CN107272682A - Mobile platform evades the method, system and mobile platform of collision automatically - Google Patents
Mobile platform evades the method, system and mobile platform of collision automatically Download PDFInfo
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- CN107272682A CN107272682A CN201710457697.9A CN201710457697A CN107272682A CN 107272682 A CN107272682 A CN 107272682A CN 201710457697 A CN201710457697 A CN 201710457697A CN 107272682 A CN107272682 A CN 107272682A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000004888 barrier function Effects 0.000 claims abstract description 101
- 230000007613 environmental effect Effects 0.000 claims abstract description 61
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- 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
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- G—PHYSICS
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- 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
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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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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Abstract
The present invention discloses a kind of method that mobile platform evades collision automatically.The method that the mobile platform evades collision automatically includes obtaining the environmental data of mobile platform surrounding enviroment；Whether there is barrier in environment-identification data, and obtain the obstacle information and the current motion state of the mobile platform；Setpoint distance threshold value, judges the relation of the beeline and the distance threshold；Direction is fled from setting, when the beeline is less than the distance threshold, is controlled the mobile platform to flee from direction described in and is moved, the beeline is more than or equal to the distance threshold.The mobile platform that the present invention is provided evades the method for collision automatically, effectively the barrier in environment can be reacted, it is to avoid collided with barrier.The present invention, which is also provided, a kind of automatic evades collision system and a kind of containing the automatic mobile platform for evading collision system.
Description
Technical field
The present invention relates to control technology field, and in particular to a kind of mobile platform evade automatically the method for collision, system 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 effectively can be made instead to the barrier in environment there is provided a kind of
Should, it is to avoid the mobile platform collided with barrier evades the method for collision automatically.
The technical scheme is that：
A kind of mobile platform evades the method for collision automatically, comprises the following steps：
Step S1：Obtain the environmental data of mobile platform surrounding enviroment；
Step S2：Whether have barrier in environment-identification data, when there is barrier, obtain the obstacle information and
The current motion state of the mobile platform；
Step S3：Setpoint distance threshold value, calculates the beeline of the barrier and the mobile platform, and judge described
Beeline and the relation of the distance threshold；
Step S4：Direction is fled from setting, when the beeline is less than the distance threshold, controls the mobile platform
Direction is fled from described in move, and the beeline is more than or equal to the distance threshold；When the beeline is more than or equal to
During the distance threshold, the mobile platform is controlled to perform current motion state.
It is preferred that, in step S4, calculate the mobile platform it is described flee from direction to the barrier flee to
Amount, using the vector of fleeing from as the controlled quentity controlled variable of the mobile platform, and controls the mobile platform to perform the controlled quentity controlled variable.
It is preferred that, when the quantity for recognizing the barrier in the environmental data is multiple, calculate respectively to each
The barrier is fled from vector and summed, and the controlled quentity controlled variable flees from vectorial sum to be described.
It is preferred that, by it is described flee from vectorial sum and be converted into flee from speed or flee from acceleration, the controlled quentity controlled variable is flees from
Speed flees from acceleration.
It is preferred that, the mobile platform is moved close to the barrier, described to flee from direction and the mobile platform is current
The direction of motion angle be in 90-270 °.
It is preferred that, the mobile platform is moved away from the barrier, described to flee from direction and the mobile platform is current
The direction of motion angle be in 0-90 ° or 270-360 °.
It is preferred that, also include being filtered out outside pre-determined distance scope according to the current motion state of the mobile platform in step S2
Environmental data, the barrier in step S2-S5 is the barrier in the range of pre-determined distance.
It is preferred that, step S2 also includes：According to the obstacle information and the current motion state of the mobile platform, meter
Calculate the maximum safe speed of the mobile platform；Calculate the target speed of the mobile platform and control the mobile platform
Moved by the target speed；Wherein described target speed is less than or equal to the maximum safe speed.
