WO2022141065A1

WO2022141065A1 - Movable platform control method and device, and movable platform

Info

Publication number: WO2022141065A1
Application number: PCT/CN2020/140901
Authority: WO
Inventors: 邸健; 李子健
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: CN114930266A

Abstract

A movable platform control method, a computer-readable storage medium, a movable platform and a movable platform control device. The mobile platform control method comprises: acquiring spatial position data of a movable platform and spatial position data of a restricted area of the movable platform; determining a reference plane according to the spatial position data of the movable platform; and controlling the operation of the movable platform according to the spatial position data, the reference plane and the spatial position data of the movable platform. The movable platform control method, the computer-readable storage medium, the movable platform, and the movable platform control device are applicable to many types of shapes of restricted areas, and satisfy diverse 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, a method for controlling a movable platform is provided, comprising: acquiring spatial position data of the movable platform and spatial position data of a restricted area of the movable platform; The spatial position data of the mobile platform determines a reference plane; and the operation of the movable platform is controlled according to the spatial position data of the restricted area, the reference plane, and the spatial position data of the movable platform.

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; determining a reference plane according to the spatial position data of the movable platform; controlling the operation of the movable platform according to the spatial position data of the restricted area, the reference plane and the spatial position data 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 the restricted area; determining a reference plane according to the spatial position data of the movable platform; controlling the movable platform according to the spatial position data of the restricted area, the reference plane and the spatial position data of the movable platform operation of the platform.

The present application controls the operation of the movable platform according to the spatial position data of the restricted area, the reference plane and the spatial position data of the movable platform, so that the position of the movable platform and the restricted area can not only be determined when the side of the restricted area is perpendicular to the horizontal plane of the earth The relationship between the movable platform and the operation of the movable platform can be controlled, and the positional relationship between the movable platform and the restricted area can be judged when the side of the restricted area is not perpendicular to the horizontal plane of the earth, so as to 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;

3 is a schematic diagram of a movable platform located outside a restricted area in a method for controlling a movable platform according to an embodiment of the present application;

4 is another schematic diagram of the movable platform located outside the restricted area in the control method of the movable platform according to an embodiment of the present application;

5 is a schematic diagram of a movable platform located in a restricted area in a method for controlling a movable platform according to an embodiment of the present application;

6 is a schematic diagram of a boundary surface where the movable platform is located in a restricted area in a method for controlling a movable platform according to an embodiment of the present application;

7 is a first scene diagram of judging the positional relationship between the movable platform and the overlapping area according to the included angle in the control method of the movable platform according to an embodiment of the present application;

8 is a second scenario diagram of judging the positional relationship between the movable platform and the overlapping area according to the included angle in the control method of the movable platform according to an embodiment of the present application;

9 is a third scenario diagram of judging the positional relationship between the movable platform and the overlapping area according to the included angle in the control method of the movable platform according to an embodiment of the present application;

10 is a first scene diagram of judging the positional relationship between the movable platform and the overlapping area according to the intersection point in the control method of the movable platform according to an embodiment of the present application;

11 is a second scenario diagram of judging the positional relationship between the movable platform and the overlapping area according to the intersection point in the control method of the movable platform according to an embodiment of the present application;

12 is a schematic diagram of the determination of the set direction when the set direction is the horizontal direction in the control method of the movable platform according to an embodiment of the present application;

13 is a schematic diagram of not restricting the movement height when the set direction is the vertical direction in the control method of the movable platform according to an embodiment of the present application;

FIG. 14 is a first schematic diagram of the height limit when the setting direction is the vertical direction in the control method of the movable platform according to an embodiment of the present application;

FIG. 15 is a second schematic diagram of the limit height when the set direction is the vertical direction in the control method of the 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 restriction area, 210 is a restriction surface, 211 is a bottom surface, 212 is a side surface, 213 is a top surface, and 300 is a reference plane. 3 to 6 and 13 to 15 show cross-sectional views of the restricted area, and the cross-sectional plane is perpendicular to the y-direction. The sides, (points s3, s4, s7, and s8), are all presented as a side in these figures; overlapping areas are shown in FIGS. The overlapping area is vertical.

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. The movable platform 100 is located outside the restricted area 200 in the control method of the movable platform 100 according to an embodiment of the present application. a schematic diagram of .

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 for the movable platform 100 provided in this embodiment includes: acquiring the spatial position data of the movable platform 100 and the spatial position data of the restricted area 200 of the movable platform 100 ; determining the reference according to the spatial position data of the movable platform 100 The plane 300 ; the operation of the movable platform 100 is controlled according to the spatial position data of the restricted area 200 , the reference plane 300 and the spatial position data of the movable platform 100 .

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 the restricted area 200 of the movable platform 100 may be acquired in various ways, which are not limited in this embodiment of the present application. For example, the spatial location data of the restricted area 200 may be acquired from a storage unit that pre-stores the spatial location data of the restricted area 200 , wherein the storage unit may be onboard the movable platform 100 or may be independently spaced from the movable platform 100 . In other embodiments, the spatial location data 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 a manned aircraft is generally provided with a restricted area 200 that restricts the movement of the movable object 100 to ensure the safety of the manned aircraft and prevent the movable object 100 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 restricted to be 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, where 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 the restricted area 200 ; and then controls its own operation according to its own spatial position data and the spatial position data of the restricted area 200 .

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 the restricted area 200; then, the control device or the supervision server generates a control instruction based on the acquired data, and sends the instruction to the movable platform 100, to control the operation of the movable platform 100 .

FIG. 4 is another schematic diagram showing that the movable platform 100 is located outside the restricted area 200 in the control method of the movable platform 100 according to an embodiment of the present application, and FIG. 5 is a schematic diagram of the movable platform 100 according to an embodiment of the present application. A schematic diagram of the movable platform 100 being located in the restricted area 200 in the control method, FIG. 6 is a schematic diagram of the boundary surface where the movable platform 100 is located in the restricted area 200 in the control method of the movable platform 100 according to an embodiment of the present application Schematic.

Referring to FIG. 3 , FIG. 4 , FIG. 5 and FIG. 6 , 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 FIGS. 3 and 4 ), the movable platform 100 may be located within the restricted area 200 (as shown in FIG. 5 ), and the movable platform 100 may be located in the restricted area 200 boundaries (as shown in Figure 6).

The present application controls the operation of the movable platform 100 according to the spatial position data of the restricted area 200 , the reference plane 300 and the spatial position data of the movable platform 100 , so that not only can the side 212 of the restricted area 200 be perpendicular to the ground horizontal plane (as shown in FIG. 2) judging the positional relationship between the movable platform 100 and the restricted area 200, and then controlling the operation of the movable platform 100, it can also be judged when the side 212 of the restricted area 200 is not perpendicular to the ground level (as shown in FIG. 1 ). The positional relationship between the mobile platform 100 and the restricted area 200 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.

Confinement area 200 may be surrounded by one or more confinement surfaces 210 . That is to say, the number of limiting surfaces 210 may be one or more, for example, the number of limiting surfaces 210 may be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or more. It can be understood that when the number of the limiting surfaces 210 is one, the limiting surface 210 may be a curved surface, and when the number of the limiting surfaces 210 is multiple, some of the limiting surfaces 210 may be curved surfaces and another portion of the limiting surfaces 210 may be flat surfaces , all the restricting surfaces 210 may be curved surfaces or all restricting surfaces 210 may be flat surfaces.

The restricted area 200 may be composed of a bottom surface 211 (eg, the plane formed by the points s5, s6, s7, and s8 in FIG. 1; the plane formed by the points s13, s14, s15, and s16 in FIG. 2) and the boundary from the bottom surface 211 to at least one space. At least one side surface 212 extending in the direction (for example, the plane formed by the points s1, s2, s5 and s6 in FIG. 1, the plane formed by the points s2, s3, s6 and s7, the plane formed by the points s3, s4, s7 and s8, The plane composed of points s1, s4, s5 and s8; the plane composed of points s9, s10, s13 and s14 in Figure 2, the plane composed of points s10, s11, s14 and s15, the plane composed of points s11, s12, s15 and s16 , the plane formed by points s9, s12, s13 and s16) is defined.

