CN113892069A - Control method and device for movable platform, movable platform and storage medium - Google Patents
Control method and device for movable platform, movable platform and storage medium Download PDFInfo
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- CN113892069A CN113892069A CN202080034031.2A CN202080034031A CN113892069A CN 113892069 A CN113892069 A CN 113892069A CN 202080034031 A CN202080034031 A CN 202080034031A CN 113892069 A CN113892069 A CN 113892069A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
Abstract
A method for controlling a movable platform, an apparatus, a movable platform and a storage medium, the method comprising: when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is acquired, controlling the working mode of the movable platform to be switched into a manual mode (S301); when the movable platform moves in the moving mode, if the moving state parameters of the movable platform and/or the acquired control lever amount meet a first preset condition, the working mode of the movable platform is controlled to be switched to a second automatic mode (S302), the first automatic mode is used for indicating the movable platform to move according to the control instruction generated by the movable platform, the manual mode is used for indicating the movable platform to move according to the control lever amount, and the second automatic mode is used for indicating the movable platform to move according to the control instruction generated by the movable platform after amplitude limiting. By the mode, the stability of the movable platform can be improved on the basis of flexible switching of the working modes, and the moving safety of the movable platform is ensured.
Description
The present invention relates to the field of control technologies, and in particular, to a method and an apparatus for controlling a movable platform, and a storage medium.
In recent years, the application scenarios of the movable platform are increasing, for example, the movable platform can move autonomously according to a preset track or destination, and during the moving process, an operator is allowed to manually control to intervene in the moving of the movable platform. However, in the prior art, when the movable platform is switched from the manual control mode back to the autonomous movement mode, there may be a large attitude change, thereby affecting the stability of the movable platform and causing a safety problem of the movable platform.
Disclosure of Invention
The embodiment of the invention provides a control method and device of a movable platform, the movable platform and a storage medium, which can improve the stability of the movable platform and ensure the moving safety of the movable platform on the basis of flexibly switching the working modes of the movable platform.
In a first aspect, an embodiment of the present invention provides a method for controlling a movable platform, where working modes of the movable platform include a first automatic mode, a manual mode, and a second automatic mode, and the method includes:
when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, controlling the working mode of the movable platform to be switched to the manual mode;
when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever amount acquired from the control equipment meet a first preset condition, controlling the working mode of the movable platform to be switched to the second automatic mode;
the first automatic mode is used for indicating the movable platform to move according to a control instruction automatically generated by the movable platform, the manual mode is used for indicating the movable platform to move according to a control lever quantity acquired from the control equipment, and the second automatic mode is used for indicating the movable platform to move according to the control instruction automatically generated by the movable platform after amplitude limiting.
In a second aspect, an embodiment of the present invention provides a mobile control device, including a memory and a processor;
the memory is used for storing programs;
the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:
when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, the working mode of the movable platform is controlled to be switched into a manual mode;
when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever amount acquired from the control equipment meet a first preset condition, controlling the working mode of the movable platform to be switched into a second automatic mode;
the first automatic mode is used for indicating the movable platform to move according to a control instruction automatically generated by the movable platform, the manual mode is used for indicating the movable platform to move according to a control lever quantity acquired from the control equipment, and the second automatic mode is used for indicating the movable platform to move according to the control instruction automatically generated by the movable platform after amplitude limiting.
In a third aspect, an embodiment of the present invention provides a movable platform, where working modes of the movable platform include a first automatic mode, a manual mode, and a second automatic mode, and the movable platform includes:
a body;
the power system is arranged on the machine body and used for providing power for moving the movable platform;
a mobile control apparatus as claimed in the second aspect above.
In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to the first aspect.
In the embodiment of the invention, when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, the mobile control equipment can control the working mode of the movable platform to be switched into the manual mode; when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever quantity acquired from the control equipment meet a first preset condition, the working mode of the movable platform is controlled to be switched to a second automatic mode. By the mode, the stability of the movable platform can be improved on the basis of flexibly switching the working modes of the movable platform, and the moving safety of the movable platform is ensured.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a diagram illustrating a switching state of an operating mode of a movable platform according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mobile control system according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for controlling a movable platform according to an embodiment of the present invention;
FIG. 4a is a diagram illustrating a mapping between joystick volume and control commands according to an embodiment of the present invention;
FIG. 4b is a diagram illustrating another example of a mapping between joystick commands and control commands provided by embodiments of the present invention;
fig. 5 is a schematic structural diagram of a mobile control device according to an embodiment of the present invention.