The present invention also provides one kind and evades collision system automatically.The automatic collision system of evading includes acquisition module, barrier
Hinder thing identification module, processing module and control module, wherein：
The acquisition module, for obtaining the fortune of the environmental data and the mobile platform of mobile platform surrounding enviroment currently
Dynamic state；
The obstacle recognition module, for recognizing whether there is barrier in the environmental data, and reads the obstacle
Thing information；
The processing module, the beeline for calculating the barrier and the mobile platform；It is described for judging
The relation of beeline and distance threshold；Vector is fled from for the mobile platform according to the minimum distance calculation, and will
The vector of fleeing from is converted into controlled quentity controlled variable；
The control module, for controlling the mobile platform to avoid the barrier according to the processing module feedack
Hinder thing.
The present invention also provides a kind of mobile platform.The mobile platform evades collision system automatically including described.
Compared with correlation technique, the method beneficial effect that the mobile platform that the present invention is provided evades collision automatically is：It is logical
The method that the mobile platform of the invention provided evades collision automatically is crossed, makes the mobile platform can be certainly when close to the barrier
Dynamic avoiding barrier, effectively can react to the barrier moved in environment, aircraft actively will not be sent out with barrier
Raw collision, improves the security performance of aircraft avoiding barrier.
Brief description of the drawings
The structural representation for the automatic embodiment for evading collision system that Fig. 1 provides for the present invention；
The structural representation of one embodiment of the mobile platform that Fig. 2 provides for the present invention；
Fig. 3 evades the schematic flow sheet of an embodiment of the method for collision for the mobile platform that the present invention is provided automatically；
Fig. 4 is that mobile platform shown in Fig. 3 evades coordinate system transition diagram in the method for collision automatically；
The structural representation for the automatic another embodiment for evading collision system that Fig. 5 provides for the present invention；
The structural representation of another embodiment for the mobile platform that Fig. 6 provides for the present invention；
Fig. 7 evades the schematic flow sheet of another embodiment of the method for collision for the mobile platform that the present invention is provided automatically；
Fig. 8 is the computational methods schematic diagram that mobile platform shown in Fig. 7 evades maximum safe speed in the method for collision automatically；
The structural representation for the automatic another embodiment for evading collision system that Fig. 9 provides for the present invention；
The structural representation of the another embodiment for the mobile platform that Figure 10 provides for the present invention；
Figure 11 evades the schematic flow sheet of the another embodiment of the method for collision for the mobile platform that the present invention is provided automatically.
Embodiment
Below in conjunction with drawings and embodiments, the invention will be further described.
Embodiment 1
Referring to Fig. 1, the structural representation for the automatic embodiment for evading collision system that Fig. 1 provides for the present invention.Institute
Stating automatic collision system 100 of evading includes acquisition module 11, denoising module 12, obstacle recognition module 13, the and of processing module 14
Control module 15.Wherein：
The acquisition module 11, environmental data and the mobile platform for obtaining mobile platform surrounding enviroment are current
Motion state；
The denoising module 12, for the environmental data to be carried out into denoising；
The obstacle recognition module 13, for recognizing whether there is barrier in the environmental data, and reads the barrier
Hinder thing information；
The processing module 14, the beeline for calculating the barrier and the mobile platform, and for judging
The relation of the beeline and distance threshold；
The control module 15, described in being avoided according to the processing module feedack control mobile platform
Barrier.
The mobile platform can be robot, aircraft, steamer, submarine etc.；Wherein described aircraft can be four axles
Aircraft, multi-rotor aerocraft, unmanned plane during flying device, model plane etc..
The barrier can be building, trees, flying bird, reef, pedestrian, other aircraft etc..The barrier can
To be static or motion.
The acquisition module 11 includes first acquisition unit 111 and second acquisition unit 112.Wherein, described first obtain
Unit 111 is used for the environmental data for obtaining the mobile platform surrounding enviroment, and the second acquisition unit 112 is used to obtain described
The current motion state of mobile platform.
The first acquisition unit 111 can obtain the environmental data on the mobile platform periphery using sensor；Also may be used
To be to utilize known environmental data；Can also be that the environmental data obtained using known environmental data and the sensor is entered
Row fusion.It is preferred that, the sensing implement body uses aircraft surrounding enviroment described in two-dimensional laser radar real-time perception, wherein swashing
Optical radar is Japan Hokuyo product.
The environmental data obtained can be cloud data, or raster data.
The motion state that the mobile platform of the acquisition of second acquisition unit 112 is current includes its movement velocity and fortune
Dynamic direction.
