CN112272807A - Control method, control equipment, movable platform and storage medium - Google Patents
Control method, control equipment, movable platform and storage medium Download PDFInfo
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- CN112272807A CN112272807A CN201980038385.1A CN201980038385A CN112272807A CN 112272807 A CN112272807 A CN 112272807A CN 201980038385 A CN201980038385 A CN 201980038385A CN 112272807 A CN112272807 A CN 112272807A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
A control method, a device, a movable platform and a storage medium, wherein the method comprises the following steps: detecting an object distance between the movable platform (12) and an obstacle (S201); determining a first braking distance corresponding to the current speed of the movable platform according to the first corresponding relation between the speed and the braking distance (S202); determining a second braking distance corresponding to the current speed of the movable platform according to the second corresponding relation between the speed and the braking distance (S203); and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the object distance, the first brake distance and the second brake distance (S204). By the mode, the movable platform is prevented from colliding with the barrier, the stability of the movable platform is ensured, and the safety of the movable platform in the moving process is improved.
Description
Technical Field
The present invention relates to the field of control technologies, and in particular, to a control method, a device, a movable platform, and a storage medium.
Background
In the field of movable platforms, distance sensing modules are typically installed on the movable platforms for safety of the movable platforms. The movable platform can acquire the obstacle distance information output by the sensing module during the movement, and the obstacle distance information output by the sensing module is used for limiting the movement speed of the movable platform during the planning of the movement speed and the movement track of the movable platform so as to avoid collision with obstacles and ensure that the movable platform moves in a safe environment all the time.
Taking an unmanned aerial vehicle as an example, the existing obstacle avoidance mode mainly adopts the maximum attitude emergency brake until the unmanned aerial vehicle stops flying and remains hovering. However, in this way of emergency braking at the maximum attitude angle, when the drone is in a high-speed state, the deceleration amplitude of the drone will be large, which may affect the flight safety and stability of the drone to some extent. Therefore, how to control the movable platform more stably and safely to avoid the obstacle has very important significance.
Disclosure of Invention
The embodiment of the invention provides a control method, control equipment, a movable platform and a storage medium, which can ensure the stability of the movable platform and improve the safety of the movable platform in the moving process while avoiding collision between the movable platform and an obstacle.
In a first aspect, an embodiment of the present invention provides a control method, where the method is applied to a movable platform, and the method includes:
detecting an object distance between the movable platform and an obstacle;
determining a first braking distance corresponding to the current speed of the movable platform according to the first corresponding relation between the speed and the braking distance;
determining a second braking distance corresponding to the current speed of the movable platform according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the object distance, the first brake distance and the second brake distance.
In a second aspect, an embodiment of the present invention provides another control method, where the method is applied to a movable platform, and the method includes:
detecting an object distance between the movable platform and an obstacle;
determining a first speed corresponding to the object distance according to a first corresponding relation between the speed and the braking distance;
determining a second speed corresponding to the object distance according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the current speed, the first speed and the second speed.
In a third aspect, an embodiment of the present invention provides a control device, including a memory and a processor;
the memory is used for storing programs;
the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:
detecting an object distance between the movable platform and an obstacle;
determining a first braking distance corresponding to the current speed of the movable platform according to the first corresponding relation between the speed and the braking distance;
determining a second braking distance corresponding to the current speed of the movable platform according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the object distance, the first brake distance and the second brake distance.
In a fourth aspect, an embodiment of the present invention provides another control apparatus, including a memory and a processor;
the memory is used for storing programs;
the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:
detecting an object distance between the movable platform and an obstacle;
determining a first speed corresponding to the object distance according to a first corresponding relation between the speed and the braking distance;
determining a second speed corresponding to the object distance according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the current speed, the first speed and the second speed.
In a fifth aspect, an embodiment of the present invention provides a movable platform, including:
a body;
the power system is arranged on the machine body and used for providing power for moving the movable platform;
the control apparatus according to the third aspect described above.
In a sixth aspect, an embodiment of the present invention provides another movable platform, including:
a body;
the power system is arranged on the machine body and used for providing power for moving the movable platform;
the control apparatus according to the fourth aspect described above.
In a seventh aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first or second aspect.
