processor), the computer may execute the procedures of the mobile platform speed limitation method described above in connection with fig. 3 and 9, and the modifications thereof.

Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.

While the disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Accordingly, the scope of the present disclosure should not be limited to the described embodiments, but should be determined not only by the appended claims, but also by equivalents thereof.

Claims

A moving platform speed limiting method for limiting a moving speed of a moving platform to an allowable speed at which the moving platform is allowed to move when the moving platform approaches a prohibition area to which the moving platform is prohibited from moving, comprising:

determining a point which is closest to the current coordinate on the boundary of the forbidden area according to the current coordinate of the mobile platform, and taking the point as a characteristic point;

determining a reference characteristic point for speed limit reference according to the characteristic point;

determining an allowable maximum speed according to the distance between the reference characteristic point and the current coordinate, wherein the allowable maximum speed is less than or equal to the maximum moving speed when the moving platform is not limited;

limiting the moving speed to the allowable speed according to the allowable maximum speed.
The mobile platform speed limiting method of claim 1,

the forbidden area comprises at least one of a forbidden area for forbidding the mobile platform to enter, an obstacle area determined by the periphery of the obstacle, and a distance limiting area for limiting the farthest distance moved by the mobile platform.
The mobile platform speed limiting method of claim 1,

determining a point closest to the current coordinate on the boundary of the forbidden area according to the current coordinate of the mobile platform, wherein the point is used as a feature point, and the method specifically comprises the following steps:

and determining a point which is closest to the current coordinate on the boundary as a characteristic point according to the current coordinate of the mobile platform and the shape of the boundary.
The mobile platform speed limiting method of claim 3,

when the shape of the boundary is a straight line, that is, a straight line boundary, an intersection point formed by a straight line boundary and a perpendicular line drawn from the current coordinate to the straight line boundary is determined as the feature point.
The mobile platform speed limiting method of claim 3,

and determining the intersection point formed by the normal of the arc line boundary drawn by the current coordinate and the arc line boundary as the characteristic point under the condition that the shape of the boundary is an arc line, namely the arc line boundary.
The mobile platform speed limiting method of claim 1,

the determining of the reference feature point for speed limit reference according to the feature point specifically includes:

and selecting the characteristic point closest to the current coordinate of the mobile platform from the characteristic points, and determining the characteristic point as the reference characteristic point.
The mobile platform speed limiting method of claim 1,

the determining the allowable maximum speed according to the distance from the reference feature point to the current coordinate specifically includes:

determining the allowable maximum speed from a relationship of a distance of the reference feature point from the current coordinate and a maximum speed limit distance and/or a minimum safety distance, wherein,

the maximum speed limit distance is a distance closest to the boundary of the exclusion area that allows the moving platform to move at the maximum moving speed,

the minimum safe distance is a distance that allows the mobile platform to be closest to the boundary of the exclusion zone.
The mobile platform speed limiting method of claim 7,

in a case where the distance of the reference feature point from the current coordinate is greater than or equal to the maximum speed limit distance, the allowable maximum speed is determined as the maximum moving speed.
The mobile platform speed limiting method of claim 7,

in a case where the distance of the reference feature point from the current coordinate is less than or equal to the minimum safe distance, the allowable maximum speed is determined as a prescribed moving speed that is less than the maximum moving speed.
The mobile platform speed limiting method of claim 7,

and under the condition that the distance between the reference characteristic point and the current coordinate is greater than the minimum safe distance and less than the maximum speed limit distance, determining the allowable maximum speed as any monotonic function of the distance variable value between the minimum safe distance and the maximum speed limit distance.
The mobile platform speed limiting method of any of claims 1-10,

the limiting the moving speed to the allowable speed according to the allowable maximum speed specifically includes:

comparing both the allowable maximum speed and the moving speed;

the allowable speed is set to be the slower of the two speeds according to the comparison result.
The mobile platform speed limiting method of any of claims 1-11,

the allowable speed is a scalar quantity.
The mobile platform speed limiting method of claims 1-10,