The environmental data that the denoising module 12 is used to obtain the first acquisition unit 111 is carried out at denoising
Reason, filter out in the environmental data to uncorrelated data, wherein denoising data include doubtful noise or/and flat comprising the movement
The data of platform own partial, but two kinds of data listed above are not limited to, can also be other types of data.
The obstacle recognition module 13 is to extract obstacle information by the object edge in environment-identification data.Read
The obstacle information taken includes start angle of each barrier on α angles and θ angles and termination point and the aircraft
Minimum distance and the angle that occurs of the minimum distance, wherein α angles represent a little with the line of the aircraft and the flight
Angle where device in the vertical direction of horizontal plane formation, θ angles represent line and the aircraft mesh a little with the aircraft
Mark towards the angle in the horizontal direction of the formation.
The processing module 14 includes first processing units 141, second processing unit 142 and judging unit 143 and the 3rd
Processing unit 144, wherein the first processing units 141 are put down for the coordinate system of the environmental data to be converted into the movement
Polar coordinates centered on platform；The second processing unit 142 is used to calculate the barrier and institute according to the obstacle information
State the beeline of mobile platform；The judging unit 143 is used for the relation for judging the beeline and setpoint distance threshold value；
3rd processing unit 144 is used for mobile platform the fleeing from relative to the barrier according to the minimum distance calculation
Vector, and the vector of fleeing from is converted into controlled quentity controlled variable.It should be noted that when the mobile platform center and center sensor
In the case that ranging offset is little, the first processing units 141 do not work.
The control module 15 is used to control the mobile platform to avoid institute according to the feedack of processing module 14
State barrier.
Specifically, direction is fled from setting, when the beeline is less than the distance threshold, the control module 15 is controlled
Make the mobile platform to flee from direction along described and move, make the beeline more than or equal to the distance threshold；When it is described most
When short distance is more than or equal to the distance threshold, the control module 15 controls the mobile platform to perform current motion state.
It is preferred that, the control module 15 controls the movement to put down according to the feedack of the 3rd processing unit 144
Platform flees from vector to avoid the barrier described in performing.Wherein, distance threshold can be adjusted according to actual conditions, such as can be
5m, 8m, 10m etc..
Embodiment 2
The present invention provides a kind of mobile platform 10.Fig. 2 is please referred to, an implementation of the mobile platform provided for the present invention
The structural representation of example.The mobile mobile platform 10 include embodiment 1 in it is described evade collision system 100 automatically, according to
It is described that evading collision system 100 controls the automatic avoiding barrier of the mobile platform 10 automatically.
Embodiment 3
The present invention provides a kind of method that mobile platform evades collision automatically.Fig. 3 is please referred to, the present invention is provided
Mobile platform evades the schematic flow sheet of an embodiment of the method for collision automatically.The mobile platform evades the side of collision automatically
Method comprises the following steps：
Step S1：Obtain the environmental data of mobile platform surrounding enviroment；
Specifically, the environmental data is obtained by the first acquisition unit 111, the environmental data of acquisition can be
Cloud data or rasterizing data, present embodiment use cloud data.The environmental data can be one-dimensional, two dimension,
Can also be three-dimensional.
The first acquisition unit 111 can obtain the environmental data on the mobile platform periphery using sensor；Also may be used
To be that using known environmental data, such as we first establish the map of the interior space, the mobile platform root is then allowed
The map motion built up according to this, rather than rely on sensors towards ambient progress real-time perception；Can also be using known
Environmental data and the sensor obtain environmental data merged.It is preferred that, the sensing implement body is swashed using two dimension
Aircraft surrounding enviroment described in optical radar real-time perception, wherein laser radar are Japan Hokuyo product.
When the mobile platform is aircraft, head can be used to increase sensor when the aircraft carries sensor
Surely, its posture is made not influenceed by mobile platform attitudes vibration.When mounted, the two-dimensional laser radar is increased into steady cloud by two axles
Platform is linked together with the aircraft, and the Laser Radar Scanning face is ensured forever in the case where the attitude of flight vehicle changes
Far water is put down.
It is preferred that, the coordinate system of the environmental data of acquisition is converted into the polar coordinates centered on the mobile platform,
Facilitate the calculating of subsequent step.Specifically, obtaining after the environmental data, unit 141 is managed by the environment number by described first
According to coordinate system be converted into polar coordinates centered on the mobile platform.
