CN112585556A

CN112585556A - Control method, system and device of movable platform and movable platform

Info

Publication number: CN112585556A
Application number: CN202080004408.XA
Authority: CN
Inventors: 钱杰; 林茂疆; 谢亦天
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-03-13
Filing date: 2020-03-13
Publication date: 2021-03-30
Also published as: WO2021179282A1

Abstract

A movable platform control method, a system and a device and a movable platform are provided. The method can comprise the following steps: acquiring the light intensity of the environment where the movable platform is located; when the light intensity meets a preset condition, adjusting the light emitting power of the light emitted by the light emitting equipment; and controlling the movable platform to carry out obstacle avoidance operation based on the light rays emitted by the light emitting equipment. The technical scheme that this embodiment provided, through the light intensity who acquires the environment that movable platform is located, when light intensity satisfies the different preset condition, can be timely, adjust light emission equipment emission light's luminous power effectively, thereby realized controlling movable platform and keeping away the barrier operation based on the light of light emission equipment transmission, the stability of the light intensity of movable platform place environment has been guaranteed, make movable platform all can carry out safe operation in the environment that any light is more weak, thereby the probability that movable platform bumps has been reduced effectively.

Description

Control method, system and device of movable platform and movable platform

Technical Field

The embodiment of the invention relates to the technical field of movable platforms, in particular to a movable platform control method, a movable platform control system, a movable platform control device and a movable platform.

Background

With the rapid development of scientific technology, intelligent mobile platforms (unmanned aerial vehicles, unmanned vehicles, etc.) have come into various occasions, such as homes, enterprises, public places, and the like.

Use unmanned aerial vehicle as movable platform for example, in order to guarantee unmanned aerial vehicle security and stability of operation, introduced to unmanned aerial vehicle and kept away the barrier system, should keep away the barrier system and mainly calculate the barrier distance through passive received light to the realization keeps away barrier detection operation. Therefore, the safety of the unmanned aerial vehicle is greatly improved. However, in the use process of night scene, because light is not good, keep away barrier system and can't assist unmanned aerial vehicle accurately and keep away the barrier operation to when making unmanned aerial vehicle carry out flight operation under the night scene, increased and hit the barrier and make unmanned aerial vehicle break down the probability.

Disclosure of Invention

The embodiment of the invention provides a control method, a system and a device of a movable platform and the movable platform, and aims to solve the problem that in the prior art, when light is insufficient, the probability of collision caused by the fact that the movable platform is provided with obstacles is increased.

In a first aspect of the embodiments of the present invention, a method for controlling a movable platform is provided, including:

acquiring the light intensity of the environment where the movable platform is located;

when the light intensity meets a preset condition, adjusting the light emitting power of the light emitted by the light emitting equipment;

and controlling the movable platform to carry out obstacle avoidance operation based on the light rays emitted by the light ray emitting equipment.

In a second aspect of the embodiments of the present invention, there is provided a control system for a movable platform, including:

the visual sensor is used for acquiring the light intensity of the environment where the movable platform is located;

the controller is in communication connection with the visual sensor and the light emitting device and is used for adjusting the light emitting power of the light emitting device for emitting light when the light intensity meets a preset condition;

the light emitting device is used for emitting light and adjusting the light emitting power of the light under the control of the controller;

the binocular sensor is in communication connection with the controller and used for identifying obstacles based on the light rays emitted by the light ray emitting equipment;

the controller is further used for being in communication connection with the binocular sensor and used for controlling the movable platform to carry out obstacle avoidance operation based on the identification result of the identified obstacle.

In a third aspect of the embodiments of the present invention, there is provided a control apparatus for a movable platform, including:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement:

In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the unmanned aerial vehicle landing control method according to the first aspect.

In a fifth aspect of the embodiments of the present invention, there is provided a movable platform, including: the control device for a movable platform according to the third aspect.

The control method, the system and the device for the movable platform and the movable platform provided by the embodiment of the invention can timely and effectively adjust the luminous power of the light emitted by the light emitting equipment by obtaining the light intensity of the environment where the movable platform is located when the light intensity meets different preset conditions, thereby realizing that the movable platform is controlled to carry out obstacle avoidance operation based on the light emitted by the light emitting equipment, not only ensuring the stability of the light intensity of the environment where the movable platform is located, ensuring that the movable platform can carry out safe operation in any environment with weak light, but also accurately and effectively identifying obstacles, particularly identifying obstacles with insufficient texture, reducing the probability of collision of the movable platform and further ensuring the safe reliability of the operation of the movable platform, the practicability of the method is effectively improved, and the method is favorable for popularization and application in the market.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present invention;

fig. 2 is a schematic view of a scenario of a control method for a movable platform according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating another method for controlling a movable platform according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating a method for controlling a movable platform according to another embodiment of the present invention;

FIG. 5 is a flowchart illustrating another method for controlling a movable platform according to an embodiment of the present invention;

fig. 6 is a schematic diagram illustrating an adjustment of the light emitting device based on the moving speed information according to an embodiment of the present invention;

fig. 7 is a first schematic view illustrating an angle of a light beam emitted by the light emitting device via a light reflector according to an embodiment of the present invention;

fig. 8 is a second schematic diagram illustrating an adjustment of the angle of the light emitted by the light emitting device through the light reflector according to the embodiment of the present invention;

fig. 9 is a schematic flow chart illustrating that the light emitting device is adjusted based on the moving speed direction, so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction according to the embodiment of the present invention;

fig. 10 is a schematic diagram illustrating that the light emitting device is adjusted based on the moving speed direction, so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction according to the embodiment of the present invention;

FIG. 11 is a first schematic structural diagram of a control system of a movable stage according to an embodiment of the present invention;

fig. 12 is a second schematic structural diagram of a control system of a movable platform according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a control device of a movable platform 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.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

Furthermore, the term "coupled" is intended to include any direct or indirect coupling. Thus, if a first device couples to a second device, that connection may be through a direct connection, or through an indirect connection via other devices.

