CN107272681A - Adjust automatically mobile platform and the method and mobile platform of target object location relation - Google Patents
Adjust automatically mobile platform and the method and mobile platform of target object location relation Download PDFInfo
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- CN107272681A CN107272681A CN201710457369.9A CN201710457369A CN107272681A CN 107272681 A CN107272681 A CN 107272681A CN 201710457369 A CN201710457369 A CN 201710457369A CN 107272681 A CN107272681 A CN 107272681A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000003068 static effect Effects 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 11
- 238000000465 moulding Methods 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000000192 social effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of method that the present invention discloses adjust automatically mobile platform and target object location relation.The adjust automatically mobile platform and the method for target object location relation include：Obtain the parameter of the target object in mobile platform surrounding enviroment；When the distance of the mobile platform and the target object is less than default maximum safe distance threshold value, the mobile platform is controlled to slow down in said first direction, it is zero it is moved to the speed of minimum safe distance threshold value in said first direction；When the distance of the mobile platform and the target object is less than or equal to default minimum safe distance threshold value, control the mobile platform static or detoured to target object away from the target object or relatively described target object.The adjust automatically mobile platform that the present invention is provided and the method for target object location relation, effectively can react, it is to avoid collided with barrier to the barrier in environment.The present invention also provides a kind of mobile platform.
Description
Technical field
The present invention relates to control technology field, and in particular to a kind of adjust automatically mobile platform and target object location relation
Method and mobile platform.
Background technology
Unmanned plane is a kind of to be manipulated by wireless remote control device or by itself presetting apparatus, perform the non-manned of task
Aircraft, is more and more widely developed and applies in multiple fields, with great social effect.
Unmanned plane has advantage of lower cost, the danger without casualties, and survival ability is strong, and it is excellent that mobility is good etc.
Point.But also because unmanned, it can only awing enter by the flight control system of itself or the instruction of ground control centre
Row flight, is running into the barriers such as high voltage cable, trees or building, power line is being maked an inspection tour in particular with unmanned plane
When, it is more likely that collided with barrier, huge potential safety hazard is brought to unmanned plane.
Therefore, in order to ensure safe flight of the unmanned plane in the task of execution, it is necessary to provide a kind of new technology and solve
Above-mentioned technical problem.
The content of the invention
The purpose of the present invention is to overcome above-mentioned technical problem there is provided a kind of adjust automatically mobile platform and target object location
The method of relation, effectively can react, it is to avoid collided with barrier to the barrier in surrounding enviroment.
The technical scheme is that：
A kind of adjust automatically mobile platform and the method for target object location relation, comprise the following steps：
Step S1：The parameter and the current kinetic of the mobile platform of target object in acquisition mobile platform surrounding enviroment
State；
Step S2：The mobile platform is set towards the direction of the target object as first direction, when the movement is flat
The distance of platform and the target object is less than default maximum safe distance threshold value, and the mobile platform is relative to the target
The component of the movement velocity of object in said first direction is timing, controls the mobile platform relative to the target object
Movement velocity velocity component in said first direction slow down；And when the distance of the mobile platform and the target object
During less than or equal to default minimum safe distance threshold value, the mobile platform relative to the target object movement velocity in institute
The velocity component stated on first direction is kept to zero；
Step S3：When the distance of the mobile platform and the target object is less than default minimum safe distance threshold value
When, the mobile platform is controlled away from the target object；When the distance of the mobile platform and the target object is equal in advance
If minimum safe distance threshold value when, control the mobile platform static relative to the target object or to the target object
Detour.
It is preferred that, when the distance of the mobile platform and the target object is less than default minimum safe distance threshold value
When, assign the mobile platform and one acceleration of second direction of angle is being mutually with the first direction, control the movement
Platform performs the acceleration, makes the mobile mobile platform away from the target object.
It is preferred that, the second direction and the angle of the first direction are 90-270 °.
It is preferred that, the second direction is in 180 ° with the first direction, and the mobile platform is relative to the object
Body counter motion.
It is preferred that, the parameter of the target object includes the relative position parameter with mobile platform.
It is preferred that, the parameter of the target object also includes motion state parameterses, the relative velocity with the mobile platform
Parameter.
It is preferred that, the motion state parameterses include movement velocity and the direction of motion.