the moving speed comprises a normal moving speed of the current moving speed of the moving platform to the reference characteristic point and a radial moving speed perpendicular to the normal moving speed,

the allowable maximum speed is an allowable maximum normal speed corresponding to the normal moving speed.
The mobile platform speed limiting method of claim 13,

the limiting the moving speed to the allowable speed according to the allowable maximum speed specifically includes:

comparing both the allowable maximum normal velocity and the normal moving velocity;

and combining the slower of the two speeds with the radial moving speed according to the comparison result to obtain the allowable speed.
The mobile platform speed limiting method of claim 13,

the determining the allowable maximum speed according to the distance from the reference feature point to the current coordinate specifically includes:

determining the allowable maximum speed from a relationship of a distance of the reference feature point from the current coordinate and a maximum speed limit distance and/or a minimum safety distance, wherein,

the maximum speed limit distance is a distance closest to the boundary of the exclusion area that allows the moving platform to move at the maximum moving speed,

the minimum safe distance is a distance that allows the mobile platform to be closest to the boundary of the exclusion zone.
The mobile platform speed limiting method of claim 15,

in a case where the distance of the reference feature point from the current coordinate is greater than or equal to the maximum speed limit distance, the allowable maximum speed is determined as the maximum moving speed.
The mobile platform speed limiting method of claim 15,

in a case where the distance of the reference feature point from the current coordinate is less than or equal to the minimum safe distance, the allowable maximum speed is determined to be 0.
The mobile platform speed limiting method of claim 15,

and under the condition that the distance between the reference characteristic point and the current coordinate is greater than the minimum safe distance and less than the maximum speed limit distance, determining the allowable maximum speed as any monotonic function of the distance variable value between the minimum safe distance and the maximum speed limit distance.
The mobile platform speed limiting method of any of claims 13-18,

the allowable speed is a vector.
The mobile platform speed limiting method of claims 1-19,

the moving speed is a vector.
The mobile platform speed limiting method of claim 20,

the determining the reference feature point for speed limit reference according to the feature point specifically includes:

generating a main extension line along the moving speed, generating a radial extension line along the radial direction of the characteristic point relative to the current coordinate, and determining an intersection point of the main extension line and the radial extension line as an extension line intersection point;

and selecting the intersection point which is closest to the current coordinate of the mobile platform from the intersection points of the extension lines as the reference feature point.
The mobile platform speed limiting method of claim 21,

the determining the allowable maximum speed according to the distance from the reference feature point to the current coordinate specifically includes:

determining the allowable maximum speed from a relationship of a distance of the reference feature point from the current coordinate and a maximum speed limit distance and/or a minimum safety distance, wherein,

the maximum speed limit distance is a distance closest to the boundary of the exclusion area that allows the moving platform to move at the maximum moving speed,

the minimum safe distance is a distance that allows the mobile platform to be closest to the boundary of the exclusion zone.
The mobile platform speed limiting method of claim 22,

in a case where the distance of the reference feature point from the current coordinate is greater than or equal to the maximum speed limit distance, the allowable maximum speed is determined as the maximum moving speed.
The mobile platform speed limiting method of claim 22,

in a case where the distance of the reference feature point from the current coordinate is less than or equal to the minimum safe distance, the allowable maximum speed is determined to be 0.
The mobile platform speed limiting method of claim 22,

and under the condition that the distance between the reference characteristic point and the current coordinate is greater than the minimum safe distance and less than the maximum speed limit distance, determining the allowable maximum speed as any monotonic function of the distance variable value between the minimum safe distance and the maximum speed limit distance.
The mobile platform speed limiting method of claim 21,

the moving speed is the allowable speed according to claim 19.
The mobile platform speed limiting method of any of claims 1-26,

the mobile platform is an unmanned aerial vehicle.
The mobile platform speed limiting method of claim 27,

