WO2022141101A1

WO2022141101A1 - Method and apparatus for controlling removable platform, and removable platform

Info

Publication number: WO2022141101A1
Application number: PCT/CN2020/141048
Authority: WO
Inventors: 邸健; 杨泽渊; 朱锐意; 王庶
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2022-07-07
Also published as: CN114641742A

Abstract

A method for controlling a removable platform (100), a computer readable storage medium, a removable platform (100), and a control apparatus for a removable platform (100). The method for controlling a removable platform (100) comprises: obtaining spatial location data of a removable platform (100), as well as spatial location data of one or more restricted planes of a restricted area (200) of the removable platform (100), the one or more restricted planes being spatially adjacent to one another and being used to determine the restricted area (200); and controlling the operation of the removable platform (100) according to the spatial location data of the removable platform (100) and the spatial location data of each restricted plane. The method for controlling a removable platform (100), the computer readable storage medium, the removable platform (100), and the control apparatus for the removable platform (100) are applicable to a relatively large quantity of shapes of restricted areas (200), thereby meeting diversified use requirements.

Description

Control method, device and movable platform of movable platform

technical field

The present application relates to the technical field of movable platforms, and more particularly, to a control method of a movable platform, a computer-readable storage medium, a movable platform, and a control device of the movable platform.

Background technique

Restricted areas can be used to restrict the operation of the removable platform, thereby ensuring security, privacy, etc. However, the method of controlling the operation of the movable platform based on the restricted area in the prior art can only be applied to some restricted areas of special shapes, and the types of shapes applicable to the restricted area are few, which cannot meet the usage requirements.

SUMMARY OF THE INVENTION

In view of the above problems, a method for controlling a movable platform, a computer-readable storage medium, a movable platform, and a control device for the movable platform are proposed to overcome the above problems or at least partially solve the above problems.

According to a first aspect of the present application, there is provided a control method for a movable platform, comprising: acquiring spatial position data of the movable platform and space of one or more restricted surfaces of a restricted area of the movable platform position data, said one or more confinement surfaces being spatially adjacent to each other and used to determine said confinement area; said control said Operation of removable platforms.

According to a second aspect of the present application, a computer-readable storage medium is provided, and the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to execute any one of the above control method.

According to a third aspect of the present application, there is provided a movable platform, comprising a platform processor configured to: acquire spatial position data of the movable platform and information about a restricted area of the movable platform Spatial position data of one or more confinement surfaces that are spatially adjacent to each other and used to determine the confinement area; based on the spatial position data of the movable platform and each of the confinements The spatial position data of the face controls the operation of the movable platform.

According to a fourth aspect of the present application, there is provided a control device for a movable platform, including a device processor, and the device processor is configured to: acquire spatial position data of the movable platform and data of the movable platform. spatial position data of one or more confinement surfaces of the restricted area that are spatially adjacent to each other and used to determine the restricted area; based on the spatial position data of the movable platform and each The spatial position data of the confinement surface controls the operation of the movable platform.

The present application controls the operation of the movable platform according to the spatial position data of the movable platform and the spatial position data of each restriction surface, so that the positional relationship between the movable platform and the restricted area can be judged not only when the side of the restricted area is perpendicular to the horizontal plane of the earth , and then control the operation of the movable platform, and can also judge the positional relationship between the movable platform and the restricted area when the side of the restricted area is not perpendicular to the ground level, and then control the operation of the movable platform. As a result, the movable platform control method, computer readable storage medium, movable platform and movable platform control device provided by the present application are applicable to various shapes of restricted areas to meet diverse usage requirements.

Additional aspects and advantages of the present application will become apparent in the description section below, or learned by practice of the present application. What is provided in the content of this application is only an embodiment, not the application itself, and the effect of the content of the application is only the effect of the embodiment, rather than all the technical effects of the application.

Description of drawings

Other objects and advantages of the present application will be apparent from the following description of the present application with reference to the accompanying drawings, and may assist in a comprehensive understanding of the present application. in:

1 is a perspective view of a restricted area in a control method for a movable platform according to an embodiment of the present application;

2 is a perspective view of another restricted area in a control method for a movable platform according to an embodiment of the present application;

FIG. 3 is an application scenario diagram of a control method for a movable platform according to an embodiment of the present application;

Fig. 4 is the schematic diagram that the movable platform is in another position state in the application scenario shown in Fig. 3;

Fig. 5 is the schematic diagram that the movable platform is in another position state in the application scenario shown in Fig. 3;

6 is a first schematic diagram of a first included angle condition in a method for controlling a movable platform according to an embodiment of the present application;

Figure 7 is a perspective view of the schematic diagram shown in Figure 6;

8 is a second schematic diagram of a first included angle condition in a control method for a movable platform according to an embodiment of the present application;

9 is a third schematic diagram of a first included angle condition in a control method for a movable platform according to an embodiment of the present application;

10 is a fourth schematic diagram of a first included angle condition in a control method for a movable platform according to an embodiment of the present application;

11 is a fifth schematic diagram of a first included angle condition in a method for controlling a movable platform according to an embodiment of the present application;

12 is a sixth schematic diagram of a first included angle condition in a method for controlling a movable platform according to an embodiment of the present application;

13 is a first schematic diagram of a second included angle condition in a method for controlling a movable platform according to an embodiment of the present application;

14 is a second schematic diagram of a second included angle condition in a method for controlling a movable platform according to an embodiment of the present application;

15 is a third schematic diagram of a second included angle condition in a method for controlling a movable platform according to an embodiment of the present application;

16 is a fourth schematic diagram of the second included angle condition in the control method of the movable platform according to an embodiment of the present application;

17 is a fifth schematic diagram of a second included angle condition in a method for controlling a movable platform according to an embodiment of the present application;

18 is a sixth schematic diagram of a second included angle condition in a method for controlling a movable platform according to an embodiment of the present application;

19 is a schematic diagram of a third included angle condition in a method for controlling a movable platform according to an embodiment of the present application;

20 is a schematic diagram of judging whether the movable platform is located on the limiting surface according to the number of intersections in the control method of the movable platform according to an embodiment of the present application;

21 is another schematic diagram of judging whether the movable platform is located on the limiting surface according to the number of intersections in the control method of the movable platform according to an embodiment of the present application;

FIG. 22 is a schematic diagram of determining a setting direction in a method for controlling a movable platform according to an embodiment of the present application.

It should be noted that the drawings are not to scale and that, for illustration purposes, elements of similar structure or function are generally designated by like reference numerals throughout the drawings. It should also be noted that the drawings are for convenience only in describing the preferred embodiments and not the application itself. The drawings do not illustrate every aspect of the described embodiments, and do not limit the scope of the application.

In the figure, 100 is a movable platform, 200 is a restricted area, 211 is a bottom surface, 212 is a side surface, and 213 is a top surface. 3 to 6, 8 to 19, and 22 show the sectional views of the restricted area shown in FIG. 1, and the sectional plane is perpendicular to the y direction. It can be understood that the top surface, bottom surface, (points d1, d2, The sides formed by d5 and d6) and the sides formed by (points d3, d4, d7 and d8) are all presented as a side in these figures; only one side of the restricted area is shown in FIG. Other confinement surfaces; Figures 20 and 21 show only one side of the confinement area, and the viewing angle shown is perpendicular to the displayed side.

Detailed ways

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present application, and should not be construed as a limitation on the present application.

In the description of the present application, it should be understood that the terms "first" and "second" are only used for description purposes, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, features defined as "first" and "second" may expressly or implicitly include, but are not limited to, one or more of said features.

The following disclosure provides many different embodiments or examples for implementing the present application. In order to simplify the disclosure of the present application, the components and methods of specific examples are described below. Of course, they are only examples and are not intended to limit the application. Furthermore, this application may repeat reference numerals and/or reference letters in different instances for the purpose of simplicity and clarity, and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed.

Embodiments of the present application first provide a method for controlling a movable platform 100. FIG. 1 is a perspective view of a restricted area 200 in a method for controlling a movable platform 100 according to an embodiment of the present application, and FIG. 2 is a schematic diagram according to the present application. FIG. 3 is a perspective view of another restricted area 200 in the control method of the movable platform 100 according to an embodiment of the present application. FIG. 3 is an application scenario diagram of the control method of the movable platform 100 according to an embodiment of the present application. .

The movable object 100 in the figure is an example of an unmanned aerial vehicle, which is also commonly referred to as a UAV (Unmanned Aerial Vehicle). It will be appreciated that any description herein of an aircraft such as an unmanned aerial vehicle may be applicable to and used with any movable object 100 . Any description herein of an aircraft may be specifically applicable to a drone. Movable objects 100 in embodiments of the present application may be configured for movement within any suitable environment, such as in the air (eg, fixed-wing aircraft, rotary-wing aircraft, or aircraft that have neither fixed-wing nor rotary-wing aircraft) , in water (eg, ships or submarines), on the ground (eg, motor vehicles, such as cars, trucks, buses, vans, motorcycles, bicycles; movable structures or frames, such as rods, fishing rods; or trains), underground (eg, subways), in space (eg, space shuttles, satellites, or probes), or any combination of these environments. The movable object may be a vehicle, such as the vehicles described elsewhere herein. That is to say, the movable platform 100 in this embodiment includes, but is not limited to, drones, unmanned vehicles, unmanned ships, robots, and the like.

The control method of the movable platform 100 provided in this embodiment includes: acquiring spatial position data of the movable platform 100 and spatial position data of one or more restricted surfaces of the restricted area 200 of the movable platform 100 , the one or more restricted surfaces. The faces are spatially adjacent to each other and are used to determine the restricted area 200; the operation of the movable platform 100 is controlled according to the spatial position data of the movable platform 100 and the spatial position data of each restricted face.

Wherein, the spatial position data of the movable platform 100 may be acquired in various ways, which are not limited in this embodiment of the present application. For example, by obtaining the spatial position data of the movable platform 100 through the global positioning system, the global positioning system can locate all-weather around the world, and has the advantages of high positioning accuracy and short observation time. In other embodiments, the spatial position data of the movable platform 100 may also be acquired through a strapdown inertial navigation system, a wireless positioning system, a visual positioning system, or the like.

The spatial position data of one or more restricted surfaces of the restricted area 200 of the movable platform 100 may be acquired in various manners, which are not limited in this embodiment of the present application. For example, the spatial location data of the one or more restricted surfaces of the restricted area 200 may be acquired from a storage unit that pre-stores the spatial location data of the one or more restricted surfaces of the restricted area 200, wherein the storage unit may be onboard a movable The platform 100 may also be independently spaced from the movable platform 100 . In other embodiments, the spatial location data of one or more restricted surfaces of the restricted area 200 of the movable platform 100 may also be obtained from the Internet or the like.