The present invention also provides a kind of mobile platform.The mobile platform includes adjust automatically mobile platform and object position
The system of the system for putting relation, the adjust automatically mobile platform and target object location relation includes acquisition module, default mould
Block, processing module and control module, wherein：
The acquisition module, obtains the parameter of the target object in mobile platform surrounding enviroment and working as the mobile platform
Preceding motion state；
The presetting module, presets the maximum safe distance threshold value and minimum peace of the mobile platform and the target object
Full distance threshold value；
The processing module, when the distance of the mobile platform and the target object is less than the maximum safe distance threshold
It is worth, and the mobile platform is being towards the component on the target object direction relative to the movement velocity of the target object
Timing, calculates the mobile platform by the maximum safe distance threshold value retarded motion to the minimum safe distance threshold value when institute
The movement velocity that mobile platform is stated relative to the target object is being zero to subtract towards component on the target object direction
Speed value；
The control module, when the distance of the mobile platform and the target object is less than the maximum safe distance threshold
It is worth, and the mobile platform is being towards the component on the target object direction relative to the movement velocity of the target object
Timing, controls the mobile platform relative to the movement velocity of the target object towards the speed on the target object direction
Component is spent to slow down；When mobile platform motion and the distance of the target object are less than the minimum safe distance threshold value,
The mobile platform is controlled away from the target object；Described in being equal to when the distance of the mobile platform and the target object most
During small safe distance threshold value, control the mobile platform static relative to the target object or the target object is detoured.
Compared with correlation technique, the adjust automatically mobile platform and the method for target object location relation that the present invention is provided have
Beneficial effect is：The adjust automatically mobile platform and the method for target object location relation provided by the present invention, is moved when described
When the distance between moving platform and the target object are less than or equal to minimum safe distance threshold value, the mobile platform is relative to mesh
It is zero to mark the speed of object in a first direction；When the distance of the mobile platform and the target object is less than default minimum
During safe distance threshold value, the mobile platform is controlled away from the target object；When the mobile platform and the target object
Distance when being equal to default minimum safe distance threshold value, control the mobile platform static relative to the target object or right
The target object detours.By different motion schemes so that the mobile platform avoid the target object without with its
Collide, so as to effectively increase the security reliability of the mobile platform motion.
Brief description of the drawings
The structural representation for the mobile platform that Fig. 1 provides for the present invention；
Adjust automatically mobile platform and the stream of the embodiment of the method one of target object location relation that Fig. 2 provides for the present invention
Journey schematic diagram；
Adjust automatically mobile platform and shifting in the embodiment of the method one of target object location relation that Fig. 3 provides for the present invention
Moving platform is moved to less than or equal to the motion state schematic diagram after minimum safe distance threshold value；
Embodiment of the method two, realities of the Fig. 4 for the adjust automatically mobile platform of the invention provided with target object location relation
Apply the schematic flow sheet of example three；
Adjust automatically mobile platform and shifting in the embodiment of the method two of target object location relation that Fig. 5 provides for the present invention
Moving platform is moved to less than or equal to the motion state schematic diagram after minimum safe distance threshold value；
Adjust automatically mobile platform and shifting in the embodiment of the method three of target object location relation that Fig. 6 provides for the present invention
Moving platform is moved to less than or equal to the motion state schematic diagram after minimum safe distance threshold value；
Adjust automatically mobile platform and the stream of the embodiment of the method four of target object location relation that Fig. 7 provides for the present invention
Journey schematic diagram；
Adjust automatically mobile platform and shifting in the embodiment of the method four of target object location relation that Fig. 8 provides for the present invention
Moving platform is moved to less than or equal to the motion state schematic diagram after minimum safe distance threshold value.
Embodiment
Below in conjunction with drawings and embodiments, the invention will be further described.
Referring to Fig. 1, the structural representation of the mobile platform provided for the present invention.The mobile platform 10 includes automatic tune
Whole mobile platform and the system 100 of target object location relation, the mobile platform 10 perform the adjust automatically mobile platform
With the control program of the system 100 of target object location relation, target object is avoided in realization.
In the present invention, the mobile platform 10 can be robot, aircraft, steamer, submarine etc.；Wherein described aircraft
Can be four-axle aircraft, multi-rotor aerocraft, unmanned plane during flying device, model plane etc..
The target object is barrier, can be building, trees, flying bird, reef, pedestrian, other aircraft etc..
