CN109283936A

CN109283936A - Mobile device control method, device and terminal

Info

Publication number: CN109283936A
Application number: CN201810929758.1A
Authority: CN
Inventors: 郑立强
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2018-08-15
Filing date: 2018-08-15
Publication date: 2019-01-29

Abstract

The present invention provides a kind of mobile device control methods, comprising: obtains the point cloud chart in front of mobile device moving direction；The connected region in front of moving direction is determined based on point cloud information in the point cloud chart, determines that terrestrial information, the terrestrial information include ground line gradient information by the connected region；The mobile device, which is controlled, according to the grade information imitates the ground moving.By determining that connected region determines terrestrial information, it can better ensure that unmanned plane durings plant protection operation, plot segmentation, parcel survey, flight course planning etc., slope can accurately positioned, avoid mobile device that slope is considered as barrier, it realizes and climbing flight is crossed to slope or small slight slope, in order to which mobile device carries out operation etc. to the slope.

Description

Mobile device control method, device and terminal

Technical field

The present invention relates to fly imitatively, image procossing, plot segmentation, control and vehicle technology field, specifically, this Invention is related to a kind of mobile device control method, device and terminal.

Background technique

Generally, the field ground of operation is not smooth, there is the presence on slope or small Tu Bao.Existing unmanned plane installation There is range unit over the ground, liftoff height can be measured, but the state of ground in front cannot be predicted and be analyzed, It may possibly still be present error only according to the data of the measurement of range finder module over the ground.And in order to realize that unmanned plane can be according to ground shape Shape carries out effectively operation, is equipped with obstacle avoidance module in existing plant protection drone, and have landform module, obstacle avoidance module is mainly led to The distance measuring sensor for crossing measurement distance obtains the distance between unmanned plane and barrier, can be effectively shielded from unmanned plane during flying mistake Barrier in journey, wherein obstacle avoidance module such as, laser radar, visual sensor, ultrasonic radar and millimetre-wave radar etc..But It is, in the case of landform is more complicated (be not if any field ground smooth, there is the presence on slope or small Tu Bao), nobody Machine obstacle avoidance module can have slope or small native packet landform to be mistakenly considered barrier for fluctuation ratio is biggish, and existing unmanned plane, Do not have and accurately distinguish slope or real obstruction ability, cause unmanned plane cannot be to being erroneously interpreted as the oblique of barrier yet Slope or small Tu Bao are crossed in slope or small the Tu Bao realization that fly imitatively.

Summary of the invention

The purpose of the present invention aims to solve at least one of above-mentioned technological deficiency, especially existing obstacle avoidance algorithm, can not essence Distinguish quasi-ly slope perhaps real obstruction ability so that unmanned plane can not fly realizes to slope or small Tu Bao imitatively The problem of crossing.

The embodiment of the invention provides a kind of mobile device control methods, comprising:

Obtain the point cloud chart in front of mobile device moving direction；

The connected region in front of moving direction is determined based on point cloud information in the point cloud chart, is determined by the connected region Terrestrial information, the terrestrial information include ground line gradient information；

The mobile device, which is controlled, according to the grade information imitates the ground moving.

Further, the step of mobile device imitates the ground moving is controlled according to the grade information described In, it specifically includes:

The distance between the mobile device of acquisition distance detection device acquisition and the ground；

The ground moving is imitated according to mobile device described in the grade information and the distance controlling.

Further, the ground moving is imitated according to the grade information and the distance controlling mobile device described In step, specifically include:

The mobile posture of the mobile device is adjusted according to the grade information so that the mobile device can imitate it is described Ground moving is mobile；

The ground moving movement is imitated with the mobile posture according to mobile device described in the distance controlling.

Further, the ground shifting is imitated with the mobile posture according to mobile device described in the distance controlling described In dynamic step, specifically include:

Judge the distance whether in pre-determined distance threshold value；

When the distance is not in the pre-determined distance threshold value, controls the mobile device and be moved to the pre-determined distance It is interior；

It controls the mobile device and the ground moving is imitated in the pre-determined distance threshold value with the mobile posture.

Further, the distance includes between the vertical range and mobile device and ground between mobile device and ground Horizontal distance, the pre-determined distance threshold value includes preset vertical distance between mobile device and ground and mobile device and ground Preset level distance between face.

When the vertical range is not in the preset vertical distance threshold and the horizontal distance is not in the default water When in flat distance threshold, controls the mobile device and be moved to the preset vertical distance threshold and the preset level apart from threshold In value；

Control the mobile device with the mobile posture the preset vertical distance threshold and the preset level away from From imitating the ground moving in threshold value.

When the vertical range is not in the preset vertical distance threshold and the horizontal distance is in the preset level When in distance threshold, controls the mobile device and be moved in the preset vertical distance threshold；

When the vertical range is in the preset vertical distance threshold and the horizontal distance is not in the preset level When in distance threshold, controls the mobile device and be moved in the preset level distance threshold；

Further, in the step for determining the connected region in front of moving direction based on point cloud information in the point cloud chart In rapid, specifically include:

Rasterizing processing is done to the point cloud chart；

Point cloud chart midpoint cloud corresponds to the structure feature of grid after acquisition rasterizing, and the structure feature includes: grid It is any multinomial during height above sea level, grid gradient, grid height above sea level are poor；

The connected region in front of moving direction is determined according to the structure feature.

Further, in the step of connected region in front of moving direction is determined according to the structure feature described, tool Body includes:

Based in the grid height above sea level, grid gradient, grid height above sea level difference any one or multinomial determining floor grid With non-floor grid；

The connected region in front of moving direction is determined based on the floor grid.

Further, in described the step of determining floor grid and non-floor grid based on the grid height above sea level, specifically Include:

The grid height above sea level difference and default grid height above sea level difference threshold value are compared, determine non-floor grid and ground grid Lattice；

When the grid height above sea level difference is greater than default grid height above sea level difference threshold value, the grid is determined as the non-ground grid Lattice；

When the grid height above sea level difference is less than default grid height above sea level difference threshold value, the grid is determined as the floor grid.

Further, it in described the step of determining floor grid and non-floor grid based on the grid gradient, also wraps It includes:

The grid gradient and default grid Grads threshold are compared, determine grid connection section and grid undetermined.

When the grid gradient of current grid and the grid ladder of the adjacent cells adjacent with the current grid When degree is respectively less than default grid Grads threshold, the grid and all grids adjacent with the grid are determined as to be connected to grid Lattice, and the connection grid is the floor grid；

The floor grid region is determined as grid connection section, it is impossible to be determined as the connection grid The grid be determined as grid undetermined.

Further, the grid gradient and default grid Grads threshold are compared described, determines that grid is connected to After the step of section and grid undetermined, comprising:

The area of grid connection section is determined according to raster resolution；

The area of grid connection section is connected to section area threshold with default ground to compare；

When the area of grid connection section is greater than default ground connection section area threshold, the grid is connected to The grid of section is determined as benchmark ground grid.

Further, after the step of grid by grid connection section is determined as benchmark ground grid, Include:

Grid height above sea level according to the grid connection section for being determined as the benchmark ground grid obtains height above sea level mean value, institute Stating height above sea level mean value is ground elevation；

It is poor that grid height above sea level undetermined is obtained according to the grid height above sea level of the grid undetermined and the ground elevation；

The grid height above sea level difference undetermined is compared with default ground elevation difference threshold value；

When the grid height above sea level difference undetermined is less than default ground elevation difference threshold value, the grid undetermined is determined as ground grid Lattice；

When the grid height above sea level difference undetermined is more than or equal to default ground elevation difference threshold value, the grid undetermined is determined For non-floor grid.

