CN113795804A - Movable platform and control method and device thereof - Google Patents
Movable platform and control method and device thereof Download PDFInfo
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- CN113795804A CN113795804A CN202080021659.9A CN202080021659A CN113795804A CN 113795804 A CN113795804 A CN 113795804A CN 202080021659 A CN202080021659 A CN 202080021659A CN 113795804 A CN113795804 A CN 113795804A
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Abstract
A movable platform and a control method and device thereof, wherein the method comprises the following steps: acquiring the current speed of a movable platform and first distance and orientation information of obstacles around the movable platform relative to the movable platform; and limiting the current speed in the direction of the current speed according to the first distance and the azimuth information so as to prevent the movable platform from colliding with the obstacle. The method and the device limit the current speed of the movable platform through the first distance and the azimuth information of the obstacles around the movable platform relative to the movable platform, and ensure that the obstacles in the negative direction of the current speed cannot influence the current speed; meanwhile, the current speed is limited only in the direction of the current speed, the original running direction of the movable platform cannot be influenced due to speed limitation, and the operability of speed limitation and the safety of the movable platform are improved.
Description
The present disclosure relates to the field of movable platforms, and particularly to a movable platform and a control method and device thereof.
In consideration of operation safety, the movable platform generally has an active obstacle avoidance function, obstacle information is usually sent to the movable platform by a sensing module on the movable platform, and the movable platform uses the obstacle information to carry out speed limitation so as to achieve the purpose of obstacle avoidance. A speed limiting mode of a movable platform considers all obstacles in a certain distance range of the movable platform, which causes that the obstacles in the negative direction of the current speed of the movable platform can also influence the current speed; the other speed limiting mode of the movable platform only considers the barrier in the positive direction of the current speed, the barrier information in the positive direction of the current speed is used for limiting the size and the direction of the current speed of the movable platform, and after the speed is limited, the flying speed and the flying direction of the movable platform can be changed, so that the original flying direction of the movable platform is influenced.
The included angle between the direction from the barrier to the movable platform and the direction of the current speed is greater than or equal to 90 degrees and is called as the negative direction of the current speed, and the included angle between the direction from the barrier to the movable platform and the direction of the current speed is smaller than 90 degrees and is called as the positive direction of the current speed.
Disclosure of Invention
The application provides a movable platform and a control method and device thereof.
In a first aspect, an embodiment of the present application provides a method for controlling a movable platform, where the method includes:
acquiring the current speed of a movable platform and first distance and orientation information of obstacles around the movable platform relative to the movable platform;
and limiting the current speed in the direction of the current speed according to the first distance and the azimuth information so as to prevent the movable platform from colliding with the obstacle.
In a second aspect, an embodiment of the present application provides a control apparatus for a movable platform, the apparatus including:
storage means for storing program instructions; and
one or more processors that invoke program instructions stored in the storage device, the one or more processors individually or collectively configured to, when the program instructions are executed, perform operations comprising:
acquiring the current speed of a movable platform and first distance and orientation information of obstacles around the movable platform relative to the movable platform;
and limiting the current speed in the direction of the current speed according to the first distance and the azimuth information so as to prevent the movable platform from colliding with the obstacle.
In a third aspect, an embodiment of the present application provides a movable platform, including:
a body;
the power system is connected with the machine body and used for providing power for the movement of the machine body;
a control device of the movable platform supported by the body;
wherein the control device of the movable platform comprises:
storage means for storing program instructions; and
one or more processors that invoke program instructions stored in the storage device, the one or more processors individually or collectively configured to, when the program instructions are executed, perform operations comprising:
acquiring the current speed of a movable platform and first distance and orientation information of obstacles around the movable platform relative to the movable platform;
and limiting the current speed in the direction of the current speed according to the first distance and the azimuth information so as to prevent the movable platform from colliding with the obstacle.
According to the technical scheme provided by the embodiment of the application, the current speed of the movable platform is limited through the first distance and the azimuth information of the obstacles around the movable platform relative to the movable platform, so that the obstacles in the negative direction of the current speed can not influence the current speed; meanwhile, the current speed is limited only in the direction of the current speed, the original running direction of the movable platform cannot be influenced due to speed limitation, and the operability of speed limitation and the safety of the movable platform are improved.
In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 only some embodiments of the present application, 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 method flow diagram of a method for controlling a movable platform according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an implementation process of limiting the magnitude of the current speed in the direction of the current speed according to the first distance and the azimuth information in an embodiment of the present application;
FIG. 3 is a graphical illustration of the embodiment shown in FIG. 2;
FIG. 4 is a schematic diagram of a first velocity model and a second velocity model in an embodiment of the present application;
FIG. 5 is a schematic flow chart of a method of controlling a movable platform according to another embodiment of the present application;
FIG. 6 is a block diagram of a control device of a movable platform according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a movable platform in an embodiment of the present application.
Currently, the speed limitation of the movable platform includes two methods:
(1) and considering all obstacles in a certain distance range of the movable platform, determining the maximum speed allowed by the movable platform by using the distance from the obstacle closest to the movable platform in the distance range to the movable platform, and limiting the current speed of the movable platform by using the maximum speed allowed by the movable platform. Although the method can limit the current speed more safely, the obstacle in the negative direction of the current speed can also affect the current speed, thereby affecting the accuracy of the speed limit.
(2) Only considering the barrier in the positive direction of the current speed, and using the barrier information in the positive direction of the current speed to limit the size and the direction of the current speed of the movable platform, after the speed is limited, the flying speed and the direction of the movable platform can be changed, and the original flying direction of the movable platform is influenced. The speed limiting mode is suitable for a scene with fixed obstacles, but for a scene with unfixed obstacles, the real speed direction is easy to drift due to the drift selected by the obstacles, and certain insecurity and operation inconvenience are brought.