In coordinate system switch process, if environmental data is cartesian coordinate in itself, it can be converted to by trigonometric function
Polar coordinates：
By Z (x, y, z) be converted to Z (α, θ, r),
In present embodiment, the mobile platform surrounding enviroment, the environmental data of acquisition are scanned using laser radar
Inherently polar coordinates.In polar coordinates, α angles represent point and the line of mobile platform and hanging down for horizontal plane formation where mobile platform
In the horizontal direction that the line of the upward angle of Nogata, θ angles representative point and mobile platform is formed with mobile platform target direction
Angle, r represents point the distance between with mobile platform.
When the center of the environmental data of acquisition or origin be sensor in itself, but after coordinate system is changed, environmental data
Origin be converted into the center of mobile platform.Fig. 4 is please referred to, is the side that mobile platform shown in Fig. 3 evades collision automatically
Coordinate system transition diagram in method.Wherein, D1 points represent the point in environmental data；A represents the center of sensor, and B represents mobile
The center of platform.The computational methods of coordinate system conversion are as follows：
It should be noted that in the case that the mobile platform center and center sensor ranging offset are little, can be with
Omitted coordinate center switch process.
Further, the environmental data that step S1 also includes obtaining the first acquisition unit 111 carries out denoising
Processing.The environmental data is carried out denoising by the denoising module 12, and the environmental data used in subsequent step is preferably
Environmental data after denoising.Specifically, including filtering out doubtful noise in the environmental data and flat comprising the movement
The data of platform own partial, but two kinds of data listed above are not limited to, can also be other types of data.
When environmental data uses cloud data, rejecting the method for doubtful noise in the environmental data includes：By judging
The reflected intensity each put in the environmental data, and intensity threshold T is set, when reflected intensity is less than intensity threshold T, then judge
It is doubtful noise, is filtered out；Wherein intensity threshold T=kr1+ C, wherein C represent constant, and k represents that strength retrogression leads, r1Table
Show the distance for a little arriving the aircraft.
The environmental data set up during according to binocular camera is gridding, and grid size then passes through than larger
Judge the occupation rate of each grid in environmental data, if occupation rate is less than threshold value, judge that it, for doubtful noise, is filtered
Remove.
Rejecting the environmental data and including the data of the mobile platform own partial includes：Using the mobile platform as
The center of circle sets a filtering radius R, and the data fallen in the filtering radius R are removed.If not by the ring in step S1
The coordinate system of border data is converted into polar step centered on the mobile platform, then one is set by the center of circle of sensor
Filter radius.
The part elimination method of the mobile platform itself can also be judged by the geometrical model of the mobile platform
The part of the mobile platform is included in environmental data, and is removed.
It should be noted that when not including the mobile platform part of itself in the environmental data, then rejecting described
The data step comprising the mobile platform own partial is omitted in environmental data.
Step S2：Whether have barrier in environment-identification data, when there is barrier, obtain the obstacle information and
The current motion state of the mobile platform；
Specifically, recognizing in the environmental data whether there is barrier by the obstacle recognition module 13.The barrier
Hinder thing identification module 13 by the object edge in the environmental data is identified as determine whether barrier according to
According to.Polar angle is taken especially by the range data of the identification point and the mobile platform and led, if derivative is exhausted
Given threshold is higher than to value, then judged at this for object edge：Rest in actual applications in processing two-dimensional environment data, but
It is also this principle to judge the object edge in three-dimensional environment.
When the barrier in environment, when especially adjacent barrier quantity is more, we will regard apart from not far barrier
For one big barrier.Specifically, judge two obstacle distances it is remote it is not far have two amounts, be separation angle respectively with it is absolute away from
From when the two amounts are all higher than correspondence given threshold, then it is assumed that the two obstacle distances farther out, judge it for two independences
Barrier；Conversely, then judging that it is calculated for a barrier.
After each barrier in identifying environmental data, the obstacle recognition module 13 simultaneously reads each barrier
Obstacle information, the start angle that the obstacle information is included on α angles and θ angles puts down with termination point, with the movement
The angle that the minimum distance of platform and the minimum distance occur, wherein α angles represent a little with the line of the mobile platform with it is described
Angle where mobile platform in the vertical direction of horizontal plane formation, θ angles represent a little with the line of the mobile platform with it is described
Mobile platform target is towards the angle in the horizontal direction of the formation.