Further, after the step of grid undetermined is determined as non-floor grid, comprising:

Each non-floor grid, the floor grid nearest apart from the non-floor grid is successively obtained；

It is pulled out according to the point sea of clouds in the non-floor grid and determines point sea of clouds with the grid height above sea level of the floor grid Pull out difference；

Described sea of clouds is pulled out difference to compare with the default ground elevation difference threshold value；

When described sea of clouds, which pulls out difference, is less than the default ground elevation difference threshold value, described cloud is determined as ground point cloud.

Further, after described the step of grid connection section is determined as benchmark ground grid, further includes:

Point cloud in the benchmark ground grid is determined as ground point cloud.

Further, the described the step of floor grid region is determined as grid connection section it Afterwards, comprising:

Traverse the grid in the ground point cloud corresponding grid connection section；

According to the grid height above sea level of current grid described in each and the grid sea of each adjacent cells Pull out determining grid absolute difference；

The grid absolute difference compared between the current grid and each described adjacent cells determines maximum The grid absolute difference；

The maximum grid absolute difference is determined as the grid gradient, the grid gradient is the ground slope Spend information.

Further, the step of point cloud chart midpoint cloud corresponds to the structure feature of grid after the acquisition rasterizing In, it specifically includes:

The grid height above sea level is determined according to the mean value for putting cloud level degree in same grid；

And/or the grid height above sea level according to current grid and the adjacent cells adjacent with the current grid determines institute State grid gradient；

And/or obtain maximum value and minimum value that midpoint sea of clouds in same grid pulls out, according to the maximum value and it is described most Small value determines that the grid height above sea level is poor.

The embodiment of the invention also provides a kind of mobile device control devices, comprising:

Point cloud chart obtains module, for obtaining the point cloud chart in front of mobile device moving direction；

Terrestrial information determining module, for determining the connected region in front of moving direction based on point cloud information in the point cloud chart Domain, for determining that terrestrial information, the terrestrial information include ground line gradient information by the connected region；

Control module imitates the ground moving for controlling the mobile device according to the grade information.

Further, it in the control module, specifically includes:

Distance acquiring unit, for obtaining mobile device and the distance between the ground of distance detection device acquisition；

First movement unit, for imitating the ground according to mobile device described in the grade information and the distance controlling It is mobile.

Further, it in the mobile unit, specifically includes:

Adjustment unit, for adjusting the mobile posture of the mobile device according to the grade information, so that the movement It is mobile that device can imitate the ground moving；

Second mobile unit, for imitating the ground according to mobile device described in the distance controlling with the mobile posture It is mobile.

Further, it in second mobile unit, specifically includes:

Judging unit, for judging the distance whether in pre-determined distance threshold value；

First control unit, for controlling the mobile device when the distance is not in the pre-determined distance threshold value It is moved in the pre-determined distance；

Third mobile unit is imitated in the pre-determined distance threshold value for controlling the mobile device with the mobile posture The ground moving.

Preferentially, the distance includes between the vertical range and mobile device and ground between mobile device and ground Horizontal distance, the pre-determined distance threshold value include preset vertical distance between mobile device and ground and mobile device and ground Between preset level distance.

Further, it in second mobile unit, specifically includes:

Second control unit, for when the vertical range not in the preset vertical distance threshold and it is described it is horizontal away from From not in the preset level distance threshold when, control the mobile device and be moved to the preset vertical distance threshold and institute It states in preset level distance threshold；

4th mobile unit, for controlling the mobile device with the mobile posture in the preset vertical distance threshold The ground moving is imitated in the preset level distance threshold.

Further, it in second mobile unit, specifically includes:

Third control unit, for when the vertical range not in the preset vertical distance threshold and it is described it is horizontal away from When from the preset level distance threshold, controls the mobile device and be moved in the preset vertical distance threshold；

5th mobile unit, for controlling the mobile device with the mobile posture in the preset vertical distance threshold The ground moving is imitated in the preset level distance threshold.

Further, it in second mobile unit, specifically includes:

4th control unit, for when the vertical range is in the preset vertical distance threshold and the horizontal distance When not in the preset level distance threshold, controls the mobile device and be moved in the preset level distance threshold；

6th mobile unit, for controlling the mobile device with the mobile posture in the preset vertical distance threshold The ground moving is imitated in the preset level distance threshold.

Further, it in the terrestrial information determining module, specifically includes:

Rasterizing unit, for doing rasterizing processing to the point cloud chart；

Structure feature acquiring unit corresponds to the structure feature of grid for obtaining point cloud chart midpoint cloud after rasterizing, The structure feature includes: grid height above sea level, grid gradient, any multinomial in grid height above sea level difference；

First connected region determination unit, for determining the connected region in front of moving direction according to the structure feature.

Further, it in the connected region determination unit, specifically includes:

First grid determination unit, for based on any one in the grid height above sea level, grid gradient, grid height above sea level difference Or multinomial determining floor grid and non-floor grid；

Second connected region determination unit, for determining the connected region in front of moving direction based on the floor grid Domain.

Further, it in the grid determination unit, specifically includes:

First height above sea level difference comparison unit, for carrying out pair the grid height above sea level difference and default grid height above sea level difference threshold value Than determining non-floor grid and floor grid；

First non-floor grid determination unit is used for when the grid height above sea level difference is greater than default grid height above sea level difference threshold value, The grid is determined as the non-floor grid；

First floor grid determination unit is used for when the grid height above sea level difference is less than default grid height above sea level difference threshold value, institute It states grid and is determined as the floor grid.

Further, in the grid determination unit, further includes:

Gradient value comparison unit determines grid for comparing the grid gradient and default grid Grads threshold It is connected to section and grid undetermined.

It is connected to grid determination unit, for when the grid gradient of current grid and adjacent with the current grid When the grid gradient of adjacent cells is respectively less than default grid Grads threshold, by the grid and the institute adjacent with the grid There is grid to be determined as being connected to grid, and the connection grid is the floor grid；

Grid determination unit undetermined is connected to section for the floor grid region to be determined as the grid, will The grid for being not determined as the connection grid is determined as grid undetermined.

Further, further includes:

Grid is connected to section area determination unit, for determining the face of grid connection section according to raster resolution Product；

Area value comparison unit, for the area of grid connection section to be connected to section area threshold with default ground It compares；

Benchmark ground grid determination unit, for being connected to section when the area of grid connection section is greater than default ground When area threshold, the grid of grid connection section is determined as benchmark ground grid.

Further, further includes:

Ground elevation determination unit, for the grid according to the grid connection section for being determined as the benchmark ground grid Lattice height above sea level obtains height above sea level mean value, and the height above sea level mean value is ground elevation；

Grid height above sea level difference determination unit undetermined, for according to the grid height above sea level of the grid undetermined and ground sea It is poor to pull out acquisition grid height above sea level undetermined；

Second height above sea level difference comparison unit, for carrying out the grid height above sea level difference undetermined and default ground elevation difference threshold value Comparison；

Second floor grid determination unit, for being less than default ground elevation difference threshold value when the grid height above sea level difference undetermined When, the grid undetermined is determined as floor grid；

Second non-floor grid determination unit, for being more than or equal to default ground sea when the grid height above sea level difference undetermined When pulling out poor threshold value, the grid undetermined is determined as non-floor grid.