the drone is a hover-capable aircraft.
A mobile platform speed limiting apparatus that limits a moving speed of a mobile platform to an allowable speed at which the mobile platform is allowed to move in a case where the mobile platform approaches a prohibition area to which the mobile platform is prohibited from moving, the apparatus comprising:

a processor for controlling the mobile platform speed limiting device, in particular for:

determining a point which is closest to the current coordinate on the boundary of the forbidden area according to the acquired current coordinate of the mobile platform, and using the point as a feature point;

determining a reference characteristic point for speed limit reference according to the characteristic point;

determining an allowable maximum speed according to the distance between the reference characteristic point and the current coordinate, wherein the allowable maximum speed is less than or equal to the maximum moving speed when the moving platform is not limited;

limiting the moving speed to the allowable speed according to the allowable maximum speed.
The mobile platform speed limit apparatus of claim 29,

the forbidden area comprises at least one of a forbidden area for forbidding the mobile platform to enter, an obstacle area determined by the periphery of the obstacle, and a distance limiting area for limiting the farthest distance moved by the mobile platform.
The mobile platform speed limit apparatus of claim 29,

determining a point closest to the current coordinate on the boundary of the forbidden area according to the current coordinate of the mobile platform, wherein the point is used as a feature point, and the method specifically comprises the following steps:

and determining a point which is closest to the current coordinate on the boundary as a characteristic point according to the current coordinate of the mobile platform and the shape of the boundary.
The mobile platform speed limit apparatus of claim 31,

when the shape of the boundary is a straight line, that is, a straight line boundary, an intersection point formed by a straight line boundary and a perpendicular line drawn from the current coordinate to the straight line boundary is determined as the feature point.
The mobile platform speed limit apparatus of claim 31,

and determining the intersection point formed by the normal of the arc line boundary drawn by the current coordinate and the arc line boundary as the characteristic point under the condition that the shape of the boundary is an arc line, namely the arc line boundary.
The mobile platform speed limit apparatus of claim 29,

the determining of the reference feature point for speed limit reference according to the feature point specifically includes:

and selecting the characteristic point closest to the current coordinate of the mobile platform from the characteristic points, and determining the characteristic point as the reference characteristic point.
The mobile platform speed limit apparatus of claim 29,

the determining the allowable maximum speed according to the distance from the reference feature point to the current coordinate specifically includes:

determining the allowable maximum speed from a relationship of a distance of the reference feature point from the current coordinate and a maximum speed limit distance and/or a minimum safety distance, wherein,

the maximum speed limit distance is a distance closest to the boundary of the exclusion area that allows the moving platform to move at the maximum moving speed,

the minimum safe distance is a distance that allows the mobile platform to be closest to the boundary of the exclusion zone.
The mobile platform speed limit apparatus of claim 35,

in a case where the distance of the reference feature point from the current coordinate is greater than or equal to the maximum speed limit distance, the allowable maximum speed is determined as the maximum moving speed.
The mobile platform speed limit apparatus of claim 35,

in a case where the distance of the reference feature point from the current coordinate is less than or equal to the minimum safe distance, the allowable maximum speed is determined as a prescribed moving speed that is less than the maximum moving speed.
The mobile platform speed limit apparatus of claim 35,

and under the condition that the distance between the reference characteristic point and the current coordinate is greater than the minimum safe distance and less than the maximum speed limit distance, determining the allowable maximum speed as any monotonic function of the distance variable value between the minimum safe distance and the maximum speed limit distance.
The mobile platform speed limiting apparatus of any of claims 29-38,

the limiting the moving speed to the allowable speed according to the allowable maximum speed specifically includes:

comparing both the allowable maximum speed and the moving speed;

the allowable speed is set to be the slower of the two speeds according to the comparison result.
The mobile platform speed limit apparatus of any one of claims 29-39,

the allowable speed is a scalar quantity.
The mobile platform speed limiting apparatus of claims 1-38,

the moving speed comprises a normal moving speed of the current moving speed of the moving platform to the reference characteristic point and a radial moving speed perpendicular to the normal moving speed,