It should be understood that the term "and/or" as used herein is merely one type of association relationship that describes an associated object, meaning that three types of relationships may exist. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In order to facilitate understanding of the technical scheme of this application, take unmanned aerial vehicle as movable platform as an example below, briefly explain prior art:

along with the continuous development of unmanned aerial vehicle technique, the security and the stability of unmanned aerial vehicle progressively improve, especially after unmanned aerial vehicle takes photo by plane has introduced obstacle avoidance system, unmanned aerial vehicle's security has obtained very big promotion. In general, the sensor that can be used for unmanned aerial vehicle to keep away the barrier is the vision binocular sensor. Since the vision binocular sensor passively receives light, the distance of the obstacle is calculated based on the received light. Therefore, under the condition of poor light (for example, in a scene applied at night), the visual binocular sensor cannot accurately assist the unmanned aerial vehicle in obstacle avoidance operation, so that the probability of the unmanned aerial vehicle breaking down due to the fact that the unmanned aerial vehicle collides with an obstacle is increased when the unmanned aerial vehicle flies under the scene at night.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Fig. 1 is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present invention; fig. 2 is a schematic view of a scenario of a control method for a movable platform according to an embodiment of the present invention; in order to solve the above technical problem, as shown in fig. 1-2, the present embodiment provides a control method for a movable platform, and an execution subject of the method may be a control device, and the control device may be implemented as software, or a combination of software and hardware. Specifically, the method may include:

step S101: and acquiring the light intensity of the environment where the movable platform is located.

Step S102: and when the light intensity meets the preset condition, adjusting the light emitting power of the light emitting device for emitting light.

Step S103: and controlling the movable platform to carry out obstacle avoidance operation based on the light rays emitted by the light emitting equipment.

The above steps are explained in detail below:

Wherein the movable platform may comprise at least one of: unmanned aerial vehicles, unmanned ships, mobile robots, and the like. When the movable platform works, in order to ensure the safety of the movable platform in working, the light intensity of the environment where the movable platform is located can be obtained, and the light intensity is used for representing the brightness information of the environment where the movable platform is located. During specific implementation, a visual sensor (or a photosensitive sensor) and a control device can be arranged on the movable platform, the visual sensor (or the photosensitive sensor) is in communication connection with the control device, the light intensity of the environment where the movable platform is located can be acquired through the visual sensor (or the photosensitive sensor), then the obtained light intensity can be transmitted to the control device through the visual sensor (or the photosensitive sensor), and therefore the control device can acquire the light intensity of the environment where the movable platform is located through the visual sensor.

Of course, those skilled in the art may also use other manners to obtain the light intensity of the environment where the movable platform is located, as long as the control device can stably obtain the light intensity of the environment where the movable platform is located, which is not described herein again.

Wherein the preset condition may include at least one of: the mobile platform light intensity detection method comprises a first preset condition used for representing the environment where the mobile platform is located and having weak light intensity, a second preset condition used for representing the environment where the mobile platform is located and having strong light intensity, and a third preset condition used for representing the environment where the mobile platform is located and having moderate light intensity. Specifically, a person skilled in the art may configure the specific parameter thresholds corresponding to the first preset condition, the second preset condition, and the third preset condition based on different application scenarios and application requirements, which is not described herein again.

In specific implementation, under different preset conditions, different adjustment strategies can be adopted to adjust the luminous power of the light emitted by the light emitting device. Specifically, when the light intensity satisfies the preset condition, adjusting the light emitting power of the light emitting device to emit light may include:

step S1021: and when the light intensity is greater than the preset threshold value, reducing the light emitting power of the light emitted by the light emitting device. Alternatively, the first and second electrodes may be,

step S1022: and when the light intensity is smaller than the preset threshold value, increasing the luminous power of the light emitted by the light emitting device.

After the light intensity is obtained, the light intensity can be analyzed and compared with a preset threshold value, when the light intensity is larger than the preset threshold value, the light intensity of the environment where the movable platform is located at the moment is stronger, and further, in order to save electric energy and generated heat, the light emitting power of the light emitting device for emitting light can be automatically or manually reduced according to a preset adjusting strategy, so that the light intensity of the environment where the movable platform is located is reduced. When the light intensity is smaller than the preset threshold value, it is indicated that the light intensity of the environment where the movable platform is located is weak, and at this time, in order to ensure the safety and reliability of the operation of the movable platform, the light emitting power of the light emitting device for emitting light can be increased according to a preset adjustment strategy, so as to increase the light intensity of the environment where the movable platform is located.

In other examples, the first preset threshold and the second preset threshold are pre-configured, and the second preset threshold is greater than the second preset threshold, and the second preset threshold is used for indicating that the intensity of light in the environment where the movable platform is located is sufficiently high. When the light intensity is greater than the first preset threshold, whether the light intensity is greater than a preset second preset threshold or not can be detected, and when the light intensity is greater than the preset threshold, the light intensity of the environment where the movable platform is located is high enough (for example, in an application scene in the daytime or in a room with high light intensity), and at this time, in order to save electric energy and reduce heat emitted by the light emitting device, the light emitting device can be automatically or manually turned off.

In addition, as for the light emitting device, the present embodiment does not limit the specific type of the light emitting device, and a person skilled in the art may set the light emitting device according to its specific implementation function and action, in some examples, the light emitting device includes at least one of the following: the LED lamp comprises a visible light LED lamp with adjustable power, a non-visible light LED lamp with adjustable power and an inert gas flash lamp with adjustable power. Wherein the non-visible light LED lamp may comprise at least one of: ultraviolet LED lamp, infrared ray LED lamp, far infrared LED lamp. The inert gas flash lamp may include at least one of: neon, argon, helium, xenon, and the like. It should be noted that foretell light emission equipment can be on the movable platform preconfigured to unmanned aerial vehicle is as movable platform for example, and unmanned aerial vehicle can include the fuselage and set up the fore-and-aft horn on the fuselage, can be provided with foretell light emission equipment on the fore-and-aft horn, and this light emission equipment is used for sign unmanned aerial vehicle's running state, and can also assist unmanned aerial vehicle to carry out the operation. Or, foretell light emission equipment can be newly-increased equipment on the movable platform, use unmanned aerial vehicle as movable platform for example, unmanned aerial vehicle can include the fuselage and set up the front and back horn on the fuselage, can be provided with lighting apparatus and foretell light emission equipment on the front and back horn, and at this moment, lighting apparatus is the equipment of original configuration on the unmanned aerial vehicle, and light emission equipment can be newly-increased equipment on the unmanned aerial vehicle, and foretell lighting apparatus and light emission equipment all can assist unmanned aerial vehicle to carry out the operation.