In this respect, the current speed of the movable platform is limited by the first distance and the azimuth information of the obstacles around the movable platform relative to the movable platform, so that the obstacles in the negative direction of the current speed cannot influence the current speed; meanwhile, the current speed is limited only in the direction of the current speed, the original running direction of the movable platform cannot be influenced due to speed limitation, and the operability of speed limitation and the safety of the movable platform are improved. The speed direction after speed limiting is the same as the original running direction, so the control method of the movable platform is suitable for a scene with fixed obstacles and a scene with unfixed obstacles.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the 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 application.
It should be noted that, in the following examples and embodiments, features may be combined with each other without conflict.
The movable platform of this application embodiment can be unmanned aerial vehicle, also can be unmanned vehicle or ground mobile robot. In addition, the control method of the movable platform of the embodiment of the application is also suitable for other types of movable platforms, such as a human aircraft.
The speed limit is to determine the operable range of the movable platform in the current environment according to the distance and the position of the obstacle around the movable platform relative to the movable platform, so as to limit the speed, gradually slow down the speed in the process of approaching the obstacle, and limit the operating speed of the movable platform until the obstacle approaches to reach the corresponding safe distance.
FIG. 1 is a schematic method flow diagram of a method for controlling a movable platform according to an embodiment of the present application; the execution main body of the control method of the movable platform in the embodiment of the application can be the movable platform, and can also be a control device which is arranged on the movable platform and is in communication connection with the movable platform. Referring to fig. 1, a method for controlling a movable platform according to an embodiment of the present disclosure may include steps S101 to S102.
In S101, a current speed of the movable platform and first distance and orientation information of obstacles around the movable platform with respect to the movable platform are acquired.
The current speed comprises the magnitude and the direction of the current speed, and the current speed can be detected by a speed sensor on the movable platform.
The first distance and orientation information can be obtained through detection of a vision system (such as a binocular vision system) or a radar (such as a millimeter wave radar) on the movable platform or a combination of the vision system and the radar; of course, the first distance and orientation information may be obtained by other obstacle detection sensors.
In S102, the magnitude of the current speed is limited in the direction of the current speed according to the first distance and orientation information to prevent the movable platform from colliding with the obstacle.
FIG. 2 is a schematic diagram of an implementation process of limiting the magnitude of the current speed in the direction of the current speed according to the first distance and the azimuth information in an embodiment of the present application; referring to fig. 2, an implementation process for limiting the current speed in the direction of the current speed according to the first distance and the orientation information includes steps S201 to S203.
In S201, a velocity component of the current velocity projected to a first direction is determined according to the orientation information, the first direction being a direction of the obstacle relative to the movable platform.
In the embodiment of the application, the current speed is decomposed relative to the first direction during projection. When the barrier is in the positive direction of the current speed, the speed component is greater than 0; when the obstacle is in the negative direction of the current speed, the velocity component is 0. When the velocity component is greater than 0, a line connecting the end point of the current velocity and the end point of the velocity component is perpendicular to the velocity component. For example, as shown in fig. 3, the velocity component of the current velocity V projected to the direction of the obstacle 10 relative to the movable platform is V1, and the velocity component of the current velocity V projected to the direction of the obstacle 20 relative to the movable platform is V2.
In S202, when the velocity component is greater than 0, a maximum velocity component allowed for the movable platform in the first direction is determined according to the first distance.
When the movable platform is operating at the current speed, the movable platform may collide with an obstacle in the positive direction of the current speed, but not with an obstacle in the negative direction of the current speed. Therefore, when the speed component is only determined to be larger than 0, the maximum speed component of the movable platform in the direction of the corresponding obstacle relative to the movable platform is determined, and then the speed of the movable platform is limited according to the maximum speed component, so that the mode that the speed of the movable platform is limited only by the obstacle in the positive direction of the current speed is realized, and the obstacle in the negative direction of the current speed is ensured not to influence the current speed.
An implementation of determining a maximum velocity component allowed by the movable platform in the first direction based on the first distance may include: and determining the maximum speed component allowed by the movable platform in the first direction according to the first distance and a pre-calibrated first speed model. Wherein the first velocity model is used for characterizing the mapping relation between the first distance and the maximum velocity component. The first velocity model may be a function model or may be other. Optionally, when the first distance is greater than the preset safety distance, the maximum velocity component is positively correlated with the first distance. That is, when the first distance is greater than the preset safety distance, the greater the first distance is, the greater the magnitude of the maximum velocity component is. In this application embodiment, predetermine safe distance and be when the movable platform is in the state of stopping, movable platform to the minimum distance of barrier, the size of predetermineeing safe distance can set up as required, for example, predetermine safe distance and can set up to 2m or other sizes. In order to ensure that the speed of the movable platform is 0, the distance between the movable platform and the barrier is greater than or equal to a preset safety distance so as to ensure the safety of the movable platform. For example, referring to fig. 4, the first velocity model is curve 30. For the curve 30, the abscissa in fig. 4 is used to characterize the first distance (in m) and the ordinate is used to characterize the maximum velocity component (in m/s). It should be understood that the first velocity model is not limited to being characterized by curve 30, and other curve characterizations may be employed.
For example, referring to fig. 3, V1>0, it can be determined by the first velocity model that the maximum velocity component allowed by the current velocity V in the direction of the obstacle 10 relative to the movable platform is V3; v2>0, it can be determined by means of the first velocity model that the maximum velocity component allowed by the current velocity V in the direction of the obstacle 20 relative to the movable platform is V4.