Further, further includes:

Floor grid distance acquiring unit, for each non-floor grid, successively obtain apart from it is described non-ly The nearest floor grid of face grid；

Point sea of clouds pulls out poor determination unit, for pulling out and the floor grid according to the point sea of clouds in the non-floor grid The grid height above sea level determines that point sea of clouds pulls out difference；

Point sea of clouds pulls out poor comparison unit, carries out pair for described sea of clouds to be pulled out difference with the default ground elevation difference threshold value Than；

First ground point cloud determination unit, for being less than the default ground elevation difference threshold value when described sea of clouds pulls out difference When, described cloud is determined as ground point cloud.

Further, further includes:

Second ground point cloud determination unit, for the point cloud in the benchmark ground grid to be determined as ground point cloud.

Further, further includes:

Traversal Unit, for traversing the grid in the ground point cloud corresponding grid connection section；

Grid absolute difference determination unit, for the grid height above sea level according to current grid described in each and each The grid height above sea level of a adjacent cells determines grid absolute difference；

Grid absolute difference comparison unit, for comparing between the current grid and each described adjacent cells The grid absolute difference determines the maximum grid absolute difference；

Ground line gradient information determination unit, for the maximum grid absolute difference to be determined as the grid ladder Degree, the grid gradient are the ground line gradient information.

Further, it in the structure feature acquiring unit, specifically includes:

Grid height above sea level determination unit, for determining the grid height above sea level according to the mean value for putting cloud level degree in same grid；

Grid gradient determination unit, be used for and/or, according to current grid and the adjacent cells adjacent with the current grid The grid height above sea level determine the grid gradient；

Grid height above sea level difference determination unit, be used for and/or, obtain maximum value and minimum that midpoint sea of clouds in same grid pulls out Value, determines that the grid height above sea level is poor according to the maximum value and the minimum value.

The embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the meter The step of calculation machine program realizes mobile device control method described in any technical solution when executing.

The embodiment of the invention also provides a kind of mobile device controlling terminal, including processor, memory, the memories For storing computer program, computer program mobile device described in any technical solution when being executed by the processor The step of control method.

The embodiment of the invention also provides a kind of mobile devices, comprising: the computer readable storage medium is described Mobile device controlling terminal.

Compared with prior art, the invention has the following advantages:

1, the embodiment provided through the invention realizes the point cloud chart obtained in front of mobile device moving direction；Based on institute It states point cloud information in point cloud chart and determines connected region in front of moving direction, terrestrial information is determined by the connected region, it is described Terrestrial information includes ground line gradient information；The mobile device, which is controlled, according to the grade information imitates the ground moving.Into one Step ground, by determine connected region determine terrestrial information, can better ensure that plant protection operation, plot segmentation, parcel survey, During flight course planning etc., slope can be accurately being positioned, avoid mobile device that slope is considered as barrier, so that mobile Device combines realtime graphic to fly imitative slope on the basis of having slope detection module, realizes to slope or small Slight slope crosses climbing flight, in order to which mobile device carries out operation etc. to the slope.

2, the embodiment provided through the invention, which is realized, does rasterizing processing to the point cloud chart；Institute after acquisition rasterizing The structure feature of object to be identified described in point cloud chart is stated, the structure feature includes: grid height above sea level, grid gradient, grid height above sea level It is any multinomial in difference；The connected region in front of moving direction is determined according to the structure feature.It is shot by photographic device Realtime graphic is further processed acquisition depth image to realtime graphic, wherein each pixel and sky on depth image Between in point it is corresponding, and the pixel has space coordinate, therefore when photographic device inner parameter and external parameter are fixed, Seat of the pixel in world coordinates on depth image is determined by the transformational relation between image coordinate system and world coordinate system All pixels point on depth image is transformed into real world space by scale value, obtains multiple points in space coordinate, and Multiple points collectively referenced as point cloud, the image constituted are known as point cloud chart, since its coordinate value of difference is different, it is based on point The coordinate value of each point determines the structure feature in image between each point in cloud, based on the relationship between structure feature, determines In realtime graphic such as ground, and then ground and barrier, especially operation can be accurately distinguished according to recognition result Slope in journey, avoids unmanned plane that slope is identified as barrier.

3, the embodiment provided through the invention is realized to the point cloud chart rasterizing；Based on the point after rasterizing Cloud atlas obtains the structure feature, by the rasterizing to point cloud chart, and then more can accurately obtain in largely point cloud Structure feature is obtained, in order to more can accurately determine division points cloud based on the structure feature, makes same object as much as possible The structure feature of body or same type object is identical, realizes that accurately identification is such as ground, and by other in realtime graphic Object, which can mark off, to avoid nobody such as barrier in order to which unmanned plane can carry out efficiently operation according to recognition result Slope, massif, groove etc. in operating zone is not carried out operation to it as barrier by machine.

4, the embodiment provided through the invention, which is realized, determines the grid according to the mean value for putting cloud level degree in same grid Lattice height above sea level；And/or according to described in current grid and the determination of the grid height above sea level of the adjacent cells adjacent with the current grid Grid gradient；And/or maximum value and minimum value that midpoint sea of clouds in same grid pulls out are obtained, according to the maximum value and described Minimum value determines that the grid height above sea level is poor.The characteristic inconsistent according to structure feature between different objects, can be according to structure spy The grid height above sea level of sign, grid gradient, grid height above sea level difference realize the accurate differentiation to different objects in cloud.

The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description Obviously, or practice through the invention is recognized.

Detailed description of the invention

Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments Obviously and it is readily appreciated that, in which:

Fig. 1 is a kind of flow chart of embodiment in a kind of exemplary embodiments of mobile device control method of the present invention；

Fig. 2 is the flow chart of another embodiment in a kind of exemplary embodiments of mobile device control method of the present invention；

Fig. 3 is the flow chart of another embodiment in a kind of exemplary embodiments of mobile device control method of the present invention；

Fig. 4 is the flow chart of another embodiment in a kind of exemplary embodiments of mobile device control method of the present invention；

Fig. 5 is the flow chart of another embodiment in a kind of exemplary embodiments of mobile device control method of the present invention；

Fig. 6 is a kind of structural representation of embodiment in a kind of exemplary embodiments of mobile device control device of the present invention Figure；

Fig. 7 is a kind of structural representation of another embodiment of the exemplary embodiments of mobile device control device of the present invention Figure；

Fig. 8 is a kind of structural representation of another embodiment of the exemplary embodiments of mobile device control device of the present invention Figure；

Fig. 9 is a kind of structural representation of another embodiment of the exemplary embodiments of mobile device control device of the present invention Figure；

Figure 10 is a kind of structural representation of another embodiment of the exemplary embodiments of mobile device control device of the present invention Figure.

Specific embodiment

The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.

Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange Diction "and/or" includes one or more associated wholes for listing item or any cell and all combinations.

Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here To explain.

With the development of science and technology and agricultural, unmanned plane has big advantage in terms of agricultural plant protection, obtains in recent years It is widely applied.But in practical applications, unmanned plane there is a problem of some in the urgent need to address.Plant protection drone is extensive at present It the region bigger applied to plot such as Xinjiang must can not however, in order to enable unmanned plane preferably develops on agricultural plant protection It needs with exempting from for unmanned plane to be applied on hilly country.Obstacle avoidance module is installed on conventional unmanned plane, which mainly measures The distance measuring sensor of distance obtains the distance between unmanned plane and barrier, can be effectively shielded from during unmanned plane during flying Barrier, distance measuring sensor, for example, laser radar, visual sensor, ultrasonic radar and millimetre-wave radar etc..But field Ground ground be not it is smooth, have the presence on slope or small Tu Bao.For slope, do not need to handle as barrier, it can be with The imitative ground function being had using plant protection drone is crossed.And existing unmanned plane, it can not accurately distinguish slope or true Real barrier ability causes the partial region in field can not so that unmanned plane can not carry out operation to the plot on slope By unmanned plane effectively operation.Existing unmanned plane is equipped with range unit over the ground, can measure to liftoff height, but The state of ground in front cannot be predicted and be analyzed.