In other examples, the light emitting device may be a lighting device, and in this case, the lighting device may be a device pre-configured on the movable platform. Use unmanned aerial vehicle as movable platform for example, unmanned aerial vehicle can include the fuselage and set up the front and back horn on the fuselage, can be provided with lighting apparatus (being light emission equipment) on the horn of front and back, and at this moment, lighting apparatus can be used for sign unmanned aerial vehicle's running state to can also assist unmanned aerial vehicle to carry out the operation.

After the luminous power of the light emitted by the light emitting device is adjusted, the obstacle can be identified and detected based on the light emitted by the light emitting device, and the movable platform can be controlled to avoid the obstacle based on the identification and detection result of the obstacle.

Specifically, taking the unmanned aerial vehicle as a movable platform for example, as shown in fig. 2, the unmanned aerial vehicle 100 includes a body, a binocular sensor 500 disposed on the body, and light emitting devices 200 disposed on arms of the body, where the number of the light emitting devices 200 may be one or more. When the unmanned aerial vehicle 100 operates in an application scene at night, the binocular sensor 500 may perform obstacle avoidance detection operation on the basis of the light emitted from the light emitting device 200. At time T1, when it is detected that an obstacle 300 (e.g., a plant, a building, an animal, etc.) exists on the first flight path 401 where the drone 100 is located, the first flight path 401 may be adjusted to the second flight path 402 according to a preset obstacle avoidance operation, and it is conceivable that the obstacle 300 does not exist on the second flight path 402. It is thereby achieved that the drone 100 may perform safe flight operations based on the second flight path 402 at time T2, where time T2 is different from time T1.

The control method of the movable platform provided by this embodiment can adjust the light emitting power of the light emitted by the light emitting device timely and effectively by obtaining the light intensity of the environment where the movable platform is located when the light intensity satisfies different preset conditions, so as to control the movable platform to perform obstacle avoidance operation based on the light emitted by the light emitting device, thereby not only ensuring the stability of the light intensity of the environment where the movable platform is located, so that the movable platform can perform safe operation in any environment with weak light, but also accurately and effectively identifying obstacles, especially identifying obstacles with insufficient texture, so as to reduce the probability of collision of the movable platform, further ensuring the safe reliability of the operation of the movable platform, and effectively improving the practicability of the method, is beneficial to the popularization and the application of the market.

FIG. 3 is a flowchart illustrating another method for controlling a movable platform according to an embodiment of the present invention; on the basis of the foregoing embodiment, with continuing reference to fig. 3, in order to improve the practicability of the method, the method in this embodiment may further include:

step S301: the exposure frequency of a binocular sensor is acquired, and the binocular sensor is used for identifying the obstacles based on the light emitted by the light emitting equipment.

Step S302: the light emitting device is controlled to blink based on the exposure frequency.

The binocular sensor is a sensor which is configured on the movable platform in advance and used for performing obstacle identification operation based on light emitted by the light emitting device, and the binocular sensor can work according to a preset exposure frequency in the obstacle identification process. At this time, the exposure frequency of the binocular sensor may be acquired, and then the light emitting device may be controlled to blink according to the exposure frequency. Specifically, controlling the light emitting device to blink based on the exposure frequency may include:

step S3021: determining an exposure time and a non-exposure time of the binocular sensor based on the exposure frequency.

Step S3022: and controlling the light emitting device to start during the exposure time.

Step S3023: and controlling the light emitting device to be closed in the non-exposure time.

After the exposure frequency is acquired, the exposure frequency can be analyzed, so that the exposure time and the non-exposure time of the binocular sensor can be acquired, the binocular sensor performs exposure operation during the exposure time, and the binocular sensor does not perform exposure operation during the non-exposure time. At this moment, in order to practice thrift the required electric energy of light emission equipment, can be at exposure time, control light emission equipment starts, when the operation of exposing at the binocular sensor promptly, control light emission equipment is glittering, improves the light intensity of the environment of binocular sensor place to realized carrying out the obstacle discernment based on the outside light of transmitting of light emission equipment. At non-exposure time, control light emission equipment closes, when the operation of not exposing at binocular sensor promptly, then can control light emission equipment and close to reduce the required electric energy of light emission equipment and the heat that gives off, and then can improve the stability that whole movable platform carried out the operation.

FIG. 4 is a flowchart illustrating a method for controlling a movable platform according to another embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to fig. 4, the method in this embodiment may further include:

step S401: an obstacle distance between the obstacle and the movable platform is detected using a ranging sensor.

Step S402: the light emitting device is controlled according to the distance from the obstacle.

Wherein the ranging sensor may comprise at least one of: time of flight TOF sensor, laser sensor, ultrasonic sensor, infrared sensor, radar sensor. It is understood that the specific type of the ranging sensor is not limited to the above definition, and different types of ranging sensors have different characteristics, and those skilled in the art can select different ranging sensors according to specific application scenarios and design requirements, and will not be described herein again. Among them, since the TOF sensor is an active distance measurement sensor and is not affected by the illumination condition, the distance measurement sensor in the present embodiment is preferably a TOF sensor.

During concrete implementation, be provided with range finding sensor on the movable platform, can acquire the barrier distance between barrier and the movable platform through range finding sensor, then can control light emission equipment according to the barrier distance, wherein, control light emission equipment according to the barrier distance can include:

step S4021: and when the distance between the obstacles is less than or equal to the preset distance threshold, starting the light emitting device. Alternatively, the first and second electrodes may be,

step S4022: and when the distance between the obstacles is greater than the preset distance threshold, the light emitting device is turned off.