Further, the maximum speed component is less than a maximum brake-off speed allowed for the movable platform in the first direction. The maximum braking speed is determined according to the first distance and a pre-calibrated second speed model, and the second speed model is used for representing the mapping relation between the first distance and the maximum braking speed. It should be noted that, in the embodiment of the present application, the maximum speed component and the maximum brake speed are compared in magnitude at the same first distance, that is, at the same first distance, the maximum speed component is smaller than the maximum brake speed. The second velocity model may be a function model or may be other. Optionally, when the first distance is greater than the preset safety distance, the maximum braking speed is positively correlated to the first distance. That is, when the first distance is greater than the preset safety distance, the greater the first distance, the greater the magnitude of the maximum braking speed. For example, referring to fig. 4, the second velocity model is a curve 40. For the curve 40, the abscissa in fig. 4 is used to characterize the first distance (in m) and the ordinate is used to characterize the maximum braking speed (in m/s). It should be understood that the second velocity model is not limited to being characterized by curve 40, and that other curve characterizations may be employed.
For example, referring again to FIG. 4, the first distance d1 corresponds to a maximum velocity component VLMaximum brake speed V corresponding to the first distance d1S，V L<V S. In FIG. 4, VmaxD0 is a preset safety distance for the maximum allowable limit speed of the movable platform.
In S203, the magnitude of the current speed is limited in the direction of the current speed according to the maximum speed component.
One implementation of limiting the magnitude of the current speed in the direction of the current speed based on the maximum speed component may include, but is not limited to, the steps of:
step I, back projecting the maximum speed component to the direction of the current speed to obtain a limit speed;
the process of back projection is opposite to the process of projection of S201, for example, please refer to fig. 3 again, V3 back projects to the direction of V, and the limit speed V5 is obtained; v4 is back projected to the direction of V, obtaining a limit speed V6. The velocity component of V5 projected to the direction of the obstacle 10 relative to the movable platform is V3, and the velocity component of V6 projected to the direction of the obstacle 20 relative to the movable platform is V4.
And step II, limiting the current speed according to the limiting speed.
Wherein, the implementation process of the step II comprises the following steps: and limiting the current speed to be the minimum value in the limited speed, and setting the current speed to be the minimum value in the limited speed so that the movable platform can not collide with the barrier in the positive direction of the current speed when running at the limited speed. In the embodiment shown in fig. 3, since V6< V5, V is limited to V6, and the movable platform operating at V6 does not collide with the obstacle 10 and the obstacle 20 in the positive direction of the current speed.
Through the step I and the step II, the mode of limiting the current speed only in the direction of the current speed is realized, the speed of the movable platform is limited in the original running direction without influencing the movable platform, and the operability of speed limitation and the safety of the movable platform are improved.
The embodiment of the application only carries out speed limitation on the movable platform through the obstacle with the speed component larger than 0, namely, the movable platform is only subjected to speed limitation through the obstacle in the positive direction of the current speed, and the obstacle in the negative direction of the current speed is ensured not to influence the current speed.
It should be appreciated that the implementation of determining the maximum velocity component allowed by the movable platform in the first direction based on the first distance is not limited to model determination, and may be other.
In addition, the control method of the movable platform of the embodiment of the application further comprises the following steps: and if the first distance is smaller than the minimum braking distance corresponding to the current speed, controlling the movable platform to be in a braking state. Thus, the safety of the movable platform can be ensured. The minimum distance required by the deceleration running of the movable platform at the current speed and the maximum acceleration allowed by the movable platform is the minimum brake-stop distance corresponding to the current speed; it should be understood that the minimum brake-stopping distance in the embodiment of the present application may include a preset safety distance, or the first distance may be a difference value obtained by subtracting the preset safety distance from an actual distance of the obstacle relative to the movable platform, that is, when the movable platform is controlled to be in the brake-stopping state, the movable platform and the obstacle may have the preset safety distance therebetween, so as to ensure safety of the movable platform. In this application embodiment, the implementation process of controlling the movable platform to be in the brake-off state may include: and generating a brake flag bit to enable the movable platform to decelerate at the maximum acceleration until the speed of the movable platform is reduced to 0, so that the movable platform is in a brake state.
FIG. 5 is a schematic flow chart of a method of controlling a movable platform according to another embodiment of the present application; referring to fig. 5, the method for controlling the movable platform further includes steps S501 to S502.
In S501, when the movable platform is in the brake-off state, at least one of the state information and the instruction information of the movable platform is acquired.
The state information may include one or a combination of at least two of a second distance from the nearest obstacle to the movable platform in the direction of the current speed, heading information of the movable platform, a state of an obstacle avoidance system of the movable platform, altitude information of the movable platform, and the current speed. Wherein, for example, the second distance may be detected by a vision system or a radar or a combination of the vision system and the radar on the movable platform; course information can be obtained through detection of an inertial measurement unit on the movable platform; the state of the obstacle avoidance system can be determined by the handshake state between the obstacle avoidance system and the movable platform; the height information may be detected by a distance sensor on the movable platform. It should be understood that the status information may also include other status information of the movable platform.
The command information may include a speed command for the movable platform and may also include other command information for the movable platform.
In S502, if it is determined that the movable platform meets a preset stop-and-exit strategy according to at least one of the state information and the instruction information, the movable platform is controlled to exit the stop-and-exit state according to the stop-and-exit strategy.
In an embodiment of the present application, the brake-off exit strategy may include at least one of a manual exit strategy and an automatic exit strategy. When the movable platform meets the manual quitting strategy, a user is required to manually control the movable platform to quit the brake-stop state. For example, in S502, according to the brake exiting strategy, the process of controlling the movable platform to exit the brake state may include: and when the movable platform meets the manual exit strategy, if a stop exit signal input from the outside is received, controlling the movable platform to exit the stop state. The brake exit signal can be generated by a control device of the movable platform, such as a remote controller, an intelligent terminal and the like, and then the brake exit signal is sent to the movable platform by the control device.
And when the movable platform meets the automatic quitting strategy, the movable platform automatically quits the brake-stop state. For example, in S502, according to the brake exiting strategy, the process of controlling the movable platform to exit the brake state may include: and when the movable platform meets the automatic quitting strategy, generating a stopping quitting signal so as to enable the movable platform to quit a stopping state.