Existing farm work mobile device, such as plant protection drone, operational method all also focus on GPS mostly (GlobalPositioning System, global positioning system) height-lock control, perhaps manually height-lock control or utilization Individually sensor vertically downward, such as laser sensor, sonar sensor, millimeter radar, realization are simply flown imitatively. However, these methods can only all adapt to the place relatively flat in topography, hilly country, mountainous region, terraced fields or high stalk are planted The environment such as object are all difficult to adapt to, let alone are hilly country, mountainous region, the complicated ring that the landform such as terraced fields or high culm plant are combined into Border.

Therefore, the embodiment of the present invention proposes a kind of mobile device control method, device and terminal, and it is imitative to be able to solve unmanned plane The problems such as ground flight operation effectiveness is poor, and operating efficiency is low and adaptability is poor makes unmanned plane independently adapt to mountainous region, hills, Terraced fields, Plain, flying under the environment such as high culm plant imitatively are improved unmanned plane operation effectiveness, operating efficiency and adaptability, are mentioned Rise the safety of unmanned plane.

It should be noted that mobile device control method, device and terminal in the embodiment of the present invention can be to there is slope Plot moved, avoiding the problem that for being identified as on slope barrier causes unmanned plane that cannot carry out operation to slope plot, And then Ground Nuclear Magnetic Resonance identification on the basis of, carry out it is imitatively mobile, in order to be realized on this basis to ground crops High-efficient homework.Further, the mobile device control method in the embodiment of the present invention can also be applied to constructions work, logistics row The transport of industry package is sorted or to technical fields such as the inquiries, monitoring of article in warehouse.The embodiment of the invention provides one kind Mobile device control method, in a kind of wherein embodiment, as shown in Figure 1, comprising:

S110: the point cloud chart in front of mobile device moving direction is obtained；

It should be noted that mountable in mobile device in the embodiment of the present invention have at least one to can determine a cloud Range unit, range unit can be installed on one end identical with mobile device moving direction, or be installed on mobile device shifting The two sides in dynamic direction, when mobile device is unmanned plane, range unit is installed on side of the unmanned plane towards ground；It is filled mobile Set when being vehicle, range unit can be installed on the front end of vehicle perhaps rear end or it is revolving be installed on vehicle top, In, range unit further includes photographic device, and photographic device can shoot the image that vehicle periphery includes vehicle top, described Range unit such as video camera, laser radar sensor, distance measuring sensor etc..

Specifically, the mobile device may include unmanned plane, ground robot, Ground Operation equipment such as tractor etc., Point cloud chart can be obtained by way of directly inputting, such as the point cloud information in the region can be determined by DSM three-dimensional map, It is then input in mobile device；Acquisition movement side can be realized by the sensor of mobile device carry in other embodiments Point cloud chart forwards obtains sensing data for example, by using laser radar, laser range sensor or imaging sensor, then Processing is carried out to sensing data and obtains point cloud chart.Sensing data can be obtained in advance and be processed into point cloud chart, can also made in real time During industry, sensing data is obtained, is then processed into point cloud chart in real time.

S120: the connected region in front of moving direction is determined based on point cloud information in the point cloud chart, by the connected region Domain determines that terrestrial information, the terrestrial information include ground line gradient information.

Described carries out grid processing to point cloud chart, such as is uniformly divided to point cloud chart, horizontal and vertical equidistant From by grid division at multiple rectangular areas, and can according to the distance of cloud distance ranging device the division grid of Unequal distance Lattice, the grid can be rectangle, or the shapes such as sector, hexagon, triangle.Preferably, the grid is equal big It is small, and be evenly dividing.

Specifically, can according to the point cloud data in grid by the grid classifying in point cloud chart described after rasterizing at one Or multiple connected regions.Average value is such as pulled out according to the point sea of clouds of adjacent cells and divides region, such as the first grid in the horizontal direction Lattice, the second grid, third grid, the 4th grid point sea of clouds to pull out average value be respectively 3,4,5,12, then the first grid, second gate Lattice, third grid meet linear relationship, can be classified into a connected region, and the 4th grid is unsatisfactory for linear relationship, Be not classified into then in the first grid, the second grid, the same connected region of third grid.For another example in the height above sea level for closing on grid When being less than or equal to 1 with the altitude value of current grid, then confirmation closes on grid and current grid belongs to same connected region, such as at certain The altitude value of a certain grid in plane is 5, and it is respectively 4,4,6,5,5,4,6,10 that eight neighborhood, which closes on grid, then altitude value is 4,4,6,5,5,4,6 belong to same connected region with current grid, then the adjacent and current grid that altitude value is 10 is not belonging to together One connected region for another example can also determine connected region using four neighborhood grids, and the specific classification method present invention is without limitation.

S130: the mobile device is controlled according to the grade information and imitates the ground moving.

Specifically, the gradient, such as the first grid, second gate can be determined according to the height above sea level difference of the grid in grid region Lattice, third grid, the 4th grid point sea of clouds to pull out average value be respectively 3,4,5,6, grid is the grid of 1*1, then can basis Pythagorean theorem determines that the gradient is 45 degree.Such as the point cloud of first grid, the second grid, third grid, the 4th grid, the 5th grid Height above sea level average value is respectively 3,4,5,4,3, and grid is the grid of 1*1, then can be according to determining that ground is mound, and value of slope is to become Change, uphill gradient is 45 degree, and downward grades are 45 degree.

It can control mobile device according to the gradient of acquisition and imitate landing ground movement, without striking on ground.

Further, in a kind of wherein embodiment, as shown in Fig. 2, controlling institute according to the grade information described It states in the step of mobile device imitates the ground moving, specifically includes:

S121: the distance between the mobile device of acquisition distance detection device acquisition and the ground；

S122: the ground moving is imitated according to mobile device described in the grade information and the distance controlling.

Further, in a kind of wherein embodiment, as shown in figure 3, described according to the grade information and described In the step of distance controlling mobile device imitates the ground moving, specifically include:

S1221: adjusting the mobile posture of the mobile device according to the grade information, so that the mobile device can Imitate the ground moving；

S1222: the ground moving is imitated with the mobile posture according to mobile device described in the distance controlling.

Judge the distance whether in pre-determined distance threshold value；

Based on the realtime graphic of the photographic device shooting in mobile device, determined in realtime graphic based on the realtime graphic Ground, the photographic device in mobile device can may be single camera for dual camera, and to be installed in mobile device Obstacle avoidance aiding module, which can be used for shooting image and positions etc., and pass through the transformational relation between coordinate system Determine ground position in space, the step of determination method on certain ground mainly passes through hereinafter realization, this will not be repeated here.Into One step, in order to which mobile device can preferably carry out imitatively mobile, the realtime graphic based on photographic device shooting detects ground Behind face, the distance that detected in combination with distance detection device, it is of course possible to which image directly determines distance, then the mobile dress of control It sets and imitates the ground moving.In conjunction with described previously, distance detection device predominantly detects mobile device and ground in vertical direction Distance and mobile device are at a distance from ground level direction.Specifically, after getting distance, the imitative ground of adjustment mobile device The mobile posture in face when ground includes the plot on ground grading and slope, adjusts mobile nothing when mobile device is unmanned plane The man-machine state flown imitatively.Further, by vertical range and unmanned machine side based on unmanned plane and slope or ground To the horizontal distance on slope, carry out the state that structure adjusting unmanned plane flies imitatively, compare with can only be with constant height above sea level Traditional unmanned plane during flying mode, the unmanned plane of the embodiment of the present invention can complete flying imitatively in various environment, improve The efficiency and reliability of unmanned machine operation.