The current motion state of the mobile platform is obtained by the second acquisition unit 112, wherein, the movement is put down
The current motion state of platform includes movement velocity and the direction of motion.
Step S3：Setpoint distance threshold value, calculates the beeline of the barrier and the mobile platform, and judge described
Beeline and the relation of the distance threshold；
Specifically, distance threshold may be set to 5m, 8m or 10m, or other numerical value are assigned as the case may be.
The second processing unit 142 calculates institute according to the current motion state of the mobile platform and obstacle information
The beeline of barrier and the mobile platform is stated, the judging unit 143 judges the beeline and described apart from threshold
The relation of value, and will determine that object information feeds back to the control module 15.
Step S4：Direction is fled from setting, when the beeline is less than the distance threshold, controls the mobile platform
Direction is fled from described in move, and the beeline is more than or equal to the distance threshold；When the beeline is more than or equal to
During the distance threshold, the mobile platform is controlled to perform current motion state.
Specifically, when the feedback information of judging unit 143 is that the beeline is less than the distance threshold, it is described
Control module 15 calls the 3rd processing unit 144 to calculate flee from vector of the mobile platform relative to the barrier,
The vector of fleeing from simultaneously is converted into fleeing from speed or flees from acceleration by the 3rd processing unit 144, forms controlled quentity controlled variable, then
By the controlled quentity controlled variable feedback of the information to the control module 15, the control module 15 controls the mobile platform to perform the control
Amount processed；When the feedback information of judging unit 143 is that the beeline is more than or equal to the distance threshold, the control mould
Block 15 controls the mobile platform to perform current motion state.
When the quantity for recognizing the barrier in the environmental data is multiple, calculate respectively to each obstacle
Flee from vector and sum, the controlled quentity controlled variable flees from vectorial sum to be described.3rd processing unit 144 is simultaneously fled from described
Vectorial sum is converted into fleeing from speed or flees from acceleration, and now the controlled quentity controlled variable flees from speed or flee from acceleration to be corresponding
Degree.
In the present embodiment, the calculation formula for fleeing from vector is：
Wherein, n is barrier number, d in formulanFor the beeline of the obstacle distance mobile platform, dmaxFor setting
Distance threshold, KoaTo flee from the amplification coefficient of vector,To flee from the direction of vector, that is, flee from direction.
Fleeing from direction can be according to different situation sets itself.For example：When the mobile platform is transported close to the barrier
When dynamic, the direction and the angle of the current direction of motion of the mobile platform fled from is in 90-270 °, makes the mobile platform extremely
The beeline of the barrier is more than or equal to distance threshold.It is preferred that, define the mobile platform most short distance described in
The direction that the mark that leaves the right or normal track simultaneously is moved close to the barrier is first direction, and the direction of fleeing from is opposite to the first direction, can
The mobile platform is adjusted the beeline within the most short time, the beeline is more than or equal to distance threshold.
Wherein described barrier can be motion or static.
It is described to flee from direction and the fortune of the mobile platform currently when the mobile platform is moved away from the barrier
The angle in dynamic direction is in 0-90 ° or 270-360 °.It is preferred that, and the barrier and the mobile platform for motion in the same direction when,
The direction of fleeing from may be set to the direction of motion identical direction current with the mobile platform, improve the mobile platform
Movement velocity.For example：The mobile platform be aircraft, the barrier be moving object, the aircraft with it is described
Barrier is moved in the same direction, and the aircraft be located at the barrier in front of, now can by the aircraft perform flee to
Amount accelerates flight, to avoid the barrier.
Embodiment 4
Referring to Fig. 5, the structural representation of the automatic another embodiment for evading collision system provided for the present invention.It is described
Automatic collision system 200 of evading includes acquisition module 21, denoising module 22, obstacle recognition module 23, processing module 24 and control
Molding block 25.Wherein described acquisition module 21, acquisition module 22, obstacle recognition module 23 are corresponding with embodiment 1 respectively
Functional module is identical, will not be described here.