The operating condition of the target object can be static or motion.
The target object, for example can be by surveying by recognizing that the environmental data of the mobile platform surrounding enviroment is obtained
Obtain, wherein the distance measuring sensor is fixed on the motor, rotated, ranging as motor rotates away from sensor and motor
Sensor is rotated in the horizontal direction with motor rotation, and target object is whether there is in the environmental data to measure.Wherein institute
It can be obtained using sensor or known environmental data to state environmental data；Can also utilize known environment
The environmental data that data and the sensor are obtained is merged.
The system 100 of the adjust automatically mobile platform and target object location relation includes acquisition module 11, default mould
Block 12, processing module 12 and control module 13.
Wherein, the parameter of the target object in the acquisition module 11, acquisition mobile platform surrounding enviroment and the movement
The current motion state of platform；
Specifically, the acquisition module 11 includes the first acquisition module 111 and the second acquisition module 112, wherein described the
One acquisition module 111 is used for the parameter for obtaining the target object in the surrounding enviroment of mobile platform 10, the target object
Parameter includes the relative position parameter with the mobile platform, may also include motion state parameterses, the phase with the mobile platform
To speed parameter；Wherein described motion state parameterses include movement velocity and the direction of motion, when the target object is static shape
State, its movement velocity be 0, the direction of motion can by for the angle of the mobile platform judge；The target object relative to
The relative position parameter of the mobile platform includes distance between the two, i.e., described first acquisition module 111 detects institute in real time
State the distance between mobile platform and described target object.
Second acquisition module 112 is used for the current motion state for obtaining the mobile platform, including the movement is put down
The movement velocity and the direction of motion of platform, defined in it mobile platform towards the direction of the target object be first direction,
The mobile platform is fast relative to the motion of the target object for the mobile platform in the movement velocity of the first direction
The velocity component of degree in said first direction.
It should be noted that as the position relationship of mobile platform 10 and the target object changes in real time, it is described
First direction is real-time change.
The presetting module 12, presets the maximum safe distance threshold value and most of the mobile platform 10 and the target object
Small safe distance threshold value；
Specifically, the maximum safe distance threshold value is more than the minimum safe distance threshold value, such as：The maximum safety
The value of distance threshold is 5m, 8m or 10m, and corresponding minimum safe distance threshold value value is 3m, 5m or 8m.Need explanation
It is that the present invention does not limit the concrete numerical value of maximum safe distance and minimum safe distance, can specifically be adjusted according to actual conditions.
The processing module 13, when the distance of the mobile platform 10 and the target object be less than the maximum safety away from
During from threshold value, the mobile platform is calculated by the maximum safe distance threshold value retarded motion to the minimum safe distance threshold value
The deceleration value that the speed of Shi Suoshu mobile platforms in said first direction is zero；And pacified according to the mobile platform 10 with minimum
The relation of full distance threshold value obtains the motion scheme that the mobile platform 10 does not collide with the target object.
Specifically, the processing module includes first processing units 131, the processing unit of second processing unit 132 and the 3rd
133, wherein the first processing units 131 be used to comparing the distance between the mobile platform and described target object with it is described
The relation of maximum safe distance threshold value and the minimum safe distance threshold value；The second processing unit 132 is used to calculate described
Mobile platform by the maximum safe distance threshold value retarded motion to the minimum safe distance threshold value when mobile platform phase
The deceleration value for being zero for the velocity component of the target object in said first direction；3rd processing module 133 is used
The mobile platform 10 and the target object are obtained in the relation according to the mobile platform 10 and minimum safe distance threshold value
The motion scheme not collided, wherein when the distance of the mobile platform 10 and the target object is less than default minimum peace
During full distance threshold value, the mobile platform 10 is controlled away from the target object；When the mobile platform 10 and the object
When the distance of body is equal to default minimum safe distance threshold value, control the mobile platform static relative to the target object or
The target object is detoured.
The control module 14, the motion shape of the mobile platform is controlled according to the feedack of processing module 13
State, so that the mobile platform does not collide with the target object.
Specifically, the control module includes the first control unit 141 and the second control unit 142, first control
Unit 141 receives the first processing module 131 and the feedack of Second processing module 132, when the mobile platform and institute
When the distance for stating target object is less than default maximum safe distance, first control unit 141 controls the mobile platform
The deceleration value of the 3rd processing module 133 feedback is performed, makes the mobile platform retarded motion, when the mobile platform and institute
When the distance for stating target object is less than the minimum safe distance, the velocity component of the mobile platform in said first direction
It is zero.