In some embodiments, 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. In other embodiments, the bottom surface 211 may be circular or elliptical, and 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 exemplary, and does not form a limitation to the present application, and in some embodiments, at least one of the one or more limiting surfaces 210 may be a plane.

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.

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 confinement area 200 may be composed of a bottom surface 211, the at least one side surface 212, and a top surface 213 (eg, points s1, s2, s3 and The plane formed by s4; the plane formed by points s9, s10, s11 and s12 in FIG. 1) is defined. 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 .

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.

In some embodiments, the spatial location data of the restricted area 200 may include all vertices of the bottom surface 211 of the restricted area 200 (eg, points s5, s6, s7, and s8 in FIG. 1; points s13, s14, s15 in FIG. 2 ) and s16) and all vertices of the top surface 213 of the restricted area 200 (eg, points s1, s2, s3, and s4 in FIG. 1; points s9, s10, s11, and s12 in FIG. 2). Thereby, when the spatial position data of the restricted area 200 is acquired from the storage unit that stores the spatial position data of the restricted area 200 in advance, the storage pressure of the storage unit can be reduced. When the spatial location data of the restricted area 200 of the movable platform 100 is acquired from the Internet or the like, the pressure of data transmission can be reduced.

Controlling the operation of the movable platform 100 according to the spatial position data of the restricted area 200 , the reference plane 300 and the spatial position data of the movable platform 100 may include: judging the restricted area 200 and the reference plane according to the spatial position data of the restricted area 200 and the reference plane 300 Whether 300 has an overlapping area A (it can be understood that in the perspectives shown in FIGS. 3, 5 and 6, the overlapping area A is shown as a line segment, but in other perspectives, the overlapping area A can be a plane, for example, The overlapping area A shown in FIGS. 7 to 12, wherein the viewing angle shown in FIGS. 7 to 12 is perpendicular to the overlapping area A shown, that is, the viewing angle direction is the arrangement direction of the bottom surface and the top surface), to determine the possible The positional relationship between the mobile platform 100 and the restricted area 200; the operation of the movable platform 100 is controlled according to the positional relationship.

In some embodiments, as shown in FIG. 3 , the reference plane 300 may be a horizontal plane with the same height as the movable platform 100 , and in other embodiments, the reference plane 300 may not be a horizontal plane with the same height as the movable platform 100 , For example, as shown in FIG. 4 , the reference plane 300 may be a non-horizontal plane passing through the movable platform 100 .

When the restricted area 200 and the reference plane 300 do not have the overlapping area A, it is determined that the movable platform 100 is located outside the restricted area 200 . Referring to FIG. 3 and FIG. 4 , when the movable platform 100 is located outside the restricted area 200, depending on the selection of the reference plane 300, the restricted area 200 and the reference plane 300 may have an overlapping area A, and the restricted area 200 and the reference plane 300 may also have an overlapping area A. There is no overlapping area A, but when the restricted area 200 and the reference plane 300 do not have the overlapping area A, the movable platform 100 must be located outside the restricted area 200. Therefore, when the restricted area 200 and the reference plane 300 do not have an overlapping area At A, it is determined that the movable platform 100 is located outside the restricted area 200 .

When the restricted area 200 and the reference plane 300 have the overlapping area A, the positional relationship between the movable platform 100 and the restricted area 200 is determined according to the spatial position data of the overlapping area A and the movable platform 100 . Because, referring to FIG. 3 and FIG. 5 , when the movable platform 100 is located outside the restricted area 200 , according to the selection of the reference plane 300 , the restricted area 200 and the reference plane 300 may have the overlapping area A, and the movable platform 100 is located in the restricted area 200 When the limit area 200 and the reference plane 300 also have an overlapping area A, it is also necessary to determine the positional relationship between the movable platform 100 and the restricted area 200 according to the spatial position data of the overlapping area A and the movable platform 100 .

Specifically, determining the positional relationship between the movable platform 100 and the restricted area 200 according to the spatial position data of the overlapping area A and the movable platform 100 may include: when the movable platform 100 is located in the overlapping area A, determining that the movable platform 100 is located in the restricted area within area 200. When the movable platform 100 is located outside the overlapping area A, it is determined that the movable platform 100 is located outside the restricted area 200 . When the movable platform 100 is located at the boundary of the overlapping area A, it is determined that the movable platform 100 is located at the boundary surface of the restricted area 200 .

The overlapping area A may have various shapes. It is understood that the shape of the overlapping area A is related to the shape of the restriction area 200 and the selection of the reference plane 300 . In some embodiments, the overlapping area A may be a polygon.

The control method provided in this embodiment may further include: making a plurality of connecting lines according to the spatial position data of the overlapping area A and the movable platform 100 , each connecting line connecting a vertex of the overlapping area A and the movable platform 100 . Each adjacent two connecting lines form an included angle. Wherein, when there is an included angle of 180 degrees among all included angles, the movable platform 100 is located at the boundary of the overlapping area A. When there is no included angle of 180 degrees among all included angles, the movable platform 100 is not located at the boundary of the overlapping area A.

FIG. 7 is a first scenario diagram of judging the positional relationship between the movable platform 100 and the overlapping area A according to the included angle in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 7 , the position of the movable platform 100 is the position indicated by the point e, the vertices of the overlapping area A are a, b, c, and d, respectively, and the connecting lines are line segment ae, line segment be, line segment ce, line segment de, the included angles formed by the two adjacent connecting lines are α, β, γ, and θ, respectively. When the movable platform 100 is located at the boundary of the overlapping area A, there will be an included angle of 180 degrees. For example, in FIG. 7 The included angle θ is 180 degrees, and the movable platform 100 is located at the boundary of the overlapping area A at this time.

FIG. 8 is a second scenario diagram of judging the positional relationship between the movable platform 100 and the overlapping area A according to the included angle in the control method of the movable platform 100 according to an embodiment of the present application. FIG. 9 is a third scenario diagram of judging the positional relationship between the movable platform 100 and the overlapping area A according to the included angle in the control method of the movable platform 100 according to an embodiment of the present application. It can be seen from FIG. 8 and FIG. 9 that when the movable platform 100 is not located at the boundary of the overlapping area A, the movable platform 100 may be located in the overlapping area A, or may be located outside the overlapping area A. Therefore, the control method of the embodiment of the present application may further include determining whether the movable platform 100 is located in the overlapping area A or outside the overlapping area A. As shown in FIG.

In some embodiments, whether the movable platform 100 is located in the overlapping area A or outside the overlapping area A may be determined according to the plurality of connecting lines.

When the sum of all included angles except the obtuse angle is 360 degrees, it is determined that the movable platform 100 is located in the overlapping area A. As shown in FIG. 8 , the included angles α, β, γ, and θ are not obtuse angles, and the sum of the included angles α, β, γ, and θ is 360 degrees.

When the sum of all included angles except the obtuse angle is not 360 degrees, it is determined that the movable platform 100 is located outside the overlapping area A. As shown in FIG. 9 , the included angles α, β, and γ are not obtuse angles, and θ is an obtuse angle, and the sum of the included angles α, β, and γ is not 360 degrees. At this time, it is determined that the movable platform 100 is located outside the overlapping area A. .

In other embodiments, judging whether the movable platform 100 is located in the overlapping area A or outside the overlapping area A may include: according to the spatial position data of the movable platform 100, taking the position of the movable platform 100 as an endpoint to pass through the overlapping area A ray L; according to the number of points where the ray L intersects the overlapping area A, determine whether the movable platform 100 is located in the overlapping area A or outside the overlapping area A.

FIG. 10 is a first scenario diagram of judging the positional relationship between the movable platform 100 and the overlapping area A according to the intersection point in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 10 , when the number of points where the ray L intersects the overlapping area A is odd, it is determined that the movable platform 100 is located in the overlapping area A.

FIG. 11 is a second scenario diagram of judging the positional relationship between the movable platform 100 and the overlapping area A according to the intersection point in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 11 , when the number of sides intersected by the ray L and the overlapping area A is an even number, it is determined that the movable platform 100 is located outside the overlapping area A.

This determination of the positional relationship between the movable platform 100 and the overlapping area A according to the intersection point is also applicable when the overlapping area A includes a curved edge, that is, when the restricted area 200 includes a curved surface.