the allowable maximum speed is an allowable maximum normal speed corresponding to the normal moving speed.
The mobile platform speed limit apparatus of claim 41,

the limiting the moving speed to the allowable speed according to the allowable maximum speed specifically includes:

comparing both the allowable maximum normal velocity and the normal moving velocity;

and combining the slower of the two speeds with the radial moving speed according to the comparison result to obtain the allowable speed.
The mobile platform speed limiting apparatus of claim 42,

the determining the allowable maximum speed according to the distance from the reference feature point to the current coordinate specifically includes:

determining the allowable maximum speed from a relationship of a distance of the reference feature point from the current coordinate and a maximum speed limit distance and/or a minimum safety distance, wherein,

the maximum speed limit distance is a distance closest to the boundary of the exclusion area that allows the moving platform to move at the maximum moving speed,

the minimum safe distance is a distance that allows the mobile platform to be closest to the boundary of the exclusion zone.
The mobile platform speed limit apparatus of claim 43,

in a case where the distance of the reference feature point from the current coordinate is greater than or equal to the maximum speed limit distance, the allowable maximum speed is determined as the maximum moving speed.
The mobile platform speed limit apparatus of claim 43,

in a case where the distance of the reference feature point from the current coordinate is less than or equal to the minimum safe distance, the allowable maximum speed is determined to be 0.
The mobile platform speed limit apparatus of claim 43,

and under the condition that the distance between the reference characteristic point and the current coordinate is greater than the minimum safe distance and less than the maximum speed limit distance, determining the allowable maximum speed as any monotonic function of the distance variable value between the minimum safe distance and the maximum speed limit distance.
The mobile platform speed limiting apparatus of any of claims 41-46,

the allowable speed is a vector.
The mobile platform speed limit apparatus of claims 29-47,

the moving speed is a vector.
The mobile platform speed limiting apparatus of claim 48,

the determining the reference feature point for speed limit reference according to the feature point specifically includes:

generating a main extension line along the moving speed, generating a radial extension line along the radial direction of the characteristic point relative to the current coordinate, and determining an intersection point of the main extension line and the radial extension line as an extension line intersection point;

and selecting the intersection point which is closest to the current coordinate of the mobile platform from the intersection points of the extension lines as the reference feature point.
The mobile platform speed limit apparatus of claim 49,

the determining the allowable maximum speed according to the distance from the reference feature point to the current coordinate specifically includes:

determining the allowable maximum speed from a relationship of a distance of the reference feature point from the current coordinate and a maximum speed limit distance and/or a minimum safety distance, wherein,

the maximum speed limit distance is a distance closest to the boundary of the exclusion area that allows the moving platform to move at the maximum moving speed,

the minimum safe distance is a distance that allows the mobile platform to be closest to the boundary of the exclusion zone.
The mobile platform speed limit apparatus of claim 50,

in a case where the distance of the reference feature point from the current coordinate is greater than or equal to the maximum speed limit distance, the allowable maximum speed is determined as the maximum moving speed.
The mobile platform speed limit apparatus of claim 50,

in a case where the distance of the reference feature point from the current coordinate is less than or equal to the minimum safe distance, the allowable maximum speed is determined to be 0.
The mobile platform speed limit apparatus of claim 50,

and under the condition that the distance between the reference characteristic point and the current coordinate is greater than the minimum safe distance and less than the maximum speed limit distance, determining the allowable maximum speed as any monotonic function of the distance variable value between the minimum safe distance and the maximum speed limit distance.
The mobile platform speed limiting apparatus of claim 53,

the moving speed is the allowable speed according to claim 47.
The mobile platform speed limitation apparatus of any one of claims 29-54,

the mobile platform is an unmanned aerial vehicle.
The mobile platform speed limit apparatus of claim 55,

the drone is a hover-capable aircraft.
A mobile platform speed limiting apparatus comprising a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform the mobile platform speed limiting method of any of claims 1-28.
A computer-readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the mobile platform speed limiting method of any one of claims 1-28.