In the embodiment of the invention, the control equipment can determine the deceleration control quantity for controlling the movable platform to perform deceleration movement at different object distances according to the relation between the object distance between the movable platform and the obstacle and different brake distances. The object distance of the movable platform is larger than the first brake distance and smaller than the second brake distance, the movable platform is controlled to decelerate to a safe speed in a stable posture, the stability of the deceleration process of the movable platform can be improved, and the movable platform is favorably prevented from colliding with obstacles. When the object distance of the movable platform is smaller than the first brake distance, the movable platform is controlled to brake at the maximum attitude angle, so that the movable platform can be prevented from colliding with the barrier, and the safety of the movable platform in the moving process is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a control system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a control method according to an embodiment of the present invention;
FIG. 3a is a schematic diagram of a speed-braking distance relationship curve according to an embodiment of the present invention;
FIG. 3b is a schematic diagram of another speed-braking distance relationship curve according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another control method provided by the embodiment of the invention;
fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The control method provided in the embodiment of the present invention may be executed by a control system. Wherein the control system comprises a control device and a movable platform, in some embodiments the control device may be mounted on the movable platform, in some embodiments the control device may be spatially independent from the movable platform, in some embodiments the control device may be a component of the movable platform, i.e. the movable platform comprises the control device. In certain embodiments, the movable platform may include, but is not limited to, an aircraft such as a drone, a robot capable of autonomous movement, an unmanned vehicle, an unmanned ship, and other movable devices. In certain embodiments, the control device may be a controller of the movable platform, in one example, the control device may be a flight controller of a drone, a remote control, or the like. The control system provided by the embodiment of the invention is schematically illustrated with reference to fig. 1.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control system according to an embodiment of the present invention. The control system includes: control device 11, movable platform 12. The movable platform 12 includes a power system 121, and the power system 121 is used for providing power for the movable platform 12 to move. In some embodiments, the control device 11 is disposed in the movable platform 12 and may establish a communication link with other devices (e.g., the power system 121) in the movable platform via a wired communication link. In other embodiments, the movable platform 12 and the control device 11 are independent of each other, for example, the control device 11 is disposed in a cloud server, and the communication connection with the movable platform 12 is established through a wireless communication connection.
In this embodiment of the present invention, the control device 11 may detect an object distance between the movable platform 12 and an obstacle, determine a first braking distance corresponding to a current speed of the movable platform 12 according to a first corresponding relationship between the speed and the braking distance, and determine a second braking distance corresponding to the current speed of the movable platform 12 according to a second corresponding relationship between the speed and the braking distance. If the first braking distance or the second braking distance is greater than the object distance, the control device 11 may determine a deceleration control amount for controlling the deceleration motion of the movable platform 12 according to a magnitude relationship among the object distance, the first braking distance, and the second braking distance.
In the embodiment of the invention, the control equipment in the control system can determine the deceleration control quantity for controlling the movable platform to perform deceleration movement at different object distances according to the relation between the object distance between the movable platform and the obstacle and different brake distances. In this way, the deceleration control amount can be flexibly determined based on the current motion state of the movable platform and the object distance.
The object distance of the movable platform is larger than the first brake distance and smaller than the second brake distance, the movable platform is controlled to decelerate to a safe speed in a stable posture, the stability of the deceleration process of the movable platform can be improved, and the movable platform is favorably prevented from colliding with obstacles. When the object distance of the movable platform is smaller than the first brake distance, the movable platform is controlled to brake at the maximum attitude angle, so that the movable platform can be prevented from colliding with the barrier, and the safety of the movable platform in the moving process is improved.
The following describes schematically a control method provided by an embodiment of the present invention with reference to the drawings.
Referring to fig. 2 specifically, fig. 2 is a schematic flowchart of a control method according to an embodiment of the present invention, where the method may be executed by a control device, and a specific explanation of the control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.
S201: an object distance between the movable platform and the obstacle is detected.
In an embodiment of the invention, the control device may detect an object distance between the movable platform and the obstacle.
In some embodiments, a distance sensing module may be installed on the movable platform, and the control device may acquire an object distance between the movable platform and the obstacle, which is acquired by the distance sensing module.
S202: and determining a first braking distance corresponding to the current speed of the movable platform according to the first corresponding relation between the speed and the braking distance.
In the embodiment of the invention, the control device can determine the first braking distance corresponding to the current speed of the movable platform according to the first corresponding relation between the speed and the braking distance.
In one embodiment, the first corresponding relationship between the speed and the braking distance may be obtained according to a pre-calibrated distance moved during the process that the speed is decelerated to 0 when the movable platform is braked at the maximum attitude angle at different speeds. In some embodiments, the calibration process is generally performed after the movable platform is braked at different speeds in an open environment.
Fig. 3a is an exemplary illustration, and fig. 3a is a schematic diagram of a corresponding relationship curve between a speed and a braking distance according to an embodiment of the present invention. Fig. 3a shows a speed-braking distance mapping curve established with distance as abscissa and speed as ordinate, wherein the first mapping relationship between speed and braking distance is shown as the first mapping relationship curve 31 in fig. 3 a.
By the implementation mode, the corresponding relation between different speeds and the braking distances can be determined, and the first braking distance corresponding to the current speed of the movable platform can be determined in real time.
S203: and determining a second braking distance corresponding to the current speed of the movable platform according to the second corresponding relation between the speed and the braking distance.
In the embodiment of the present invention, the control device may determine, according to the second corresponding relationship between the speed and the braking distance, a second braking distance corresponding to the current speed of the movable platform.
In one embodiment, the second corresponding relationship between the speed and the braking distance is determined according to a preset safe distance kept between the movable platform and the obstacle when the speed of the movable platform is reduced to 0 at different speeds. Fig. 3a is an example of the second correspondence relationship between the speed and the braking distance, which is shown as a second correspondence relationship curve 32 in fig. 3 a.
By this embodiment it is ensured that the movable platform is still at a distance from the obstacle when decelerating to a speed of 0, in order to ensure the safety of the movable platform.
S204: and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the object distance, the first brake distance and the second brake distance.