The restricted area 200 may include, but is not limited to, an area that restricts the movement of the movable object 100 , an area that restricts communication of the movable platform 100 , an area that restricts the load operation of the movable platform 100 , and the like.

In some embodiments, the restricted area 200 may include, but is not limited to, areas that restrict the movement of the movable object 100 . For example, an airport for manned aircraft is generally provided with a restricted area 200 that restricts the movement of the movable object 100, so as to ensure the safety of the manned aircraft and prevent the movable object from being damaged.

In other embodiments, restricted area 200 may include, but is not limited to, areas that restrict communication of movable platform 100 . For example, when the mobile platform 100 is located in an area that restricts the communication of the mobile platform 100, the mobile platform 100 can be prohibited from receiving data, the mobile platform 100 can also be prohibited from transmitting data, and the mobile platform 100 can also be prohibited from receiving and transmitting data at the same time. Wait. Thereby, the leakage of relevant information can be prevented, and the privacy and security of the relevant information can be ensured.

In other embodiments, the movable platform 100 may include a payload, and the restricted area 200 may be an area that restricts the operation of the payload. Wherein, the load may include, but is not limited to, an imaging device, a sound collection device, and the like. The imaging device may include, but is not limited to, a camera, a video camera, a mobile phone with a shooting function, a tablet, and the like. Sound collection devices may include, but are not limited to, microphones. When the load is an imaging device, the restricted area 200 can be an area that is restricted from being photographed by the imaging device, and when the load is a sound collection device, the restricted area 200 can be an area restricted by the sound collection device to collect sound, thus, the restricted area can be guaranteed 200 for privacy.

It can be understood that the movable platform 100 can adjust the attitude of the payload through the carrier, wherein the carrier can be a pan/tilt head. Wherein, the PTZ may include one PTZ component, two PTZ components, three PTZ components or more PTZ components. Accordingly, the head may allow the load to rotate about one, two, three or more axes, and the axes for rotation may or may not be orthogonal to each other. In some embodiments, the gimbal component can control the attitude of the payload through a motor, including controlling one or more of the payload's pitch angle, roll angle, and yaw angle. Accordingly, the payload may rotate about one or more of a pitch axis, a roll axis, and a yaw axis.

In some embodiments, there may be three pan-tilt parts, such as a first pan-tilt part, a second pan-tilt part, and a third pan-tilt part. It will be appreciated that each pan/tilt member may include a connecting arm. Wherein, the first pan-tilt part is connected to the body of the movable platform 100, and the first pan-tilt part can rotate relative to the body, so that the yaw angle of the load changes, that is, when the first connecting arm rotates relative to the body, The load can be rotated about the yaw axis. The second pan-tilt part is connected to the first pan-tilt part, and the second pan-tilt part can rotate relative to the fuselage, so that the roll angle of the load changes, that is, when the second pan-tilt part rotates relative to the fuselage, the load can be rotated Rotate around the roll axis. The third pan-tilt part is connected to the second pan-tilt part, and the third pan-tilt part can rotate relative to the fuselage, so that the pitch angle of the load changes, that is, when the third pan-tilt part rotates relative to the fuselage, the load can be rotated around the body Pitch axis rotation.

In other embodiments, the pan/tilt may include only one pan/tilt component. The gimbal part can be rotated relative to the fuselage, so that the yaw angle of the load changes, that is, when the gimbal part is rotated relative to the fuselage, the load can be rotated around the yaw axis.

It can be understood that there may be various correspondences between the pan/tilt components and the types of the movable platform 100 . For example, when the movable platform 100 is an unmanned aerial vehicle, the gimbal connected to the fuselage of the drone may have one gimbal part, two gimbal parts, three gimbal parts or more gimbal parts, and can This enables the payload to rotate about one, two or three of the pitch, roll, and yaw axes, and also enables the payload to rotate about more axes. When the movable platform 100 is a robot or an unmanned vehicle, the gimbal can also have one gimbal part, two gimbal parts, three gimbal parts, or more than three gimbal parts, and the load can be rotated around the pitch axis. , one, two or three rotations of the roll axis and the yaw axis, so that the load can also rotate around more than three axes, etc. That is to say, regardless of the type of the movable platform 100, the gimbal can be a single-axis gimbal, a dual-axis gimbal, a three-axis gimbal, or a gimbal with other axes.

The control method of the movable platform 100 provided by the embodiments of the present application may be executed by the movable platform 100 . That is, the mobile platform 100 obtains its own spatial position data and the spatial position data of one or more restricted surfaces in the restricted area 200; then, controls its own operation according to its own spatial location data and the spatial location data of each restricted surface.

The control method of the movable platform 100 provided by the embodiments of the present application may also be executed by a control device or a supervisory server of the movable platform 100, or the like. That is, the control device or the supervision server acquires the spatial position data of the movable platform 100 and the spatial position data of one or more restricted surfaces of the restricted area 200; then, the control device or the supervision server generates a control instruction based on the acquired data, and sends it to the mobile platform 200. The mobile platform 100 sends the instruction to control the operation of the movable platform 100 .

FIG. 4 is a schematic diagram of the movable platform 100 in another position in the application scenario shown in FIG. 3 , and FIG. 5 is a schematic diagram of the movable platform 100 in another position in the application scenario shown in FIG. 3 . Referring to FIG. 3 , FIG. 4 and FIG. 5 , it can be seen that the positional relationship between the movable platform 100 and the restricted area 200 can be various. For example, the movable platform 100 may be located outside the restricted area 200 (as shown in FIG. 3 ), the movable platform 100 may be located within the restricted area 200 (as shown in FIG. 4 ), and the movable platform 100 may be located at the boundary of the restricted area 200 (as shown in FIG. 4 ). as shown in Figure 5).

In this embodiment of the present application, the operation of the movable platform 100 is controlled according to the spatial position data of the movable platform 100 and the spatial position data of each restriction surface, so that not only when the side surface 212 of the restricted area 200 is perpendicular to the ground horizontal plane (shown in FIG. 2 ) The application scenario shown) determines the positional relationship between the movable platform 100 and the restricted area 200, and then controls the operation of the movable platform 100, and can also be used when the side surface 212 of the restricted area 200 is not perpendicular to the ground level (the application scenario shown in FIG. 1 ). ) determines the positional relationship between the movable platform 100 and the restricted area 200 , and then controls the operation of the movable platform 100 . Therefore, the control method of the movable platform 100 provided by the present application is applicable to various shapes of the restricted area 200 , so as to meet diverse usage requirements.

The confinement area 200 may be surrounded by the one or more confinement surfaces. That is to say, the number of limit surfaces can be one or more, for example, the number of limit surfaces can be 1, 2, 3, 4, 5, 6, 7, 8 , 9, 10 or more. It can be understood that when the number of restriction surfaces is one, the restriction surface can be a curved surface, and when the number of restriction surfaces is multiple, part of the restriction surface can be a curved surface and another part of the restriction surface is a flat surface, or all of the restriction surfaces can be a curved surface. Constraining faces are curved or all constraining faces are flat.

The one or more limiting surfaces may include a bottom surface 211 (eg, the plane formed by the points d5, d6, d7, and d8 in FIG. 1; the plane formed by the points d13, d14, d15, and d16 in FIG. 2) and the boundary by the bottom surface 211 At least one side surface 212 extending in at least one spatial direction (for example, the plane formed by the points d1, d2, d5 and d6 in FIG. 1, the plane formed by the points d2, d3, d6 and d7, the points d3, d4, d7 and d8 The plane formed by the points d1, d4, d5 and d8; the plane formed by the points d9, d10, d13 and d14 in Figure 2, the plane formed by the points d10, d11, d14 and d15, the points d11, d12, d15 and The plane formed by d16, the plane formed by points d9, d12, d13 and d16). For example, the bottom surface 211 may be a polygon, the number of side surfaces 212 may be equal to the number of sides of the bottom surface 211, and each side surface 212 extends from one side to one spatial direction. For another example, the bottom surface 211 may be circular or elliptical, and then there may be a side surface 212 extending in a spatial direction from the boundary of the circular or elliptical bottom surface 211 . The shape of the bottom surface 211 can also be a special shape or a combination of various geometric shapes. For example, it can be a combination shape of a triangle and a semicircle. One side of the triangle coincides with the straight line boundary of the semicircle, so there can be three Side surfaces 212, wherein one side surface 212 can be a curved surface, and the other two side surfaces 212 can be flat surfaces. The side surfaces 212 that are curved surfaces are extended in a spatial direction from a semicircular curved boundary, and are each of the two side surfaces 212 of the plane surface. Extends in a spatial direction from one of the other two sides of the triangle. It can be understood that the shape of the above-mentioned bottom surface 211 is only illustrative, and does not form a limitation to the present application, and in some embodiments, at least one of the one or more limiting surfaces may be a plane.

As shown in FIG. 1 , in some embodiments, the bottom surface 211 may be parallel to the ground level, and at least one side surface 212 may be non-perpendicular to the ground level. For example, one, more or all of the sides 212 may be non-perpendicular to the ground level. Therefore, the restricted area 200 of this shape can be applied to some special scenarios, for example, an airport that can be used for manned aircraft.

As shown in FIG. 2 , in other embodiments, the bottom surface 211 may be parallel to the ground level, and at least one side surface 212 may be perpendicular to the ground level. For example, one, more or all of the sides 212 may be perpendicular to the ground level. Thus, the data related to the restricted area 200 of this shape is easy to store and calculate.

In some embodiments, the one or more constraining surfaces may further include a top surface 213 (eg, a plane formed by points d1 , d2 , d3 and d4 in FIG. 1 ) formed by the boundary of the at least one side surface 212 extending in the spatial direction ; the plane formed by points d9, d10, d11 and d12 in Figure 1). It can be understood that the position, size and shape of the top surface 213 may be jointly determined by the position and shape of the bottom surface 211 , the extension length and direction of the side surface 212 , and the like. The shape and size of the top surface 213 and the bottom surface 211 may be the same or different, and the top surface 213 may or may not be parallel to the bottom surface 211 .

As shown in FIG. 1 , the area of the top surface 213 may be larger than that of the bottom surface 211 . Therefore, the shape of the restricted area 200 can be more suitable for the airport for manned aircraft, and the side surface 212 of the restricted area 200 is more in line with the flight trajectory of the manned aircraft when taking off or landing.