Second control unit 142 receives the feedack of the 3rd processing unit 133, according to the mobile platform
10 with the relation of minimum safe distance threshold value, different motion schemes are performed, so that the mobile platform 10 avoids the target
Object.
A kind of method that the present invention also provides adjust automatically mobile platform and target object location relation.Below by way of difference
Embodiment adjust automatically mobile platform and the method for target object location relation are described in detail.
Embodiment one
Please refer to Fig. 2 and Fig. 3, adjust automatically mobile platform and object position that wherein Fig. 1 provides for the present invention
Put the schematic flow sheet of the embodiment of the method one of relation；Adjust automatically mobile platform and target object that Fig. 3 provides for the present invention
Mobile platform is moved in the embodiment of the method one of position relationship shows less than or equal to the motion state after minimum safe distance threshold value
It is intended to.The adjust automatically mobile platform and the method for target object location relation, comprise the following steps：
Step S1：The parameter and the current kinetic of the mobile platform of target object in acquisition mobile platform surrounding enviroment
State；
Specifically, obtaining the target object in the mobile platform surrounding enviroment using first acquisition module 111
Parameter, the parameter of the target object includes the relative position parameter with the mobile platform, may also include motion state parameterses,
With the relative velocity parameters of the mobile platform；Wherein described motion state parameterses include movement velocity and the direction of motion, work as institute
Target object is stated for inactive state, its movement velocity is 0, the direction of motion can be by judge with the angle of the mobile platform；
The target object includes distance between the two and the target object relative to the relative position parameter of the mobile platform
Relative to the azimuth of the mobile platform, wherein the distance between the target object and described mobile platform are by described first
Acquisition module 111 is monitored in real time.
The current motion state of the mobile platform 10, the mobile platform are obtained using second acquisition module 112
10 current motion state includes movement velocity and the direction of motion.
Step S2：The mobile platform is set towards the direction of the target object as first direction, when the movement is flat
The distance of platform and the target object is less than default maximum safe distance threshold value, and the mobile platform is relative to the target
The component of the movement velocity of object in said first direction is timing, controls the mobile platform relative to the target object
Movement velocity velocity component in said first direction slow down, and when the distance of the mobile platform and the target object
During less than or equal to default minimum safe distance threshold value, the mobile platform relative to the target object movement velocity in institute
The velocity component stated on first direction is kept to zero；
Specifically, the first processing units 131 by the distance of the mobile platform 10 and the target object with it is default
Maximum safe distance threshold value and minimum safe distance be compared；When distance between the two is less than maximum secure threshold, and
The mobile platform is timing, described second relative to the movement velocity component in said first direction of the target object
Processing unit 132 calculates the mobile platform 10 by described according to the mobile platform current movement velocity and the direction of motion
The mobile platform is relative to the object during maximum safe distance threshold value retarded motion to the minimum safe distance threshold value
The deceleration value that the velocity component of the movement velocity of body in said first direction is zero；And ought be between the two distance be less than it is described
Maximum safe distance threshold value, and the mobile platform relative to the target object movement velocity in said first direction
Component is timing, and first control unit 141 controls the mobile platform to perform subtracting for the feedback of second processing unit 132
Fast value information, finally makes the distance of the mobile platform and the target object be less than or equal to default minimum safe distance threshold value
When, velocity component of the mobile platform relative to the target object in said first direction is zero.
Step S3：When the distance of the mobile platform and the target object is equal to default minimum safe distance threshold value
When, control the mobile platform static relative to the target object.
Referring to Fig. 3, A represents target object in accompanying drawing, X-direction is expressed as first direction, when the mobile platform slows down
When moving to minimum safe distance threshold value, the mobile platform 10 is relative to the target object on the first direction X
Speed is 0, and the velocity component being on the vertical direction of X-direction is also 0, and second control unit 142 controls the shifting
Moving platform is static relative to the target object.