Differed with embodiment 1, the processing module 24 includes first processing units 241, second processing unit
242nd, judging unit 243, the 3rd processing unit 244, the processing unit 246 of fourth processing unit 245 and the 5th, wherein described first
Processing unit 241, second processing unit 242, judging unit 243, the 3rd processing unit 244 and the corresponding function in embodiment 1
Module is identical, i.e., the processing module 24 adds the processing of fourth processing unit 245 and the 5th on the basis of embodiment 1
Unit 246.
Fourth processing unit 245 is used to be calculated according to the current motion state of the mobile platform and the obstacle information
Obtain the maximum safe speed of the mobile platform；5th processing unit 246 is used for the motion according to the mobile platform currently
State and the maximum safe speed calculate the target speed of the mobile platform.
The control module 25 includes the first control unit 251 and the second control unit 252.First control unit
251 target speeds for being used to obtain according to calculating control the mobile platform to be moved according to the target speed；
Second control unit 152 controls the mobile platform according to the feedack of the 3rd processing unit 144
Vector is fled from described in performing to avoid the barrier.
Embodiment 5
The present invention provides a kind of mobile platform 20, please refers to Fig. 6, another reality of the mobile platform provided for the present invention
Apply the structural representation of example.The mobile mobile platform 20 includes described evading collision system 200, root automatically in embodiment 4
Automatic evade collision system 200 according to described and control the automatic avoiding barrier of the mobile platform 20.
Embodiment 6
The present invention provides a kind of method that mobile platform evades collision automatically.Fig. 7 is please referred to, the present invention is provided
Mobile platform evades the schematic flow sheet of another embodiment of the method for collision automatically.The mobile platform evades collision automatically
Method, comprises the following steps：
Step S1a, it is corresponding identical with the step S1 in embodiment 3, it will not be described here；
Whether there is barrier in step S2a, environment-identification data, when there is barrier, obtaining the obstacle information
And the current motion state of the mobile platform；According to the obstacle information and the current motion state of the mobile platform,
Calculate the maximum safe speed of the mobile platform；Calculate the target speed of the mobile platform and control the movement to put down
Platform is moved by the target speed；Wherein described target speed is less than or equal to the maximum safe speed；
Specifically, whether have barrier in environment-identification data, when there is barrier, obtain the obstacle information and
The step of mobile platform current motion state, is identical with the correspondence of embodiment 3, will not be described here；
According to the obstacle information and the current motion state of the mobile platform, the highest of the mobile platform is calculated
The step of safe speed, is as follows：
Specifically, calculating the maximum safe speed of the mobile platform by the fourth processing unit 245.The highest
Safe speed is calculated according to the distance of closest barrier and the mobile platform, and the maximum safe speed can
Stopped with ensureing that the mobile platform can be stopped before the safe distance of barrier is reached.In practice, highest peace is given
Full speed degree applies a unidirectional or two-way LPF, to reduce the situation that the mobile platform Behavioral change is unexpected.
The computational methods of the maximum safe speed are as follows：
It is the computational methods that mobile platform shown in Fig. 7 evades maximum safe speed in the method for collision automatically incorporated by reference to Fig. 8
Schematic diagram.Wherein V1、V3It is definite value, V2For variable：
To the maximum safe speed VsafeIt is applied with a unidirectional LPF：
Vsafe,t,filtered=0.95 × Vsafe,t-1+0.05×Vsafe,t
This LPF only exists | Vsafe,t|>|Vsafe,t-1| when can just enable, be effectively reduced mobile platform full speed from
Because of unstable situation that velocity variations comparatively fast occur when opening barrier.
Calculate the target speed of the mobile platform and control the mobile platform to be transported by the target speed
Dynamic step is as follows：
Specifically, calculating the target speed for obtaining the mobile platform by the 5th processing unit 246.Work as institute
The movement velocity for stating mobile platform is more than the maximum safe speed, then first control unit 151 controls the movement to put down
The speed of platform is down to the maximum safe speed, and direction is constant, and now maximum safe speed is transported for the target of mobile platform
Dynamic speed；When the movement velocity of the mobile platform is less than the maximum safe speed, then first control unit 151 is controlled
The speed of the mobile platform is constant, and now the movement velocity of the mobile platform in itself is the target speed.