In the embodiment of the application, the stop-and-exit strategy can be selected by a user, for example, the user can set the stop-and-exit strategy as a manual exit strategy, can also set the stop-and-exit strategy as an automatic exit strategy, and can also set the stop-and-exit strategy as a combination of the manual exit strategy and the automatic exit strategy, thereby providing a more flexible safety scheme.
For example, different switches are displayed on the control device of the movable platform, and a user selects the current brake-off exit strategy used by the movable platform by operating the switches. For example, the switch 1 corresponds to a manual quitting strategy, the switch 2 corresponds to an automatic quitting strategy, the switch 3 corresponds to a combination of the manual quitting strategy and the automatic quitting strategy, and at the same time, only one triggered switch exists among the switch 1, the switch 2 and the switch 3, wherein when the switch 1 of the user is triggered, the control device generates a first trigger signal and sends the first trigger signal to the movable platform to indicate that the movable platform judges whether to quit the brake-off state by using the manual quitting strategy currently; when the user switch 2 is triggered, the control device generates a second trigger signal and sends the second trigger signal to the movable platform to indicate the movable platform to use an automatic quit strategy to judge whether to quit the brake-stop state or not; when the user switch 3 is triggered, the control device generates a third trigger signal and sends the third trigger signal to the movable platform, and the movable platform is indicated to judge whether to exit the brake-stop state or not by using the combination of the manual exit strategy and the automatic exit strategy currently. For another example, the switch 4 corresponds to a manual quitting policy, the switch 5 corresponds to an automatic quitting policy, the switch 4 and the switch 5 may be triggered at different times, or may be triggered at the same time, wherein when the switch 4 is triggered and the switch 5 is not triggered, the control device generates a first trigger signal and sends the first trigger signal to the movable platform, and indicates that the movable platform currently uses the manual quitting policy to determine whether to quit the brake-stop state; when the switch 5 is triggered and the switch 4 is not triggered, the control device generates a second trigger signal and sends the second trigger signal to the movable platform to indicate that the movable platform currently uses an automatic quit strategy to judge whether to quit the brake-stop state; when the switch 4 and the switch 5 are triggered simultaneously, the control device generates a third trigger signal and sends the third trigger signal to the movable platform to indicate that the movable platform currently uses a combination of a manual exit strategy and an automatic exit strategy to judge whether to exit the brake-stop state. It should be understood that the above-described switches may also be provided on the movable platform. In addition, other modes can be adopted to select the current stop-and-go strategy of the movable platform.
It is understood that, in addition to the above description, the selection manner of the stop-and-go strategy may also be selected by using other interaction manners in practical applications, and is not limited specifically herein.
The user can select different stop-and-go strategies according to different scenes, so that the flexibility and the usability are improved. For example, when the movable platform is operating in a controllable scenario (e.g., less obstructed space), the stop-and-go strategy may be selected as an automatic exit strategy; when the movable platform runs in a scene seriously threatening the safety of the movable platform (such as a space with dense obstacles), the brake-off exit strategy can be selected as a manual exit strategy; when the scene where the movable platform is located at present is a controllable area and a safe area seriously threatening the movable platform exists, the stop-and-exit strategy can be selected to be a combination of a manual exit strategy and an automatic exit strategy.
The mobile platform is provided with a brake quitting strategy, wherein under different selections, the judgment modes are inconsistent, and when the brake quitting strategy is a manual quitting strategy, only whether the mobile platform meets the manual quitting strategy is judged; when the stopping exit strategy is an automatic exit strategy, only judging whether the movable platform meets the automatic exit strategy; when the stopping and exiting strategy is the combination of the manual exiting strategy and the automatic exiting strategy, whether the movable platform meets the manual exiting strategy or not can be judged preferentially, and whether the movable platform meets the automatic exiting strategy or not can be judged. When the stopping and exiting strategy is a combination of a manual exiting strategy and an automatic exiting strategy, for a scene seriously threatening the safety of the movable platform, when the movable platform meets the manual exiting strategy, the movable platform is manually controlled by a user to exit a stopping state; for some controllable scenarios, the brake-off state is automatically exited when the movable platform satisfies the auto-exit strategy.
For example, in some embodiments, the brake-off exit strategy is a combination of a manual exit strategy and an automatic exit strategy. In this embodiment, it may be determined whether the movable platform satisfies the manual exit policy or the automatic exit policy according to the state information. For example, when the movable platform is determined to satisfy the first specific condition according to the state information, it is determined that the movable platform satisfies the manual exit policy. Wherein the first specific case may include, but is not limited to, one of the following:
(1) and the second distance is smaller than the preset safety distance.
When the second distance is smaller than the preset safety distance, the closest barrier in the direction of the current speed has a greater threat to the safety of the movable platform, so that the movable platform can be controlled to exit the brake-stop state in a manual mode.
(2) And the course information of the movable platform indicates that the course of the movable platform is not changed, and the difference value between the currently obtained second distance and the second distance obtained last time is larger than a preset threshold value.
Under the condition that the course of the movable platform is not changed, when an obstacle suddenly appears in the current speed direction, a problem occurs in distance observation of the movable platform (caused by measurement errors, a condition that a visual system and/or a radar of the movable platform are influenced, and the like), and/or a fault occurs in an obstacle avoidance system, a difference value between a currently obtained second distance and a second distance obtained at the last time is larger than a preset threshold value. The situation that suddenly appearing obstacles exist in the front speed direction, the distance observation of the movable platform is in a problem and/or the obstacle avoidance system is in a fault has a large threat to the safety of the movable platform, so that the movable platform can be controlled to exit the brake-off state in a manual mode.
The size of the preset threshold may be set as required, for example, the preset threshold may be set to 2m or other sizes.