Further, after determining the horizontal distance and vertical range between mobile device and ground, by the level away from It is compared from preset level distance threshold, while the vertical range and preset vertical distance threshold being compared, judged The mobile device whether in preset level distance threshold and vertical range threshold value, if horizontal distance preset level away from From in threshold value, then unmanned plane keeps the flight on imitative ground with present level movement speed, in the horizontal distance not in default water In flat distance threshold and when being less than the preset level threshold value, control mobile device falls back flight, so that unmanned plane makes far from ground It obtains mobile device and imitates ground flying in preset level distance threshold；It is greater than preset level distance threshold in the horizontal distance When, adjustable unmanned plane acceleration advances in preset level distance threshold, so that mobile device is in preset level apart from threshold Imitative ground flying in value；When vertical range is in preset vertical distance threshold, then it is winged to imitate ground with the speed holding being currently lifted Row；Due to mobile device in moving process other than the speed with vertical direction there are also horizontal direction speed, When vertical range is less than preset vertical distance threshold, control mobile device accelerates lifting, when vertical range is greater than preset vertical When distance threshold, the decline of control mobile device or lifting of slowing down, so that mobile device is imitated in preset vertical distance threshold Ground flying；It avoids mobile device from colliding ground, guarantee the safe flight of mobile device while realizing imitative ground flying.Having In the embodiment of body, the process of judgement simultaneously when vertical range and horizontal distance adjusts shifting according to two judging results simultaneously The vertical range and/or horizontal distance of dynamic device and ground, or in horizontal distance in preset level distance threshold, hang down simultaneously It when straight distance is in preset vertical distance threshold, does not adjust to horizontal distance and vertical range, ground is imitated with present speed and is flown Row.The mobile device control method provided through the embodiment of the present invention passes through obstacle avoidance module when the present invention is used for the flight of imitative ground With the image recognition of landform module combination photographic device shooting, realizes and fly safely and efficiently imitatively.Implement using the present invention The unmanned plane of example can be directed to the horizontal distance different from ground, and control unmanned plane makes different flare maneuvers, so that Unmanned plane can be in mountainous region, and hills, terraced fields, Plain, the various environment such as high culm plant are realized to fly imitatively, not only increases nobody The operating efficiency and unmanned plane of machine adapt to the ability of environment, and improve the reliability and safety of unmanned plane.The present invention is real It applies example and is particularly suitable for this kind of needs of such as plant protection drone and keep constant height with ground, and need to adapt to make under various environment The unmanned plane of industry.

Further, in a kind of wherein embodiment, as shown in figure 4, being believed described based on point cloud chart midpoint cloud It ceases in the step of determining the connected region in front of moving direction, specifically includes: S100, S200, S300.

S100: rasterizing processing is done to the point cloud chart.

The embodiment of the present invention is mainly handled the image of photographic device shooting, and by transformational relation (based on taking the photograph As device image coordinate system, photographic device coordinate system and world coordinate system between transformational relation), determine in image corresponding The position on ground in space.It should be noted that, although not showing the image coordinate system of photographic device directly, photographic device is sat Transformational relation between mark system and world coordinate system, those skilled in the art should be understood that and implement.As it was noted above, The realtime graphic of the shooting of photographic device is obtained, i.e. the realtime graphic is the image that mobile device is shot in moving process, should Realtime graphic can may be RGB image for depth image.When the image is RGB image, which is carried out just Step processing, is converted into depth image, and depth image is comprising the letter with the distance dependent on the surface of the scenario objects of viewpoint The image or image channel of breath.Wherein, depth image is similar to gray level image, and only its each pixel value is sensor distance The actual range of object.Usual RGB image and depth image are registrations, thus have one-to-one corresponding pass between pixel System.Since the pixel value of pixel each on depth image is the distance between photographic device and actual point (i.e. depth information), Therefore, on the basis of depth image, by the transformational relation between coordinate system above-mentioned, it can determine that each pixel is corresponding The coordinate value of spatial point, i.e. coordinate value of each pixel in world coordinate system, due to photographic device inner parameter and outside Portion's parameter is fixed, so each pixel convert after world coordinate system into the same coordinate system, the depth based on each pixel The transformational relation between information and coordinate system above-mentioned is spent, can determine position of each pixel on world coordinate system, it will All pixels point on same frame image is transformed into world coordinate system, is obtained the set a little in world coordinate system, is Point cloud, is expressed as point cloud chart on the image, and each of point cloud point all has the coordinate value in world coordinate system.It needs It is bright, in other real-time modes, by the movement for then passing through range unit (such as laser radar scanning sensor) acquisition The distance between device and object to be identified are then handled the distance of acquisition, to obtain point cloud chart.Gauss is contained as used Kernel function song curvature of a curve expression formula establishes Related Mathematical Models, has selected suitable discrete scale factor.According to discrete curvature The Local Extremum of curve determines section line feature point set, and carries out the fusion of characteristic point, and then accurately obtains laser and sweep Described point cloud atlas；Or point cloud chart is obtained based on discrete point gradient method and extremum method.

S200: point cloud chart midpoint cloud corresponds to the structure feature of grid after acquisition rasterizing, and the structure feature includes: It is any multinomial during grid height above sea level, grid gradient, grid height above sea level are poor.

On the basis of aforementioned point cloud chart, structure feature is obtained in order to more fast accurate, by the point Cloud atlas carries out rasterizing, and invocation point cloud is enable to be distributed in different grids.Because putting cloud Numerous, and then it is not easy to hereinafter Midpoint cloud classification, the especially single point varieties of clouds are divided as unit of grid so first to a cloud progress rasterizing Class.In conjunction with description above it is found that point cloud chart is the distribution map of each point under world coordinate system, putting each point in cloud is space In point there is coordinate value, coordinate value of the cloud under world coordinate system can be got by method above-mentioned, point cloud is sat Mark is coordinate value of each point under world coordinate system in point cloud, therefore after getting a cloud coordinate, is sat based on point cloud Mark and following default raster resolution determine coordinate of the described cloud in grid.

Grid is stored using two-dimensional array, sets raster resolution as resolution_, then the grid for putting cloud is sat Mark can be calculated with the following formula:

Index_x=floor (x/resolution_)；

Index_y=floor (y/resolution_)；

Wherein, what (index_x, index_y) was represented is the two dimension number of grid, and (x, y) represents the horizontal coordinate of point cloud, Floor () function stand rounding operation.

After carrying out rasterizing to cloud, what is stored inside each grid cell is the point cloud fallen in the grid region. The object of the structure feature is grid cell, therefore the structure feature includes: grid height above sea level, grid gradient, grid height above sea level Difference summarizes in specific embodiment, and structure feature respectively indicates are as follows: grid height above sea level mean_, grid gradient gradient_ and Grid height above sea level difference error_.

S300: the connected region in front of moving direction is determined according to the structure feature.

On the basis of above-mentioned, to grid height above sea level mean_, grid gradient gradient_ and the grid in structure feature Height above sea level difference error_ classifies, and the structure feature of grid and preset threshold value are compared, and determines the grid for belonging to ground Lattice, so can determine the point cloud in grid be ground, in conjunction with above explanation and subsequent algorithmic procedure, determine realtime graphic Middle connected region, i.e. ground region.It should be noted that in conjunction with subsequent algorithmic procedure it is found that in an embodiment of the present invention, It not only determines ground, can also determine non-ground by setting specific threshold value, or determine one or more kinds of ground, By subsequent sorting algorithm, multiple types of floors is classified, and then determines each object in realtime graphic.