After the obstacle distance is obtained, the obstacle distance may be analyzed and compared with a preset distance threshold, where the preset distance threshold may be a maximum distance for identifying the start of the light emitting device. When the distance between the obstacle and the movable platform is smaller than or equal to the preset distance threshold, the distance between the obstacle and the movable platform is relatively short, namely the probability of collision between the movable platform and the obstacle is relatively high, and at the moment, the light emitting device can be started to further perform obstacle avoidance detection operation through the light emitted by the light emitting device. When the distance between the obstacles is greater than or equal to the preset distance threshold, it is indicated that the distance between the obstacles and the movable platform is relatively long, that is, the probability of collision between the movable platform and the obstacles is relatively low, and at this time, the light emitting device can be turned off in order to reduce the electric energy required by the light emitting device and the generated heat.

For example, when the distance measuring sensor is one or more TOF sensors arranged on the movable platform and the light ray emitting device is an illuminating device positioned on the arm, the TOF sensor can be controlled to be normally open, so that the TOF sensor detects and obtains the distance between the obstacle and the movable platform. When the barrier distance between the barrier and the movable platform is acquired, the barrier distance can be analyzed, and when the barrier distance is close to the distance that the lighting equipment can perform lighting operation, the lighting equipment can be started, so that the barrier avoidance and positioning operation can be performed through the started lighting equipment. Therefore, the use efficiency of the lighting equipment can be effectively improved, the situation that the lighting equipment is unnecessarily turned on in dark and open places is avoided, the electric energy consumed by the lighting equipment and the generated heat are effectively reduced, and the safety and reliability of the operation of the movable platform are improved.

FIG. 5 is a flowchart illustrating another method for controlling a movable platform according to an embodiment of the present invention; on the basis of any of the above embodiments, with reference to fig. 5, the method in this embodiment may further include:

step S501: and acquiring the moving speed information of the movable platform.

Step S502: the light emitting device is adjusted based on the moving speed information to realize adjustment of light emitted by the light emitting device.

Wherein the moving speed information of the movable platform may include at least one of: moving speed direction and moving speed. Specifically, the moving speed information of the movable platform can be obtained through a speed measuring sensor arranged on the movable platform, and after the moving speed information is obtained, the light emitting device can be adjusted based on the moving speed information, so that the direction and/or the scattering area of the light emitted by the light emitting device can be adjusted.

In some examples, when the movement speed information includes a movement speed direction, adjusting the light emitting device based on the movement speed information may include:

step S5021: and adjusting the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction.

After the moving speed direction of the movable platform is acquired, the light emitting device can be adjusted based on the moving speed direction, so that the direction of light emitted by the light emitting device is consistent with the moving speed direction.

Specifically, taking an unmanned aerial vehicle as a movable platform as an example, referring to fig. 6, when the unmanned aerial vehicle performs operation, the operation speed of the unmanned aerial vehicle includes horizontal speed information Vx and vertical speed information Vy, at this time, the movement speed information Vp of the unmanned aerial vehicle, and the movement speed direction of the movement speed information Vp is shown in the figure; it is understood that the moving speed information Vp is obtained by performing fusion processing of the horizontal speed information Vx and the vertical speed information Vy. After the moving speed information Vp is acquired, it is ensured that the direction S of the light emitted from the light emitting device coincides with (is parallel to) the moving speed direction of the moving speed information Vp.

In addition, the embodiment does not limit the specific implementation manner of adjusting the light emitting device based on the moving speed direction, and those skilled in the art can set the adjustment according to specific application requirements and design requirements. In one implementation, adjusting the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction may include:

step S50211: the angle of the light emitted by the light emitting device is adjusted through the light reflector, so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction. Alternatively, the first and second electrodes may be,

step S50212: the setting angle of the light emitting device is adjusted so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction.

Wherein, in order to realize that the direction of the light that light emission equipment transmitted is unanimous with the moving speed direction, can adjust the light angle that light emission equipment transmitted through the light reflector, it is concrete, refer to fig. 7, the light direction that light emission equipment 700 transmitted is S1, adjust the reflection of light direction S1 through light reflector 701, thereby make the light that light emission equipment 700 transmitted adjust to the S direction by the S1 direction, thereby the direction S that has realized the light that light emission equipment 700 transmitted is unanimous with the moving speed direction of moving speed information Vp. In addition, the light emitted by the light emitting device 700 can be simultaneously positioned in a plurality of directions by the reflective mirror 701, for example: by the light reflecting operation of the mirror 701, the light emitted from the light emitting device 700 can be applied to the lower side and the front and rear side of the movable stage at the same time.

In other examples, in order to make the direction of the light emitted by the light emitting device coincide with the moving speed direction, the setting angle of the light emitting device may be adjusted. Specifically, referring to fig. 8, the light emitting device 800 is located at the first position P1, the direction of the light emitted by the light emitting device 800 is S1, the light emitting device 800 can be adjusted from the first position P1 to the second position P2 in order to adjust the direction of the light emitted by the light emitting device 800 from S1 to S, and the direction S of the light emitted by the light emitting device 800 is consistent with the moving speed direction of the moving speed information Vp.

In still other examples, referring to fig. 9, when the number of the light emitting devices is plural, adjusting the light emitting devices based on the moving speed direction so that the direction of the light emitted by the light emitting devices coincides with the moving speed direction may include:

step S50213: and acquiring a plurality of emission light directions corresponding to the plurality of light emission devices.

Step S50214: among the plurality of emission light directions, a target emission light direction that coincides with the moving speed direction is determined.

Step S50215: and controlling the light emitting device corresponding to the direction of the light emitted by the target to emit light so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction.

When a plurality of light emitting devices are arranged on the movable platform and can correspond to a plurality of different light emitting directions, the operation of adjusting the directions of the light emitted by the light emitting devices can be realized based on the light emitting devices, so that the directions of the light emitted by the light emitting devices are consistent with the moving speed direction.