(3) And the state of the obstacle avoidance system is a failure state.
The safety of the movable platform is threatened greatly by the failure of the obstacle avoidance system, and the movable platform can be controlled to exit the brake-stop state only in a manual mode.
The obstacle avoidance system provided by the embodiment of the application is arranged on the movable platform, and the obstacle avoidance system needs to be continuously connected with a main controller of the movable platform. Illustratively, the movable platform is an unmanned aerial vehicle and the master controller is an aircraft controller of the unmanned aerial vehicle. In order to determine whether the obstacle avoidance system is continuously connected with the master controller, the handshake state between the obstacle avoidance system and the master controller needs to be determined. When shaking hands, the obstacle avoidance system sends heartbeat signals to the main controller periodically, and if the main controller judges whether shaking hands successfully between the obstacle avoidance system and the main controller according to the time information of the received heartbeat signals. In the embodiment of the application, the failure of the obstacle avoidance system includes a handshake failure between the obstacle avoidance system and a master controller of the movable platform.
And when the movable platform meets the second specific condition according to the state information, determining that the movable platform meets a manual exit strategy. Wherein the second particular case may include, but is not limited to, one of the following:
(1) the second distance is greater than the preset safety distance, and the second distance is greater than the minimum braking distance corresponding to the current speed.
The second distance is greater than the preset safety distance, and the scene that the second distance is greater than the minimum braking distance corresponding to the current speed has smaller safety threat to the movable platform, so that the movable platform can be controlled to exit from the braking state in an automatic mode.
(2) The height information indicates that the current height of the movable platform changes relative to the height of the movable platform when the movable platform enters a brake-off state, and the movable platform meets a first preset condition.
Wherein the first preset condition may include I or II:
I. no obstacle is present at the current height.
II. When the obstacle exists at the current height, a third distance from the obstacle which is closest to the current speed in the direction of the current speed to the movable platform in the obstacles at the current height is greater than a minimum brake stopping distance corresponding to the current speed.
The current height of the movable platform changes relative to the height of the movable platform when the movable platform enters the brake state, namely the movable platform changes excessively after the brake flag bit is generated.
The movable platform is subjected to over-height change after the braking zone bit is generated, and no obstacle exists on the horizontal plane at the current height or although the obstacle exists on the horizontal plane at the current height, the safety threat to the movable platform is small in the scene that the third distance is greater than the minimum braking distance corresponding to the current speed (namely, no obstacle with small distance exists on the horizontal plane at the current height), so that the movable platform can be controlled to exit from the braking state in an automatic mode.
(3) And the current speed is less than the preset speed threshold.
The current speed is less than the preset speed threshold value, which indicates that the movable platform is in a low-speed running state, and the safety threat to the movable platform is small, so that the movable platform can be controlled to exit the brake-stop state in an automatic mode.
Furthermore, when the duration that the current speed is less than the preset speed threshold is greater than or equal to the first time threshold, the movable platform is indicated to be in a low-speed running state for a long time, and the security threat to the movable platform is further reduced, so that when the duration that the current speed is less than the preset speed threshold is greater than or equal to the first time threshold, the movable platform can be controlled to exit the brake-stop state in an automatic mode.
The magnitude of the preset speed threshold can be set according to needs, for example, the preset speed threshold can be set to be 5m/s or other magnitudes. The size of the first duration threshold may also be set as desired, e.g., the first duration threshold may be set to 1 minute or other size.
In some embodiments, the brake-off exit strategy is an automatic exit strategy. In this embodiment, whether the movable platform meets the automatic exit policy or not may be determined according to the state information and the instruction information. For example, when the second distance is greater than the minimum braking distance corresponding to the current speed and the movable platform meets the second preset condition, it is determined that the movable platform meets the automatic quit strategy. Wherein the second predetermined condition includes but is not limited to at least one of:
I. the speed command input by the control device of the movable platform is 0.
When the control device is a remote controller, the speed command of 0 means that there is no lever operation of the remote controller.
II. The velocity component of the velocity command in the direction of the obstacle relative to the movable platform that causes the movable platform to enter the brake-off state is 0.
The speed command may be a speed command input by a control device of the movable platform, or may be an automatic control speed command of the movable platform. At this time, although the speed command exists in the movable platform, the speed component of the speed command in the direction of the obstacle triggering the movable platform to enter the brake-off state relative to the movable platform is 0, so that the safety threat of the speed command to the movable platform is small, and the movable platform can be controlled to exit the brake-off state in an automatic mode.
The second distance is greater than the minimum braking distance corresponding to the current speed, and the safety threat of the scene that the movable platform meets the second preset condition to the movable platform is small, so that the movable platform can be controlled to exit from the braking state in an automatic mode.
In some embodiments, the brake-off exit strategy is a manual exit strategy. In this embodiment, whether the movable platform meets the manual exit policy or not may be determined according to the instruction information. For example, when an included angle between a speed direction corresponding to the speed command and a direction of an obstacle, which causes the movable platform to enter the brake-off state, relative to the movable platform is greater than or equal to a preset angle, it is determined that the movable platform meets the manual exit strategy. When the included angle between the speed direction corresponding to the speed command and the direction of the obstacle relative to the movable platform, which enables the movable platform to enter the brake-off state, is larger than or equal to the preset angle, when the movable platform operates according to the speed command, the movable platform can gradually keep away from the obstacle which enables the movable platform to enter the brake-off state, and therefore when the included angle between the speed direction corresponding to the speed command and the direction of the obstacle relative to the movable platform, which enables the movable platform to enter the brake-off state, is larger than or equal to the preset angle, the movable platform is safe to exit the brake-off state. The speed command of the embodiment may be a speed command input by a control device of the movable platform, or may be an automatic control speed command of the movable platform.