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The invention provides a control method of a movable platform, which can automatically process the switching of the working modes of the movable platform according to the control lever quantity and the moving state parameters of the movable platform, which are acquired from control equipment.
Fig. 1 is a switching state diagram of an operating mode of a movable platform according to an embodiment of the present invention. As shown in fig. 1, the operation modes of the movable platform include a first automatic mode, a manual mode, a second automatic mode, and a third automatic mode, wherein the manual mode includes a first manual mode and a second manual mode.
In an embodiment, when the movable platform moves in the first automatic mode according to a control instruction automatically generated by the movable platform, if the joystick amount sent by the control device is acquired, the mobile control device may control the working mode of the movable platform to be switched from the first automatic mode to the first manual mode, so that the movable platform moves according to the acquired joystick amount.
In one embodiment, when the movable platform moves according to the amount of the joystick in the first manual mode, if the movement state parameter of the movable platform and/or the amount of the joystick acquired from the control device satisfy a first preset condition, the movement control device may control the working mode of the movable platform to be switched from the first manual mode to the second automatic mode, and move according to a control instruction automatically generated by the movable platform after amplitude limiting in the second automatic mode.
In an embodiment, when the movable platform moves in the second automatic mode according to the limited control instruction automatically generated by the movable platform, if the moving state parameter of the movable platform meets a second preset condition, the movement control device may control the working mode of the movable platform to be switched from the second automatic mode to the first automatic mode.
In one embodiment, when the movable platform moves according to the amount of the control lever in the first manual mode, if the amount of the control lever sent by the control device is obtained and the movement state parameter of the movable platform meets a third preset condition, the mobile control device may control the working mode of the movable platform to be switched from the first manual mode to the second manual mode.
In an embodiment, when the movable platform moves in the second automatic mode according to the control instruction automatically generated by the limited movable platform, if the control lever amount sent by the control device is obtained and the movement state parameter of the movable platform meets a third preset condition, the movement control device may control the working mode of the movable platform to be switched from the second automatic mode to the second manual mode.
In one embodiment, when the movable platform moves according to the amount of the joystick in the second manual mode, if the amount of the joystick acquired by the movable platform from the control device satisfies a fourth preset condition, the movement control device may control the working mode of the movable platform to be switched from the second manual mode to the third automatic mode, and move according to a preset speed in the third automatic mode, and re-plan the movement trajectory.
In one embodiment, when the movable platform moves at a preset speed in the third automatic mode, if the replanned movement trajectory is obtained, the movement control device may control the working mode of the movable platform to be switched from the third automatic mode to the first automatic mode; if the re-planned movement track is not acquired, the movement control device may control the movable platform to exit the current third automatic mode.
The movable platform provided in the embodiment of the present invention may include a movable device such as an unmanned aerial vehicle, an unmanned ship, and a robot capable of autonomous movement, which is not specifically limited herein.
The control method of the movable platform provided by the embodiment of the invention can occur at any time when the movable platform automatically moves, including automatic target following, automatic return and the like.
By the implementation mode provided by the embodiment of the invention, the flexible switching of the movable platform among the working modes is effectively realized, the stability of the movable platform is improved, and the moving safety of the movable platform is ensured.
The control method of the movable platform provided in the embodiment of the present invention may be executed by a mobile control apparatus. In some embodiments, the motion control device may be mounted on a movable platform, and in some embodiments, the motion control device may be spatially independent of the movable platform. In some embodiments, the mobile control device may be a component of a mobile platform, i.e., the mobile platform includes the mobile control device, and in some embodiments, the mobile control device may be disposed in the cloud server and communicatively connected to the mobile platform through a wireless communication connection.
The following describes schematically a motion control system according to an embodiment of the present invention with reference to fig. 2.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a mobile control system according to an embodiment of the present invention. The movement control system includes: a movable platform 22 and a control device 21, the control device 21 being in communication with the movable platform 22. The movable platform 22 includes a power system 221, and the power system 221 is used to provide motive force for the movable platform 22 to move. The movable platform 22 also houses a movement control device.