Further, in a kind of wherein embodiment, as shown in figure 5, being moved in described determined according to the structure feature In the step of moving the connected region in front of direction, specifically include: S210, S220.

S210: based in the grid height above sea level, grid gradient, grid height above sea level difference any one or multinomial determining ground Grid and non-floor grid；

S220: the connected region in front of moving direction is determined based on the floor grid.

In conjunction with description above, due to the storage that grid is carried out in the form of two-dimensional array, grid is where cloud Coordinate system in, in the form of planar show.Specifically such as, grid is divided to cloud with the direction of photographic device shooting.Into And in the plane, each grid midpoint cloud has the coordinate value of photographic device shooting direction, i.e., certain height.It needs Illustrate, in an embodiment of the present invention, which is known as the height above sea level of point cloud.And then the structure feature of grid is existed with a cloud Height in this direction is as the benchmark calculated.In presently filed embodiment, pass through specific grid height above sea level, grid ladder Degree, any one in grid height above sea level difference or multinomial determining floor grid and non-floor grid, and determine floor grid it Afterwards, since in conventional mobile device operation process, the region hour hands of institute's operation are to ground, and ground is often with a sheet of Area format exists, therefore in the process, after determining floor grid, based on its connectivity, determines connected region, and The connection is ground, and specific calculating process sees below text, and this will not be repeated here.It is corresponding after carrying out rasterizing to point cloud chart Structure feature as it was noted above, the calculation method of structure feature such as: grid height above sea level mean_: inside computation grid unit The height above sea level mean value of point cloud, using this mean value as the value of grid height above sea level mean_.Grid gradient gradient_: in previous step mean_ After value is calculated, all grid mean_ values that the mean_ value of each grid is adjacent are made the difference, obtained maximum Absolute difference is as grid gradient gradient_.Grid height above sea level difference error_: most by computation grid internal point cloud intermediate altitude The difference of big value and minimum value, as grid height above sea level difference error_.

When the grid height above sea level difference is less than default grid height above sea level difference threshold value, the grid is determined as floor grid.

The grid gradient and default grid Grads threshold are compared, determine grid connection section and grid undetermined

When the grid gradient of current grid and the grid of the adjacent cells adjacent with the current grid When lattice gradient is respectively less than default grid Grads threshold, the grid and all grids adjacent with the grid are determined as being connected to Grid, and the connection grid is the floor grid；

Ground connection grid region is determined as grid connection section, it is impossible to be determined as the connection The grid of grid is determined as grid undetermined.

In an embodiment of the present invention, in realizing specific algorithm of the invention, the default grid height above sea level difference threshold value is ERR_THRESHOLD, the default grid Grads threshold are GRA_THRESHOLD.In conjunction with the content being described above, will be described Grid height above sea level difference is compared with default grid height above sea level difference threshold value, predominantly determines the process of non-floor grid, and determining grid Lattice are connected to section and are connected to two processes in section and grid undetermined including determining grid with during grid undetermined.Of the invention In implementation process, since the area of barrier is smaller with respect to the area on ground, first determine the obstacle grid portion of barrier Point, and then the calculation amount of ground determination process is reduced, especially in ground and barrier cutting procedure, calculating effect can be improved Rate.Specifically, firstly, the grid by height above sea level difference error_ value greater than threshold value ERR_THRESHOLD is classified as obstacle grid；So Afterwards, the grid by gradient gradient_ less than threshold value GRA_THRESHOLD is classified as connection grid, and the connection grid is as Grid corresponding connected region in face is based on grid gradient above-mentioned, when distinguishing ground and barrier, floor grid region It is determined as different floor grid connection sections, i.e., grid above-mentioned is connected to section.Gradient gradient_ is more than or equal to The grid of threshold value GRA_THRESHOLD, which is classified as, is not connected to grid, i.e., is finally classified as remaining disconnected grid unknown Grid, i.e., grid undetermined above-mentioned.

Point cloud in the benchmark ground grid is determined as ground point cloud.

In order to more completely determine ground, in an embodiment of the present invention, it is also necessary to more accurately determine ground The corresponding position and range in the actual environment of information, i.e. ground.And then combine aforementioned process, due to grid resolution ratio not Together, cause identical object that there is different areas under different resolution ratio, so that the area of grid connection section is just not yet Together, therefore, after raster resolution determines, the stool and urine of each grid has been determined, that is, the area of single grid has been determined, and Under same resolution ratio, the area of each grid be it is equal, therefore, the area based on single grid is connected to piece with grid The quantity in area obtains the area of grid connection section.Specifically, by the area of single grid multiplied by the quantity of grid connection section Obtain the area of grid connection section.In conjunction with being described above, by combining the gradient that multiple adjacent cells are described above just can Grid is connected to section, and the connection section is grid connection section (such as floor grid connected region) on ground, more than determination The attribute of lower grid connection section first determines benchmark ground on the basis of the difference of barrier and ground itself area, i.e., aforementioned Benchmark ground grid.The area of grid connection section is connected to section area threshold with default ground to compare；Work as institute It is when stating the area of grid connection section greater than default ground connection section area threshold, the grid of grid connection section is true It is set to benchmark ground grid, such as benchmark ground grid.Default ground connection section area threshold has research staff's setting, non-ly Face/barrier grid can be the trees encountered in unmanned climbing flight course or electric pole etc., which is connected to section such as The corresponding grid in ground slope in mountainous region is connected to section, in order to unmanned plane can be detected in conjunction with distance detection device away from From carrying out imitative ground ground flying.Since the area of the grid connection section on ground is larger with respect to the corresponding area of barrier, and ground Major part area in face is also larger, such as includes the ground on slope.Wherein continuous level land area is greater than slope ground area. Therefore, when the area of grid connection section is greater than default ground connection section area threshold, by the grid of grid connection section Lattice are determined as benchmark ground grid, and level land ground as the aforementioned is as benchmark ground.In conjunction with above-mentioned cloud rasterizing it is found that base In quasi- floor grid put cloud it is corresponding be on ground point formed point cloud, therefore the point Yun Zeke in benchmark ground grid with It is determined as ground point cloud.

In order to the specific type of determination grid undetermined, the benchmark ground is obtained in conjunction with previously described calculation method The grid height above sea level of the grid connection section of grid obtains height above sea level mean value, and the height above sea level mean value is determined as ground elevation, such as exists It is ground elevation in the height above sea level mean value when ground is ground, when ground is crops, which is crops height above sea level. It is poor that the grid height above sea level of grid undetermined is successively made the difference to the height above sea level obtained between grid and ground elevation undetermined with ground elevation, the sea It is poor to pull out undetermined grid height above sea level of the difference as above, grid height above sea level difference undetermined and default ground elevation difference threshold value are compared, wherein In a particular embodiment, the default ground elevation difference threshold value is GROUND_THRESHOLD, when the grid sea undetermined When pulling out difference less than GROUND_THRESHOLD, the grid undetermined is determined as floor grid (i.e. floor grid)；When described undetermined When grid height above sea level difference is more than or equal to GROUND_THRESHOLD, the grid undetermined is determined as non-floor grid (barrier Grid).Specifically, this method can be used for unmanned plane segmentation slope and barrier, allow unmanned plane according to splitting Floor grid and barrier grid carry out it is imitative fly, and then avoid unmanned plane by slope as barrier, so that unmanned plane The flight to imitative slope will not be realized to barrier flight or operation.It should be noted that may include that kind is implanted on ground The ground of crops.In a kind of wherein embodiment, this method is based on when accurately distinguishing crops, and then in unmanned plane When carrying out spraying operation, the crops on slope can be carried out with unified operation, unmanned plane is avoided to carry out no crop ground Spraying operation, or unmanned plane is avoided to carry out operation to the crops for not being objective crop, save the water being sprayed, dose Or particulate matter etc..Aforementioned process mainly includes the case where that crops are more dense, and non-ground/barrier includes ground at this time, When dense crops are ground, it is connected to the floor grid that grid can generate for dense crops at this time, corresponding grid connects Logical section is then the grid connection section of objective crop, and ground is then non-ground/barrier grid above-mentioned, then makees in sprinkling When industry, device easy to remove carries out spraying operation to the corresponding crops of floor grid, to the floor grid on non-ground without Spraying operation avoids waste from being sprayed object, improves the utilization rate for being sprayed object；In yet another embodiment, crops compared with When being sparse, since the grid that can be connected between crops is less, when leading to that grid connection section can not be formed, it is connected to grid Lattice are then floor grid, and the grid connection section determined based on it is that floor grid is connected to section, non-floor grid above-mentioned It can then determine the grid determined based on crops, and then device easy to remove carries out spraying operation to the crops on non-ground, To the floor grid on ground without spraying operation, waste is avoided to be sprayed object, improves the utilization rate for being sprayed object.