Further, when the duration of an included angle between the speed direction corresponding to the speed command and the direction of the obstacle, relative to the movable platform, which enables the movable platform to enter the brake-off state is greater than or equal to a preset angle is greater than a second duration threshold, it is determined that the movable platform meets a manual exit strategy. That is, the duration of the included angle being greater than or equal to the preset angle is greater than the second duration threshold, which indicates that the movable platform has been running for a longer time in a direction away from the obstacle that caused the movable platform to enter the braked state, at which point it is safer for the movable platform to exit the braked state.
Optionally, the preset angle is greater than or equal to 90 degrees and less than or equal to 180 degrees, so that when the movable platform operates according to the speed command, the movable platform is gradually away from an obstacle which enables the movable platform to enter a brake-stop state, and safety of the movable platform is guaranteed. For example, during the forward movement of the movable platform, a braking flag is generated due to an obstacle, so that the movable platform is in a braking state, and the movable platform can be manually controlled to move leftwards, rightwards and/or rightwards, so that the movable platform exits the braking state.
The size of the second duration threshold may be set as desired, e.g., the second duration threshold may be set to 1 minute or other size.
In the embodiment of the application, after the brake state is exited, the brake flag bit is cleared by the movable platform, at the moment, the movable platform returns to respond to the control command, and the control command can be input through the control device of the movable platform or can be an automatic control command of the movable platform.
Additionally, in some embodiments, the method of controlling a movable platform further comprises: and if the movable platform is determined not to meet the brake-off exit strategy according to at least one of the instruction information and the state information, keeping the movable platform in a brake-off state, and ensuring the safety of the movable platform.
Corresponding to the control method of the movable platform in the above embodiment, the embodiment of the present application further provides a control device of the movable platform. Referring to fig. 6, the control device of the movable platform may include a storage device and one or more processors.
Wherein the storage device is used for storing program instructions. The storage means stores a computer program of executable instructions of the control method of the removable platform, and the storage means may include at least one type of storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. Also, the control device of the movable platform may cooperate with a network storage device that performs a storage function of the memory through a network connection. The storage may be an internal storage unit of the control device of the removable platform, such as a hard disk or a memory of the control device of the removable platform. The memory may also be an external storage device of the control apparatus of the removable platform, such as a plug-in hard disk provided on the control apparatus of the removable platform, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory may also include both an internal storage unit and an external storage device of the control apparatus of the movable platform. The memory is used for storing computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been output or is to be output.
One or more processors invoking program instructions stored in a storage device, the one or more processors individually or collectively configured to perform operations when the program instructions are executed: acquiring the current speed of the movable platform and first distance and azimuth information of obstacles around the movable platform relative to the movable platform; and limiting the current speed in the direction of the current speed according to the first distance and the direction information so as to prevent the movable platform from colliding with the obstacle.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Further, an embodiment of the present invention provides a movable platform, please refer to fig. 7, which includes a machine body 100, a power system 200, and the control device of the movable platform of the above embodiment. The power system is connected with the machine body and used for providing power for the movement of the machine body, and the control device of the movable platform is supported by the machine body.
The movable platform can be an unmanned aerial vehicle, an unmanned vehicle or a ground mobile robot. For example, the movable platform is a drone, such as a multi-rotor drone, and the power system 200 is the propeller of the drone.
In addition, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the control method of the movable platform of the above-described embodiment.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the control device of the removable platform according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the control apparatus of the removable platform, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), and the like 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 control apparatus of the movable platform. The computer-readable storage medium serves for storing the computer program and other programs and data required by the control means of the movable platform and also for temporarily storing data that have been output or are to be output.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is only a few examples of the present application, and certainly should not be taken as limiting the scope of the present application, which is therefore intended to cover all modifications that are within the scope of the present application and which are equivalent to the claims.
Claims (53)
- A method of controlling a movable platform, the method comprising:acquiring the current speed of a movable platform and first distance and orientation information of obstacles around the movable platform relative to the movable platform;and limiting the current speed in the direction of the current speed according to the first distance and the azimuth information so as to prevent the movable platform from colliding with the obstacle.
- The method of claim 1, wherein limiting the magnitude of the current speed in the direction of the current speed based on the first distance and the bearing information comprises:determining a velocity component of the current velocity projected to a first direction according to the orientation information, wherein the first direction is a direction of the obstacle relative to the movable platform;when the velocity component is greater than 0, determining the maximum velocity component allowed by the movable platform in the first direction according to the first distance;and limiting the magnitude of the current speed in the direction of the current speed according to the maximum speed component.
- The method of claim 2, wherein said determining a maximum velocity component allowed by the movable platform in the first direction based on the first distance comprises:determining the maximum speed component allowed by the movable platform in the first direction according to the first distance and a first speed model calibrated in advance;wherein the first velocity model is used to characterize a mapping between the first distance and the maximum velocity component.
- The method of claim 3, wherein the maximum velocity component is less than a maximum brake-off velocity permitted by the movable platform in the first direction;the maximum braking speed is determined according to the first distance and a pre-calibrated second speed model;the second speed model is used for representing a mapping relation between the first distance and the maximum brake-stopping speed.
- The method according to claim 4, characterized in that when the first distance is greater than a preset safety distance, the maximum speed component, the maximum brake-off speed and the first distance are respectively positively correlated;the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
- The method of claim 2, wherein said limiting a magnitude of said current velocity in a direction of said current velocity based on said maximum velocity component comprises:back projecting the maximum speed component to the direction of the current speed to obtain a limit speed;and limiting the current speed according to the limiting speed.
- The method of claim 6, wherein limiting the magnitude of the current speed based on the limiting speed comprises:limiting the current speed magnitude to a minimum of the limit speeds.
- The method of claim 1, further comprising:and if the first distance is smaller than the minimum braking distance corresponding to the current speed, controlling the movable platform to be in a braking state.