Step S3a-S4a, and step S3a-S4a content is corresponding identical with step S3-S4 in embodiment 1, does not do herein
Repeat.
Embodiment 7
Referring to Fig. 9, the structural representation of the automatic another embodiment for evading collision system provided for the present invention.It is described
Automatic collision system 300 of evading includes acquisition module 31, denoising module 32, obstacle recognition module 33, processing module 34 and control
Molding block 35.Wherein described acquisition module 31, acquisition module 32, obstacle recognition module 33 and control module 35 respectively with implementation
Corresponding functional module is identical in example 4, will not be described here.
Differed with embodiment 4, the processing module 34 includes first processing units 341, second processing unit
342nd, judging unit 343, the 3rd processing unit 344, fourth processing unit 345, the 5th processing module 346 and the 6th processing module
347, wherein the first processing units 341, second processing unit 342, judging unit 343, the 3rd processing unit the 344, the 4th
Processing module 345, the 5th processing module 346 are corresponding identical with the corresponding function module in embodiment 2, i.e., the base in embodiment 4
The processing module 34 adds the 6th processing unit 347 on plinth.
6th processing unit 347 is used to filter out pre-determined distance scope according to the current motion state of the mobile platform
Outer environmental data, so that the mobile platform evades the barrier collided in the range of the pre-determined distance automatically.
The pre-determined distance can be adjusted according to actual conditions, can be such as the different numerical value of 5m, 8m or 10m.Will be described pre-
If the environmental data outside distance range is filtered out, the accuracy of obstacle recognition can be improved.
Embodiment 8
The present invention provides a kind of mobile platform 30, please refers to Figure 10, for the another of the mobile platform of the invention provided
The structural representation of embodiment.The mobile mobile platform 30 include embodiment 7 in it is described evade collision system 300 automatically,
Automatic evade collision system 300 according to described and control the automatic avoiding barrier of the mobile platform 30.
Embodiment 9
The present invention provides a kind of method that mobile platform evades collision automatically.Figure 11 is please referred to, is offer of the present invention
Mobile platform evade automatically collision method another embodiment schematic flow sheet.The mobile platform evades collision automatically
Method, comprise the following steps：
Step S1b, it is corresponding identical with the step S1 in embodiment 3, it will not be described here；
Step S2b, obtains the current motion state of the mobile platform, according to the current motion state of the mobile platform
The environmental data outside the pre-determined distance scope is filtered out, and whether has barrier in environment-identification data in the range of the pre-determined distance
Hindering thing, when there is barrier, obtaining the obstacle information；Current according to the obstacle information and the mobile platform
Motion state, calculates the maximum safe speed of the mobile platform；Calculate target speed and the control of the mobile platform
The mobile platform is moved by the target speed；Wherein described target speed is less than or equal to highest safety speed
Degree；
Wherein, the step of obtaining the mobile platform current motion state is identical with correspondence in embodiment 3.
Environmental data outside the pre-determined distance scope is filtered out according to the current motion state of the mobile platform, so that institute
State mobile platform and evade the barrier collided in the range of the pre-determined distance automatically.Specifically, the 6th processing unit 347
The environmental data outside pre-determined distance scope is filtered out according to the current motion state of the mobile platform, so that the mobile platform is automatic
Evade the barrier in the range of the collision pre-determined distance.Wherein described pre-determined distance can be adjusted according to actual conditions, such as can be with
For the different numerical value such as 5m, 8m or 10m.Environmental data outside the pre-determined distance scope is filtered out, barrier knowledge can be improved
Other accuracy.
The obstacle recognition module 13 identifies whether in the range of the pre-determined distance with the presence of barrier, hinders when existing
When hindering thing, and obtain the obstacle information.
According to the obstacle information and the current motion state of the mobile platform, the highest of the mobile platform is calculated
The step of safe speed, is identical with the correspondence of embodiment 6, will not be described here；Calculate the target speed of the mobile platform simultaneously
Control the step of mobile platform is moved by the target speed identical with the correspondence of embodiment 6, will not be described here.
Step S3b-S4b, and step S3b-S4b content is corresponding identical with step S3-S5 in embodiment 3, does not do herein
Repeat.