Due to being all to be calculated with grid in calculating process above-mentioned, do not implemented on a cloud completely, and What the point in point cloud represented be in space on object a bit, have based on the practical seat in world coordinate system where mobile device Mark, therefore, it is necessary to clearly put the specific category of cloud, in order to determine that the corresponding object in space midpoint is ground or non-ground. Then, when being determined that grid is floor grid by algorithm above, then the point cloud of the lattices is then determined as the point cloud on ground.For More accurately determine whether barrier is ground, it is by the grid of connection section above-mentioned it is found that nearest with floor grid Non- floor grid is most possibly floor grid, therefore, each non-floor grid, successively obtain apart from it is described non-ly The nearest floor grid of face grid, compares in non-floor grid and the height above sea level of the interior point cloud of floor grid is poor, which is point Distance of the cloud perpendicular to grid two-dimensional surface.Before comparison, it is also necessary to pull out according to the point sea of clouds in the non-floor grid and The grid height above sea level of the floor grid determines that point sea of clouds pulls out difference；Successively the point sea of clouds in barrier grid is pulled out and ground Grid height above sea level makes the difference acquisition point sea of clouds and pulls out difference, and the sea of clouds is then pulled out difference and pulls out difference and the default ground with by described sea of clouds Height above sea level difference threshold value compares；Specifically, when dividing ground and barrier, before the default ground elevation difference threshold value can be The GROUND_THRESHOLD stated, the ground include slope.It is less than the default ground elevation difference threshold when a sea of clouds pulls out difference When value, described cloud is determined as ground point cloud, can such as be determined as ground point cloud.In conjunction with the pass of aforementioned cloud and world coordinate system The relationship of system and realtime graphic and point cloud is it is found that in sorting out a cloud after the classification of each point, it is to be understood that in world coordinate system, Point cloud correspond to the classification of object, but due to a cloud be by realtime graphic determination, after a cloud has been determined, can again according to It can determine that ground in realtime graphic corresponds to the ground in actual environment according to the relationship in coordinate system, and then realize precisely dividedly Face and barrier (or segmentation object crops and non-targeted crops and/or ground), so that unmanned plane may be implemented It flies imitatively and/or accurately spraying operation is carried out to crops in sloping place.

The successively grid according to the grid height above sea level of current grid described in each and each adjacent cells Lattice height above sea level determines grid absolute difference；

After corresponding of ground cloud has been determined, in order to realize that unmanned plane imitates ground flying, can especially it imitate Slope flight, it is also necessary to determine the grade information on ground.Therefore, described in traversal ground point cloud corresponding grid connection section Grid combines aforementioned grid gradient to determine that method determines based on the height above sea level between the current grid and grid adjacent thereto traversed The gradient of current grid, this will not be repeated here for detailed process, and the gradient is the grade information on ground.In reality of the invention During applying, it is based on grid gradient above-mentioned, grid in traversal connection section successively obtains the gradient of each grid, and institute State the grade information that grid gradient is ground, i.e. terrestrial information, and then when mobile device imitates flight, based on the grade information and The distance of distance detection device acquisition above-mentioned, it is imitative with the realization of suitable posture in the moving distance of safety to control mobile device Ground flying.

In order to enable subsequent movement device calculation amount in moving process is reduced, when distance detection device is photographic device When, in photographic device inner parameter and fixed external parameter, photographic device coordinate system, image coordinate system, world coordinate system are solid It is fixed, and then the actual location information in ground is determined according to the relationship between three coordinate systems, actual position information and the gradient are closed System is associated storage, so that when mobile device afore-mentioned distance Near Threshold, oneself adjustable mobile posture of mobile device, And then it realizes preferably mobile.Such as in unmanned plane imitative ground flight course, when unmanned plane encounters slope, unmanned plane can be based on The gradient and mobile device and slope distance of other unmanned planes determine before slope position and slope adjust the posture of oneself, Unmanned plane is safely flown along slope.

A kind of mobile device control device provided in an embodiment of the present invention, in a kind of wherein embodiment, such as Fig. 6 institute Show, comprising: point cloud chart obtains module 110, terrestrial information determining module 120, control module 130.

Point cloud chart obtains module 110, for obtaining the point cloud chart in front of mobile device moving direction；

Terrestrial information determining module 120, for determining the company in front of moving direction based on point cloud information in the point cloud chart Logical region, for determining that terrestrial information, the terrestrial information include ground line gradient information by the connected region；

Control module 130 imitates the ground moving for controlling the mobile device according to the grade information.

Further, in a kind of wherein embodiment, as shown in fig. 7, being specifically included in the control module: away from From acquiring unit 121, first movement unit 122.

Distance acquiring unit 121, for obtain distance detection device acquisition mobile device and the ground between away from From；

First movement unit 122, for imitative described according to mobile device described in the grade information and the distance controlling Ground moving.

Further, in a kind of wherein embodiment, as shown in figure 8, being specifically included in the mobile unit: adjusting Whole unit 1221, the second mobile unit 1222.

Adjustment unit 1221, for adjusting the mobile posture of the mobile device according to the grade information, so that described It is mobile that mobile device can imitate the ground moving；

Second mobile unit 1222, for imitative described with the mobile posture according to mobile device described in the distance controlling Ground moving is mobile.

Further, it in second mobile unit, specifically includes:

Further, in a kind of wherein embodiment, as shown in figure 9, in the terrestrial information determining module, specifically It include: rasterizing unit 100, structure feature acquiring unit 200, the first connected region determination unit 300.

Rasterizing unit 100, for doing rasterizing processing to the point cloud chart；

Structure feature acquiring unit 200, for obtain point cloud chart midpoint cloud after rasterizing correspond to grid structure it is special Sign, the structure feature includes: grid height above sea level, grid gradient, any multinomial in grid height above sea level difference；

Index_x=floor (x/resolution_)；

Index_y=floor (y/resolution_)；

First connected region determination unit 300, for determining the connected region in front of moving direction according to the structure feature Domain.

Further, in a kind of wherein embodiment, as shown in Figure 10, in the connected region determination unit, tool Body includes: the first grid determination unit 210, the second connected region determination unit 220.

First grid determination unit 210, for based on any in the grid height above sea level, grid gradient, grid height above sea level difference One or more determines floor grid and non-floor grid；

Second connected region determination unit 220, for determining the company in front of moving direction based on the floor grid Logical region.