In an optional embodiment, if the first braking distance or the second braking distance is greater than the object distance, the control device may determine a deceleration control amount for controlling the deceleration motion of the movable platform according to a magnitude relationship among the object distance, the first braking distance, and the second braking distance. The first braking distance or the second braking distance is greater than the object distance, and the decision can be made to trigger the execution of the deceleration operation, and the deceleration control quantity can be determined according to the size relationship. In some embodiments, the deceleration control amount may include, but is not limited to, a maximum acceleration, a deceleration tilt angle, and the like.
In one embodiment, when determining the deceleration control amount for controlling the motion of the movable platform according to the magnitude relation among the object distance, the first braking distance and the second braking distance, the control device may generate a first deceleration control amount for controlling the deceleration motion of the movable platform if the first braking distance is greater than the object distance; if the first braking distance is smaller than the object distance and the second braking distance is larger than the object distance, a second deceleration control quantity for controlling the deceleration motion of the movable platform can be generated; in some embodiments, the first amount of deceleration control is not less than the second amount of deceleration control, and in one example, the first amount of deceleration control may be a maximum acceleration and the second amount of deceleration control may be less than the maximum acceleration.
Taking an unmanned aerial vehicle as an example, as shown in fig. 3a, assuming that the current speed of the unmanned aerial vehicle is v, according to the first corresponding relationship between the speed and the braking distance, determining that the first braking distance corresponding to the current speed v of the unmanned aerial vehicle is d1, and according to the second corresponding relationship between the speed and the braking distance, determining that the second braking distance corresponding to the current speed v of the unmanned aerial vehicle is d 2. If the object distance between the unmanned aerial vehicle and the obstacle is d, and the first braking distance d1 is greater than the object distance d, a first deceleration control amount a1 for controlling the unmanned aerial vehicle to decelerate to stop at a1 can be generated. If the first braking distance d1 is less than the object distance d, and the second braking distance d2 is greater than the object distance d, a second deceleration control amount a2 for controlling the deceleration motion of the drone may be generated to control the drone to smoothly decelerate from the current speed v to below the target speed determined according to the object distance d and the second corresponding relationship at a 2. In some embodiments, the first deceleration control amount a1 is not less than the second deceleration control amount a 2.
It is thus clear that through this kind of embodiment, can control movable platform in remote braking distance and slow down with more steady gesture to improve unmanned aerial vehicle's stationarity, when slowing down to in the braking distance of closely controlling movable platform brake to stopping, in order to ensure movable platform's safety.
In one embodiment, the first braking distance of the first corresponding relationship is smaller than the second braking distance of the second corresponding relationship within a distance interval greater than a first distance threshold.
Taking fig. 3a as an example, the first distance threshold is d0, the distance interval greater than the first distance threshold is a distance interval of d0, when the current speed of the drone is v, the first braking distance corresponding to v in the first corresponding relation curve 31 is d1, the first braking distance corresponding to v in the second corresponding relation curve 32 is d2, and d1 is smaller than d 2.
In one embodiment, the difference between the first braking distance of the first corresponding relation and the second braking distance of the second corresponding relation is smaller than a first difference within a distance interval smaller than a second distance threshold; in certain embodiments, the second distance threshold is not greater than the first distance threshold; in some embodiments, the first difference is a difference between a first braking distance of the first corresponding relationship and a second braking distance of the second corresponding relationship in the distance interval greater than the first distance threshold.
Taking fig. 3a as an example, the second distance is equal to the first distance threshold d0, and in a distance interval smaller than the second distance threshold d0, when the current speed of the drone is v0, the difference between the first braking distance d3 of the first corresponding relation curve 31 and the second braking distance d4 of the second corresponding relation curve 32 is smaller than a first difference. Wherein the first difference is a difference d1-d2 between a first braking distance d1 of the first corresponding relation curve 31 and a second braking distance d2 of the second corresponding relation curve 32 in a distance interval larger than a first distance threshold d 0.
In one embodiment, the first deceleration control amount may be determined according to a maximum deceleration capacity of the movable platform. In one example, the first deceleration control amount may be determined from a maximum acceleration of the drone and from a maximum deceleration capability. The first deceleration control quantity is determined through the maximum deceleration capacity, so that the movable platform can be ensured to decelerate with the maximum deceleration capacity, and the movable platform is prevented from colliding with the obstacle.
In one embodiment, the second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined from the object distance and the second correspondence. By decelerating the movable platform from the current speed to below the target speed determined according to the object distance and the second corresponding relation, the movable platform can be ensured to decelerate in a stable posture, and the movable platform is prevented from colliding with an obstacle and is favorable for the stability of the movable platform.
In one embodiment, the control device may control the movable platform to move at the target speed if the control speed in the received motion control command is greater than the target speed. By the implementation mode, the movable platform can be prevented from being controlled to move according to the determined target speed under the condition that the motion control command is abnormal or wrong, collision between the movable platform and the barrier caused by the abnormal motion control command can be effectively avoided, and the motion safety of the movable platform is further improved.
In one embodiment, the movable platform may be a multi-axis rotary-wing vehicle, and the deceleration control amount may be a deceleration pitch angle of the multi-axis rotary-wing vehicle. The multi-axis rotary wing aircraft can be controlled to decelerate by controlling the deceleration inclination angle of the multi-axis rotary wing aircraft.