After acquiring the spatial position data of the movable platform 100 and the spatial position data of the restricted area 200 of the movable platform 100 , it may further include: combining the spatial position data of the movable platform 100 , the data of all vertices of the bottom surface 211 of the restricted area 200 and the top The data of all the vertices of the face 213 is converted into a three-dimensional coordinate system. And controlling the operation of the movable platform 100 according to the spatial position data of the restricted area 200 , the reference plane 300 and the spatial position data of the movable platform 100 may include: according to the spatial position data of the movable platform 100 in the three-dimensional coordinate system, the restricted area 200 The data of all the vertices of the bottom surface 211 and the data of all the vertices of the top surface 213 control the operation of the movable platform 100 .

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.

In some embodiments, when the top surface 213 and the bottom surface 211 are both horizontal planes, and the top surface 213 and the bottom surface 211 are polygons with the same number of sides, the restricted area 200 and the reference plane 300 are determined according to the spatial position data of the restricted area 200 and the reference plane 300 . Whether the plane 300 has the overlapping area A may include: judging whether the reference plane 300 is with all sides of the restricted area 200 (eg, side s1s5, side s2s6, side s3s7, side s4s8 in FIG. 1; side s9s13, side s4s8 in FIG. s10s14, sides s11s15, and sides s12s16) intersect, and each side connects a corresponding vertex of a top surface 213 and a vertex of a bottom surface 211; the restricted area 200 is judged according to the result of whether the reference plane 300 intersects with all sides of the restricted area 200 Whether there is an overlapping area A with the reference plane 300 .

Wherein, if the reference plane 300 intersects all sides of the restricted area 200 , the restricted area 200 and the reference plane 300 have an overlapping area A, and at this time, the overlapping area A is defined by the intersection of the reference plane 300 and all the sides of the restricted area 200 (point a, point b, point c, point d) are formed. If the reference plane 300 does not intersect all sides of the restricted area 200 , the restricted area 200 and the reference plane 300 do not have the overlapping area A.

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 restricted area 200 , the reference plane 300 and the spatial position data of the movable platform 100 may include: when the spatial position data of the restricted area 200 , the reference plane 300 and the space of the movable platform 100 When the position data indicates that the movable platform 100 is located within 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 restricted area 200 , the reference plane 300 and the spatial position data of the movable platform 100 may include: when the spatial position data of the restricted area 200 , the reference plane 300 and the space of the movable platform 100 When the position data indicates that the movable platform 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 .

In some embodiments, the set direction may include a horizontal direction. Then determining the setting direction may include: determining multiple exit distances of the movable platform 100, each exit distance being the minimum distance between the movable platform 100 and one side of the overlapping area A; The direction corresponding to the distance is used as the setting direction. Therefore, the set direction is the closest horizontal direction from the movable platform 100 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 .

Accordingly, restricting the movement of the movable platform 100 in the set direction may include allowing the moving distance of the movable platform 100 in the set direction to be smaller than the smallest exit distance among the plurality of exit distances. Therefore, the movable platform 100 cannot enter the restricted area 200 in the set direction.

Wherein, determining each outgoing distance of the movable platform 100 may include: determining the corresponding outgoing distance according to the positional relationship between the orthographic projection point of the movable platform 100 on the straight line where the corresponding side is located and the corresponding side.

FIG. 12 is a schematic diagram of the determination of the set direction when the set direction is the horizontal direction in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 12, when the orthographic projection point f1 is located on the corresponding side ac, the corresponding exit distance is the distance between the orthographic projection point f1 and the movable platform 100, and the set direction is the movable platform 100 and the orthographic projection point The direction indicated by the line vector of f1.

When the orthographic projection point f2 is located outside the corresponding side cd, the corresponding exit distance is the distance between the pseudo-projection point c on the corresponding side cd and the movable platform 100, and the pseudo-projection point c is the orthographic projection of the distance on the corresponding side cd Point f2 is the closest point, and the set direction is the direction indicated by the vector connecting the movable platform 100 and the pseudo-projection point c.

In other embodiments, the set direction may include a vertical direction. FIG. 13 is a schematic diagram of not restricting the movement height when the set direction is the vertical direction in the control method of the movable platform 100 according to an embodiment of the present application, and FIG. 14 is a movable platform according to an embodiment of the present application. The first schematic diagram of the limit height when the setting direction is the vertical direction in the control method of 100 .

When the movable platform 100 is located outside the restricted area 200 , the vertical projection of the movable platform 100 may or may not be located in the restricted area 200 . Therefore, in some embodiments, restricting the movement of the movable platform 100 in the set direction includes: judging whether the vertical projection of the movable platform 100 is located in the restricted area 200; if the movable platform 100 is not located in the restricted area 200 , the movement height of the movable platform 100 in the set direction is not limited. As shown in FIG. 13 , since the projection of the movable platform 100 in the vertical direction is not located in the restricted area 200 , that is, the movement of the movable platform 100 in the vertical direction will not enter the restricted area 200 , therefore, no The movement height of the movable platform 100 in the set direction is limited, so as to ensure the user experience.

If it is located in the restricted area 200, the restricted height is determined, and the movement of the movable platform 100 in the set direction is restricted to be no higher than the restricted height. As shown in FIG. 14 , since the projection of the movable platform 100 in the vertical direction is located in the restricted area 200 , that is, the movement of the movable platform 100 in the vertical direction may enter the restricted area 200 , therefore, the restriction may The movement of the mobile platform 100 in the set direction is not higher than the restricted height, so as to prevent the movable platform 100 from entering the restricted area 200 .

Determining the restriction height may include: determining the restriction height according to the position of the vertical projection of the movable platform 100 on the restriction area 200 . Specifically, it is determined whether the position of the vertical projection of the movable platform 100 on the restricted area 200 is located on the side surface 212 of the restricted area 200 or the bottom surface 211 of the restricted area 200 .

When the position of the vertical projection of the movable platform 100 on the restricted area 200 is located on the side surface 212 of the restricted area 200, the plane equation of the side surface 212 corresponding to the position is determined according to the spatial position data of the restricted area 200; The spatial position data of the platform 100 and the plane equation determine the limit height. Specifically, as shown in FIG. 14 , the equation of a straight line passing through the vertical line of the movable platform 100 is determined according to the spatial position data of the movable platform 100; The height of the intersection point g is used as the limit height. Thereby, the movable platform 100 is prevented from entering the restricted area 200 from the side surface 212 .

When the position of the vertical projection of the movable platform 100 on the restricted area 200 is located at the bottom surface 211 of the restricted area 200 , the height of the bottom surface 211 is determined according to the spatial position data of the restricted area 200 , and the height of the bottom surface 211 is taken as the restricted height . The height of the bottom surface 211 can be obtained from the spatial position data of the restricted area 200 without complicated operations, thereby simplifying the operation process. FIG. 15 is a second schematic diagram of the limit height when the setting direction is the vertical direction in the control method of the movable platform 100 according to an embodiment of the present application. As shown in FIG. 15 , at this time, if the movement of the movable platform 100 is not restricted, the movable platform 100 may enter the restricted area 200 from a point p on the bottom surface 211 , and the height of the point p is the height of the bottom surface 211 .

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 portion of a speaker, etc.; a storage portion including a hard disk, etc.; and a communication portion 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 spatial position data of the restricted area 200 of the movable platform 100 ; Determine the reference plane 300 according to the spatial position data of the movable platform 100 ;

In some embodiments, the confinement region 200 is surrounded by one or more confinement surfaces 210 .

In some embodiments, at least one of the one or more confinement surfaces 210 is planar.

In some embodiments, the platform processor may be further configured to: determine whether the restricted area 200 and the reference plane 300 have an overlapping area A according to the spatial position data of the restricted area 200 and the reference plane 300 to determine the movable platform 100 and the restricted area 200 the positional relationship; control the operation of the movable platform 100 according to the positional relationship.

In some embodiments, the platform processor may also be configured to determine that the movable platform 100 is located outside the restricted area 200 when the restricted area 200 and the reference plane 300 do not have an area A of coincidence.

In some embodiments, the platform processor may be further configured to: when the restricted area 200 and the reference plane 300 have the overlapping area A, determine the movable platform 100 and the restricted area 200 according to the spatial position data of the overlapping area A and the movable platform 100 positional relationship.