For example, referring to fig. 10, the plurality of light emitting devices include a device a, a device B and a device C, where the emitted light direction of the device a is Sa, the emitted light direction of the device B is Sb, and the emitted light direction of the device C is Sc. After the moving speed direction is obtained, a target emission light direction consistent with the moving speed direction can be determined in the multiple emission light directions, and if the target emission light direction is Sb, the device B corresponding to the emission light direction Sb can be controlled to start, so that the direction of the light emitted by the device B is consistent with the moving speed direction.

In this embodiment, through the above adjustment operation, the direction of the light emitted by the light emitting device can be consistent with the moving speed direction of the movable platform, so that the light is effectively emitted to the moving direction of the movable platform through the light emitting device, the movable platform moving is subjected to timely lighting operation, and the safety and reliability of the operation of the movable platform are further improved.

In some examples, when the movement speed information includes a movement speed magnitude, adjusting the light emitting device based on the movement speed information may include:

step S5022: based on the moving speed, the irradiation area corresponding to the light emitted by the light emitting device is adjusted.

When the moving speed of the movable platform is obtained, the size of the irradiation area corresponding to the light emitted by the light emitting device can be adjusted based on the moving speed, so that the quality and the efficiency of the light emitting device in working are improved. Specifically, based on the moving speed, adjusting the irradiation area corresponding to the light emitted by the light emitting device may include:

step S50221: when the moving speed is greater than or equal to a preset speed threshold, reducing a radiation area corresponding to the light emitted by the light emitting equipment; alternatively, the first and second electrodes may be,

step S50222: and when the moving speed is smaller than the preset speed threshold, increasing the radiation area corresponding to the light emitted by the light emitting device.

After the moving speed of the movable platform is obtained, the moving speed can be analyzed and compared with a preset speed threshold, and the preset speed threshold is used for identifying a lowest speed limit value at which the moving speed of the movable platform is higher. When the moving speed is greater than or equal to the preset speed threshold, the moving speed of the movable platform is higher, and in order to ensure the safe reliability of the operation of the movable platform with higher moving speed, the radiation area corresponding to the light emitted by the light emitting device can be reduced, so that the light emitted by the light emitting device can irradiate farther, and further information in the farther environment can be seen. When the moving speed is smaller than the preset speed threshold, the moving speed of the movable platform is lower, and at the moment, the radiation area corresponding to the light emitted by the light emitting device can be increased, so that the information in the wider environment where the movable platform is located can be seen.

In the embodiment, the size of the irradiation area corresponding to the light emitted by the light emitting device is adjusted based on the moving speed, so that the irradiation area corresponding to the light emitted by the light emitting device is effectively reduced when the moving speed of the movable platform is higher, and information in a farther environment can be identified; when the moving speed of the movable platform is low, the irradiation area corresponding to the light emitted by the light emitting device is increased, so that the information in a wider environment can be identified, the flight requirements of the movable platform under different application scenes are met, and the practicability of the method is further improved.

On the basis of any one of the above embodiments, the method in this embodiment may further include:

step S601: the light of the light emitting device is condensed by the reflector.

Specifically, the light of the light emitting device can be condensed by the reflector, so that the light emitting device can obtain higher light utilization efficiency, the working quality and efficiency of the light emitting device can be improved, and the use stability and reliability of the method are further improved.

During specific application, the unmanned aerial vehicle is taken as a movable platform for illustration, and the embodiment of the application provides a control method of the unmanned aerial vehicle. Foretell unmanned aerial vehicle can include the fuselage, set up front and back horn and the vision camera on the fuselage, can be provided with power adjustable front and back horn lamp on the horn in front and back, this front and back horn lamp is used for sign unmanned aerial vehicle's running state to make the user can learn unmanned aerial vehicle's running state through front and back horn lamp, and, front and back horn lamp can assist unmanned aerial vehicle to keep away barrier flight operation. When the light intensity that judges in the unmanned aerial vehicle place environment at the vision camera is not enough, then can be automatic or allow the luminous power of horn lamp around the manual increase of user to the horn lamp illuminates unmanned aerial vehicle's the place ahead barrier around the realization through increasing power, thereby realizes keeping away barrier flight operation.

In other examples, the front and rear arm lamps may use non-visible LEDs to reduce the pollution of light emitted by the front and rear arm lamps to the environment and the irritation to the user, so that more friendly interaction with the user may be achieved.

According to the control method of the unmanned aerial vehicle, the front arm lamp and the rear arm lamp with adjustable power are used, so that the illumination brightness can be increased by increasing the luminous power of the front arm lamp and the rear arm lamp under the condition of insufficient light, and the visual positioning and obstacle avoidance operation can be conveniently carried out on the basis of the light emitted by the front arm lamp and the rear arm lamp; in addition, by using the invisible light LED invisible to naked eyes of the user, the influence of light rays emitted by the front and rear arm lamps on the unmanned aerial vehicle on the user can be effectively reduced, and the flexibility and the reliability of the method are further improved.

FIG. 11 is a schematic structural diagram of a control system of a movable platform according to an embodiment of the present invention; referring to fig. 11, the present embodiment provides a control system of a movable platform, which can perform the control method shown in fig. 1 described above. Specifically, the control system may include:

a vision sensor 1001 for acquiring light intensity of an environment in which the movable platform is located;

the controller 1002 is in communication connection with the vision sensor 1001 and the light emitting device 1003, and is configured to adjust the light emitting power of the light emitting device 1003 when the light intensity meets a preset condition;

a light emitting device 1003 for emitting light, and adjusting light emitting power of the light under the control of the controller 1002;

a binocular sensor 1004 communicatively connected to the controller 1002 for recognizing an obstacle based on the light emitted from the light emitting device 1003;

and the controller 1002 is further configured to be in communication connection with the binocular sensor 1004, and is configured to control the movable platform to perform obstacle avoidance operation based on the identification result of the identified obstacle.

In some examples, the movable platform includes unmanned aerial vehicle, is provided with front and back horn on the unmanned aerial vehicle, and light emission equipment 1003 sets up on front and back horn.

In some examples, the light emitting device 1003 includes at least one of: the LED lamp with adjustable power, the non-visible light LED lamp with adjustable power, the flash lamp with adjustable power and inert gas.