In the embodiment of the invention, the control equipment can determine the deceleration control quantity for controlling the movable platform to perform deceleration movement at different object distances according to the relation between the object distance between the movable platform and the obstacle and different brake distances. The object distance of the movable platform is larger than the first brake distance and smaller than the second brake distance, the movable platform is controlled to decelerate to a safe speed in a stable posture, the stability of the deceleration process of the movable platform can be improved, and the movable platform is favorably prevented from colliding with obstacles. When the object distance of the movable platform is smaller than the first brake distance, the movable platform is controlled to brake at the maximum attitude angle, so that the movable platform can be prevented from colliding with the barrier, and the safety of the movable platform in the moving process is improved.
Referring to fig. 4 specifically, fig. 4 is a schematic flowchart of another control method provided in the embodiment of the present invention, where the method may be executed by a control device, and a specific explanation of the control device is as described above. The difference between the embodiment of the present invention and the embodiment of fig. 2 is that the embodiment of the present invention describes a process of controlling the deceleration motion of the movable platform according to the speed corresponding to the object distance determined according to the corresponding relationship between the speed and the braking distance. Specifically, the method of the embodiment of the present invention includes the following steps.
S401: an object distance between the movable platform and the obstacle is detected.
In an embodiment of the invention, the control device may detect an object distance between the movable platform and the obstacle.
S402: and determining a first speed corresponding to the object distance according to the first corresponding relation between the speed and the braking distance.
In the embodiment of the present invention, the control device may determine the first speed corresponding to the object distance according to the first corresponding relationship between the speed and the braking distance.
In one embodiment, when the control device acquires the object distance between the movable platform and the obstacle, whether the object distance is smaller than or equal to a braking distance or not may be detected, and if the object distance is smaller than or equal to the braking distance, a first speed corresponding to the object distance may be determined according to a first corresponding relationship between the speed and the braking distance.
Taking fig. 3b as an example, fig. 3b is a schematic diagram of another corresponding relationship curve of the speed and the braking distance provided by the embodiment of the present invention, and the first corresponding relationship of the speed and the braking distance is shown as the first corresponding relationship curve 31 in fig. 3. Taking the unmanned aerial vehicle as an example, assuming that the object distance between the unmanned aerial vehicle and the obstacle is D1, the first speed corresponding to the object distance D1 may be determined to be V1 according to the first corresponding relationship curve 31 of speed and braking distance.
S403: and determining a second speed corresponding to the object distance according to a second corresponding relation between the speed and the braking distance.
In the embodiment of the present invention, the control device may determine a second speed corresponding to the object distance according to a second corresponding relationship between the speed and the braking distance.
In one embodiment, when the control device acquires the object distance between the movable platform and the obstacle, whether the object distance is smaller than or equal to a braking distance or not may be detected, and if the object distance is smaller than or equal to the braking distance, a first speed corresponding to the object distance may be determined according to a first corresponding relationship between the speed and the braking distance.
Taking the drone as an example, as shown in fig. 3b, assuming that the object distance between the drone and the obstacle is D2, the second speed corresponding to the object distance D2 may be determined to be V2 according to the second corresponding relationship curve 32 of speed and braking distance.
S404: and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the current speed, the first speed and the second speed.
In this embodiment of the present invention, if the current speed of the movable platform is greater than the first speed or the current speed is greater than the second speed, the control device may determine a deceleration control amount for controlling the deceleration motion of the movable platform according to a magnitude relationship among the current speed, the first speed, and the second speed. The current speed of the movable platform is greater than the first speed or the current speed is greater than the second speed, a decision may be made to trigger execution of the deceleration operation, and the deceleration control amount may be determined according to the above magnitude relationship.
In one embodiment, the movable platform may accept a raw speed command, for example, a raw speed command sent from a remote control in communication with the movable platform, the command generated by the remote control based on user control of the joystick. If the rocker is shifted to the maximum attitude angle, a speed command is generated to drive the movable platform to move at the maximum driving speed.
In addition, the movable platform can be internally provided with a sensing module, and the object distance between the movable platform and the barrier is measured based on technologies such as images, infrared and radar.
The speed limit module may obtain the object distance measured by the sensing module, and determine the current speed based on the original speed instruction, further implementing the method in the above embodiment.
For example, the movable platform is a drone, a bird flying in the sky is identified as an obstacle, a first speed determined by the object distance and the first correspondence, and a second speed determined from the object distance and the second correspondence. If the current speed of the unmanned aerial vehicle is greater than the first speed or the second speed, it can be determined that the unmanned aerial vehicle needs to be decelerated, so that collision with birds is avoided. Furthermore, according to the speed section in which the speed is located, the speed section is determined based on the first speed and the second speed, and the output quantity of the deceleration control is determined. Like this, can control unmanned aerial vehicle's speed reduction in a flexible way.
It is worth mentioning that it is possible to have a large object distance at the first moment, since the obstacle itself is also moving. For a movable platform, its current speed may change continuously, while the detected change in the object distance is not continuous. If the scheme of braking at the maximum attitude angle is adopted under the condition that the object distance is far, unnecessary emergency braking can be caused, and instability is brought to flight control. By using the scheme of the embodiment of the application, the deceleration control amount can be determined more flexibly, and for sudden jump of an obstacle, the magnitude relation among the current speed, the first speed and the second speed is also changed, so that for the jump obstacle, the deceleration control amount can be determined flexibly.