In other embodiments, the restricted area 200 may not include the top surface 213 . Accordingly, the above-mentioned various functions of the movable platform 100 , such as photographing, communication, movement, and sound collection, may be restricted by restricting the moving height of the movable platform 100 . operate.

Controlling the operation of the movable platform 100 according to the spatial position data of the movable platform 100 and the spatial position data of each restriction surface may include: selecting at least one surface to be calculated from the one or more restriction surfaces, and determining the relationship with the at least one surface. At least one spatial position data of the surface to be calculated corresponding to the surface to be calculated; use all the spatial position data of the surface to be calculated and the spatial position data of the movable platform 100 for calculation to determine the positional relationship between the movable platform 100 and the restricted area 200 ; Control the operation of the movable platform 100 according to the positional relationship.

Wherein, when the surface to be calculated is a plane, the corresponding spatial position data of the surface to be calculated may be the spatial position data of the plane. When the surface to be calculated is a curved surface, the curved surface can be converted into a conversion plane, and the corresponding spatial position data of the surface to be calculated can include the spatial position data of the conversion plane. In some embodiments, in order to ensure the accuracy of the judgment result, the conversion plane may be partially coincident with the curved surface.

Understandably, in this embodiment of the present application, at least one surface to be calculated may be selected from the one or more restriction surfaces, that is, the spatial position data of all the restriction surfaces may not be used in the above judgment process, thereby facilitating Calculation to improve the efficiency of judgment.

For example, in some embodiments, the at least one surface to be calculated may include all of the sides 212 . In some embodiments, when the bottom surface 211 is flat and not parallel to the ground level, the at least one surface to be calculated may include the bottom surface 211 . When the height of the bottom surface 211 is greater than 0 meters and parallel to the ground level, the at least one surface to be calculated may include the bottom surface 211 . When the height of the bottom surface 211 is equal to 0 meters and is parallel to the ground level, the at least one surface to be calculated may not include the bottom surface 211 . When the bottom surface 211 is a curved surface, if the conversion plane of the bottom surface 211 is not parallel to the earth horizon, the at least one surface to be calculated may include the bottom surface 211; if the height of the conversion plane of the bottom surface 211 is greater than 0 meters and is parallel to the earth horizon, then The at least one surface to be calculated may include a bottom surface 211 ; if the height of the conversion plane of the bottom surface 211 is equal to 0 meters and is parallel to the ground level, the at least one surface to be calculated may not include the bottom surface 211 . In this way, on the premise of ensuring the accuracy of the judgment result, the amount of calculation can be reduced and the efficiency can be improved.

When the top surface 213 is a plane, whether the at least one surface to be calculated needs to include the top surface 213 can be determined according to the moving limit height of the movable platform 100 and the height of the lowest point of the top surface 213 . Specifically, when the height of the lowest point of the top surface 213 is lower than the moving limit height of the movable platform 100, the at least one surface to be calculated may include the top surface 213, and the height of the lowest point of the top surface 213 is higher than or equal to When the movable platform 100 has a moving limit height, the at least one surface to be calculated may not include the top surface 213 . When the top surface 213 is a curved surface, whether the at least one surface to be calculated needs to include the top surface 213 can be determined according to the moving limit height of the movable platform 100 and the height of the lowest point of the conversion plane of the top surface 213 . Specifically, when the height of the lowest point of the conversion plane of the top surface 213 is lower than the moving limit height of the movable platform 100, the at least one surface to be calculated may include the top surface 213, and the lowest point of the conversion plane of the top surface 213 When the height of the movable platform 100 is higher than or equal to the moving limit height of the movable platform 100 , the at least one surface to be calculated may not include the top surface 213 . In this way, on the premise of ensuring the accuracy of the judgment result, the amount of calculation can be reduced and the efficiency can be improved. Wherein, the moving limit height of the movable platform 100 may be determined according to the model of the movable platform 100 .

The calculation using all the spatial position data of the surface to be calculated and the spatial position data of the movable platform 100 may include: converting the spatial position data of the movable platform 100 into movable platform coordinate data in a three-dimensional coordinate system, and each time The spatial position data of the surface to be calculated is the coordinate data of the surface to be calculated in the three-dimensional coordinate system; the calculation is performed by using the coordinate data of the movable platform and all the coordinate data of the surface to be calculated.

The relevant data is converted through the three-dimensional coordinate system, so as to facilitate the calculation and improve the calculation efficiency. In some embodiments, the three-dimensional coordinate system may be an NED (North East Down, North-East-Earth) coordinate system, and the NED coordinate system may also be commonly referred to as an n coordinate system or a navigation coordinate system. The NED coordinate system is widely used, therefore, converting the corresponding data to the NED coordinate system can reduce the amount of calculation when the corresponding data is used by other processes. It can be understood that, in other embodiments, the three-dimensional coordinate system may not be an NED coordinate system, for example, it may be a station center coordinate system or the like.

Each to-be-calculated surface coordinate data may include plane equation data of the corresponding to-be-calculated surface. Understandably, when the surface to be calculated is a plane, the plane equation data of the surface to be calculated is the plane equation data of the plane; when the surface to be calculated is a curved surface, the plane equation data of the surface to be calculated is the conversion plane of the curved surface. plane equation data. In some embodiments, the coordinate data of the surface to be calculated may not include the corresponding plane equation data of the surface to be calculated. For example, when the surface to be calculated is a plane, the coordinate data of the surface to be calculated may include three or For the data of more than three points, since three points can determine a plane, the plane equation data of the surface to be calculated can also be determined according to the data of these points. Correspondingly, when the surface to be calculated is a curved surface, the coordinate data of the surface to be calculated may include data of three or more points on the conversion plane of the curved surface.

Each plane equation data may include normal vector data of the corresponding surface to be calculated and reference point data of any reference point located on the corresponding surface to be calculated. That is to say, the plane equation data can be represented by the point method plane equation, thereby reducing the amount of calculation. In other embodiments, other types of plane equations such as the intercept equation and the normal equation can also be used. These types of plane equations can be transformed to point French plane equations. Correspondingly, the calculation using the coordinate data of the movable platform and all the coordinate data of the surface to be calculated may include: calculating according to all the normal vector data, all the reference point data and the coordinate data of the movable platform.

In some embodiments, it is determined that the movable platform 100 is located outside the restricted area 200 when the movable platform coordinate data, the normal vector data corresponding to any surface to be calculated, and the reference point data satisfy the first preset condition. The first preset condition may include: the reference vector α formed by the reference point data and the movable platform coordinate data and the angle θ of the normal vector β satisfy the first angle condition.

FIG. 6 is a first schematic diagram of the first included angle condition in the control method of the movable platform 100 according to an embodiment of the present application, and FIG. 7 is a perspective view of the schematic diagram shown in FIG. 6 . As shown in FIGS. 6 and 7 , when the reference vector α points to the movable platform 100 from the reference point A, and the normal vector β points to the outside of the restricted area 200 , the first included angle condition may be an acute angle.

FIG. 8 is a second schematic diagram of the first included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 8 , when the reference vector α points to the movable platform 100 from the reference point B, and the normal vector β points to the outside of the restricted area 200 , the first included angle condition may also be a zero degree angle.

FIG. 9 is a third schematic diagram of the first included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 9 , when the reference vector α points to the movable platform 100 from the reference point A, and the normal vector β points to the inside of the restricted area 200 , the first included angle condition is an obtuse angle.

FIG. 10 is a fourth schematic diagram of the first included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 10 , when the reference vector α points to the reference point A from the movable platform 100 and the normal vector β points to the inside of the restricted area 200 , the first included angle condition is an acute angle.

FIG. 11 is a fifth schematic diagram of the first included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 11 , when the reference vector α points from the movable platform 100 to the reference point B, and the normal vector β points to the inside of the restricted area 200 , the first included angle condition is a zero degree angle.

FIG. 12 is a sixth schematic diagram of the first included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 12 , when the reference vector α points to the reference point A from the movable platform 100, and the normal vector β points to the outside of the restricted area 200, the first included angle condition is an obtuse angle.

In some embodiments, it is determined that the movable platform 100 is located within the restricted area 200 when the coordinate data of the movable platform and the normal vector data and reference point data corresponding to each surface to be calculated satisfy the second preset condition. The second preset condition may include: the reference vector α formed by the reference point data and the coordinate data of the movable platform and the angle θ of the normal vector β satisfy the second angle condition.

FIG. 13 is a first schematic diagram of the second included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 13 , when the reference vector α points to the movable platform 100 from the reference point A, and the normal vector β points to the outside of the restricted area 200 , the second included angle condition is an obtuse angle.

FIG. 14 is a second schematic diagram of the second included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 14 , when the reference vector α points to the movable platform 100 from the reference point A, and the normal vector β points to the inside of the restricted area 200 , the second included angle condition is an acute angle.

FIG. 15 is a third schematic diagram of the second included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 15 , when the reference vector α points to the movable platform 100 from the reference point B, and the normal vector β points to the inside of the restricted area 200 , the second included angle condition is a zero degree angle.

FIG. 16 is a fourth schematic diagram of the second included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 16 , when the reference vector α points from the movable platform 100 to the reference point A, and the normal vector β points to the inside of the restricted area 200 , the second included angle condition is an obtuse angle.

FIG. 17 is a fifth schematic diagram of the second included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 17 , when the reference vector α points to the reference point A from the movable platform 100 and the normal vector β points to the outside of the restricted area 200 , the second included angle condition is an acute angle.

FIG. 18 is a sixth schematic diagram of the second included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 18 , when the reference vector α points to the reference point B from the movable platform 100 and the normal vector β points to the outside of the restricted area 200 , the second included angle condition is a zero degree angle.

In some embodiments, when the coordinate data of the movable platform and the normal vector data and reference point data corresponding to any surface 200 to be calculated satisfy the third preset condition, it is determined that the movable platform 100 is located at the edge of the one or more restriction surfaces. on the plane corresponding to one of the limiting surfaces. The third preset condition may include: the reference vector α formed by the reference point data and the movable platform coordinate data and the angle θ of the normal vector β satisfy the third angle condition.

FIG. 19 is a schematic diagram of the third included angle condition in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 19 , the third included angle condition may be a right angle. It can be understood that at this time, no matter how the directions of the reference vector α and the normal vector β change, as long as the included angle θ between the reference vector α and the normal vector β is a right angle, it is determined that the movable platform 100 is located at the one or more limit surfaces. on the plane corresponding to one of the limiting surfaces.