- The method of claim 1, further comprising:when the movable platform is in a brake-off state, acquiring at least one of state information and instruction information of the movable platform;and if the movable platform meets a preset brake-stopping exit strategy according to at least one of the state information and the instruction information, controlling the movable platform to exit the brake-stopping state according to the brake-stopping exit strategy.
- The method of claim 9, further comprising:if the movable platform is determined not to meet the brake-off exit strategy according to at least one of the instruction information and the state information, the movable platform is kept in the brake-off state.
- The method of claim 9, wherein the brake exit strategy includes at least one of a manual exit strategy and an automatic exit strategy;the controlling the movable platform to exit the brake-off state according to the brake-off exit strategy comprises:when the movable platform meets the manual quitting strategy, if a stop quitting signal input from the outside is received, controlling the movable platform to quit the stop state;and when the movable platform meets the automatic quitting strategy, generating a stopping quitting signal so as to enable the movable platform to quit the stopping state.
- The method of claim 11, wherein the status information comprises at least one of:a second distance of the nearest obstacle in the direction of the current speed to the movable platform;course information of the movable platform;the state of an obstacle avoidance system of the movable platform;height information of the movable platform;the current speed.
- The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:when the second distance is smaller than a preset safety distance, determining that the movable platform meets the manual exit strategy;the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
- The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:and if the course information of the movable platform indicates that the course of the movable platform is not changed and the difference value between the currently obtained second distance and the second distance obtained last time is greater than a preset threshold value, determining that the movable platform meets the manual exit strategy.
- The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:and when the state of the obstacle avoidance system is a failure state, determining that the movable platform meets the manual exit strategy.
- The method of claim 15, wherein the failure of the obstacle avoidance system comprises a handshake failure of the obstacle avoidance system with a master of the movable platform.
- The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:when the second distance is greater than a preset safety distance and the second distance is greater than a minimum braking distance corresponding to the current speed, determining that the movable platform meets the automatic quitting strategy;the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
- The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:when the height information indicates that the current height of the movable platform changes relative to the height of the movable platform when the movable platform enters the brake-off state and the movable platform meets a first preset condition, determining that the movable platform meets the automatic exit strategy;wherein the first predetermined condition comprises one of:no obstacle is present at the current height;when the obstacle exists at the current height, a third distance from the nearest obstacle in the direction of the current speed to the movable platform in the obstacles at the current height is greater than a minimum brake-stop distance corresponding to the current speed.
- The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:when the current speed is less than a preset speed threshold value, determining that the movable platform meets the automatic exit strategy.
- The method of claim 19, wherein determining that the movable platform satisfies the auto-exit strategy when the current speed is less than a preset speed threshold comprises:when the duration that the current speed is smaller than the preset speed threshold is larger than or equal to a first duration threshold, determining that the movable platform meets the automatic exit strategy.
- The method of claim 11, wherein the command information comprises a velocity command for the movable platform.
- The method of claim 21, wherein said determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:when a second distance from the nearest barrier to the movable platform in the direction of the current speed is greater than a minimum braking distance corresponding to the current speed and the movable platform meets a second preset condition, determining that the movable platform meets the automatic quitting strategy;wherein the second predetermined condition comprises at least one of:the speed command input by the control device of the movable platform is 0;the velocity command has a velocity component of 0 in a direction of an obstacle relative to the movable platform that causes the movable platform to enter the braked state.
- The method of claim 22, wherein said determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the command information and the status information comprises:and when an included angle between the speed direction corresponding to the speed command and the direction of the obstacle which enables the movable platform to enter the brake-stopping state relative to the movable platform is larger than or equal to a preset angle, determining that the movable platform meets the manual quitting strategy.
- The method of claim 23, wherein determining that the movable platform satisfies the manual exit strategy when an angle between a speed direction corresponding to the speed command and a direction of an obstacle relative to the movable platform that causes the movable platform to enter the deactivated state is greater than or equal to a preset angle comprises:and when the duration of the included angle is greater than or equal to the preset angle and is greater than a second duration threshold, determining that the movable platform meets the manual exit strategy.
- The method of claim 23, wherein the predetermined angle is greater than or equal to 90 degrees and less than or equal to 180 degrees.
- The method of claim 1, wherein the movable platform comprises a drone, an unmanned vehicle, or a ground mobile robot.
- A control device for a movable platform, the device comprising:storage means for storing program instructions; andone or more processors that invoke program instructions stored in the storage device, the one or more processors individually or collectively configured to, when the program instructions are executed, perform operations comprising:acquiring the current speed of a movable platform and first distance and orientation information of obstacles around the movable platform relative to the movable platform;and limiting the current speed in the direction of the current speed according to the first distance and the azimuth information so as to prevent the movable platform from colliding with the obstacle.
- The apparatus of claim 27, wherein the one or more processors, when limiting the magnitude of the current speed in the direction of the current speed based on the first distance and the bearing information, are further configured, individually or collectively, to:determining a velocity component of the current velocity projected to a first direction according to the orientation information, wherein the first direction is a direction of the obstacle relative to the movable platform;when the velocity component is greater than 0, determining the maximum velocity component allowed by the movable platform in the first direction according to the first distance;and limiting the magnitude of the current speed in the direction of the current speed according to the maximum speed component.
- The apparatus of claim 28, wherein the one or more processors, when determining the maximum component of velocity allowed by the movable platform in the first direction from the first distance, are further configured, individually or collectively, to:determining the maximum speed component allowed by the movable platform in the first direction according to the first distance and a first speed model calibrated in advance;wherein the first velocity model is used to characterize a mapping between the first distance and the maximum velocity component.
- The device of claim 29, wherein the maximum velocity component is less than a maximum brake-off velocity permitted by the movable platform in the first direction;the maximum braking speed is determined according to the first distance and a pre-calibrated second speed model;the second speed model is used for representing a mapping relation between the first distance and the maximum brake-stopping speed.