In some embodiments, the platform processor may be further configured to determine that the movable platform 100 is located within the restricted area 200 when the movable platform 100 is located within the overlapping area A.

In some embodiments, the platform processor may further be configured to determine that the movable platform 100 is located outside the restricted area 200 when the movable platform 100 is located outside the coincidence area A.

In some embodiments, the platform processor may be further configured to determine that the movable platform 100 is located at the boundary surface of the restricted area 200 when the movable platform 100 is located at the boundary of the overlapping area A.

In some embodiments, the coincident area A is a polygon.

In some embodiments, the platform processor may be further configured to: create a plurality of connecting lines according to the spatial position data of the overlapping area A and the movable platform 100, and each connecting line connects a vertex of the overlapping area A and the movable platform 100; Every two adjacent connecting lines form an included angle; wherein, when there is an included angle of 180 degrees in all included angles, it is determined that the movable platform 100 is located at the boundary of the overlapping area A.

In some embodiments, the platform processor may be further configured to determine that the movable platform 100 is not located at the boundary of the coincidence area A when there is no included angle of 180 degrees among all the included angles.

In some embodiments, when the movable platform 100 is not located at the boundary of the coincidence area A, the platform processor may be further configured to: determine whether the movable platform 100 is located within the coincidence area A or outside the coincidence area A.

In some embodiments, whether the movable platform 100 is located in the overlapping area A or outside the overlapping area A is determined according to a plurality of connecting lines.

In some embodiments, when the sum of all included angles except the obtuse angle is 360 degrees, it is determined that the movable platform 100 is located in the overlapping area A.

In some embodiments, when the sum of all included angles except the obtuse angle is not 360 degrees, it is determined that the movable platform 100 is located outside the coincidence area A.

In some embodiments, the platform processor may be further configured to: according to the spatial position data of the movable platform 100, take the position where the movable platform 100 is located as an endpoint to make a ray L passing through the coincidence area A; according to the ray L intersecting the coincidence area A Determine whether the movable platform 100 is located in the overlapping area A or outside the overlapping area A by the number of points.

In some embodiments, it is determined that the movable platform 100 is located in the overlapping area A when the number of points where the ray L intersects the overlapping area A is odd.

In some embodiments, it is determined that the movable platform 100 is located outside the overlapping area A when the number of sides intersecting the ray L and the overlapping area A is even.

In some embodiments, the restricted area 200 is defined by 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 is parallel to the ground level, and at least one side surface 212 is not perpendicular to the ground level.

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

In some embodiments, the restricted area 200 is defined by a bottom surface 211 , the at least one side surface 212 , and a top surface 213 consisting of a boundary extending in the spatial direction of the at least one side surface 212 .

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

In some embodiments, the spatial location data for the restricted area 200 includes data for all vertices of the bottom surface 211 of the restricted area 200 and data for all vertices of the top surface 213 of the restricted area 200 .

In some embodiments, the platform processor may be further configured to: convert the spatial position data of the movable platform 100, the data of all the vertices of the bottom surface 211 of the restricted area 200, and the data of all the vertices of the top surface 213 into a three-dimensional coordinate system ; Control the operation of the movable platform 100 according to the spatial position data of the movable platform 100 under the three-dimensional coordinate system, the data of all the vertices of the bottom surface 211 of the restricted area 200 and the data of all the vertices of the top surface 213 .

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

In some embodiments, the reference plane 300 is a horizontal plane that is the same height as the movable platform 100 .

In some embodiments, both the top surface 213 and the bottom surface 211 are horizontal planes.

In some embodiments, the top surface 213 and the bottom surface 211 are polygons with the same number of sides.

In some embodiments, the platform processor may be further configured to: determine whether the reference plane 300 intersects all sides of the restricted area 200, each side connecting a corresponding vertex of a top surface 213 and a vertex of a bottom surface 211; according to As a result of whether the reference plane 300 intersects with all sides of the restricted area 200, it is determined whether the restricted area 200 and the reference plane 300 have the overlapping area A.

In some embodiments, if the reference plane 300 intersects all sides of the restricted area 200 , the restricted area 200 and the reference plane 300 have an overlapping area A; and the overlapping area A is intersected by the reference plane 300 and all sides of the restricted area 200 The intersection is formed.

In some embodiments, if the reference plane 300 does not intersect all sides of the restricted area 200 , the restricted area 200 and the reference plane 300 do not have the overlapping area A.

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

In some embodiments, the platform processor may be further configured to: when the spatial location data of the restricted area 200, the reference plane 300, and the spatial location data of the movable platform 100 indicate that the movable platform 100 is located within the restricted area 200, according to the movable The start-stop state of the platform 100 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 setting when the spatial position data of the restricted area 200 , the reference plane 300 , and the spatial position data of the movable platform 100 indicate that the movable platform 100 is located outside the restricted area 200 direction, and restrict the movement of the movable platform 100 in the set direction.

In some embodiments, the set direction includes a horizontal direction.

In some embodiments, the platform processor is further configured to: determine a plurality of exit distances of the movable platform 100, each exit distance being a minimum distance between the movable platform 100 and one side of the overlapping area A; The direction corresponding to the smallest outgoing distance among the distances is used as the setting direction.

In some embodiments, the platform processor is further configured to allow the movable platform 100 to move in the set direction a distance less than the smallest exit distance of the plurality of exit distances.

In some embodiments, the platform processor is 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 straight line where the corresponding side is located and the corresponding side.

In some embodiments, when the orthographic projection point is located on the corresponding edge, the corresponding exit distance is the distance between the orthographic projection point and the movable platform 100 , and the set direction is the line connecting the movable platform 100 and the orthographic projection point. The direction the vector represents.

In some embodiments, when the orthographic projection point is located outside the corresponding edge, the corresponding outgoing distance is the distance between the pseudo-projection point on the corresponding edge and the movable platform 100, and the pseudo-projection point is the orthographic projection of the distance on the corresponding edge Point to the nearest point, and set the direction as the direction indicated by the connecting line vector between the movable platform 100 and the pseudo-projection point.

In some embodiments, the set direction includes a vertical direction.

In some embodiments, the platform processor is further configured to: determine whether the projection of the movable platform 100 in the vertical direction is located in the restricted area 200; if it is located in the restricted area 200, determine the restricted height and restrict the movable platform 100 to The movement in the set direction is not higher than the limit height; if it is not located in the limit area 200 , the movement height of the movable platform 100 in the set direction is not limited.

In some embodiments, the platform processor is further configured to: determine the restriction height according to the position of the vertical projection of the movable platform 100 on the restriction area 200 .

In some embodiments, the platform processor is further configured to: determine whether the position of the vertical projection of the movable platform 100 on the restricted area 200 is on the side surface 212 of the restricted area 200 or the bottom surface 211 of the restricted area 200; When the vertical projection position of the platform 100 on the restricted area 200 is located on the bottom surface 211 of the restricted area 200, the height of the bottom surface 211 is determined according to the spatial position data of the restricted area 200; the height of the bottom surface 211 is taken as the restricted height.

In some embodiments, when the position of the vertical projection of the movable platform 100 on the restricted area 200 is located on the side surface 212 of the restricted area 200 , the side surface 212 corresponding to the position is determined according to the spatial position data of the restricted area 200 . The plane equation of the movable platform 100; the limit height is determined according to the spatial position data of the movable platform 100 and the plane equation.

In some embodiments, the platform processor is further configured to: determine a straight line equation of a vertical line passing through the movable platform 100 according to the spatial position data of the movable platform 100; The height of the intersection with the plane equation serves as the limit height.

This embodiment also provides a control device for the movable platform 100 , the control device includes a device processor, and the device processor is configured to: acquire the spatial position data of the movable platform 100 and the spatial position of the restricted area 200 of the movable platform 100 The reference plane 300 is determined according to the spatial position data of the movable platform 100 ; the operation of the movable platform 100 is controlled according to the spatial position data of the restricted area 200 , the reference plane 300 and the spatial position data of the movable platform 100 .

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

In some embodiments, the device processor is further configured to: determine whether the restricted area 200 and the reference plane 300 have an overlapping area A according to the spatial position data of the restricted area 200 and the reference plane 300 to determine the distance between the movable platform 100 and the restricted area 200 Positional relationship; the operation of the movable platform 100 is controlled according to the positional relationship.