After determining that the movable platform 100 is located on a plane corresponding to one of the one or more limiting surfaces, the process may further include: judging whether the movable platform 100 is located on one of the limiting surfaces; if so, determining the movable platform 100 is located on the boundary of the restricted area 200 ; if not, it is determined that the movable platform 100 is located outside the restricted area 200 .

Because, when the movable platform 100 is located on a plane corresponding to one of the one or more limiting surfaces, it does not necessarily mean that the movable platform 100 is located on the boundary of the limiting area 200 , at this time, the movable platform 100 It is also possible to be located outside the restricted area 200 . Therefore, the control method of this embodiment further includes the above steps, so as to improve the accuracy of the judgment result of the positional relationship between the movable platform 100 and the restricted area 200 .

In some embodiments, judging whether the movable platform 100 is located on one of the limiting surfaces may include: taking a point represented by the coordinate data of the movable platform as an endpoint to make a ray L, and the ray L is located on a plane where the one of the limiting surfaces is located; Whether the movable platform 100 is located on one of the limiting surfaces is determined according to the intersection of the ray L and the one of the limiting surfaces. For example, whether the movable platform 100 is located on one of the limiting surfaces can be determined according to the number of intersections between the ray L and one of the limiting surfaces.

FIG. 20 is a schematic diagram of judging whether the movable platform 100 is located on the limiting surface according to the number of intersections in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 20 , when the number of intersection points is an odd number, it is determined that the movable platform 100 is located on one of the limiting surfaces.

FIG. 21 is another schematic diagram of judging whether the movable platform 100 is located on the restriction surface according to the number of intersections in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 21 , when the number of intersection points is an even number, it is determined that the movable platform 100 is not located on one of the restriction surfaces.

In some embodiments, controlling the operation of the movable platform 100 according to the spatial position data of the movable platform 100 and the spatial position data of each confinement surface may further include: converting the spatial position data of each confinement surface into three-dimensional space. a plurality of first cubes, and convert the spatial position data of the movable platform 100 into at least one second cube, according to each second cube in the at least one second cube and each first cube in the plurality of first cubes The positional relationship of the cube determines the positional relationship of the movable platform 100 and the restricted area 200 to control the operation of the movable platform 100 .

Wherein, when the at least one second cube is at least partially coincident with the plurality of first cubes corresponding to any restriction surface, it is determined that the movable platform 100 is located on the boundary of the restriction area 200 . When all the second cubes are located on the side of the plurality of first cubes corresponding to all the restriction surfaces away from the restriction area 200 , it is determined that the movable platform 100 is located outside the restriction area 200 . When all the second cubes are located on the side of the plurality of first cubes corresponding to all the restriction surfaces facing the restriction area 200 , it is determined that the movable platform 100 is located in the restriction area 200 .

When the restricted area 200 is an area that restricts the movement of the movable platform 100 . Controlling the operation of the movable platform 100 according to the spatial position data of the movable platform 100 and the spatial position data of each limiting surface may include: when the spatial position data of the movable platform 100 and the spatial position data of each limiting surface indicate that the movable platform When the 100 is located in the restricted area 200 , the operation of the movable platform 100 is controlled according to the start-stop state of the movable platform 100 .

For example, when the movable platform 100 is not moving, control the movable platform 100 to prohibit movement, and when the movable platform 100 has moved, control the movable platform 100 to stop moving (when the movable platform 100 is an aircraft, control the movable platform 100 to stop moving). 100 to land and stop moving). In this way, various problems such as security problems caused by the movable platform 100 moving within the restricted area 200 are avoided, and user experience is improved.

Controlling the operation of the movable platform 100 according to the spatial position data of the movable platform 100 and the spatial position data of each limiting surface may include: when the spatial position data of the movable platform 100 and the spatial position data of each limiting surface indicate that the movable platform When the 100 is located outside the restricted area 200, the set direction is determined, and the movement of the movable platform 100 in the set direction is restricted. Thereby, the movable platform 100 can be prevented from entering the restricted area 200 .

Determining the setting direction may include: determining one or more projection planes corresponding to the spatial position data of all the limiting surfaces; and determining the setting direction according to the relationship between the movable platform 100 and the one or more projection planes. Understandably, each projection plane may be a plane where the corresponding limiting surface (when the limiting surface is a plane) is located or a plane where a conversion plane of the limiting surface (when the limiting surface is a curved surface) is located.

Determining the setting direction according to the relationship between the movable platform 100 and the one or more projection planes may include: determining one or more outgoing distances of the movable platform 100, each outgoing distance being the distance between the movable platform 100 and one projection plane Minimum distance; determine the direction corresponding to the smallest outgoing distance among the one or more outgoing distances as the set direction. Therefore, the set direction is the direction in which the movable platform 100 is closest to the restricted area 200 , and restricting the movement of the movable platform 100 in the set direction can effectively prevent the movable platform 100 from entering the restricted area 200 . Specifically, restricting the movement of the movable platform 100 in the set direction may include: allowing the movable platform 100 to move a distance in the set direction less than the smallest exit distance among the one or more exit distances, whereby the movable platform 100 can move The platform 100 cannot enter the restricted area 200 in the set direction.

Determining each exit distance of the movable platform 100 may include: determining the corresponding exit distance according to the positional relationship between the orthographic projection point of the movable platform 100 on the plane where the corresponding projection plane is located and the corresponding projection plane.

FIG. 22 is a schematic diagram of determining the setting direction in the control method of the movable platform 100 according to an embodiment of the present application.

As shown in FIG. 22 , when the orthographic projection point C1 is located in the corresponding projection plane, the corresponding outgoing distance is the distance f1 between the orthographic projection point C1 and the movable platform 100 , and the set direction is the movable platform 100 and the orthographic projection. The direction indicated by the line vector of point C1.

When the orthographic projection point C2 is located outside the corresponding projection plane, the corresponding outgoing distance is the distance f2 between the pseudo-projection point D2 on the boundary of the corresponding projection plane and the movable platform 100, and the pseudo-projection point D2 is the distance f2 of the corresponding projection plane. The point on the boundary that is closest to the orthographic projection point C2, and the set direction is the direction indicated by the connecting line vector between the movable platform 100 and the pseudo-projection point D2.

This embodiment also provides a computer-readable storage medium, where the computer-readable storage medium stores instructions, and when the instructions are executed on the computer, the computer can execute any of the above control methods for the movable platform 100 .

The computer-readable storage medium may also be referred to as a memory, and the instructions may also be referred to as a program. The processor of the computer can perform various appropriate actions and processes according to a program stored in a read only memory (ROM) or a program loaded into a random access memory (RAM). A processor may include, for example, a general-purpose microprocessor (eg, a CPU), an instruction set processor and/or a related chipset, and/or a special-purpose microprocessor (eg, an application specific integrated circuit (ASIC)), among others. The processor may also include onboard memory for caching purposes. The processor may comprise a single processing unit or multiple processing units for performing different actions of the method flow according to this embodiment.

The processor, ROM, and RAM are connected to each other through a bus. The processor performs various operations of the method flow according to the present embodiment by executing programs in the ROM and/or RAM. Note that programs may also be stored in one or more memories other than ROM and RAM. The processor may also perform various operations of the method flow according to the present embodiment by executing programs stored in one or more memories.

According to the present embodiment, the apparatus to which the computer-readable storage medium is applied may further include an input/output (I/O) interface, which is also connected to the bus. The device employing the computer-readable storage medium may also include one or more of the following components connected to the I/O interface: an input portion including a keyboard, a mouse, etc.; an input portion such as a cathode ray tube (CRT), a liquid crystal display (LCD) ), etc., and an output section for speakers, etc.; a storage section including a hard disk, etc.; and a communication section including a network interface card such as a LAN card, a modem, and the like. The communication section performs communication processing via a network such as the Internet. Drives are also connected to the I/O interface as required. Removable media, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are mounted on the drive as needed, so that the computer program read therefrom is installed into the storage section as needed.

The method flow according to this embodiment can be implemented as a computer software program. For example, the present embodiment includes a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion, and/or installed from a removable medium. When the computer program is executed by the processor, the above-described functions defined in the system of the present embodiment are executed.

It will be appreciated that computer readable storage media may include, but are not limited to, non-volatile or volatile storage media such as random access memory (RAM), static RAM, dynamic RAM, read only memory (ROM), programmable ROM , Erasable Programmable ROM, Electrically Erasable Programmable ROM, Flash Memory, Secure Digital (SD) Card, etc.

This embodiment also provides a movable platform 100 , the movable platform 100 includes a platform processor, and the platform processor is configured to: acquire spatial position data of the movable platform 100 and one or more of the restricted area 200 of the movable platform 100 The spatial position data of the restriction surfaces, the one or more restriction surfaces are spatially adjacent to each other and used to determine the restriction area 200; the movable platform 100 is controlled according to the spatial position data of the movable platform 100 and the spatial position data of each restriction surface Operation of Platform 100 .

In some embodiments, the confinement region 200 may be surrounded by the one or more confinement surfaces.

In some embodiments, the one or more confinement surfaces may include a bottom surface 211 and at least one side surface 212 extending from the boundary of the bottom surface 211 in at least one spatial direction.

In some embodiments, the bottom surface 211 may be parallel to the ground level, and at least one side surface 212 may be non-perpendicular to the ground level.

In some embodiments, the bottom surface 211 may be parallel to the ground level, and at least one side surface 212 may be perpendicular to the ground level.

In some embodiments, the one or more confinement surfaces may further include a top surface 213 formed by a boundary of the at least one side surface 212 extending in the spatial direction.

In some embodiments, the area of the top surface 213 may be larger than the area of the bottom surface 211 .

In some embodiments, at least one of the one or more confinement surfaces may be planar.

In some embodiments, the platform processor may be further configured to: select at least one surface to be calculated from the one or more restricted surfaces, and determine the spatial position of at least one surface to be calculated corresponding to the at least one surface to be calculated one-to-one data; use all the spatial position data of the surface to be calculated and the spatial position data of the movable platform 100 to perform calculation to determine the positional relationship between the movable platform 100 and the restricted area 200; control the operation of the movable platform 100 according to the positional relationship.

In some embodiments, the platform processor may be further configured to: convert the spatial position data of the movable platform 100 into the movable platform coordinate data in the three-dimensional coordinate system, and the spatial position data of each surface to be calculated is the three-dimensional coordinate data The coordinate data of the surface to be calculated under the system; use the coordinate data of the movable platform and all the coordinate data of the surface to be calculated for calculation.

In some embodiments, each surface coordinate data to be calculated includes plane equation data of the corresponding surface to be calculated.