Embodiment two
Please refer to Fig. 4 and Fig. 5, adjust automatically mobile platform and object position that wherein Fig. 4 provides for the present invention
Put embodiment of the method two, the schematic flow sheet of embodiment three of relation, the adjust automatically mobile platform that Fig. 5 is provided for the present invention with
Mobile platform is moved to less than or equal to the fortune after minimum safe distance threshold value in the embodiment of the method two of target object location relation
Dynamic view.A in accompanying drawing represents target object；X-direction is expressed as first direction；Y represents that with first direction be in angle
Second direction；V1 represents the speed of the mobile platform in this second direction；V represents the mobile platform away from described
The final speed of target object.
The adjust automatically mobile platform and the method for target object location relation, comprise the following steps：
Step S1a-S2a, it is corresponding identical with the step S1-S2 in embodiment one, it will not be described here；
Step S3a：When the distance of the mobile platform and the target object is less than default minimum safe distance threshold value
When, the mobile platform is controlled away from the target object.
Specifically, when the distance between the mobile platform and the target object are less than minimum safe distance threshold value,
It is 0 relative to speed of the target object on the first direction X to control the mobile platform 10 first, and with described the
Velocity component on the vertical direction in one direction is also 0.Now, the upper acceleration of second direction Y, the movement are assigned
Platform speed V1=∫ a (t) dt on second direction Y, wherein a (t) represent the acceleration magnitude in time t；The movement is put down
Final speed V=V1 of the platform away from the target object, and it is second direction Y to move square.
In the present embodiment, second direction Y and first direction X angle is in 180 °.It should be noted that second direction Y with
First direction X angle can also be any angle between other angles, such as 90 ° -270 °, and meet makes to after an acceleration
The mobile platform is away from the target object.
It should also be noted that, acceleration a (t) can be with time and the speed relatively of the mobile platform and the target object
Spend and change, and be not necessarily a constant.For example accelerate certain time post-acceleration vanishing, with the uniform velocity away from target object.
Embodiment three
Please refer to Fig. 4 and Fig. 6, adjust automatically mobile platform and object position that wherein Fig. 6 provides for the present invention
Mobile platform in the embodiment of the method three of relation is put to move to less than or equal to the motion state signal after minimum safe distance threshold value
Figure.V0 represents velocity component of the mobile platform on the direction vertical with first direction X in figure.
From unlike embodiment two, when the mobile platform is moved to less than or equal to minimum safe distance threshold value, institute
It is 0 to state velocity component of the mobile platform on the first direction X, but has one on the direction perpendicular to the first direction X
Individual velocity component V0.
Now, the upper acceleration of second direction Y, speed V1 of the mobile platform on second direction Y are assigned
=∫ a (t) dt, wherein a (t) represent the acceleration magnitude of time t；Perform after the acceleration on second direction Y, the movement
Platform the final speed V=V0+V1 away from the target object, i.e. V0 and V1 vector.Wherein second direction Y and first party
To X angle between 90 ° -270 °.
It should be noted that when the distance between the mobile platform and the target object is equal to minimum safe distance,
Acceleration a is 0.
Example IV
Please refer to Fig. 7 and Fig. 8, adjust automatically mobile platform and object position that wherein Fig. 7 provides for the present invention
Put the schematic flow sheet of the embodiment of the method four of relation；Adjust automatically mobile platform and target object that Fig. 8 provides for the present invention
Mobile platform is moved in the embodiment of the method four of position relationship shows less than or equal to the motion state after minimum safe distance threshold value
It is intended to.V0 represents velocity component of the mobile platform on the direction vertical with first direction X in accompanying drawing；V represents that the movement is put down
Platform performs the final speed after the motion scheme not collided with target object.
The adjust automatically mobile platform and the method for target object location relation, comprise the following steps：
Step S1c-S2c, it is corresponding identical with the step S1-S2 in embodiment one, it will not be described here；
Step S3c：When the distance of the mobile platform and the target object is equal to default minimum safe distance threshold value
When, control the mobile platform to detour the target object.
Specifically, when the mobile platform moves to minimum safe distance threshold value, the mobile platform is described first
Velocity component on the X of direction is 0, but has on the direction perpendicular to the first direction X velocity component V0.Described second
Control unit 142 controls the mobile platform to perform the velocity component V0, i.e. V=V0.