In one embodiment, when determining the deceleration control amount for controlling the deceleration motion of the movable platform according to the magnitude relationship among the current speed, the first speed and the second speed, the control device may generate a first deceleration control amount for controlling the deceleration motion of the movable platform if the current speed is greater than the first speed; if the current speed is less than the first speed and the current speed is greater than the second speed, a second deceleration control quantity for controlling the deceleration motion of the movable platform can be generated; in some embodiments, the first deceleration control amount is not smaller than the second deceleration control amount.
Taking an unmanned aerial vehicle as an example, as shown in fig. 3b, assuming that a current speed of the unmanned aerial vehicle is V, if the current speed V is greater than the first speed V1, a first deceleration control amount a1 for controlling deceleration movement of the unmanned aerial vehicle may be generated; if the current speed V is less than the first speed V1 and the current speed V is greater than the second speed V2, a second deceleration control amount a2 for controlling the deceleration motion of the drone may be generated; in some embodiments, the first deceleration control amount a1 is not less than the second deceleration control amount a 2.
Therefore, by the implementation mode, the speed can be reduced to the safe speed at the high-speed section in a stable posture, so that the stability of the unmanned aerial vehicle is improved, and the safety of the movable platform is ensured by braking at the low-speed section.
In one embodiment, the first braking distance of the first corresponding relationship is smaller than the second braking distance of the second corresponding relationship within a distance interval greater than a first distance threshold. The specific embodiments are exemplified by the foregoing, and are not described herein again.
In one embodiment, the difference between the first braking distance of the first corresponding relation and the second braking distance of the second corresponding relation is smaller than a first difference within a distance interval smaller than a second distance threshold; in certain embodiments, the second distance threshold is not greater than the first distance threshold; in some embodiments, the first difference is a difference between a first braking distance of the first corresponding relationship and a second braking distance of the second corresponding relationship in the distance interval greater than the first distance threshold. The specific embodiments are exemplified by the foregoing, and are not described herein again.
In one embodiment, the first deceleration control amount may be determined according to a maximum deceleration capacity of the movable platform. In one example, the first deceleration control amount may be determined from a maximum acceleration of the drone and from a maximum deceleration capability. The first deceleration control quantity is determined through the maximum deceleration capacity, so that the movable platform can be ensured to decelerate with the maximum deceleration capacity, and the movable platform is prevented from colliding with the obstacle.
In one embodiment, the second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined from the object distance and the second correspondence. By decelerating the movable platform from the current speed to below the target speed determined according to the object distance and the second corresponding relation, the movable platform can be ensured to decelerate in a stable posture, and the movable platform is prevented from colliding with an obstacle and is favorable for the stability of the movable platform.
In one embodiment, the control device may control the movable platform to move at the target speed if the control speed in the received motion control command is greater than the target speed. By the implementation mode, the movable platform can be prevented from being controlled to move according to the determined target speed under the condition that the motion control command is abnormal or wrong, collision between the movable platform and the barrier caused by the abnormal motion control command can be effectively avoided, and the motion safety of the movable platform is further improved.
In one embodiment, the movable platform may be a multi-axis rotary-wing vehicle, and the deceleration control amount may be a deceleration pitch angle of the multi-axis rotary-wing vehicle. The multi-axis rotary wing aircraft can be controlled to decelerate by controlling the deceleration inclination angle of the multi-axis rotary wing aircraft.
In the embodiment of the present invention, the control device may detect an object distance between the movable platform and the obstacle, determine a first speed corresponding to the object distance according to a first corresponding relationship between the speed and the braking distance, and determine a second speed corresponding to the object distance according to a second corresponding relationship between the speed and the braking distance. If the current speed of the movable platform is greater than the first speed or the current speed is greater than the second speed, the deceleration control amount for controlling the deceleration motion of the movable platform can be determined according to the magnitude relation among the current speed, the first speed and the second speed. Through this kind of embodiment, can be according to unmanned aerial vehicle's speed with more steady gesture deceleration to safe speed at high-speed section to improve unmanned aerial vehicle's stationarity, and ensured movable platform's safety at low-speed section brake, thereby realize avoiding movable platform and obstacle to collide the while, ensure movable flat stationarity and security.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention. Specifically, the control device includes: memory 501, processor 502.
In one embodiment, the control device further comprises a data interface 503, and the data interface 503 is used for transmitting data information between the control device and other devices.
The memory 501 may include a volatile memory (volatile memory); the memory 501 may also include a non-volatile memory (non-volatile memory); the memory 501 may also comprise a combination of memories of the kind described above. The processor 502 may be a Central Processing Unit (CPU). The processor 502 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
The memory 501 is used for storing programs, and the processor 502 can call the programs stored in the memory 501 for executing the following steps:
detecting an object distance between the movable platform and the obstacle;
determining a first braking distance corresponding to the current speed of the movable platform according to the first corresponding relation between the speed and the braking distance;
determining a second braking distance corresponding to the current speed of the movable platform according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the object distance, the first brake distance and the second brake distance.
Further, when determining the deceleration control amount for controlling the motion of the movable platform according to the magnitude relationship among the object distance, the first braking distance, and the second braking distance, the processor 502 is specifically configured to:
if the first brake distance is greater than the object distance, generating a first deceleration control quantity for controlling the movable platform to perform deceleration movement;
if the first braking distance is smaller than the object distance and the second braking distance is larger than the object distance, generating a second deceleration control quantity for controlling the movable platform to perform deceleration movement;
wherein the first deceleration control amount is not less than the second deceleration control amount.