In the embodiment of the present invention, when the movable platform 22 moves in the first automatic mode, if the mobile control device obtains the amount of the control stick sent by the control device 21, the working mode of the movable platform 22 may be controlled to be switched to the manual mode; when the movable platform 22 moves in the manual mode, if the movement state parameter of the movable platform 22 and/or the control lever amount acquired from the control device satisfy the first preset condition, the operation mode of the movable platform 22 is controlled to be switched to the second automatic mode. Through the implementation mode, the stability of the movable platform can be improved on the basis of flexibly switching the working modes of the movable platform, and the moving safety of the movable platform is ensured.
The following describes schematically a control method of a movable platform according to an embodiment of the present invention with reference to fig. 3, 4a and 4 b.
Referring to fig. 3 in detail, fig. 3 is a flowchart illustrating a control method for a movable platform according to an embodiment of the present invention, where the method may be executed by a mobile control device, and a specific explanation of the mobile control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.
S301: when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, the working mode of the movable platform is controlled to be switched into the manual mode.
In the embodiment of the invention, when the movable platform moves in the first automatic mode, if the movement control device acquires the control lever quantity sent by the control device, the working mode of the movable platform can be controlled to be switched into the manual mode.
In one embodiment, the first automatic mode is for instructing the movable platform to move in accordance with control instructions automatically generated by the movable platform and the manual mode is for instructing the movable platform to move in accordance with a joystick amount retrieved from the control device.
In one embodiment, the amount of sticks includes any one or more of a first amount of sticks to control the speed of the movable platform, a second amount of sticks to control the height of the movable platform, and a third amount of sticks to control the lateral offset of the movable platform.
Use movable platform as unmanned aerial vehicle for example, controlgear can be with unmanned aerial vehicle communication connection's remote controller, be provided with the rocker on the remote controller, when the user operation rocker so that the rocker skew neutral position, the remote controller generates the control lever volume and sends for unmanned aerial vehicle. The remote controller can be provided with a plurality of rockers to control the speed of the unmanned aerial vehicle in the horizontal direction, the height in the vertical direction and the like. When the unmanned aerial vehicle acquires the control lever quantity sent by the remote controller, the control lever quantity is generated by manually operating the rocker by a user, namely, the user intends to intervene in the autonomous flight of the unmanned aerial vehicle. The working mode of the unmanned aerial vehicle is switched to a manual mode, so that the flexible switching of the working mode of the unmanned aerial vehicle is facilitated, and the requirement of manual control of a user is met.
Therefore, through the implementation mode, a user can manually operate the control equipment to generate the control lever amount when the movable platform meets special conditions such as an obstacle, so that the working mode of the movable platform is automatically switched into the manual mode, the movable platform is rapidly switched into the manual mode, the experience of manually controlling the movable platform by the user is improved, the movable platform is prevented from being collided, and the moving safety of the movable platform is improved.
S302: when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever amount acquired from the control equipment meet a first preset condition, controlling the working mode of the movable platform to be switched into a second automatic mode.
In the embodiment of the present invention, when the movable platform moves in the manual mode, if the movement state parameter of the movable platform and/or the amount of the control lever acquired from the control device satisfy the first preset condition, the movement control device may control the working mode of the movable platform to switch to the second automatic mode, where the second automatic mode is used to instruct the movable platform to move according to the control instruction automatically generated by the movable platform after amplitude limiting.
In one embodiment, the moving state parameter of the movable platform and/or the joystick amount acquired from the control device satisfy a first preset condition, including: in a first preset time, the moving state parameter of the movable platform is smaller than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error; and/or the quantity of the control lever quantity acquired from the control equipment is smaller than the first preset lever quantity threshold value within the second preset time.
In some embodiments, the first preset stick amount threshold may be 0, or a smaller value close to 0.
In some embodiments, the lateral offset is a distance between an actual trajectory of the movable platform and a target trajectory, which may be a target trajectory of the movable platform in the first automatic mode. The speed error is a difference between an actual speed of the movable platform and a target speed, which may be a target speed of the movable platform in the first automatic mode, and the height error is a difference between an actual height of the movable platform and a target height, which may be a target height of the movable platform in the first automatic mode.