In some embodiments, the device processor is further configured to determine that the movable platform 100 is located outside the restricted area 200 when the restricted area 200 and the reference plane 300 do not have an area A of coincidence.

In some embodiments, the device processor is further configured to: when the restricted area 200 and the reference plane 300 have the overlapping area A, determine the distance between the movable platform 100 and the restricted area 200 according to the spatial position data of the overlapping area A and the movable platform 100 Positional relationship.

In some embodiments, the device processor is further configured to determine that the movable platform 100 is located within the restricted area 200 when the movable platform 100 is located within the overlapping area A.

In some embodiments, the device processor is further configured to determine that the movable platform 100 is located outside the restricted area 200 when the movable platform 100 is located outside the coincidence area A.

In some embodiments, the device processor is further configured to: when the movable platform 100 is located at the boundary of the overlapping area A, determine that the movable platform 100 is located at the boundary surface of the restricted area 200 .

In some embodiments, the coincident area A is a polygon.

In some embodiments, the device processor is further configured to: create a plurality of connecting lines according to the spatial position data of the overlapping area A and the movable platform 100, each connecting line connecting a vertex of the overlapping area A and the movable platform 100; Two adjacent connecting lines form an included angle; wherein, when there is an included angle of 180 degrees in all included angles, it is determined that the movable platform 100 is located at the boundary of the overlapping area A.

In some embodiments, the device processor is further configured to determine that the movable platform 100 is not located at the boundary of the coincidence area A when there is no included angle of 180 degrees among all the included angles.

In some embodiments, when the movable platform 100 is not located at the boundary of the coincidence area A, the device processor is further configured to: determine whether the movable platform 100 is located within the coincidence area A or outside the coincidence area A.

In some embodiments, it is determined whether the movable platform 100 is located in the overlapping area A or outside the overlapping area A according to the plurality of connecting lines.

In some embodiments, the device processor is further configured to: according to the spatial position data of the movable platform 100, take the position where the movable platform 100 is located as an endpoint to make a ray L passing through the coincidence area A; The number of points determines whether the movable platform 100 is located in the overlapping area A or outside the overlapping area A. FIG.

In some embodiments, the device processor is further configured to: convert the spatial position data of the movable platform 100, the data of all vertices of the bottom surface 211 of the confinement area 200, and the data of all vertices of the top surface 213 into a three-dimensional coordinate system; The operation of the movable platform 100 is controlled according to the spatial position data of the movable platform 100 in the three-dimensional coordinate system, the data of all the vertices of the bottom surface 211 and the data of all the vertices of the top surface 213 of the restricted area 200 .

In some embodiments, the device processor is further configured to: determine whether the reference plane 300 intersects all sides of the restricted area 200, each side connecting a corresponding vertex of a top surface 213 and a vertex of a bottom surface 211; according to the reference The result of whether the plane 300 intersects with all sides of the restricted area 200 determines whether the restricted area 200 and the reference plane 300 have the overlapping area A.

In some embodiments, the device processor is further configured to: when the spatial position data of the restricted area 200, the reference plane 300, and the spatial position data of the movable platform 100 indicate that the movable platform 100 is located within the restricted area 200, according to the movable platform The on-off state of 100 controls the operation of movable platform 100 .

In some embodiments, the device processor is further 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 is further configured to determine the set direction when the spatial position data of the restricted area 200 , the reference plane 300 , and the spatial position data of the movable platform 100 indicate that the movable platform 100 is located outside the restricted area 200 , and restricts the movement of the movable platform 100 in the set direction.

In some embodiments, the set direction includes a horizontal direction.

In some embodiments, the device processor is further configured to: determine a plurality of exit distances of the movable platform 100, each exit distance being a minimum distance between the movable platform 100 and one side of the overlapping area A; The direction corresponding to the smallest outgoing distance among the distances is used as the setting direction.

In some embodiments, the device processor is further configured to allow the movable platform 100 to move in the set direction a distance less than the smallest exit distance of the plurality of exit distances.

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

In some embodiments, when the orthographic projection point is located on the corresponding edge, the corresponding exit distance is the distance between the orthographic projection point and the movable platform 100 , and the set direction is the line connecting the movable platform 100 and the orthographic projection point The direction the vector represents.

In some embodiments, the set direction includes a vertical direction.

In some embodiments, the device processor is further configured to: determine whether the vertical projection of the movable platform 100 is located in the restricted area 200; if it is located in the restricted area 200, determine the restricted height, and restrict the movable platform 100 in the setting The movement in the set direction is not higher than the limit height; if it is not located in the limit area 200 , the movement height of the movable platform 100 in the set direction is not limited.

In some embodiments, the device processor is further configured to: determine the height of the restriction according to the position of the projection of the movable platform 100 in the vertical direction on the restriction area 200 .

In some embodiments, the device processor is further configured to: determine whether the position of the vertical projection of the movable platform 100 on the restricted area 200 is on the side surface 212 of the restricted area 200 or the bottom surface 211 of the restricted area 200; When the vertical projection position of the platform 100 on the restricted area 200 is located on the bottom surface 211 of the restricted area 200, the height of the bottom surface 211 is determined according to the spatial position data of the restricted area 200; the height of the bottom surface 211 is taken as the restricted height.

In some embodiments, when the position of the vertical projection of the movable platform 100 on the restricted area 200 is located on the side 212 of the restricted area 200 , the position of the side 212 corresponding to the position is determined according to the spatial position data of the restricted area 200 . Plane equation; the limit height is determined according to the spatial position data of the movable platform 100 and the plane equation.

In some embodiments, the device processor is further configured to: determine a straight line equation of a vertical line passing through the movable platform 100 according to the spatial position data of the movable platform 100; The height of the intersection with the plane equation serves as the limit height.

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:

Obtaining the spatial position data of the movable platform and the spatial position data of the restricted area of the movable platform;

determining a reference plane according to the spatial position data of the movable platform;

The operation of the movable platform is controlled based on the spatial position data of the restricted area, the reference plane and the spatial position data of the movable platform.
The control method according to claim 1, wherein,

The confinement area is surrounded by one or more confinement surfaces.
The control method according to claim 2, 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 restricted area, the reference plane and the spatial position data of the movable platform comprises:

Determine whether the restricted area and the reference plane have overlapping areas according to the spatial position data of the restricted area and the reference plane, so as 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 4, wherein when the restricted area and the reference plane do not have the overlapping area, it is determined that the movable platform is located outside the restricted area.
The control method according to claim 4, wherein when the restricted area and the reference plane have the overlapping area, the movable platform is determined according to the spatial position data of the overlapping area and the movable platform the positional relationship to the restricted area.
The control method according to claim 6, wherein the determining the positional relationship between the movable platform and the restricted area according to the spatial position data of the overlapping area and the movable platform comprises:

When the movable platform is located in the coincidence area, it is determined that the movable platform is located in the restricted area.
The control method according to claim 6, wherein the determining the positional relationship between the movable platform and the restricted area according to the spatial position data of the overlapping area and the movable platform comprises:

When the movable platform is located outside the coincidence area, it is determined that the movable platform is located outside the restricted area.
The control method according to claim 6, wherein the determining the positional relationship between the movable platform and the restricted area according to the spatial position data of the overlapping area and the movable platform comprises:

When the movable platform is located at the boundary of the overlapping area, it is determined that the movable platform is located at the boundary surface of the restricted area.
The control method according to any one of claims 6 to 9, wherein the overlapping area is a polygon.
The control method according to claim 10, further comprising:

According to the spatial position data of the overlapping area and the movable platform, a plurality of connecting lines are made, and each connecting line connects a vertex of the overlapping area and the movable platform;

Every two adjacent connecting lines form an included angle; wherein,

When the included angle of 180 degrees exists in all the included angles, the movable platform is located at the boundary of the overlapping area.
The control method according to claim 11, wherein,

When the included angle of 180 degrees does not exist in all the included angles, the movable platform is not located at the boundary of the overlapping area.
The control method according to claim 12, wherein, when the movable platform is not located at the boundary of the overlapping area, the method further comprises:

It is determined whether the movable platform is located in the overlapping area or outside the overlapping area.
The control method according to claim 13, wherein,

According to the plurality of connecting lines, it is determined whether the movable platform is located in the overlapping area or outside the overlapping area.
The control method according to claim 14, wherein,

When the sum of all the included angles except the obtuse angle is 360 degrees, it is determined that the movable platform is located in the coincidence area.
The control method according to claim 14, wherein,

When the sum of all the included angles except the obtuse angle is not 360 degrees, it is determined that the movable platform is located outside the overlapping area.
The control method according to claim 13, wherein the determining whether the movable platform is located in the overlapping area or outside the overlapping area comprises:

According to the spatial position data of the movable platform, take the position where the movable platform is located as an endpoint to make a ray passing through the overlapping area;

It is determined whether the movable platform is located within the coincidence region or outside the coincidence region according to the number of points where the ray intersects the coincidence region.
The control method according to claim 17, wherein,

When the number of points where the ray intersects the coincident area is odd, it is determined that the movable platform is located in the coincidence area.
The control method according to claim 17, wherein,

When the number of sides where the ray intersects with the coincidence area is even, it is determined that the movable platform is located outside the coincidence area.
The control method according to claim 4, wherein,

The restricted area is defined by 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 20, 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 20, 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 20, wherein,

The restricted area is defined by the bottom surface, the at least one side surface, and a top surface formed by a boundary of the at least one side surface extending in the spatial direction.
The control method according to claim 23, wherein,

The area of the top surface is larger than the area of the bottom surface.
The control method according to claim 23, wherein,

The spatial position data of the restricted area includes data of all vertices of the bottom surface of the restricted area and data of all vertices of the top surface of the restricted area.
The control method according to claim 25, wherein the acquiring the spatial position data of the movable platform and the spatial position data of the restricted area of the movable platform further comprises:

Converting the spatial position data of the movable platform, the data of all vertices of the bottom surface of the restricted area, and the data of all vertices of the top surface into a three-dimensional coordinate system; and according to the spatial position data of the restricted area, the The reference plane and the spatial position data of the movable platform control the operation of the movable platform including:

The operation of the movable platform is controlled according to the spatial position data of the movable platform under the three-dimensional coordinate system, the data of all the vertices of the bottom surface and the data of all the vertices of the upper surface of the restricted area.
The control method according to claim 26, wherein,

The three-dimensional coordinate system is an NED coordinate system.
The control method according to claim 26, wherein the reference plane is a horizontal plane with the same height as the movable platform.
The control method according to claim 28, wherein,

Both the top surface and the bottom surface are horizontal planes.
The control method according to claim 29, wherein,

The top surface and the bottom surface are polygons with the same number of sides.
The control method according to claim 30, wherein the determining whether the restricted area and the reference plane have overlapping areas according to the spatial position data of the restricted area and the reference plane comprises:

Judging whether the reference plane intersects with all the sides of the restricted area, and each of the sides connects a corresponding vertex of the top surface and a vertex of the bottom surface;

It is determined whether the restricted area and the reference plane have overlapping areas according to the result of whether the reference plane intersects with all sides of the restricted area.
The control method according to claim 31, wherein,

If the reference plane intersects all sides of the restricted area, the restricted area and the reference plane have the coincident area; and

The coincidence area is formed by the intersection of the reference plane and all sides of the restricted area.
The control method according to claim 31, wherein,

If the reference plane does not intersect all sides of the restricted area, the restricted area and the reference plane do not have the coincident area.
The control method according to claim 4, wherein the restricted area is an area that restricts movement of the movable platform.
The control method according to claim 34, wherein the controlling the operation of the movable platform according to the spatial position data of the restricted area, the reference plane and the spatial position data of the movable platform comprises:

When the spatial position data of the restricted area, the reference plane, and the spatial position data of the movable platform indicate that the movable platform is located in the restricted area, control the mobile platform according to the start-stop state of the movable platform Describes the operation of the movable platform.
The control method according to claim 35, 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 34, wherein the controlling the operation of the movable platform according to the spatial position data of the restricted area, the reference plane and the spatial position data of the movable platform comprises:

When the spatial position data of the restricted area, the reference plane, and the spatial position data of the movable platform indicate that the movable platform is located outside the restricted area, a set direction is determined, and the movable platform is restricted movement in the set direction.
The control method according to claim 37, wherein,

The set direction includes a horizontal direction.
The control method according to claim 38, wherein said determining the setting direction comprises:

determining a plurality of outgoing distances of the movable platform, each of the outgoing distances being the minimum distance between the movable platform and one side of the overlapping area;

The direction corresponding to the smallest outgoing distance among the plurality of outgoing distances is used as the setting direction.
The control method according to claim 39, 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 smaller than the smallest outgoing distance among the plurality of outgoing distances.
The control method of claim 39, 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 straight line where the corresponding side is located and the corresponding side.
The control method according to claim 41, wherein,

When the orthographic projection point is located on the corresponding edge, the corresponding exit distance is the distance between the orthographic projection point and the movable platform, and the set direction is the distance between the movable platform and the movable platform. The direction indicated by the line vector of the orthographic projection point.
The control method according to claim 41, wherein,

When the orthographic projection point is located outside the corresponding edge, the corresponding outgoing distance is the distance between the pseudo-projection point on the corresponding edge and the movable platform, and the pseudo-projection point is the corresponding The point on the edge is the closest point to the orthographic projection point, and the set direction is the direction indicated by the connecting line vector between the movable platform and the pseudo-projection point.
The control method according to claim 37, wherein,

The set direction includes a vertical direction.
The control method according to claim 44, wherein the restricting the movement of the movable platform in the set direction comprises:

Determine whether the projection of the movable platform in the vertical direction is located in the restricted area;

If it is located in the restricted area, determine a restricted height, and restrict the movement of the movable platform in the set direction not to be higher than the restricted height;

If it is not located in the restricted area, the moving height of the movable platform in the set direction is not restricted.
The control method according to claim 45, wherein said determining the limit height comprises:

The restriction height is determined according to the position of the vertical projection of the movable platform on the restriction area.
The control method according to claim 46, wherein the determining the restriction height according to the position of the projection of the movable platform in the vertical direction on the restriction area comprises:

Determine whether the position of the vertical projection of the movable platform on the restricted area is on the side of the restricted area or the bottom surface of the restricted area;

When the position of the vertical projection of the movable platform on the restricted area is located on the bottom surface of the restricted area, determining the height of the bottom surface according to the spatial position data of the restricted area;

Let the height of the said bottom surface be the said limit height.
The control method according to claim 47, wherein,

When the position of the vertical projection of the movable platform on the restricted area is located on the side of the restricted area, determining the position of the side corresponding to the position according to the spatial position data of the restricted area plane equation;

The limit height is determined according to the spatial position data of the movable platform and the plane equation.
The control method according to claim 48, wherein the determining the limit height according to the spatial position data of the movable platform and the plane equation comprises:

Determine a straight line equation of a vertical line passing through the movable platform according to the spatial position data of the movable platform;

The intersection of the straight line equation and the plane equation is determined, and the height of the intersection of the straight line equation and the plane equation is used as the limit height.
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 49.
A movable platform comprising a platform processor configured to:

Obtaining the spatial position data of the movable platform and the spatial position data of the restricted area of the movable platform;

determining a reference plane according to the spatial position data of the movable platform;

The operation of the movable platform is controlled based on the spatial position data of the restricted area, the reference plane and the spatial position data of the movable platform.
The movable platform of claim 51, wherein:

The confinement area is surrounded by one or more confinement surfaces.
The movable platform of claim 52, wherein:

At least one of the one or more confinement surfaces is a plane.
The removable platform of claim 51, wherein the platform processor is further configured to:

Determine whether the restricted area and the reference plane have overlapping areas according to the spatial position data of the restricted area and the reference plane, so as 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 54, wherein the platform processor is further configured to:

When the restricted area and the reference plane do not have the coincident area, it is determined that the movable platform is located outside the restricted area.
The removable platform of claim 54, wherein the platform processor is further configured to:

When the restricted area and the reference plane have the overlapping area, the positional relationship between the movable platform and the restricted area is determined according to the spatial position data of the overlapping area and the movable platform.
The removable platform of claim 56, wherein the platform processor is further configured to:

When the movable platform is located in the coincidence area, it is determined that the movable platform is located in the restricted area.
The removable platform of claim 56, wherein the platform processor is further configured to:

When the movable platform is located outside the coincidence area, it is determined that the movable platform is located outside the restricted area.
The removable platform of claim 56, wherein the platform processor is further configured to:

When the movable platform is located at the boundary of the overlapping area, it is determined that the movable platform is located at the boundary surface of the restricted area.
A movable platform as claimed in any one of claims 56 to 59, wherein the coincident area is a polygon.
The removable platform of claim 60, wherein the platform processor is further configured to:

According to the spatial position data of the overlapping area and the movable platform, a plurality of connecting lines are made, and each connecting line connects a vertex of the overlapping area and the movable platform;

Every two adjacent connecting lines form an included angle; wherein,

When the included angle of 180 degrees exists in all the included angles, it is determined that the movable platform is located at the boundary of the overlapping area.
The removable platform of claim 61, wherein the platform processor is further configured to:

When the included angle of 180 degrees does not exist in all the included angles, it is determined that the movable platform is not located at the boundary of the overlapping area.
The movable platform of claim 62, wherein, when the movable platform is not located at the boundary of the coincident region, the platform processor is further configured to:

It is determined whether the movable platform is located in the overlapping area or outside the overlapping area.
The movable platform of claim 63, wherein:

According to the plurality of connecting lines, it is determined whether the movable platform is located in the overlapping area or outside the overlapping area.
The movable platform of claim 64, wherein:

When the sum of all the included angles except the obtuse angle is 360 degrees, it is determined that the movable platform is located in the coincidence area.
The movable platform of claim 64, wherein:

When the sum of all the included angles except the obtuse angle is not 360 degrees, it is determined that the movable platform is located outside the overlapping area.
The removable platform of claim 63, wherein the platform processor is further configured to:

According to the spatial position data of the movable platform, take the position where the movable platform is located as an endpoint to make a ray passing through the overlapping area;

It is determined whether the movable platform is located within the coincidence region or outside the coincidence region according to the number of points where the ray intersects the coincidence region.
The movable platform of claim 67, wherein:

When the number of points where the ray intersects the coincident area is odd, it is determined that the movable platform is located in the coincidence area.
The movable platform of claim 67, wherein:

When the number of sides where the ray intersects with the coincidence area is even, it is determined that the movable platform is located outside the coincidence area.
The movable platform of claim 54, wherein:

The restricted area is defined by 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 70, 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 70, 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 70, wherein:

The restricted area is defined by the bottom surface, the at least one side surface, and a top surface formed by a boundary of the at least one side surface extending in the spatial direction.
The movable platform of claim 73, wherein:

The area of the top surface is larger than the area of the bottom surface.
The movable platform of claim 73, wherein:

The spatial position data of the restricted area includes data of all vertices of the bottom surface of the restricted area and data of all vertices of the top surface of the restricted area.
The removable platform of claim 75, wherein the platform processor is further configured to:

Converting the spatial position data of the movable platform, the data of all the vertices of the bottom surface of the restricted area and the data of all the vertices of the top surface into a three-dimensional coordinate system;

The operation of the movable platform is controlled according to the spatial position data of the movable platform under the three-dimensional coordinate system, the data of all the vertices of the bottom surface and the data of all the vertices of the upper surface of the restricted area.
The movable platform of claim 76, wherein:

The three-dimensional coordinate system is an NED coordinate system.
The movable platform of claim 76, wherein the reference plane is a horizontal plane that is the same height as the movable platform.
The movable platform of claim 78, wherein:

Both the top surface and the bottom surface are horizontal planes.
The movable platform of claim 79, wherein:

The top surface and the bottom surface are polygons with the same number of sides.
The removable platform of claim 80, wherein the platform processor is further configured to:

Judging whether the reference plane intersects with all the sides of the restricted area, and each of the sides connects a corresponding vertex of the top surface and a vertex of the bottom surface;

It is determined whether the restricted area and the reference plane have overlapping areas according to the result of whether the reference plane intersects with all sides of the restricted area.
The movable platform of claim 81, wherein:

If the reference plane intersects all sides of the restricted area, the restricted area and the reference plane have the coincident area; and

The coincidence area is formed by the intersection of the reference plane and all sides of the restricted area.
The movable platform of claim 81, wherein:

If the reference plane does not intersect all sides of the restricted area, the restricted area and the reference plane do not have the coincident area.
The movable platform of claim 54, 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 restricted area, the reference plane and the spatial position data of the movable platform indicate that the movable platform is located in the restricted area, control the mobile platform according to the start-stop state of the movable platform. Describes the operation of the movable 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 restricted area, the reference plane, and the spatial position data of the movable platform indicate that the movable platform is located outside the restricted area, a set direction is determined, and the movable platform is restricted movement in the set direction.
The movable platform of claim 87, wherein:

The set direction includes a horizontal direction.
The removable platform of claim 88, wherein the platform processor is further configured to:

determining a plurality of outgoing distances of the movable platform, each of the outgoing distances being the minimum distance between the movable platform and one side of the overlapping area;

The direction corresponding to the smallest outgoing distance among the plurality of outgoing distances is used as the setting 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 smaller than the smallest outgoing distance among the plurality of outgoing distances.
The removable platform of claim 89, 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 straight line where the corresponding side is located and the corresponding side.
The movable platform of claim 91, wherein:

When the orthographic projection point is located on the corresponding side, the corresponding outgoing distance is the distance between the orthographic projection point and the movable platform, and the set direction is the distance between the movable platform and the movable platform. The direction indicated by the line vector of the orthographic projection point.
The movable platform of claim 91, wherein:

When the orthographic projection point is located outside the corresponding edge, the corresponding outgoing distance is the distance between the pseudo-projection point on the corresponding edge and the movable platform, and the pseudo-projection point is the corresponding The point on the edge is the closest point to the orthographic projection point, and the set direction is the direction indicated by the connecting line vector between the movable platform and the pseudo-projection point.
The movable platform of claim 87, wherein:

The set direction includes a vertical direction.
The removable platform of claim 94, wherein the platform processor is further configured to:

Determine whether the projection of the movable platform in the vertical direction is located in the restricted area;

If it is located in the restricted area, determine a restricted height, and restrict the movement of the movable platform in the set direction not to be higher than the restricted height;

If it is not located in the restricted area, the moving height of the movable platform in the set direction is not restricted.
The removable platform of claim 95, wherein the platform processor is further configured to:

The restriction height is determined according to the position of the vertical projection of the movable platform on the restriction area.
The removable platform of claim 96, wherein the platform processor is further configured to:

Determine whether the position of the vertical projection of the movable platform on the restricted area is on the side of the restricted area or the bottom surface of the restricted area;

When the position of the vertical projection of the movable platform on the restricted area is located on the bottom surface of the restricted area, determining the height of the bottom surface according to the spatial position data of the restricted area;

Let the height of the said bottom surface be the said limit height.
The movable platform of claim 97, wherein:

When the position of the vertical projection of the movable platform on the restricted area is located on the side of the restricted area, determining the position of the side corresponding to the position according to the spatial position data of the restricted area plane equation;

The limit height is determined according to the spatial position data of the movable platform and the plane equation.
The removable platform of claim 98, wherein the platform processor is further configured to:

Determine a straight line equation of a vertical line passing through the movable platform according to the spatial position data of the movable platform;

The intersection of the straight line equation and the plane equation is determined, and the height of the intersection of the straight line equation and the plane equation is used as the limit height.
A control device for a movable platform, comprising a device processor configured to:

Obtaining the spatial position data of the movable platform and the spatial position data of the restricted area of the movable platform;

determining a reference plane according to the spatial position data of the movable platform;

The operation of the movable platform is controlled based on the spatial position data of the restricted area, the reference plane and the spatial position data of the movable platform.
The control device of claim 100, wherein,

The confinement area is surrounded by one or more confinement surfaces.
The control device of claim 101, wherein,

At least one of the one or more confinement surfaces is a plane.
The control device of claim 100, wherein the device processor is further configured to:

Determine whether the restricted area and the reference plane have an overlapping area according to the spatial position data of the restricted area and the reference plane, so as 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 103, wherein the device processor is further configured to:

When the restricted area and the reference plane do not have the coincident area, it is determined that the movable platform is located outside the restricted area.
The control device of claim 103, wherein the device processor is further configured to:

When the restricted area and the reference plane have the overlapping area, the positional relationship between the movable platform and the restricted area is determined according to the spatial position data of the overlapping area and the movable platform.
The control device of claim 105, wherein the device processor is further configured to:

When the movable platform is located in the coincidence area, it is determined that the movable platform is located in the restricted area.
The control device of claim 105, wherein the device processor is further configured to:

When the movable platform is located outside the coincidence area, it is determined that the movable platform is located outside the restricted area.
The control device of claim 105, wherein the device processor is further configured to:

When the movable platform is located at the boundary of the overlapping area, it is determined that the movable platform is located at the boundary surface of the restricted area.
The control device according to any one of claims 105 to 108, wherein the overlapping area is a polygon.
The control device of claim 109, wherein the device processor is further configured to:

According to the spatial position data of the overlapping area and the movable platform, a plurality of connecting lines are made, and each connecting line connects a vertex of the overlapping area and the movable platform;

Every two adjacent connecting lines form an included angle; wherein,

When the included angle of 180 degrees exists in all the included angles, it is determined that the movable platform is located at the boundary of the overlapping area.
The control device of claim 110, wherein the device processor is further configured to:

When the included angle of 180 degrees does not exist in all the included angles, it is determined that the movable platform is not located at the boundary of the overlapping area.
111. The control device of claim 111, wherein, when the movable platform is not located at the boundary of the coincident area, the device processor is further configured to:

It is determined whether the movable platform is located in the overlapping area or outside the overlapping area.
The control device of claim 112, wherein:

According to the plurality of connecting lines, it is determined whether the movable platform is located in the overlapping area or outside the overlapping area.
The control device of claim 113, wherein,

When the sum of all the included angles except the obtuse angle is 360 degrees, it is determined that the movable platform is located in the coincidence area.
The control device of claim 113, wherein,

When the sum of all the included angles except the obtuse angle is not 360 degrees, it is determined that the movable platform is located outside the overlapping area.
112. The control device of claim 112, wherein the device processor is further configured to:

According to the spatial position data of the movable platform, take the position where the movable platform is located as an endpoint to make a ray passing through the overlapping area;

It is determined whether the movable platform is located within the coincidence region or outside the coincidence region according to the number of points where the ray intersects the coincidence region.
The control device of claim 116, wherein,

When the number of points where the ray intersects the coincident area is odd, it is determined that the movable platform is located in the coincidence area.
The control device of claim 116, wherein,

When the number of sides where the ray intersects with the coincidence area is even, it is determined that the movable platform is located outside the coincidence area.
The control device of claim 103, wherein,

The restricted area is defined by 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 119, 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 119, 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 119, wherein,

The restricted area is defined by the bottom surface, the at least one side surface, and a top surface formed by a boundary of the at least one side surface extending in the spatial direction.
The control device of claim 122, wherein,

The area of the top surface is larger than the area of the bottom surface.
The control device of claim 122, wherein,

The spatial position data of the restricted area includes data of all vertices of the bottom surface of the restricted area and data of all vertices of the top surface of the restricted area.
124. The control device of claim 124, wherein the device processor is further configured to:

Converting the spatial position data of the movable platform, the data of all the vertices of the bottom surface of the restricted area and the data of all the vertices of the top surface into a three-dimensional coordinate system;

The operation of the movable platform is controlled according to the spatial position data of the movable platform under the three-dimensional coordinate system, the data of all vertices on the bottom surface and the data of all vertices on the top surface of the restricted area.
The control device of claim 125, wherein,

The three-dimensional coordinate system is an NED coordinate system.
125. The control device of claim 125, wherein the reference plane is a horizontal plane that is the same height as the movable platform.
The control device of claim 127, wherein,

Both the top surface and the bottom surface are horizontal planes.
The control device of claim 128, wherein,

The top surface and the bottom surface are polygons with the same number of sides.
The control device of claim 129, wherein the device processor is further configured to:

Judging whether the reference plane intersects with all the sides of the restricted area, and each of the sides connects a corresponding vertex of the top surface and a vertex of the bottom surface;

It is determined whether the restricted area and the reference plane have overlapping areas according to the result of whether the reference plane intersects with all sides of the restricted area.
The control device of claim 130, wherein,

If the reference plane intersects all sides of the restricted area, the restricted area and the reference plane have the coincident area; and

The coincidence area is formed by the intersection of the reference plane and all sides of the restricted area.
The control device of claim 130, wherein,

If the reference plane does not intersect all sides of the restricted area, the restricted area and the reference plane do not have the coincident area.
The control device according to claim 103, wherein the restricted area is an area that restricts movement of the movable platform.
133. The control device of claim 133, wherein the device processor is further configured to:

When the spatial position data of the restricted area, the reference plane and the spatial position data of the movable platform indicate that the movable platform is located in the restricted area, control the mobile platform according to the start-stop state of the movable platform. Describes the operation of the movable platform.
134. The control device of claim 134, 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.
133. The control device of claim 133, wherein the device processor is further configured to:

When the spatial position data of the restricted area, the reference plane, and the spatial position data of the movable platform indicate that the movable platform is located outside the restricted area, a set direction is determined, and the movable platform is restricted movement in the set direction.
The control device of claim 136, wherein:

The set direction includes a horizontal direction.
137. The control device of claim 137, wherein the device processor is further configured to:

determining a plurality of outgoing distances of the movable platform, each of the outgoing distances being the minimum distance between the movable platform and one side of the overlapping area;

The direction corresponding to the smallest outgoing distance among the plurality of outgoing distances is used as the setting direction.
138. The control device of claim 138, wherein the device processor is further configured to:

The moving distance of the movable platform in the set direction is allowed to be smaller than the smallest outgoing distance among the plurality of outgoing distances.
138. The control device of claim 138, 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 straight line where the corresponding side is located and the corresponding side.
The control device of claim 140, wherein,

When the orthographic projection point is located on the corresponding side, the corresponding outgoing distance is the distance between the orthographic projection point and the movable platform, and the set direction is the distance between the movable platform and the movable platform. The direction indicated by the line vector of the orthographic projection point.
The control device of claim 140, wherein,

When the orthographic projection point is located outside the corresponding edge, the corresponding outgoing distance is the distance between the pseudo-projection point on the corresponding edge and the movable platform, and the pseudo-projection point is the corresponding The point on the edge is the closest point to the orthographic projection point, and the set direction is the direction indicated by the connection vector between the movable platform and the pseudo-projection point.
The control device of claim 136, wherein:

The set direction includes a vertical direction.
The control device of claim 143, wherein the device processor is further configured to:

Determine whether the projection of the movable platform in the vertical direction is located in the restricted area;

If it is located in the restricted area, determine a restricted height, and restrict the movement of the movable platform in the set direction not to be higher than the restricted height;

If it is not located in the restricted area, the moving height of the movable platform in the set direction is not restricted.
144. The control device of claim 144, wherein the device processor is further configured to:

The restriction height is determined according to the position of the vertical projection of the movable platform on the restriction area.
The control device of claim 145, wherein the device processor is further configured to:

Determine whether the position of the vertical projection of the movable platform on the restricted area is located on the side of the restricted area or on the bottom of the restricted area;

When the position of the vertical projection of the movable platform on the restricted area is located on the bottom surface of the restricted area, determining the height of the bottom surface according to the spatial position data of the restricted area;

Let the height of the said bottom surface be the said limit height.
The control device of claim 146, wherein:

When the position of the vertical projection of the movable platform on the restricted area is located on the side of the restricted area, determining the position of the side corresponding to the position according to the spatial position data of the restricted area plane equation;

The limit height is determined according to the spatial position data of the movable platform and the plane equation.
The control device of claim 147, wherein the device processor is further configured to:

Determine a straight line equation of a vertical line passing through the movable platform according to the spatial position data of the movable platform;

The intersection of the straight line equation and the plane equation is determined, and the height of the intersection of the straight line equation and the plane equation is used as the limit height.