Further, in a distance interval greater than a first distance threshold, a first braking distance of the first corresponding relationship is smaller than a second braking distance of the second corresponding relationship.
Further, in a distance interval smaller than a second distance threshold, a difference value between a first braking distance of the first corresponding relation and a second braking distance of the second corresponding relation is smaller than a first difference value;
the second distance threshold is not greater than the first distance threshold;
the first difference is the difference between the first braking distance of the first corresponding relation and the second braking distance of the second corresponding relation in the distance interval larger than the first distance threshold.
Further, the first deceleration control amount is determined in accordance with a maximum deceleration capacity of the movable platform.
Further, the second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined according to the object distance and the second correspondence relationship.
Further, the movable platform is a multi-axis rotor aircraft, and the deceleration control quantity is a deceleration inclination angle of the multi-axis rotor aircraft.
Further, the processor 502 is further configured to:
and if the control speed in the received motion control command is greater than the target speed, controlling the movable platform to move at the target speed.
In the embodiment of the invention, the control equipment can determine the deceleration control quantity for controlling the movable platform to perform deceleration movement at different object distances according to the relation between the object distance between the movable platform and the obstacle and different brake distances. The object distance of the movable platform is larger than the first brake distance and smaller than the second brake distance, the movable platform is controlled to decelerate to a safe speed in a stable posture, the stability of the deceleration process of the movable platform can be improved, and the movable platform is favorably prevented from colliding with obstacles. When the object distance of the movable platform is smaller than the first brake distance, the movable platform is controlled to brake at the maximum attitude angle, so that the movable platform can be prevented from colliding with the barrier, and the safety of the movable platform in the moving process is improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of another control device according to an embodiment of the present invention. Specifically, the control device includes: memory 601, processor 602.
In one embodiment, the control device further comprises a data interface 603, and the data interface 603 is used for transmitting data information between the control device and other devices.
The memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also comprise a combination of memories of the kind described above. The processor 602 may be a Central Processing Unit (CPU). The processor 602 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
The memory 601 is used for storing programs, and the processor 602 can call the programs stored in the memory 601 for executing the following steps:
detecting an object distance between the movable platform and an obstacle;
determining a first speed corresponding to the object distance according to a first corresponding relation between the speed and the braking distance;
determining a second speed corresponding to the object distance according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the current speed, the first speed and the second speed.
Further, when determining the deceleration control amount for controlling the deceleration motion of the movable platform according to the magnitude relationship among the current speed, the first speed, and the second speed, the processor 602 is specifically configured to:
if the current speed is greater than the first speed, generating a first deceleration control quantity for controlling the movable platform to decelerate;
if the current speed is lower than the first speed and the current speed is higher than the second speed, generating a second deceleration control quantity for controlling the movable platform to decelerate;
wherein the first deceleration control amount is not less than the second deceleration control amount.
Further, in a distance interval greater than a first distance threshold, a first braking distance of the first corresponding relationship is smaller than a second braking distance of the second corresponding relationship.
Further, in a distance interval smaller than a second distance threshold, a difference value between a first braking distance of the first corresponding relation and a second braking distance of the second corresponding relation is smaller than a first difference value;
the second distance threshold is not greater than the first distance threshold;
the first difference is the difference between the first braking distance of the first corresponding relation and the second braking distance of the second corresponding relation in the distance interval larger than the first distance threshold.
Further, the first deceleration control amount is determined in accordance with a maximum deceleration capacity of the movable platform.
Further, the second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined according to the object distance and the second correspondence relationship.
Further, the movable platform is a multi-axis rotor aircraft, and the deceleration control quantity is a deceleration inclination angle of the multi-axis rotor aircraft.
Further, the processor 602 is further configured to:
and if the control speed in the received motion control command is greater than the target speed, controlling the movable platform to move at the target speed.
In the embodiment of the present invention, the control device may detect an object distance between the movable platform and the obstacle, determine a first speed corresponding to the object distance according to a first corresponding relationship between the speed and the braking distance, and determine a second speed corresponding to the object distance according to a second corresponding relationship between the speed and the braking distance. The deceleration control amount for controlling the deceleration motion of the movable platform may be determined according to a magnitude relationship among the current speed, the first speed, and the second speed. Through this kind of embodiment, can slow down to safe speed with more steady gesture at the high-speed section to improve unmanned aerial vehicle's stationarity, and guaranteed movable platform's safety at low-speed section brake, thereby realize avoiding movable platform and barrier to collide the while, guarantee movable stationarity and security.
An embodiment of the present invention further provides a movable platform, where the movable platform includes: a body; the power system is arranged on the machine body and used for providing moving power for the movable platform; and the control device described above with reference to fig. 5. In the embodiment of the invention, the movable platform can determine the deceleration control quantity for controlling the movable platform to perform deceleration movement at different object distances according to the relation between the object distance between the movable platform and the obstacle and different brake distances. The object distance of the movable platform is larger than the first brake distance and smaller than the second brake distance, the movable platform is controlled to decelerate to a safe speed in a stable posture, the stability of the deceleration process of the movable platform can be improved, and the movable platform is favorably prevented from colliding with obstacles. When the object distance of the movable platform is smaller than the first brake distance, the movable platform is controlled to brake at the maximum attitude angle, so that the movable platform can be prevented from colliding with the barrier, and the safety of the movable platform in the moving process is improved.