In some examples, the light emitting device 1003 is a luminaire.

In some examples, the vision sensor 1001 includes at least one of: visual camera, photosensitive sensor.

In some examples, when the controller 1002 adjusts the light emitting power of the light emitting device 1003 to emit the light when the light intensity satisfies the preset condition, the controller 1002 is configured to: when the light intensity is greater than the preset threshold, the light emitting power of the light emitted by the light emitting device 1003 is reduced; alternatively, when the light intensity is less than the preset threshold, the light emitting power of the light emitted from the light emitting device 1003 is increased.

In some examples, the controller 1002 is further configured to: acquiring the exposure frequency of a binocular sensor 1001, wherein the binocular sensor 1001 is used for identifying an obstacle based on light emitted by light emitting equipment; the light emitting device 1003 is controlled to blink based on the exposure frequency.

In some examples, when the controller 1002 controls the light emitting device 1003 to blink based on the exposure frequency, the controller 1002 is configured to: determining an exposure time and a non-exposure time of the binocular sensor 1001 based on the exposure frequency; controlling the light emitting device 1003 to start up during the exposure time; during the non-exposure time, the light emitting device 1003 is controlled to be turned off.

In some examples, as shown with reference to fig. 12, the system in this embodiment may further include:

a ranging sensor 1005 for detecting an obstacle distance between the obstacle and the movable platform;

and the controller 1002 is in communication connection with the ranging sensor 1005 and is used for controlling the light emitting device 1003 according to the distance of the obstacle.

In some examples, ranging sensor 1005 includes at least one of: time of flight TOF sensor, laser sensor, ultrasonic sensor, infrared sensor, radar sensor.

In some examples, when the controller 1002 controls the light emitting device according to the obstacle distance, the controller 1002 is further configured to: when the distance between the obstacles is less than or equal to the preset distance threshold, the light emitting device 1003 is started; alternatively, when the distance between the obstacles is greater than the preset distance threshold, the light emitting device 1003 is turned off.

In some examples, the controller 1002 is further configured to: acquiring moving speed information of a movable platform; the light emitting device 1003 is adjusted based on the moving speed information to realize adjustment of the light emitted from the light emitting device 1003.

In some examples, the movement speed information includes at least one of: moving speed direction and moving speed.

In some examples, when the controller 1002 adjusts the light emitting device 1003 based on the movement speed information, the controller 1002 is further configured to: the light emitting apparatus 1003 is adjusted based on the moving speed direction so that the direction of the light emitted by the light emitting apparatus 1003 coincides with the moving speed direction.

In some examples, when the controller 1002 adjusts the light emitting device 1003 based on the moving speed direction so that the direction of the light emitted by the light emitting device 1003 coincides with the moving speed direction, the controller 1002 is further configured to: adjusting the angle of the light emitted by the light emitting device 1003 through a light reflector so that the direction of the light emitted by the light emitting device 1003 is consistent with the moving speed direction; alternatively, the setting angle of the light emitting apparatus 1003 is adjusted so that the direction of the light emitted from the light emitting apparatus 1003 coincides with the moving speed direction.

In some examples, the number of the light emitting devices 1003 is plural; when the controller adjusts the light emitting device 1003 based on the moving speed direction so that the direction of the light emitted by the light emitting device 1003 coincides with the moving speed direction, the controller 1002 is further configured to: acquiring a plurality of emission light directions corresponding to a plurality of light emission devices 1003; determining a target emission light direction consistent with the moving speed direction in the plurality of emission light directions; the light emitting device 1003 corresponding to the target light emitting direction is controlled to emit light so that the direction of the light emitted from the light emitting device 1003 coincides with the moving speed direction.

In some examples, when the controller 1002 adjusts the light emitting device 1003 based on the movement speed information, the controller 1002 is further configured to: based on the moving speed, the irradiation area corresponding to the light emitted from the light emitting device 1003 is adjusted.

In some examples, when the controller 1002 adjusts the irradiation area corresponding to the light emitted from the light emitting device 1003 based on the moving speed, the controller 1002 is further configured to: when the moving speed is greater than or equal to the preset speed threshold, reducing the radiation area corresponding to the light emitted by the light emitting device 1003; or, when the moving speed is smaller than the preset speed threshold, increasing the radiation area corresponding to the light emitted by the light emitting device 1003.

In some examples, the system further comprises: and the reflecting cover is arranged on the movable platform and used for condensing the light of the light emitting equipment 1003.

The implementation principle and implementation effect of each device in the system shown in fig. 11-12 are similar to the implementation process, implementation principle and technical effect of the method shown in the embodiment shown in fig. 1-10, and reference may be made to the above statements specifically, and no further description is given here.

Fig. 13 is a schematic structural diagram of a control device of a movable platform according to an embodiment of the present invention; referring to fig. 13, the present embodiment provides a control apparatus of a movable platform, which can perform the control method shown in fig. 1 described above. Specifically, the control device may include:

a memory 12 for storing a computer program;

a processor 11 for executing the computer program stored in the memory 12 to implement:

and controlling the movable platform to carry out obstacle avoidance operation based on the light rays emitted by the light emitting equipment.

The control device may further include a communication interface 13 for communicating the electronic device with other devices or a communication network.

In some examples, when the processor 11 adjusts the light emitting power of the light emitting device to emit the light when the light intensity satisfies the preset condition, the processor 11 is configured to: when the light intensity is greater than a preset threshold value, reducing the light emitting power of the light emitted by the light emitting equipment; or when the light intensity is smaller than the preset threshold value, the light emitting power of the light emitting device for emitting the light is increased.

In some examples, the light emitting device includes at least one of: the LED lamp comprises a visible light LED lamp with adjustable power, a non-visible light LED lamp with adjustable power and an inert gas flash lamp with adjustable power.

In some examples, the light emitting device is a lighting device.

In some examples, processor 11 is further configured to: acquiring the exposure frequency of a binocular sensor, wherein the binocular sensor is used for identifying the barrier based on the light emitted by the light emitting equipment; the light emitting device is controlled to blink based on the exposure frequency.