In some embodiments, each plane equation data includes normal vector data of the corresponding surface to be calculated and reference point data of any reference point located on the corresponding surface to be calculated; and the platform processor may also be configured to: according to all The normal vector data, all reference point data and movable platform coordinate data are calculated.

In some embodiments, it is determined that the movable platform 100 is located outside the restricted area 200 when the movable platform coordinate data, the normal vector data corresponding to any surface to be calculated, and the reference point data satisfy the first preset condition.

In some embodiments, the first preset condition includes: the included angle between the reference vector and the normal vector formed by the reference point data and the movable platform coordinate data satisfies the first included angle condition.

In some embodiments, when the reference vector points to the movable platform 100 from the reference point, and the normal vector points to the outside of the restricted area 200 , the first included angle condition is an acute angle or a zero degree angle.

In some embodiments, when the reference vector points to the movable platform 100 from the reference point, and the normal vector points to the inside of the restricted area 200 , the first included angle condition is an obtuse angle.

In some embodiments, when the reference vector points to the reference point from the movable platform 100 and the normal vector points to the interior of the restricted area 200 , the first included angle condition is an acute angle or a zero degree angle.

In some embodiments, when the reference vector points to the reference point from the movable platform 100 and the normal vector points to the outside of the restricted area 200 , the first included angle condition is an obtuse angle.

In some embodiments, it is determined that the movable platform 100 is located within the restricted area 200 when the coordinate data of the movable platform and the normal vector data and reference point data corresponding to each surface to be calculated satisfy the second preset condition.

In some embodiments, the second preset condition may include: the included angle between the reference vector and the normal vector formed by the reference point data and the movable platform coordinate data satisfies the second included angle condition.

In some embodiments, when the reference vector points to the movable platform 100 from the reference point, and the normal vector points to the outside of the restricted area 200 , the second included angle condition may be an obtuse angle.

In some embodiments, when the reference vector points to the movable platform 100 from the reference point, and the normal vector points to the inside of the restricted area 200 , the second included angle condition may be an acute angle or a zero degree angle.

In some embodiments, when the reference vector points to the reference point from the movable platform 100 and the normal vector points to the interior of the restricted area 200 , the second included angle condition may be an obtuse angle.

In some embodiments, when the reference vector points to the reference point from the movable platform 100 and the normal vector points to the outside of the restricted area 200 , the second included angle condition may be an acute angle or a zero degree angle.

In some embodiments, when the coordinate data of the movable platform, the normal vector data corresponding to any surface to be calculated, and the reference point data satisfy the third preset condition, it is determined that the movable platform 100 is located on the one or more limit surfaces. on the plane corresponding to one of the limiting surfaces.

In some embodiments, the third preset condition may include: the included angle between the reference vector and the normal vector formed by the reference point data and the movable platform coordinate data satisfies the third included angle condition.

In some embodiments, the third included angle condition may be a right angle.

In some embodiments, the platform processor may be further configured to: determine whether the movable platform 100 is located on one of the restriction surfaces; if so, determine that the movable platform 100 is located on the boundary of the restricted area 200; The mobile platform 100 is located outside the restricted area 200 .

In some embodiments, the platform processor may be further configured to: take the point represented by the coordinate data of the movable platform as an endpoint to make a ray, and the ray is located on a plane where one of the limiting surfaces is located; according to the intersection of the ray and one of the limiting surfaces It is determined whether the movable platform 100 is located on one of the limiting surfaces.

In some embodiments, the platform processor may be further configured to determine whether the movable platform 100 is located on one of the limiting surfaces according to the number of intersections of the ray with the one of the limiting surfaces.

In some embodiments, the platform processor may be further configured to: when the number of intersections is an odd number, determine that the movable platform 100 is located on one of the limiting surfaces, and when the number of intersections is even, determine that the movable platform 100 is located not on one of the limiting surfaces.

In some embodiments, the three-dimensional coordinate system may be an NED coordinate system.

In some embodiments, the platform processor may be further configured to: convert the spatial position data of each confinement surface into a plurality of first cubes in three-dimensional space, and convert the spatial position data of the movable platform 100 into at least one first cube Two cubes, the positional relationship between the movable platform 100 and the restricted area 200 is determined according to the positional relationship of each second cube in the at least one second cube and each first cube in the plurality of first cubes.

In some embodiments, it is determined that the movable platform 100 is located on the boundary of the restricted area 200 when the at least one second cube is at least partially coincident with the plurality of first cubes corresponding to any one of the restriction surfaces.

In some embodiments, it is determined that the movable platform 100 is located outside the restriction area 200 when all the second cubes are located on the side of the plurality of first cubes corresponding to all the restriction surfaces away from the restriction area 200 .

In some embodiments, it is determined that the movable platform 100 is located in the restricted area 200 when all the second cubes are located on one side of the plurality of first cubes corresponding to all the restriction surfaces facing the restricted area 200 .

In some embodiments, restricted area 200 may be an area that restricts movement of movable platform 100 .

In some embodiments, the platform processor may be further configured to: when the spatial position data of the movable platform 100 and the spatial position data of each confinement surface indicate that the movable platform 100 is located within the confinement area 200, according to the The on-off state controls the operation of the movable platform 100 .

In some embodiments, the platform processor may also be configured to: control the movable platform 100 to prohibit movement when the movable platform 100 is not moving; and control the movable platform 100 to stop moving when the movable platform 100 has moved.

In some embodiments, the platform processor may be further configured to: determine the set orientation when the spatial position data of the movable platform 100 and the spatial position data of each restriction surface indicate that the movable platform 100 is located outside the restriction area 200, and The movement of the movable platform 100 in the set direction is restricted.

In some embodiments, the platform processor may be further configured to: determine one or more projection planes corresponding to the spatial position data of all the limiting surfaces; determine the setting according to the relationship between the movable platform 100 and the one or more projection planes set direction.

In some embodiments, the platform processor may be further configured to: determine one or more exit distances of the movable platform 100, each exit distance being a minimum distance between the movable platform 100 and a projection plane; determine the one or more exit distances The direction corresponding to the smallest outgoing distance among the outgoing distances is the set direction.

In some embodiments, the platform processor may also be configured to allow the movable platform 100 to move in a set direction a distance that is less than the smallest exit distance of the one or more exit distances.

In some embodiments, the platform processor may be further configured to: determine the corresponding exit distance according to the positional relationship between the orthographic projection point of the movable platform 100 on the plane where the corresponding projection plane is located and the corresponding projection plane.

In some embodiments, when the orthographic projection point is located in the corresponding projection plane, the corresponding outgoing distance is the distance between the orthographic projection point and the movable platform 100 , and the set direction is the connection between the movable platform 100 and the orthographic projection point. The direction the line vector represents.

In some embodiments, when the orthographic projection point is located outside the corresponding projection plane, the corresponding outgoing distance is the distance between the pseudo-projection point on the boundary of the corresponding projection plane and the movable platform 100, and the pseudo-projection point is the corresponding projection The point on the boundary of the plane that is closest to the orthographic projection point, and the set direction is the direction indicated by the connection line vector between the movable platform 100 and the pseudo-projection point.

For the relevant content of each operation performed by the platform processor, the restricted area 200 and other relevant content of the movable platform 100, reference may be made to the foregoing embodiments, and details are not repeated here.

The embodiment of the present application further provides a control device for the movable platform 100 , the control device includes a device processor, and the device processor is configured to: acquire spatial position data of the movable platform 100 and one of the restricted areas 200 of the movable platform 100 Spatial position data of one or more confinement surfaces that are spatially adjacent to each other and used to determine the confinement area 200; control based on the spatial position data of the movable platform 100 and the spatial position data of each confinement surface Operation of the movable platform 100 .

It can be understood that the control device of the movable platform 100 may be carried by the movable platform 100 , or may be provided separately from the movable platform 100 .

In some embodiments, the device processor may be further configured to: select at least one surface to be calculated from the one or more restricted surfaces, and determine the spatial position of at least one surface to be calculated corresponding to the at least one surface to be calculated one-to-one data; use all the spatial position data of the surface to be calculated and the spatial position data of the movable platform 100 to perform calculation to determine the positional relationship between the movable platform 100 and the restricted area 200; control the operation of the movable platform 100 according to the positional relationship.

In some embodiments, the device processor may be further configured to: convert the spatial position data of the movable platform 100 into the movable platform coordinate data in a three-dimensional coordinate system, and the spatial position data of each surface to be calculated is in the three-dimensional coordinate system The coordinate data of the surface to be calculated under the system; use the coordinate data of the movable platform and all the coordinate data of the surface to be calculated for calculation.

In some embodiments, each plane equation data includes normal vector data of the corresponding surface to be calculated and reference point data of any reference point located on the corresponding surface to be calculated; and the device processor may be further configured to: according to all The normal vector data, all reference point data and movable platform coordinate data are calculated.

In some embodiments, when the reference vector points to the movable platform 100 from the reference point, and the normal vector points to the interior of the restricted area 200, the second included angle condition may be an acute angle or a zero-degree angle.

In some embodiments, the third included angle condition may be a right angle.

In some embodiments, the device processor may be further configured to: determine whether the movable platform 100 is located on one of the restriction surfaces; if so, determine that the movable platform 100 is located on the boundary of the restriction area 200; The mobile platform 100 is located outside the restricted area 200 .

In some embodiments, the device processor may be further configured to: take the point represented by the coordinate data of the movable platform as an endpoint to make a ray, and the ray is located on the plane where the one of the limiting surfaces is located; according to the intersection of the ray and the one of the limiting surfaces It is determined whether the movable platform 100 is located on one of the limiting surfaces.

In some embodiments, the device processor may be further configured to determine whether the movable platform 100 is located on one of the limiting surfaces according to the number of intersections of the rays with the one of the limiting surfaces.

In some embodiments, the device processor may be further configured to: when the number of intersections is an odd number, determine that the movable platform 100 is located on one of the limiting surfaces, and when the number of intersections is even, determine that the movable platform 100 is located not on one of the limiting surfaces.

In some embodiments, the device processor may be further configured to: convert the spatial position data of each confinement surface into a plurality of first cubes in three-dimensional space, and convert the spatial position data of the movable platform 100 into at least one first cube Two cubes, the positional relationship between the movable platform 100 and the restricted area 200 is determined according to the positional relationship of each second cube in the at least one second cube and each first cube in the plurality of first cubes.

In some embodiments, the device processor may also be configured to: when the spatial position data of the movable platform 100 and the spatial position data of each confinement surface indicate that the movable platform 100 is located within the confinement area 200, according to the position of the movable platform 100 The on-off state controls the operation of the movable platform 100 .