Taking the movable platform as the unmanned aerial vehicle as an example, when the moving state parameter of the unmanned aerial vehicle is smaller than the preset parameter threshold value in a longer time, it indicates that the moving state of the unmanned aerial vehicle under user intervention is almost the same as the target moving state of the unmanned aerial vehicle under the first automatic mode. When the unmanned aerial vehicle does not acquire the control lever amount sent by the remote controller in a long time, the fact that the user does not operate the rocker to control the flight of the unmanned aerial vehicle is explained. Switch over unmanned aerial vehicle's mode to the automatic mode of second, be favorable to controlling unmanned aerial vehicle in time to resume the state of independently flying. Under the second automatic mode, the control instruction generated automatically by the unmanned aerial vehicle is subjected to amplitude limiting, and large attitude change during switching can be avoided.
Therefore, through the implementation mode, the movable platform moves according to the control instruction automatically generated by the movable platform after amplitude limiting, the working mode of the movable platform can be prevented from being changed greatly when being switched from the manual mode to the second automatic mode, and the stability and the safety of the movable platform in the moving process are improved.
In one embodiment, when the movable platform moves in the second automatic mode, if the movement state parameter of the movable platform meets a second preset condition, the movement control device may control the working mode of the movable platform to be switched to the first automatic mode.
In one embodiment, the moving state parameter of the movable platform satisfies a second preset condition, including: and in a third preset time, the moving state parameter of the movable platform is greater than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error.
Use movable platform as unmanned aerial vehicle for example, when unmanned aerial vehicle's mobile state parameter is greater than the preset parameter threshold value in longer time, explain because the control command to unmanned aerial vehicle automatic generation has carried out the amplitude limit, unmanned aerial vehicle's actual motion state has deviated unmanned aerial vehicle's target moving state under the first automatic mode, switch unmanned aerial vehicle back to first automatic mode, can make unmanned aerial vehicle resume the target track under the first automatic mode as early as possible, avoid unmanned aerial vehicle long-time skew target track, follow-up be difficult to correct.
Therefore, by the implementation mode, the working mode of the movable platform is switched from the second automatic mode to the first automatic mode, so that the movable platform is recovered to the target track in the first automatic mode, and the movable platform is prevented from deviating from the target track for a long time.
In one embodiment, when the movable platform moves in the second automatic mode, if the control lever amount sent by the control device is acquired, the mobile control device may control the working mode of the movable platform to switch to the first manual mode. Through the implementation mode, when the control lever amount is acquired in the second automatic mode, the first manual mode can be quickly switched to, and the experience of manually controlling the movable platform by a user is improved.
In an embodiment, the manual mode is a first manual mode, the operating modes further include a second manual mode, and when the movable platform moves in the first manual mode or the second automatic mode, if the control lever amount sent by the control device is obtained and the movement state parameter of the movable platform meets a third preset condition, the movement control device may control the operating mode of the movable platform to be switched to the second manual mode.
In one embodiment, the movement state parameter of the movable platform satisfies a third preset condition, including: and in a fourth preset time, the moving state parameter of the movable platform is greater than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error.
In one embodiment, when the movable platform moves in the first manual mode or the second manual mode, the movement control apparatus may map the joystick amount acquired from the control apparatus as a control instruction, and control the movable platform to move in the first manual mode or the second manual mode according to the control instruction, wherein the mapping relationship between the joystick amount and the control instruction is different in the first manual mode and the second manual mode.
In one embodiment, in the first manual mode, the mapping relationship between the control lever amount and the control command is shown in fig. 4a, and fig. 4a is a mapping relationship between the control lever amount and the control command according to an embodiment of the present invention. When the working mode of the movable platform is switched to the first manual mode, recording an initial control command cmd when the movable platform is switched to the first manual mode0. That is, the movable platform is generated in the first automatic mode when the joystick amount S has not been acquired. For example, an initial roll angle command, a horizontal velocity command, or a vertical velocity command. The control stick amount S of the control device is obtained, the control stick amount S may correspond to a roll angle command, a horizontal velocity command or a vertical velocity command, for example, and a control command cmd corresponding to the control stick amount S may be obtained according to the mapping shown in fig. 4 a. Wherein S ismin，S max，cmd min，cmd maxThe control lever quantity and the maximum value and the minimum value of the control command are preset.