In some examples, while the processor 11 controls the light emitting device to blink based on the exposure frequency, the processor 11 is configured to: determining an exposure time and a non-exposure time of the binocular sensor based on the exposure frequency; controlling the light emitting device to start up during the exposure time; and controlling the light emitting device to be closed during the non-exposure time.

In some examples, processor 11 is further configured to: detecting an obstacle distance between an obstacle and the movable platform by using a ranging sensor; the light emitting device is controlled according to the distance from the obstacle.

In some examples, when the processor 11 controls the light emitting device according to the obstacle distance, the processor 11 is further configured to: when the distance between the obstacles is smaller than or equal to a preset distance threshold, starting the light emitting equipment; or, when the distance between the obstacles is greater than the preset distance threshold, the light emitting device is turned off.

In some examples, the ranging sensor comprises at least one of: time of flight TOF sensor, laser sensor, ultrasonic sensor, infrared sensor, radar sensor.

In some examples, processor 11 is further configured to: acquiring moving speed information of a movable platform; the light emitting device is adjusted based on the moving speed information to realize adjustment of light emitted by the light emitting device.

In some examples, when processor 11 adjusts the light emitting device based on the movement speed information, processor 11 is configured to: and adjusting the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction.

In some examples, when the processor 11 adjusts the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device coincides with the moving speed direction, the processor 11 is configured to: the angle of the light rays emitted by the light ray emitting equipment is adjusted through the light ray reflector so that the direction of the light rays emitted by the light ray emitting equipment is consistent with the moving speed direction; or, the setting angle of the light emitting device is adjusted so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction.

In some examples, the number of the light emitting devices is plural; when the processor 11 adjusts the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device coincides with the moving speed direction, the processor 11 is configured to: acquiring a plurality of emission light directions corresponding to a plurality of light emission devices; determining a target emission light direction consistent with the moving speed direction in the plurality of emission light directions; and controlling the light emitting device corresponding to the direction of the light emitted by the target to emit light so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction.

In some examples, when processor 11 adjusts the light emitting device based on the movement speed information, processor 11 is configured to: based on the moving speed, the irradiation area corresponding to the light emitted by the light emitting device is adjusted.

In some examples, when the processor 11 adjusts the irradiation area corresponding to the light emitted by the light emitting device based on the moving speed, the processor 11 is configured to: when the moving speed is greater than or equal to a preset speed threshold, reducing a radiation area corresponding to the light emitted by the light emitting equipment; or when the moving speed is smaller than the preset speed threshold, increasing the radiation area corresponding to the light emitted by the light emitting device.

In some examples, processor 11 is further configured to: the light of the light emitting device is condensed by the reflector.

The control device shown in fig. 13 may execute the method of the embodiment shown in fig. 1-10, and the related description of the embodiment shown in fig. 1-10 may be referred to for the part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to fig. 10, and are not described herein again.

In addition, an embodiment of the present invention provides a computer storage medium for storing computer software instructions for an electronic device, which includes a program for executing the method for controlling a movable platform in the method embodiments shown in fig. 1 to 10.

Further, the present embodiments provide a movable platform that may include at least one of: unmanned aerial vehicle, unmanned ship, mobile robot etc. but the movable platform in this embodiment can include the controlling means of the movable platform that the aforesaid is shown in fig. 13.

The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of controlling a movable platform, comprising:

2. The method of claim 1, wherein adjusting the light emitting power of the light emitting device when the light intensity satisfies a predetermined condition comprises:

when the light intensity is greater than a preset threshold value, reducing the light emitting power of the light emitted by the light emitting equipment; alternatively, the first and second electrodes may be,

and when the light intensity is smaller than a preset threshold value, increasing the luminous power of the light emitted by the light emitting equipment.

3. The method of claim 1, wherein the light emitting device comprises at least one of: the LED lamp comprises a visible light LED lamp with adjustable power, a non-visible light LED lamp with adjustable power and an inert gas flash lamp with adjustable power.

4. The method of claim 1, wherein the light emitting device is a lighting device.

5. The method of claim 1, further comprising:

acquiring the exposure frequency of a binocular sensor, wherein the binocular sensor is used for identifying the barrier based on the light emitted by the light emitting equipment;

and controlling the light emitting device to flicker based on the exposure frequency.

6. The method of claim 5, wherein controlling the light emitting device to blink based on the exposure frequency comprises:

determining an exposure time and a non-exposure time of the binocular sensor based on the exposure frequency;

controlling the light emitting device to start up during the exposure time;

and controlling the light emitting device to be closed in the non-exposure time.

7. The method of claim 1, further comprising:

detecting an obstacle distance between an obstacle and the movable platform using a ranging sensor;

and controlling the light emitting equipment according to the distance between the obstacles.

8. The method of claim 7, wherein controlling the light emitting device according to the obstacle distance comprises:

when the distance between the obstacles is smaller than or equal to a preset distance threshold, starting the light emitting equipment; alternatively, the first and second electrodes may be,

and when the distance between the obstacles is greater than a preset distance threshold, closing the light emitting equipment.

9. The method of claim 7, wherein the ranging sensor comprises at least one of: time of flight TOF sensor, laser sensor, ultrasonic sensor, infrared sensor, radar sensor.

10. The method according to any one of claims 1-9, further comprising:

acquiring moving speed information of the movable platform;

and adjusting the light emitting equipment based on the moving speed information so as to adjust the light emitted by the light emitting equipment.

11. The method of claim 10, wherein the movement velocity information comprises at least one of: moving speed direction and moving speed.

12. The method of claim 11, wherein adjusting the light emitting device based on the movement speed information comprises:

and adjusting the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction.

13. The method of claim 12, wherein adjusting the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device coincides with the moving speed direction comprises:

adjusting the angle of the light rays emitted by the light ray emitting equipment through a light ray reflector so as to enable the direction of the light rays emitted by the light ray emitting equipment to be consistent with the moving speed direction; alternatively, the first and second electrodes may be,

and adjusting the setting angle of the light emitting equipment so that the direction of the light emitted by the light emitting equipment is consistent with the moving speed direction.