In some embodiments, the device processor may also be configured to: control the movable platform 100 to prohibit movement when the movable platform 100 is not moving; and control the movable platform 100 to stop moving when the movable platform 100 has moved.

In some embodiments, the device processor may be further configured to: determine the set orientation when the spatial position data of the movable platform 100 and the spatial position data of each restriction surface indicate that the movable platform 100 is located outside the restriction area 200, and The movement of the movable platform 100 in the set direction is restricted.

In some embodiments, the device processor may be further configured to: determine one or more projection planes corresponding to the spatial position data of all the confinement surfaces; set direction.

In some embodiments, the device processor may also be configured to: determine one or more exit distances of the movable platform 100, each exit distance being a minimum distance between the movable platform 100 and a projection plane; determine the one or more exit distances The direction corresponding to the smallest outgoing distance among the outgoing distances is the set direction.

In some embodiments, the device processor may also be configured to allow the movable platform 100 to move in a set direction a distance that is less than the smallest exit distance of the one or more exit distances.

In some embodiments, the device processor may be further configured to: determine the corresponding exit distance according to the positional relationship between the orthographic projection point of the movable platform 100 on the plane where the corresponding projection plane is located and the corresponding projection plane.

For the relevant content of each operation performed by the device processor, the restricted area 200 and other relevant content of the movable platform 100, reference may be made to the foregoing embodiments, and details are not repeated here.

For the embodiments of the present application, it should also be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other to obtain new embodiments.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

A control method for a movable platform, comprising:

Obtain spatial position data of the movable platform and spatial position data of one or more confinement surfaces of the confinement area of the movable platform, the one or more confinement surfaces being spatially adjacent to each other and used to determine the the restricted area;

The operation of the movable platform is controlled based on the spatial position data of the movable platform and the spatial position data of each of the confinement surfaces.
The control method according to claim 1, wherein,

The confinement area is surrounded by the one or more confinement surfaces.
The control method according to claim 1, wherein the one or more restricting surfaces include a bottom surface and at least one side surface extending from a boundary of the bottom surface in at least one spatial direction.
The control method according to claim 3, wherein,

The bottom surface is parallel to the earth horizon, and at least one of the side surfaces is not perpendicular to the earth horizon.
The control method according to claim 3, wherein,

The bottom surface is parallel to the earth horizon, and at least one of the side surfaces is perpendicular to the earth horizon.
The control method according to claim 3, wherein,

The one or more confinement surfaces also include a top surface consisting of a boundary of the at least one side surface extending toward the spatial direction.
The control method according to claim 6, wherein,

The area of the top surface is larger than the area of the bottom surface.
The control method according to claim 1, wherein,

At least one of the one or more confinement surfaces is a plane.
The control method according to claim 1, wherein the controlling the operation of the movable platform according to the spatial position data of the movable platform and the spatial position data of each of the limiting surfaces comprises:

Select at least one surface to be calculated from the one or more restricted surfaces, and determine the spatial position data of at least one surface to be calculated corresponding to the at least one surface to be calculated one-to-one;

Perform calculation by using all the spatial position data of the surface to be calculated and the spatial position data of the movable platform to determine the positional relationship between the movable platform and the restricted area;

The operation of the movable platform is controlled according to the positional relationship.
The control method according to claim 9, wherein the calculation using all the spatial position data of the surface to be calculated and the spatial position data of the movable platform comprises:

Converting the spatial position data of the movable platform into the coordinate data of the movable platform under the three-dimensional coordinate system, and each of the spatial position data of the surface to be calculated is the coordinate data of the surface to be calculated under the three-dimensional coordinate system;

The calculation is performed using the coordinate data of the movable platform and all the coordinate data of the surface to be calculated.
The control method according to claim 10, wherein,

Each of the surface coordinate data to be calculated includes plane equation data of the corresponding surface to be calculated.
The control method according to claim 11, wherein,

Each of the plane equation data includes normal vector data of the corresponding surface to be calculated and reference point data of any reference point located on the corresponding surface to be calculated; and the use of the movable platform coordinate data And all the surface coordinate data to be calculated are calculated including:

The calculation is performed according to all the normal vector data, all the reference point data and the movable platform coordinate data.
The control method according to claim 12, wherein,

When the coordinate data of the movable platform, the normal vector data corresponding to any of the surfaces to be calculated, and the reference point data satisfy a first preset condition, it is determined that the movable platform is located outside the restricted area .
The control method according to claim 13, wherein the first preset condition comprises:

The included angle between the reference point data and the movable platform coordinate data and the reference vector and the normal vector satisfies the first included angle condition.
The control method according to claim 14, wherein,

When the reference vector points to the movable platform from the reference point, and the normal vector points to the outside of the restricted area, the first included angle condition is an acute angle or a zero-degree angle.
The control method according to claim 14, wherein,

When the reference vector points to the movable platform from the reference point, and the normal vector points to the inside of the restricted area, the first included angle condition is an obtuse angle.
The control method according to claim 14, wherein,

When the reference vector points to the reference point from the movable platform, and the normal vector points to the inside of the restricted area, the first included angle condition is an acute angle or a zero-degree angle.
The control method according to claim 14, wherein,

When the reference vector points to the reference point from the movable platform, and the normal vector points to the outside of the restricted area, the first included angle condition is an obtuse angle.
The control method according to claim 12, wherein,

When the coordinate data of the movable platform, the normal vector data corresponding to each surface to be calculated, and the reference point data all satisfy the second preset condition, it is determined that the movable platform is located in the restricted area Inside.
The control method according to claim 19, wherein the second preset condition comprises:

The included angle between the reference point data and the movable platform coordinate data and the reference vector and the normal vector satisfies the second included angle condition.
The control method according to claim 20, wherein,

When the reference vector points to the movable platform from the reference point, and the normal vector points to the outside of the restricted area, the second included angle condition is an obtuse angle.
The control method according to claim 20, wherein,

When the reference vector points to the movable platform from the reference point, and the normal vector points to the inside of the restricted area, the second included angle condition is an acute angle or a zero-degree angle.
The control method according to claim 20, wherein,

When the reference vector points to the reference point from the movable platform, and the normal vector points to the inside of the restricted area, the second included angle condition is an obtuse angle.
The control method according to claim 20, wherein,

When the reference vector points to the reference point from the movable platform, and the normal vector points to the outside of the restricted area, the second included angle condition is an acute angle or a zero-degree angle.
The control method according to claim 12, wherein,

When the coordinate data of the movable platform, the normal vector data corresponding to any of the surfaces to be calculated, and the reference point data satisfy a third preset condition, it is determined that the movable platform is located in the one or more On a plane corresponding to one of the limiting surfaces of the limiting surfaces.
The control method according to claim 25, wherein the third preset condition comprises:

The included angle between the reference point data and the movable platform coordinate data and the reference vector and the normal vector satisfies the third included angle condition.
The control method according to claim 26, wherein,

The third included angle condition is a right angle.
The control method according to claim 25, wherein the determining that the movable platform is located on a plane corresponding to one of the one or more restriction surfaces further comprises:

judging whether the movable platform is located on one of the limiting surfaces;

If so, determining that the movable platform is located on the boundary of the restricted area;

If not, it is determined that the movable platform is located outside the restricted area.
The control method according to claim 28, wherein the determining whether the movable platform is located on the one of the limiting surfaces comprises:

Taking the point represented by the coordinate data of the movable platform as an endpoint to make a ray, the ray is located on the plane where the one of the limiting surfaces is located;

Whether the movable platform is located on one of the limiting surfaces is determined according to the intersection of the ray and the one of the limiting surfaces.
The control method according to claim 29, wherein the determining whether the movable platform is located on the one of the restriction surfaces according to the intersection of the ray and the one of the restriction surfaces comprises:

Whether the movable platform is located on one of the limiting surfaces is determined according to the number of intersections between the rays and the one of the limiting surfaces.
The control method according to claim 30, wherein determining whether the movable platform is located on the one of the restriction surfaces according to the number of intersections of the ray and the one of the restriction surfaces comprises the following steps: :

When the number of the intersection points is an odd number, it is determined that the movable platform is located on one of the restriction surfaces, and when the number of the intersection points is an even number, it is determined that the movable platform is not located in the one of the restriction surfaces one of the limiting surfaces.
The control method according to any one of claims 10 to 31, wherein,

The three-dimensional coordinate system is an NED coordinate system.
The control method according to claim 1, wherein the controlling the operation of the movable platform according to the spatial position data of the movable platform and the spatial position data of each of the limiting surfaces comprises:

Converting the spatial position data of each of the limiting surfaces into a plurality of first cubes in three-dimensional space, and converting the spatial position data of the movable platform into at least one second cube, according to the at least one second cube The positional relationship between each of the second cubes and each of the first cubes in the plurality of first cubes determines the positional relationship between the movable platform and the restricted area.
The control method according to claim 33, wherein,

When the at least one second cube is at least partially coincident with the plurality of first cubes corresponding to any one of the restriction surfaces, it is determined that the movable platform is located on the boundary of the restriction area.
The control method according to claim 33, wherein,

When all of the second cubes are located on one side of the plurality of first cubes corresponding to all of the restriction surfaces away from the restriction area, it is determined that the movable platform is located outside the restriction area.
The control method according to claim 33, wherein,

When all the second cubes are located on one side of all the first cubes corresponding to the restriction surfaces facing the restriction area, it is determined that the movable platform is located in the restriction area.
The control method according to claim 1, wherein the restricted area is an area that restricts movement of the movable platform.
The control method according to claim 37, wherein the controlling the operation of the movable platform according to the spatial position data of the movable platform and the spatial position data of each of the limiting surfaces comprises:

When the spatial position data of the movable platform and the spatial position data of each of the restriction surfaces indicate that the movable platform is located in the restricted area, the movable platform is controlled according to the start-stop state of the movable platform operation of the platform.
The control method according to claim 38, wherein the operation of controlling the movable platform according to the start-stop state of the movable platform comprises:

When the movable platform is not moving, controlling the movable platform to prohibit movement;

When the movable platform has moved, the movable platform is controlled to stop moving.
The control method according to claim 37, wherein the controlling the operation of the movable platform according to the spatial position data of the movable platform and the spatial position data of each of the limiting surfaces comprises:

When the spatial position data of the movable platform and the spatial position data of each of the restriction surfaces indicate that the movable platform is located outside the restricted area, a set direction is determined, and the movable platform is restricted within the restricted area. Movement in the set direction.
The control method according to claim 40, wherein said determining the setting direction comprises:

determining one or more projection planes corresponding to the spatial position data of all of the limiting surfaces;