An embodiment of the present invention further provides another movable platform, where the movable platform includes: a body; the power system is arranged on the machine body and used for providing moving power for the movable platform; and the control device described above with reference to fig. 6. In the embodiment of the invention, the movable platform can detect the object distance between the movable platform and the obstacle, determine the first speed corresponding to the object distance according to the first corresponding relation between the speed and the braking distance, and determine the second speed corresponding to the object distance according to the second corresponding relation between the speed and the braking distance. The deceleration control amount for controlling the deceleration motion of the movable platform may be determined according to a magnitude relationship among the current speed, the first speed, and the second speed. Through this kind of embodiment, can slow down to safe speed with more steady gesture at the high-speed section to improve unmanned aerial vehicle's stationarity, and guaranteed movable platform's safety at low-speed section brake, thereby realize avoiding movable platform and barrier to collide the while, guarantee movable stationarity and security.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the method described in the embodiment corresponding to fig. 2 or fig. 4 of the present invention, or implements the device described in the embodiment corresponding to fig. 5 or fig. 6 of the present invention, which is not described herein again.
The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.
Claims (35)
1. A control method applied to a movable platform, the method comprising:
detecting an object distance between the movable platform and an obstacle;
determining a first braking distance corresponding to the current speed of the movable platform according to the first corresponding relation between the speed and the braking distance;
determining a second braking distance corresponding to the current speed of the movable platform according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the object distance, the first brake distance and the second brake distance.
2. The method of claim 1, wherein determining a deceleration control amount for controlling the movement of the movable platform based on the magnitude relationship between the object distance, the first braking distance, and the second braking distance comprises:
if the first brake distance is greater than the object distance, generating a first deceleration control quantity for controlling the movable platform to perform deceleration movement;
if the first braking distance is smaller than the object distance and the second braking distance is larger than the object distance, generating a second deceleration control quantity for controlling the movable platform to perform deceleration movement;
wherein the first deceleration control amount is not less than the second deceleration control amount.
3. The method of claim 2,
within a distance interval larger than a first distance threshold, a first braking distance of the first corresponding relation is smaller than a second braking distance of the second corresponding relation.
4. The method of claim 3,
in a distance interval smaller than a second distance threshold, a difference value between a first braking distance of the first corresponding relation and a second braking distance of the second corresponding relation is smaller than a first difference value;
the second distance threshold is not greater than the first distance threshold;
the first difference is the difference between the first braking distance of the first corresponding relation and the second braking distance of the second corresponding relation in the distance interval larger than the first distance threshold.
5. The method according to any one of claims 2 to 4,
the first deceleration control amount is determined in accordance with a maximum deceleration capacity of the movable platform.
6. The method according to any one of claims 2 to 4,
the second deceleration control amount is used for decelerating the movable platform from the current speed to a speed below a target speed determined according to the object distance and the second corresponding relation.
7. The method according to any one of claims 1 to 6,
the movable platform is a multi-axis rotor aircraft, and the deceleration control quantity is the deceleration inclination angle of the multi-axis rotor aircraft.
8. The method of claim 6, further comprising:
and if the control speed in the received motion control command is greater than the target speed, controlling the movable platform to move at the target speed.
9. A control method applied to a movable platform, the method comprising:
detecting an object distance between the movable platform and an obstacle;
determining a first speed corresponding to the object distance according to a first corresponding relation between the speed and the braking distance;
determining a second speed corresponding to the object distance according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the current speed, the first speed and the second speed.
10. The method of claim 9, wherein determining a deceleration control amount for controlling the deceleration motion of the movable platform according to the magnitude relationship among the current speed, the first speed, and the second speed comprises:
if the current speed is greater than the first speed, generating a first deceleration control quantity for controlling the movable platform to decelerate;
if the current speed is lower than the first speed and the current speed is higher than the second speed, generating a second deceleration control quantity for controlling the movable platform to decelerate;
wherein the first deceleration control amount is not less than the second deceleration control amount.
11. The method of claim 10,
within a distance interval larger than a first distance threshold, a first braking distance of the first corresponding relation is smaller than a second braking distance of the second corresponding relation.
12. The method of claim 11,
in a distance interval smaller than a second distance threshold, a difference value between a first braking distance of the first corresponding relation and a second braking distance of the second corresponding relation is smaller than a first difference value;
the second distance threshold is not greater than the first distance threshold;
the first difference is the difference between the first braking distance of the first corresponding relation and the second braking distance of the second corresponding relation in the distance interval larger than the first distance threshold.
13. The method according to any one of claims 10 to 12,
the first deceleration control amount is determined in accordance with a maximum deceleration capacity of the movable platform.
14. The method according to any one of claims 10 to 12,
the second deceleration control amount is used for decelerating the movable platform from the current speed to a speed below a target speed determined according to the object distance and the second corresponding relation.