14. The method of claim 12, wherein the number of the light emitting devices is plural; adjusting the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction, comprising:

acquiring a plurality of emission light directions corresponding to a plurality of light emission devices;

determining a target emission light direction consistent with the moving speed direction in the plurality of emission light directions;

and controlling the light emitting device corresponding to the target light emitting direction to emit light so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction.

15. The method of claim 11, wherein adjusting the light emitting device based on the movement speed information comprises:

and adjusting the irradiation area corresponding to the light emitted by the light emitting equipment based on the moving speed.

16. The method of claim 15, wherein adjusting the irradiation area corresponding to the light emitted from the light emitting device based on the moving speed comprises:

when the moving speed is larger than or equal to a preset speed threshold, reducing a radiation area corresponding to the light emitted by the light emitting equipment; alternatively, the first and second electrodes may be,

and when the moving speed is smaller than a preset speed threshold value, increasing a radiation area corresponding to the light emitted by the light emitting equipment.

17. The method according to any one of claims 1-9, further comprising:

and carrying out condensation treatment on the light of the light emitting equipment through a reflecting cover.

18. A control system for a movable platform, comprising:

19. The system of claim 18, wherein the movable platform comprises a drone having a front and rear boom disposed thereon, the light emitting device being disposed on the front and rear boom.

20. The system of claim 18, wherein the light emitting device comprises at least one of: the LED lamp with adjustable power, the non-visible light LED lamp with adjustable power, the flash lamp with adjustable power and inert gas.

21. The system of claim 18, wherein the light emitting device is an illumination device.

22. The system of claim 18, wherein the vision sensor comprises at least one of: visual camera, photosensitive sensor.

23. The system of claim 18, wherein the controller is configured to, when the controller adjusts the light emitting power of the light emitting device to emit the light when the light intensity satisfies a preset condition:

24. The system of claim 18, wherein the controller is further configured to:

25. The system of claim 24, wherein when the controller controls the light emitting device to blink based on the exposure frequency, the controller is configured to:

controlling the light emitting device to start up during the exposure time;

26. The system of claim 18, further comprising:

a ranging sensor for detecting an obstacle distance between an obstacle and the movable platform;

the controller is in communication connection with the ranging sensor and used for controlling the light emitting device according to the barrier distance.

27. The system of claim 26, wherein the ranging sensor comprises at least one of: time of flight TOF sensor, laser sensor, ultrasonic sensor, infrared sensor, radar sensor.

28. The system of claim 26, wherein when the controller controls the light emitting device according to the obstacle distance, the controller is further configured to:

29. The system of any one of claims 18-28, wherein the controller is further configured to:

acquiring moving speed information of the movable platform;

30. The system of claim 29, wherein the movement velocity information comprises at least one of: moving speed direction and moving speed.

31. The system of claim 30, wherein when the controller adjusts the light emitting device based on the movement speed information, the controller is further configured to:

32. The system of claim 31, wherein when the controller adjusts the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device coincides with the moving speed direction, the controller is further configured to:

33. The system of claim 31, wherein the number of the light emitting devices is plural; when the controller adjusts the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction, the controller is further configured to:

34. The system of claim 29, wherein when the controller adjusts the light emitting device based on the movement speed information, the controller is further configured to:

35. The system of claim 34, wherein when the controller adjusts an irradiation area corresponding to the light emitted from the light emitting device based on the moving speed, the controller is further configured to:

36. The system according to any one of claims 18-28, further comprising:

and the reflecting cover is arranged on the movable platform and used for condensing the light of the light emitting equipment.

37. A control device for a movable platform, comprising:

a memory for storing a computer program;

38. The apparatus as claimed in claim 37, wherein when the processor adjusts the light emitting power of the light emitting device to emit the light when the light intensity satisfies a predetermined condition, the processor is configured to:

39. The apparatus of claim 37, wherein the light emitting device comprises at least one of: the LED lamp comprises a visible light LED lamp with adjustable power, a non-visible light LED lamp with adjustable power and an inert gas flash lamp with adjustable power.

40. The apparatus of claim 37, wherein the light emitting device is an illumination device.

41. The apparatus of claim 37, wherein the processor is further configured to:

42. The apparatus as claimed in claim 41, wherein when the processor controls the light emitting device to blink based on the exposure frequency, the processor is configured to:

controlling the light emitting device to start up during the exposure time;

43. The apparatus of claim 37, wherein the processor is further configured to:

44. The apparatus according to claim 43, wherein when the processor controls the light emitting device according to the obstacle distance, the processor is further configured to:

45. The apparatus of claim 43, wherein the ranging sensor comprises at least one of: time of flight TOF sensor, laser sensor, ultrasonic sensor, infrared sensor, radar sensor.

46. The apparatus of any one of claims 37-45, wherein the processor is further configured to:

acquiring moving speed information of the movable platform;

47. The apparatus of claim 46, wherein the movement velocity information comprises at least one of: moving speed direction and moving speed.

48. The apparatus of claim 46, wherein when the processor adjusts the light emitting device based on the movement velocity information, the processor is configured to:

49. The apparatus of claim 48, wherein when the processor adjusts the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device coincides with the moving speed direction, the processor is configured to:

50. The apparatus according to claim 48, wherein the number of said light emitting devices is plural; when the processor adjusts the light emitting device based on the moving speed direction so that the direction of the light emitted by the light emitting device is consistent with the moving speed direction, the processor is configured to:

51. The apparatus of claim 47, wherein when the processor adjusts the light emitting device based on the movement velocity information, the processor is configured to:

52. The apparatus as claimed in claim 51, wherein when the processor adjusts the irradiation area corresponding to the light emitted from the light emitting device based on the moving speed, the processor is configured to:

53. The apparatus of any one of claims 37-45, wherein the processor is further configured to:

54. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium in which program instructions for implementing the method of controlling a movable platform according to any one of claims 1 to 17 are stored.

55. A movable platform, comprising: a control apparatus for a moveable platform as claimed in any one of claims 37 to 53.