The set direction is determined according to the relationship of the movable platform to the one or more projection planes.
The control method according to claim 41, wherein the determining the setting direction according to the relationship between the movable platform and the one or more projection planes comprises:

determining one or more outgoing distances of the movable platform, each of the outgoing distances being the smallest distance between the movable platform and one of the projection planes;

The direction corresponding to the smallest outgoing distance among the one or more outgoing distances is determined as the set direction.
The control method according to claim 42, wherein the restricting the movement of the movable platform in the set direction comprises:

The moving distance of the movable platform in the set direction is allowed to be less than the smallest of the one or more outgoing distances.
The control method according to claim 42 or 43, wherein determining each of the exit distances of the movable platform comprises:

The corresponding exit distance is determined according to the positional relationship between the orthographic projection point of the movable platform on the plane where the corresponding projection plane is located and the corresponding projection plane.
The control method according to claim 44, wherein the corresponding said Exit distances include:

When the orthographic projection point is located in the corresponding projection plane, the corresponding exit distance is the distance between the orthographic projection point and the movable platform, and the set direction is the movable platform The direction indicated by the line vector connecting the orthographic point.
The control method according to claim 45, wherein,

When the orthographic projection point is located outside the corresponding projection plane, the corresponding outgoing distance is the distance between the pseudo projection point on the boundary of the corresponding projection plane and the movable platform, and the pseudo projection The point is the closest point to the orthographic projection point on the boundary of the corresponding projection plane, and the set direction is the direction indicated by the vector connecting the movable platform and the pseudo-projection point.
A computer-readable storage medium wherein,

The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the control method as claimed in any one of claims 1 to 46 .
A movable platform comprising a platform processor configured to:

Obtain spatial position data of the movable platform and spatial position data of one or more confinement surfaces of the confinement area of the movable platform that are spatially adjacent to each other and used to determine the the restricted area;

The operation of the movable platform is controlled based on the spatial position data of the movable platform and the spatial position data of each of the confinement surfaces.
The movable platform of claim 48, wherein:

The confinement area is surrounded by the one or more confinement surfaces.
49. The movable platform of claim 48, wherein the one or more restraining surfaces include a bottom surface and at least one side surface extending from a boundary of the bottom surface in at least one spatial direction.
The movable platform of claim 50, wherein:

The bottom surface is parallel to the earth horizon, and at least one of the side surfaces is not perpendicular to the earth horizon.
The movable platform of claim 50, wherein:

The bottom surface is parallel to the earth horizon, and at least one of the side surfaces is perpendicular to the earth horizon.
The movable platform of claim 50, wherein:

The one or more confinement surfaces also include a top surface consisting of a boundary of the at least one side surface extending toward the spatial direction.
The movable platform of claim 53, wherein:

The area of the top surface is larger than the area of the bottom surface.
The movable platform of claim 48, wherein:

At least one of the one or more confinement surfaces is a plane.
The removable platform of claim 48, wherein the platform processor is further configured to:

Select at least one surface to be calculated from the one or more restricted surfaces, and determine the spatial position data of at least one surface to be calculated corresponding to the at least one surface to be calculated one-to-one;

Perform calculation by using all the spatial position data of the surface to be calculated and the spatial position data of the movable platform to determine the positional relationship between the movable platform and the restricted area;

The operation of the movable platform is controlled according to the positional relationship.
The removable platform of claim 56, wherein the platform processor is further configured to:

Converting the spatial position data of the movable platform into the coordinate data of the movable platform under the three-dimensional coordinate system, and each of the spatial position data of the surface to be calculated is the coordinate data of the surface to be calculated under the three-dimensional coordinate system;

The calculation is performed using the coordinate data of the movable platform and all the coordinate data of the surface to be calculated.
The movable platform of claim 57, wherein:

Each of the surface coordinate data to be calculated includes plane equation data of the corresponding surface to be calculated.
The movable platform of claim 58, wherein:

Each of the plane equation data includes normal vector data of the corresponding surface to be calculated and reference point data of any reference point located on the corresponding surface to be calculated; and the platform processor is further configured to:

The calculation is performed according to all the normal vector data, all the reference point data and the movable platform coordinate data.
The movable platform of claim 59, wherein:

When the coordinate data of the movable platform, the normal vector data corresponding to any of the surfaces to be calculated, and the reference point data satisfy a first preset condition, it is determined that the movable platform is located outside the restricted area .
The movable platform of claim 60, wherein the first preset condition comprises:

The included angle between the reference point data and the movable platform coordinate data and the reference vector and the normal vector satisfies the first included angle condition.
The movable platform of claim 61, wherein:

When the reference vector points to the movable platform from the reference point, and the normal vector points to the outside of the restricted area, the first included angle condition is an acute angle or a zero-degree angle.
The movable platform of claim 61, wherein:

When the reference vector points to the movable platform from the reference point, and the normal vector points to the inside of the restricted area, the first included angle condition is an obtuse angle.
The movable platform of claim 61, wherein:

When the reference vector points to the reference point from the movable platform, and the normal vector points to the inside of the restricted area, the first included angle condition is an acute angle or a zero-degree angle.
The movable platform of claim 61, wherein:

When the reference vector points to the reference point from the movable platform, and the normal vector points to the outside of the restricted area, the first included angle condition is an obtuse angle.
The movable platform of claim 59, wherein:

When the coordinate data of the movable platform, the normal vector data corresponding to each surface to be calculated, and the reference point data all satisfy the second preset condition, it is determined that the movable platform is located in the restricted area Inside.
The movable platform of claim 66, wherein the second preset condition comprises:

The included angle between the reference point data and the movable platform coordinate data and the reference vector and the normal vector satisfies the second included angle condition.
The movable platform of claim 67, wherein:

When the reference vector points to the movable platform from the reference point, and the normal vector points to the outside of the restricted area, the second included angle condition is an obtuse angle.
The movable platform of claim 67, wherein:

When the reference vector points to the movable platform from the reference point, and the normal vector points to the inside of the restricted area, the second included angle condition is an acute angle or a zero-degree angle.
The movable platform of claim 67, wherein:

When the reference vector points to the reference point from the movable platform, and the normal vector points to the inside of the restricted area, the second included angle condition is an obtuse angle.
The movable platform of claim 67, wherein:

When the reference vector points to the reference point from the movable platform, and the normal vector points to the outside of the restricted area, the second included angle condition is an acute angle or a zero-degree angle.
The movable platform of claim 59, wherein:

When the coordinate data of the movable platform, the normal vector data corresponding to any of the surfaces to be calculated, and the reference point data satisfy a third preset condition, it is determined that the movable platform is located in the one or more On a plane corresponding to one of the limiting surfaces of the limiting surfaces.
The movable platform of claim 72, wherein the third preset condition comprises:

The included angle between the reference point data and the movable platform coordinate data and the reference vector and the normal vector satisfies the third included angle condition.
The movable platform of claim 73, wherein:

The third included angle condition is a right angle.
The removable platform of claim 72, wherein the platform processor is further configured to:

judging whether the movable platform is located on one of the limiting surfaces;

If so, determining that the movable platform is located on the boundary of the restricted area;

If not, it is determined that the movable platform is located outside the restricted area.
The removable platform of claim 75, wherein the platform processor is further configured to:

Taking the point represented by the coordinate data of the movable platform as an endpoint to make a ray, the ray is located on the plane where the one of the limiting surfaces is located;

Whether the movable platform is located on one of the limiting surfaces is determined according to the intersection of the ray and the one of the limiting surfaces.
The removable platform of claim 76, wherein the platform processor is further configured to:

Whether the movable platform is located on one of the limiting surfaces is determined according to the number of intersections between the rays and the one of the limiting surfaces.
The removable platform of claim 77, wherein the platform processor is further configured to:

When the number of the intersection points is an odd number, it is determined that the movable platform is located on one of the restriction surfaces, and when the number of the intersection points is an even number, it is determined that the movable platform is not located in the one of the restriction surfaces one of the limiting surfaces.
A movable platform according to any one of claims 57 to 78, wherein,

The three-dimensional coordinate system is an NED coordinate system.
The removable platform of claim 48, wherein the platform processor is further configured to:

Converting the spatial position data of each of the limiting surfaces into a plurality of first cubes in three-dimensional space, and converting the spatial position data of the movable platform into at least one second cube, according to the at least one second cube The positional relationship between each of the second cubes and each of the first cubes in the plurality of first cubes determines the positional relationship between the movable platform and the restricted area.
The movable platform of claim 80, wherein:

When the at least one second cube is at least partially coincident with the plurality of first cubes corresponding to any one of the restriction surfaces, it is determined that the movable platform is located on the boundary of the restriction area.
The movable platform of claim 80, wherein:

When all of the second cubes are located on one side of the plurality of first cubes corresponding to all of the restriction surfaces away from the restriction area, it is determined that the movable platform is located outside the restriction area.
The movable platform of claim 80, wherein:

When all the second cubes are located on one side of all the first cubes corresponding to the restriction surfaces facing the restriction area, it is determined that the movable platform is located in the restriction area.
The movable platform of claim 48, wherein the restricted area is an area that restricts movement of the movable platform.
The removable platform of claim 84, wherein the platform processor is further configured to:

When the spatial position data of the movable platform and the spatial position data of each of the restriction surfaces indicate that the movable platform is located in the restricted area, the movable platform is controlled according to the start-stop state of the movable platform operation of the platform.
The removable platform of claim 85, wherein the platform processor is further configured to:

When the movable platform is not moving, controlling the movable platform to prohibit movement;

When the movable platform has moved, the movable platform is controlled to stop moving.
The removable platform of claim 84, wherein the platform processor is further configured to:

When the spatial position data of the movable platform and the spatial position data of each of the restriction surfaces indicate that the movable platform is located outside the restricted area, a set direction is determined, and the movable platform is restricted from being in the restricted area. Movement in the set direction.
The removable platform of claim 87, wherein the platform processor is further configured to:

determining one or more projection planes corresponding to the spatial position data of all of the limiting surfaces;

The set direction is determined according to the relationship of the movable platform to the one or more projection planes.
The removable platform of claim 88, wherein the platform processor is further configured to:

determining one or more outgoing distances of the movable platform, each of the outgoing distances being the smallest distance between the movable platform and one of the projection planes;

The direction corresponding to the smallest outgoing distance among the one or more outgoing distances is determined as the set direction.
The removable platform of claim 89, wherein the platform processor is further configured to:

The moving distance of the movable platform in the set direction is allowed to be less than the smallest of the one or more outgoing distances.
The movable platform of claim 89 or 90, wherein the platform processor is further configured to:

The corresponding exit distance is determined according to the positional relationship between the orthographic projection point of the movable platform on the plane where the corresponding projection plane is located and the corresponding projection plane.
The movable platform of claim 91, wherein:

When the orthographic projection point is located in the corresponding projection plane, the corresponding exit distance is the distance between the orthographic projection point and the movable platform, and the set direction is the movable platform The direction indicated by the line vector connecting the orthographic point.
The movable platform of claim 92, wherein:

When the orthographic projection point is located outside the corresponding projection plane, the corresponding outgoing distance is the distance between the pseudo projection point on the boundary of the corresponding projection plane and the movable platform, and the pseudo projection The point is the closest point to the orthographic projection point on the boundary of the corresponding projection plane, and the set direction is the direction indicated by the vector connecting the movable platform and the pseudo-projection point.
A control device for a movable platform, comprising a device processor configured to:

Obtain spatial position data of the movable platform and spatial position data of one or more confinement surfaces of the confinement area of the movable platform, the one or more confinement surfaces being spatially adjacent to each other and used to determine the the restricted area;

The operation of the movable platform is controlled based on the spatial position data of the movable platform and the spatial position data of each of the confinement surfaces.
The control device of claim 94, wherein:

The confinement area is surrounded by the one or more confinement surfaces.
94. The control device of claim 94, wherein the one or more limiting surfaces include a bottom surface and at least one side surface extending from a boundary of the bottom surface in at least one spatial direction.
The control device of claim 96, wherein,

The bottom surface is parallel to the earth horizon, and at least one of the side surfaces is not perpendicular to the earth horizon.
The control device of claim 96, wherein,

The bottom surface is parallel to the earth horizon, and at least one of the side surfaces is perpendicular to the earth horizon.
The control device of claim 96, wherein,

The one or more confinement surfaces also include a top surface consisting of a boundary of the at least one side surface extending toward the spatial direction.
The control device of claim 99, wherein,

The area of the top surface is larger than the area of the bottom surface.
The control device of claim 94, wherein:

At least one of the one or more confinement surfaces is a plane.
The control device of claim 94, wherein the device processor is further configured to:

Select at least one surface to be calculated from the one or more restricted surfaces, and determine the spatial position data of at least one surface to be calculated corresponding to the at least one surface to be calculated one-to-one;

Perform calculation by using all the spatial position data of the surface to be calculated and the spatial position data of the movable platform to determine the positional relationship between the movable platform and the restricted area;

The operation of the movable platform is controlled according to the positional relationship.
The control device of claim 102, wherein the device processor is further configured to:

Converting the spatial position data of the movable platform into the coordinate data of the movable platform under the three-dimensional coordinate system, and each of the spatial position data of the surface to be calculated is the coordinate data of the surface to be calculated under the three-dimensional coordinate system;

The calculation is performed using the coordinate data of the movable platform and all the coordinate data of the surface to be calculated.
The control device of claim 103, wherein,

Each of the surface coordinate data to be calculated includes plane equation data of the corresponding surface to be calculated.
The control device of claim 104, wherein,

Each of the plane equation data includes normal vector data of the corresponding surface to be calculated and reference point data of any reference point located on the corresponding surface to be calculated; and the device processor is further configured to:

The calculation is performed according to all the normal vector data, all the reference point data and the movable platform coordinate data.
The control device of claim 105, wherein,

When the coordinate data of the movable platform, the normal vector data corresponding to any of the surfaces to be calculated, and the reference point data satisfy a first preset condition, it is determined that the movable platform is located outside the restricted area .
The control device according to claim 106, wherein the first preset condition comprises:

The included angle between the reference point data and the movable platform coordinate data and the reference vector and the normal vector satisfies the first included angle condition.
The control device of claim 107, wherein,

When the reference vector points to the movable platform from the reference point, and the normal vector points to the outside of the restricted area, the first included angle condition is an acute angle or a zero-degree angle.
The control device of claim 107, wherein,

When the reference vector points to the movable platform from the reference point, and the normal vector points to the inside of the restricted area, the first included angle condition is an obtuse angle.
The control device of claim 107, wherein,

When the reference vector points to the reference point from the movable platform, and the normal vector points to the inside of the restricted area, the first included angle condition is an acute angle or a zero-degree angle.
The control device of claim 107, wherein,

When the reference vector points to the reference point from the movable platform, and the normal vector points to the outside of the restricted area, the first included angle condition is an obtuse angle.
The control device of claim 105, wherein,

When the coordinate data of the movable platform, the normal vector data corresponding to each surface to be calculated, and the reference point data all satisfy the second preset condition, it is determined that the movable platform is located in the restricted area Inside.
The control device according to claim 112, wherein the second preset condition comprises:

The included angle between the reference point data and the movable platform coordinate data and the reference vector and the normal vector satisfies the second included angle condition.
The control device of claim 113, wherein,

When the reference vector points to the movable platform from the reference point, and the normal vector points to the outside of the restricted area, the second included angle condition is an obtuse angle.
The control device of claim 113, wherein,

When the reference vector points to the movable platform from the reference point, and the normal vector points to the inside of the restricted area, the second included angle condition is an acute angle or a zero-degree angle.
The control device of claim 113, wherein,

When the reference vector points to the reference point from the movable platform, and the normal vector points to the inside of the restricted area, the second included angle condition is an obtuse angle.
The control device of claim 113, wherein,

When the reference vector points to the reference point from the movable platform, and the normal vector points to the outside of the restricted area, the second included angle condition is an acute angle or a zero-degree angle.
The control device of claim 105, wherein,

When the coordinate data of the movable platform, the normal vector data corresponding to any of the surfaces to be calculated, and the reference point data satisfy a third preset condition, it is determined that the movable platform is located in the one or more On a plane corresponding to one of the limiting surfaces of the limiting surfaces.
The control device according to claim 118, wherein the third preset condition comprises:

The included angle between the reference point data and the movable platform coordinate data and the reference vector and the normal vector satisfies the third included angle condition.
The control device of claim 119, wherein,

The third included angle condition is a right angle.
The control device of claim 118, wherein the device processor is further configured to:

judging whether the movable platform is located on one of the limiting surfaces;

If so, determining that the movable platform is located on the boundary of the restricted area;

If not, it is determined that the movable platform is located outside the restricted area.
121. The control device of claim 121, wherein the device processor is further configured to:

Taking the point represented by the coordinate data of the movable platform as an endpoint to make a ray, the ray is located on the plane where the one of the limiting surfaces is located;

Whether the movable platform is located on one of the limiting surfaces is determined according to the intersection of the ray and the one of the limiting surfaces.
The control device of claim 122, wherein the device processor is further configured to:

Whether the movable platform is located on one of the limiting surfaces is determined according to the number of intersections between the rays and the one of the limiting surfaces.
123. The control device of claim 123, wherein the device processor is further configured to:

When the number of the intersection points is an odd number, it is determined that the movable platform is located on one of the restriction surfaces, and when the number of the intersection points is an even number, it is determined that the movable platform is not located in the one of the restriction surfaces one of the limiting surfaces.
A control device according to any one of claims 103 to 124, wherein,

The three-dimensional coordinate system is an NED coordinate system.
The control device of claim 94, wherein the device processor is further configured to:

Converting the spatial position data of each of the limiting surfaces into a plurality of first cubes in three-dimensional space, and converting the spatial position data of the movable platform into at least one second cube, according to the at least one second cube The positional relationship between each of the second cubes and the first cubes in the plurality of first cubes determines the positional relationship between the movable platform and the restricted area.
The control device of claim 126, wherein,

When the at least one second cube is at least partially coincident with the plurality of first cubes corresponding to any one of the limiting surfaces, it is determined that the movable platform is located on the boundary of the limiting area.
The control device of claim 126, wherein,

When all of the second cubes are located on one side of the plurality of first cubes corresponding to all of the restriction surfaces away from the restriction area, it is determined that the movable platform is located outside the restriction area.
The control device of claim 126, wherein,

When all the second cubes are located on one side of all the first cubes corresponding to the restriction surfaces facing the restriction area, it is determined that the movable platform is located in the restriction area.
The control device of claim 94, wherein the restricted area is an area that restricts movement of the movable platform.
130. The control device of claim 130, wherein the device processor is further configured to:

When the spatial position data of the movable platform and the spatial position data of each of the restriction surfaces indicate that the movable platform is located in the restricted area, the movable platform is controlled according to the start-stop state of the movable platform operation of the platform.
131. The control device of claim 131, wherein the device processor is further configured to:

When the movable platform is not moving, controlling the movable platform to prohibit movement;

When the movable platform has moved, the movable platform is controlled to stop moving.
130. The control device of claim 130, wherein the device processor is further configured to:

When the spatial position data of the movable platform and the spatial position data of each of the restriction surfaces indicate that the movable platform is located outside the restricted area, a set direction is determined, and the movable platform is restricted from being in the restricted area. Movement in the set direction.
133. The control device of claim 133, wherein the device processor is further configured to:

determining one or more projection planes corresponding to the spatial position data of all of the limiting surfaces;

The set direction is determined according to the relationship of the movable platform to the one or more projection planes.
134. The control device of claim 134, wherein the device processor is further configured to:

determining one or more outgoing distances of the movable platform, each of the outgoing distances being the smallest distance between the movable platform and one of the projection planes;

The direction corresponding to the smallest outgoing distance among the one or more outgoing distances is determined as the set direction.
The control device of claim 135, wherein the device processor is further configured to:

The moving distance of the movable platform in the set direction is allowed to be less than the smallest of the one or more outgoing distances.
The control device of claim 135 or 136, wherein the device processor is further configured to:

The corresponding exit distance is determined according to the positional relationship between the orthographic projection point of the movable platform on the plane where the corresponding projection plane is located and the corresponding projection plane.
The control device of claim 137, wherein:

When the orthographic projection point is located in the corresponding projection plane, the corresponding outgoing distance is the distance between the orthographic projection point and the movable platform, and the set direction is the movable platform The direction indicated by the line vector connecting the orthographic point.
The control device of claim 138, wherein:

When the orthographic projection point is located outside the corresponding projection plane, the corresponding outgoing distance is the distance between the pseudo projection point on the boundary of the corresponding projection plane and the movable platform, and the pseudo projection The point is the closest point to the orthographic projection point on the boundary of the corresponding projection plane, and the set direction is the direction indicated by the vector connecting the movable platform and the pseudo-projection point.