Compared with correlation technique, the method beneficial effect that the mobile platform that the present invention is provided evades collision automatically is：It is logical
The method that the mobile platform of the invention provided evades collision automatically is crossed, makes the mobile platform can be certainly when close to the barrier
Dynamic avoiding barrier, effectively can react to the barrier moved in environment, aircraft actively will not be sent out with barrier
Raw collision, improves the security performance of aircraft avoiding barrier.
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 (10)
1. a kind of mobile platform evades the method for collision automatically, it is characterised in that comprise the following steps：
Step S1：Obtain the environmental data of mobile platform surrounding enviroment；
Step S2：Whether there is barrier in environment-identification data, when there is barrier, obtaining the obstacle information and described
The current motion state of mobile platform；
Step S3：Setpoint distance threshold value, calculates the beeline of the barrier and the mobile platform, and most short described in judgement
Distance and the relation of the distance threshold；
Step S4：Direction is fled from setting, when the beeline is less than the distance threshold, controls the mobile platform along institute
State and flee from direction motion, the beeline is more than or equal to the distance threshold；Described in being more than or equal to when the beeline
During distance threshold, the mobile platform is controlled to perform current motion state.
2. mobile platform according to claim 1 evades the method for collision automatically, it is characterised in that in step S4, calculate
The mobile platform flees from vector in described flee from direction to the barrier, regard the vector of fleeing from as the movement
The controlled quentity controlled variable of platform, and control the mobile platform to perform the controlled quentity controlled variable.
3. mobile platform according to claim 2 evades the method for collision automatically, it is characterised in that when recognizing the ring
The quantity of the barrier in the data of border calculates fleeing from vector and sum to each barrier, institute to be multiple respectively
Controlled quentity controlled variable is stated to flee from vectorial sum.
4. mobile platform according to claim 3 evades the method for collision automatically, it is characterised in that flee from vector by described
Sum, which is converted into, flees from speed or flees from acceleration, and the controlled quentity controlled variable is flees from speed or flee from acceleration.
5. mobile platform according to claim 1 evades the method for collision automatically, it is characterised in that the mobile platform is leaned on
The nearly barrier motion, the direction and the angle of the current direction of motion of the mobile platform fled from is in 90-270 °.
6. mobile platform according to claim 1 evades the method for collision automatically, it is characterised in that the mobile platform is remote
From barrier motion, the direction and the angle of the current direction of motion of the mobile platform fled from is in 0-90 ° or 270-
360°。
7. mobile platform according to claim 1 evades the method for collision automatically, it is characterised in that also include in step S2
Filtered out according to the current motion state of the mobile platform described in the environmental data outside pre-determined distance scope, step S2-S5
Barrier is the barrier in the range of pre-determined distance.
8. mobile platform according to claim 1 evades the method for collision automatically, it is characterised in that step S2 also includes：
According to the obstacle information and the current motion state of the mobile platform, the highest safety speed of the mobile platform is calculated
Degree；Calculate the target speed of the mobile platform and control the mobile platform to be moved by the target speed；Its
Described in target speed be less than or equal to the maximum safe speed.
9. one kind evade collision system automatically, it is characterised in that including acquisition module, obstacle recognition module, processing module and
Control module, wherein：
The acquisition module, for obtaining the motion shape of the environmental data and the mobile platform of mobile platform surrounding enviroment currently
State；
The obstacle recognition module, for recognizing whether there is barrier in the environmental data, and reads the barrier letter
Breath；
The processing module, the beeline for calculating the barrier and the mobile platform；It is described most short for judging
Distance and the relation of distance threshold；Vector is fled from for the mobile platform according to the minimum distance calculation, and will be described
Flee from vector and be converted into controlled quentity controlled variable；
The control module, for controlling the mobile platform to avoid the obstacle according to the processing module feedack
Thing.
10. a kind of mobile platform, it is characterised in that including evading collision system automatically described in claim 9.
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| CN107272681A (en) * | 2017-06-16 | 2017-10-20 | 深圳市可飞科技有限公司 | Adjust automatically mobile platform and the method and mobile platform of target object location relation |
| CN108124472A (en) * | 2017-12-26 | 2018-06-05 | 深圳市道通智能航空技术有限公司 | A kind of method, apparatus and aircraft of barrier of dodging |
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