15. The method according to any one of claims 9 to 14,
the movable platform is a multi-axis rotor aircraft, and the deceleration control quantity is the deceleration inclination angle of the multi-axis rotor aircraft.
16. The method of claim 14, further comprising:
and if the control speed in the received motion control command is greater than the target speed, controlling the movable platform to move at the target speed.
17. A control device comprising a memory and a processor;
the memory is used for storing programs;
the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:
detecting an object distance between the movable platform and an obstacle;
determining a first braking distance corresponding to the current speed of the movable platform according to the first corresponding relation between the speed and the braking distance;
determining a second braking distance corresponding to the current speed of the movable platform according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the object distance, the first brake distance and the second brake distance.
18. The apparatus of claim 17, wherein the processor is configured to determine a deceleration control amount for controlling the movement of the movable platform according to a magnitude relationship among the object distance, the first braking distance, and the second braking distance, and is specifically configured to:
if the first brake distance is greater than the object distance, generating a first deceleration control quantity for controlling the movable platform to perform deceleration movement;
if the first braking distance is smaller than the object distance and the second braking distance is larger than the object distance, generating a second deceleration control quantity for controlling the movable platform to perform deceleration movement;
wherein the first deceleration control amount is not less than the second deceleration control amount.
19. The apparatus of claim 18,
within a distance interval larger than a first distance threshold, a first braking distance of the first corresponding relation is smaller than a second braking distance of the second corresponding relation.
20. The apparatus of claim 19,
in a distance interval smaller than a second distance threshold, a difference value between a first braking distance of the first corresponding relation and a second braking distance of the second corresponding relation is smaller than a first difference value;
the second distance threshold is not greater than the first distance threshold;
the first difference is the difference between the first braking distance of the first corresponding relation and the second braking distance of the second corresponding relation in the distance interval larger than the first distance threshold.
21. The apparatus according to any one of claims 18 to 20,
the first deceleration control amount is determined in accordance with a maximum deceleration capacity of the movable platform.
22. The apparatus according to any one of claims 18 to 20,
the second deceleration control amount is used for decelerating the movable platform from the current speed to a speed below a target speed determined according to the object distance and the second corresponding relation.
23. The apparatus according to any one of claims 17-22,
the movable platform is a multi-axis rotor aircraft, and the deceleration control quantity is the deceleration inclination angle of the multi-axis rotor aircraft.
24. The device of claim 22, wherein the processor is further configured to:
and if the control speed in the received motion control command is greater than the target speed, controlling the movable platform to move at the target speed.
25. A control device comprising a memory and a processor;
the memory is used for storing programs;
the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:
detecting an object distance between the movable platform and an obstacle;
determining a first speed corresponding to the object distance according to a first corresponding relation between the speed and the braking distance;
determining a second speed corresponding to the object distance according to a second corresponding relation between the speed and the braking distance;
and determining a deceleration control quantity for controlling the deceleration motion of the movable platform according to the magnitude relation among the current speed, the first speed and the second speed.
26. The apparatus according to claim 25, wherein the processor is configured to determine a deceleration control amount for controlling the deceleration movement of the movable platform according to a magnitude relationship among the current speed, the first speed, and the second speed, and is specifically configured to:
if the current speed is greater than the first speed, generating a first deceleration control quantity for controlling the movable platform to decelerate;
if the current speed is lower than the first speed and the current speed is higher than the second speed, generating a second deceleration control quantity for controlling the movable platform to decelerate;
wherein the first deceleration control amount is not less than the second deceleration control amount.
27. The apparatus of claim 26,
within a distance interval larger than a first distance threshold, a first braking distance of the first corresponding relation is smaller than a second braking distance of the second corresponding relation.
28. The apparatus of claim 27,
in a distance interval smaller than a second distance threshold, a difference value between a first braking distance of the first corresponding relation and a second braking distance of the second corresponding relation is smaller than a first difference value;
the second distance threshold is not greater than the first distance threshold;
the first difference is the difference between the first braking distance of the first corresponding relation and the second braking distance of the second corresponding relation in the distance interval larger than the first distance threshold.
29. The apparatus of any one of claims 26-28,
the first deceleration control amount is determined in accordance with a maximum deceleration capacity of the movable platform.
30. The apparatus of any one of claims 26-28,
the second deceleration control amount is used for decelerating the movable platform from the current speed to a speed below a target speed determined according to the object distance and the second corresponding relation.
31. The apparatus of any one of claims 25-30,
the movable platform is a multi-axis rotor aircraft, and the deceleration control quantity is the deceleration inclination angle of the multi-axis rotor aircraft.
32. The device of claim 30, wherein the processor is further configured to:
and if the control speed in the received motion control command is greater than the target speed, controlling the movable platform to move at the target speed.
33. A movable platform, comprising:
a body;
the power system is arranged on the machine body and used for providing power for moving the movable platform;
the control device of any one of claims 17-24.
34. A movable platform, comprising:
a body;
the power system is arranged on the machine body and used for providing power for moving the movable platform;
the control device of any one of claims 25-32.
35. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 16.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/115369 WO2021087672A1 (en) | 2019-11-04 | 2019-11-04 | Control method and device, movable platform, and storage medium |
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| CN112272807A true CN112272807A (en) | 2021-01-26 |
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| WO (1) | WO2021087672A1 (en) |
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