Compared with correlation technique, the adjust automatically mobile platform and the method for target object location relation that the present invention is provided have
Beneficial effect is：The adjust automatically mobile platform and the method for target object location relation provided by the present invention, is moved when described
When the distance between moving platform and the target object are less than or equal to minimum safe distance threshold value, the mobile platform is relative to mesh
It is zero to mark the speed of object in a first direction；When the distance of the mobile platform and the target object is less than default minimum
During safe distance threshold value, the mobile platform is controlled away from the target object；When the mobile platform and the target object
Distance when being equal to default minimum safe distance threshold value, control the mobile platform static relative to the target object or right
The target object detours.By different motion schemes so that the mobile platform avoid the target object without with its
Collide, so as to effectively increase the security reliability of the mobile platform motion.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of adjust automatically mobile platform and the method for target object location relation, it is characterised in that comprise the following steps：
Step S1：The parameter and the current kinetic shape of the mobile platform of target object in acquisition mobile platform surrounding enviroment
State；
Step S2：The mobile platform is set towards the direction of the target object as first direction, when the mobile platform with
The distance of the target object is less than default maximum safe distance threshold value, and the mobile platform is relative to the target object
Movement velocity component in said first direction be timing, control the mobile platform relative to the fortune of the target object
The velocity component of dynamic speed in said first direction slows down；And when the distance of the mobile platform and the target object is less than
During equal to default minimum safe distance threshold value, the mobile platform relative to the target object movement velocity described
Velocity component on one direction is kept to zero；
Step S3：When the distance of the mobile platform and the target object is less than default minimum safe distance threshold value, control
The mobile platform is made away from the target object；When the distance of the mobile platform and the target object be equal to it is default most
During small safe distance threshold value, control the mobile platform static relative to the target object or the target object is detoured.
2. adjust automatically mobile platform according to claim 1 and the method for target object location relation, it is characterised in that
When the distance of the mobile platform and the target object is less than default minimum safe distance threshold value, assigns the movement and put down
Platform is being mutually one acceleration of second direction of angle with the first direction, controls the mobile platform to perform described accelerate
Degree, makes the mobile mobile platform away from the target object.
3. adjust automatically mobile platform according to claim 2 and the method for target object location relation, it is characterised in that
The angle of the second direction and the first direction is 90-270 °.
4. adjust automatically mobile platform according to claim 3 and the method for target object location relation, it is characterised in that
The second direction is in 180 ° with the first direction, and the mobile platform is relative to the target object counter motion.
5. adjust automatically mobile platform and the method for target object location relation according to any one of claim 1-4,
Characterized in that, the parameter of the target object includes the relative position parameter with mobile platform.
6. adjust automatically mobile platform according to claim 5 and the method for target object location relation, it is characterised in that
The parameter of the target object also includes motion state parameterses, the relative velocity parameters with the mobile platform.
7. adjust automatically mobile platform according to claim 6 and the method for target object location relation, it is characterised in that
The motion state parameterses include movement velocity and the direction of motion.
8. a kind of mobile platform, it is characterised in that the system including adjust automatically mobile platform Yu target object location relation, institute
Stating adjust automatically mobile platform and the system of target object location relation includes acquisition module, presetting module, processing module and control
Molding block, wherein：
The acquisition module, obtains the parameter and the current fortune of the mobile platform of the target object in mobile platform surrounding enviroment
Dynamic state；
The presetting module, presets the maximum safe distance threshold value and minimum safe distance of the mobile platform and the target object
From threshold value；
The processing module, when the distance of the mobile platform and the target object is less than the maximum safe distance threshold value,
And the mobile platform is being just towards the component on the target object direction relative to the movement velocity of the target object
When, the mobile platform is calculated as the maximum safe distance threshold value retarded motion to described in during the minimum safe distance threshold value
Mobile platform relative to the target object movement velocity in the deceleration for being zero towards the component on the target object direction
Value；
The control module, when the distance of the mobile platform and the target object is less than the maximum safe distance threshold value,
And the mobile platform is being just towards the component on the target object direction relative to the movement velocity of the target object
When, control the mobile platform relative to the movement velocity of the target object towards the speed on the target object direction
Component slows down；When mobile platform motion and the distance of the target object are less than the minimum safe distance threshold value, control
The mobile platform is made away from the target object；When the distance of the mobile platform and the target object is equal to the minimum
During safe distance threshold value, control the mobile platform static relative to the target object or the target object is detoured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710457369.9A CN107272681A (en) | 2017-06-16 | 2017-06-16 | Adjust automatically mobile platform and the method and mobile platform of target object location relation |
Applications Claiming Priority (1)
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