- The device of claim 30, wherein the maximum speed component, the maximum brake-off speed, and the first distance are positively correlated, respectively, when the first distance is greater than a preset safety distance;the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
- The apparatus of claim 28, wherein the one or more processors, when limiting the magnitude of the current speed in the direction of the current speed according to the maximum speed component, are further configured, individually or collectively, to:back projecting the maximum speed component to the direction of the current speed to obtain a limit speed;and limiting the current speed according to the limiting speed.
- The apparatus of claim 32, wherein the one or more processors, when limiting the magnitude of the current speed according to the limiting speed, are further configured, individually or collectively, to:limiting the current speed magnitude to a minimum of the limit speeds.
- The apparatus of claim 27, wherein the one or more processors are further configured, individually or collectively, to:and if the first distance is smaller than the minimum braking distance corresponding to the current speed, controlling the movable platform to be in a braking state.
- The apparatus of claim 27, wherein the one or more processors are further configured, individually or collectively, to:when the movable platform is in a brake-off state, acquiring at least one of state information and instruction information of the movable platform;and if the movable platform meets a preset brake-stopping exit strategy according to at least one of the state information and the instruction information, controlling the movable platform to exit the brake-stopping state according to the brake-stopping exit strategy.
- The apparatus of claim 35, wherein the one or more processors are further configured, individually or collectively, to:if the movable platform is determined not to meet the brake-off exit strategy according to at least one of the instruction information and the state information, the movable platform is kept in the brake-off state.
- The apparatus of claim 35, wherein the brake-off exit strategy includes at least one of a manual exit strategy and an automatic exit strategy;the one or more processors, when controlling the movable platform to exit the brake-off state according to the brake-off exit strategy, are further configured, individually or collectively, to:when the movable platform meets the manual quitting strategy, if a stop quitting signal input from the outside is received, controlling the movable platform to quit the stop state;and when the movable platform meets the automatic quitting strategy, generating a stopping quitting signal so as to enable the movable platform to quit the stopping state.
- The apparatus of claim 37, wherein the status information comprises at least one of:a second distance of the nearest obstacle in the direction of the current speed to the movable platform;course information of the movable platform;the state of an obstacle avoidance system of the movable platform;height information of the movable platform;the current speed.
- The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:when the second distance is smaller than a preset safety distance, determining that the movable platform meets the manual exit strategy;the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
- The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:and if the course information of the movable platform indicates that the course of the movable platform is not changed and the difference value between the currently obtained second distance and the second distance obtained last time is greater than a preset threshold value, determining that the movable platform meets the manual exit strategy.
- The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:and when the state of the obstacle avoidance system is a failure state, determining that the movable platform meets the manual exit strategy.
- The apparatus of claim 41, wherein the failure of the obstacle avoidance system comprises a handshake failure of the obstacle avoidance system with a master of the movable platform.
- The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:when the second distance is greater than a preset safety distance and the second distance is greater than a minimum braking distance corresponding to the current speed, determining that the movable platform meets the automatic quitting strategy;the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
- The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:when the height information indicates that the current height of the movable platform changes relative to the height of the movable platform when the movable platform enters the brake-off state and the movable platform meets a first preset condition, determining that the movable platform meets the automatic exit strategy;wherein the first predetermined condition comprises one of:no obstacle is present at the current height;when the obstacle exists at the current height, a third distance from the nearest obstacle in the direction of the current speed to the movable platform in the obstacles at the current height is greater than a minimum brake-stop distance corresponding to the current speed.
- The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:when the current speed is less than a preset speed threshold value, determining that the movable platform meets the automatic exit strategy.
- The apparatus of claim 45, wherein the one or more processors, individually or collectively, are further configured to, when the current speed is less than a preset speed threshold, determine that the movable platform satisfies the automatic exit policy:when the duration that the current speed is smaller than the preset speed threshold is larger than or equal to a first duration threshold, determining that the movable platform meets the automatic exit strategy.
- The apparatus of claim 37, wherein the command information comprises a speed command for the movable platform.
- The apparatus according to claim 47, wherein the one or more processors, individually or collectively, when determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the instructional information, are further configured to:when a second distance from the nearest barrier to the movable platform in the direction of the current speed is greater than a minimum braking distance corresponding to the current speed and the movable platform meets a second preset condition, determining that the movable platform meets the automatic quitting strategy;wherein the second predetermined condition comprises at least one of:the speed command input by the control device of the movable platform is 0;the velocity command has a velocity component of 0 in a direction of an obstacle relative to the movable platform that causes the movable platform to enter the braked state.
- The apparatus according to claim 48, wherein the one or more processors, individually or collectively, when determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the instruction information and the status information, are further configured to:and when an included angle between the speed direction corresponding to the speed command and the direction of the obstacle which enables the movable platform to enter the brake-stopping state relative to the movable platform is larger than or equal to a preset angle, determining that the movable platform meets the manual quitting strategy.
- The apparatus according to claim 49, wherein the one or more processors are further configured, individually or collectively, to perform the following operations when determining that the movable platform satisfies the manual exit maneuver when an angle between a speed direction corresponding to the speed command and a direction of an obstacle relative to the movable platform that causes the movable platform to enter the deactivated state is greater than or equal to a preset angle:and when the duration of the included angle is greater than or equal to the preset angle and is greater than a second duration threshold, determining that the movable platform meets the manual exit strategy.
- The device of claim 49, wherein the predetermined angle is greater than or equal to 90 degrees and less than or equal to 180 degrees.
- The apparatus of claim 27, wherein the movable platform comprises a drone, an unmanned vehicle, or a ground mobile robot.
- A movable platform, comprising:a body;the power system is connected with the machine body and used for providing power for the movement of the machine body;a control apparatus for a moveable platform as claimed in any one of claims 27 to 52, supported by the body.
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