Further, it in the structure feature acquiring unit, specifically includes:

Further, it in the grid determination unit, specifically includes:

Further, in the grid determination unit, further includes:

Further, further includes:

The embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the meter The step of mobile device control method is realized when calculation machine program executes.

The embodiment of the invention also provides a kind of mobile device controlling terminal, including processor, memory, the memories For storing computer program, the mobile device control method is realized when the computer program is executed by the processor The step of.

It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer In read/write memory medium.

Storage medium mentioned above can be read-only memory, disk or CD etc..

The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims

1. a kind of mobile device control method characterized by comprising

Obtain the point cloud chart in front of mobile device moving direction；

The connected region in front of moving direction is determined based on point cloud information in the point cloud chart, and ground is determined by the connected region Information, the terrestrial information include ground line gradient information；

2. mobile device control method according to claim 1, which is characterized in that described according to the grade information control It makes in the step of mobile device imitates the ground moving, specifically includes:

3. mobile device control method according to claim 2, which is characterized in that it is described according to the grade information and In the step of distance controlling mobile device imitates the ground moving, specifically include:

The mobile posture of the mobile device is adjusted according to the grade information, so that the mobile device can imitate the ground It is mobile；

4. mobile device control method according to claim 3, which is characterized in that described according to the distance controlling institute It states in the step of mobile device imitates the ground moving with the mobile posture, specifically includes:

Judge the distance whether in pre-determined distance threshold value；

When the distance is not in the pre-determined distance threshold value, controls the mobile device and be moved in the pre-determined distance；

5. according to the described in any item mobile device control methods of claim 2 to 4, which is characterized in that the distance includes moving The horizontal distance between vertical range and mobile device and ground between dynamic device and ground, the pre-determined distance threshold value include Preset vertical distance between mobile device and ground and the preset level distance between mobile device and ground.

6. mobile device control method according to claim 5, which is characterized in that described according to the distance controlling institute It states in the step of mobile device imitates the ground moving with the mobile posture, specifically includes:

When the vertical range not in the preset vertical distance threshold and the horizontal distance not the preset level away from When from threshold value, controls the mobile device and be moved to the preset vertical distance threshold and the preset level distance threshold It is interior；

Control the mobile device with the mobile posture in the preset vertical distance threshold and the preset level apart from threshold The ground moving is imitated in value.

7. mobile device control method according to claim 5, which is characterized in that described according to the distance controlling institute It states in the step of mobile device imitates the ground moving with the mobile posture, specifically includes:

When the vertical range is not in the preset vertical distance threshold and the horizontal distance is in the preset level distance When in threshold value, controls the mobile device and be moved in the preset vertical distance threshold；

8. mobile device control method according to claim 5, which is characterized in that described according to the distance controlling institute It states in the step of mobile device imitates the ground moving with the mobile posture, specifically includes:

When the vertical range is in the preset vertical distance threshold and the horizontal distance is not in the preset level distance When in threshold value, controls the mobile device and be moved in the preset level distance threshold；

9. mobile device control method according to claim 1, which is characterized in that be based on the point cloud chart midpoint described Cloud information determined in the step of connected region in front of moving direction, specifically included:

Rasterizing processing is done to the point cloud chart；

Obtain point cloud chart midpoint cloud after rasterizing and correspond to the structure feature of grid, the structure feature include: grid height above sea level, It is any multinomial in grid gradient, grid height above sea level difference；

10. mobile device control method according to claim 9, which is characterized in that described according to the structure feature In the step of determining the connected region in front of moving direction, specifically include:

Based on any one or multinomial determining floor grid in the grid height above sea level, grid gradient, grid height above sea level difference and non- Floor grid；

11. mobile device control method according to claim 10, which is characterized in that be based on the grid height above sea level described In the step of determining floor grid and non-floor grid, specifically include:

The grid height above sea level difference and default grid height above sea level difference threshold value are compared, determine non-floor grid and floor grid；

When the grid height above sea level difference is greater than default grid height above sea level difference threshold value, the grid is determined as the non-floor grid；

12. according to the described in any item mobile device control methods of claim 9 or 10, which is characterized in that be based on institute described It states in the step of grid gradient determines floor grid and non-floor grid, further includes:

The grid gradient and default grid Grads threshold are compared, determine grid connection section and grid undetermined；

When the grid gradient of current grid and the grid gradient of the adjacent cells adjacent with the current grid are equal When less than default grid Grads threshold, the grid and all grids adjacent with the grid are determined as to be connected to grid, and The connection grid is the floor grid；

The floor grid region is determined as grid connection section, it is impossible to be determined as the institute of the connection grid It states grid and is determined as grid undetermined.

13. mobile device control method according to claim 12, which is characterized in that it is described by the grid gradient with After the step of default grid Grads threshold compares, and determines grid connection section and grid undetermined, comprising:

When the area of grid connection section is greater than default ground connection section area threshold, the grid is connected to section Grid be determined as benchmark ground grid.

14. mobile device control method according to claim 13, which is characterized in that the grid is connected to piece described The grid in area was determined as after the step of benchmark ground grid, comprising:

Grid height above sea level according to the grid connection section for being determined as the benchmark ground grid obtains height above sea level mean value, the sea Pulling out mean value is ground elevation；

When the grid height above sea level difference undetermined is less than default ground elevation difference threshold value, the grid undetermined is determined as floor grid；

When the grid height above sea level difference undetermined is more than or equal to default ground elevation difference threshold value, the grid undetermined is determined as non- Floor grid.

15. mobile device control method according to claim 14, which is characterized in that be determined as in the grid undetermined non- After the step of floor grid, comprising:

It is pulled out according to the point sea of clouds in the non-floor grid and determines that point sea of clouds pulls out difference with the grid height above sea level of the floor grid；

16. mobile device control method according to claim 15, which is characterized in that the grid is connected to piece described Area was determined as after the step of benchmark ground grid, further includes:

Point cloud in the benchmark ground grid is determined as ground point cloud.

17. 6 described in any item mobile device control methods according to claim 1, which is characterized in that described by the ground Grid region was determined as after the step of grid connection section, comprising:

It is true according to the grid height above sea level of current grid described in each and the grid height above sea level of each adjacent cells Fixed grid lattice absolute difference；

The grid absolute difference compared between the current grid and each described adjacent cells determines maximum institute State grid absolute difference；

The maximum grid absolute difference is determined as the grid gradient, the grid gradient is ground line gradient letter Breath.

18. according to right to go 9 described in mobile device control method, which is characterized in that it is described after the acquisition rasterizing In the step of point cloud chart midpoint cloud corresponds to the structure feature of grid, specifically include:

And/or the grid height above sea level according to current grid and the adjacent cells adjacent with the current grid determines the grid Lattice gradient；

And/or maximum value and minimum value that midpoint sea of clouds in same grid pulls out are obtained, according to the maximum value and the minimum value Determine that the grid height above sea level is poor.

19. a kind of mobile device control device characterized by comprising

Terrestrial information determining module, for determining the connected region in front of moving direction based on point cloud information in the point cloud chart, For determining that terrestrial information, the terrestrial information include ground line gradient information by the connected region；

20. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, which holds The step of claim 1 to 18 described in any item mobile device control methods are realized when row.

21. a kind of mobile device controlling terminal, which is characterized in that including processor, memory, the memory is based on storing Calculation machine program realizes claim 1 to 18 described in any item mobile dresses when the computer program is executed by the processor The step of setting control method.

22. a kind of mobile device characterized by comprising computer readable storage medium or right described in claim 20 are wanted Mobile device controlling terminal described in asking 21.