Therefore, by the segmented linear mapping mode, the control instruction of the movable platform can reach any value within an allowable range when the control lever amount is changed, and when the control lever amount sent by the control equipment is not obtained, the movable platform can move according to the initial control instruction of the movable platform when the movable platform enters the first manual mode.
In one embodiment, in the second manual mode, the mapping relationship between the joystick amount and the control command is shown in fig. 4b, and fig. 4b is another mapping relationship between the joystick amount and the control command provided by the embodiment of the present invention. When the operation mode of the movable platform is switched to the second manual mode, the map between the joystick amount and the control command is as shown in fig. 4 b. The movable platform can be switched from the first manual mode to the second manual mode, and can also be switched from the second automatic mode to the second manual mode.
Taking a movable platform as an unmanned aerial vehicle as an example, when the unmanned aerial vehicle is switched from a first automatic mode to a first manual mode, the control lever amount obtained from a remote controller is mapped based on the mapping relation shown in fig. 4a, the influence of an initial control instruction is considered in the mapping relation, and when the moving state parameter of the unmanned aerial vehicle is greater than a preset parameter threshold value in a long time, it is described that the actual moving state of the unmanned aerial vehicle deviates from the target moving state in the first automatic mode, and a user further operates the remote controller to control the flight of the unmanned aerial vehicle. Similarly, if the unmanned aerial vehicle acquires the control lever amount sent by the remote controller in the second automatic mode and the moving state parameter of the unmanned aerial vehicle is greater than the preset parameter threshold value in a longer time, the unmanned aerial vehicle can be switched to the second manual mode, which is not described herein again.
Therefore, by the implementation mode, the working mode of the movable platform is switched from the first manual mode or the second automatic mode to the second manual mode, and the experience of a user in manually controlling the flight of the unmanned aerial vehicle can be improved.
In one embodiment, the operation modes further include a third automatic mode, and when the movable platform moves in the second manual mode, if the joystick amount acquired by the movable platform from the control device satisfies a fourth preset condition or a reset command is acquired from the control device, the movement control device may control the operation mode of the movable platform to be switched to the third automatic mode. In some embodiments, the third automatic mode is used to instruct the movable platform to move at a preset speed and to re-plan the movement trajectory.
In one embodiment, the joystick amount acquired by the movable platform from the control device satisfies a fourth preset condition, which includes: and in a fifth preset time, the number of the control lever amounts acquired from the control equipment is smaller than a second preset lever amount threshold value.
In one embodiment, the movable platform may move at a preset speed while moving in the third automatic mode, waiting for a re-planned movement trajectory. In the process of replanning the moving track, a track can be replanned to a target waypoint according to the current position and speed information of the movable platform. For example, a route is planned to the target waypoint in the first automatic mode according to the dubins path.
In an embodiment, when the movable platform moves in the third automatic mode, if the replanned movement trajectory is acquired within a sixth preset time, the movement control device may control the working mode of the movable platform to switch to the first automatic mode.
In some embodiments, the time to re-plan the trajectory is typically short, typically below 10ms, and in one example, the sixth preset time is 5 ms.
Using movable platform as the unmanned aerial vehicle for example, after the mode of operation of unmanned aerial vehicle switches to the manual mode of second, when the user no longer operates rocker control unmanned aerial vehicle's flight, perhaps the remote controller has sent the reset command to unmanned aerial vehicle, then unmanned aerial vehicle can switch to the state that the constant speed was cruised in order to wait for the replanning of orbit. Usually, in the second manual mode, the actual flight trajectory of the drone is already far away from the target trajectory in the original first automatic mode. If the original target track is still adopted for movement when the first automatic mode is switched back, the energy consumption of the movable platform is possibly caused, and the efficiency is low.
Therefore, by the implementation mode, the movable platform can fly autonomously based on the re-planned track, energy consumption is reduced, and efficiency is improved.
In an embodiment, when the movable platform moves in the third automatic mode, if the replanned movement trajectory is not acquired within a sixth preset time, the movement control device may control the movable platform to exit the third automatic mode. It can be seen that with this embodiment, the third automatic mode can be exited in the event that the movable platform is not able to re-plan a trajectory, for example to perform a return or landing maneuver, which contributes to further improving the safety of movement of the movable platform.
In the embodiment of the invention, when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, the mobile control equipment can control the working mode of the movable platform to be switched into the manual mode; when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever quantity acquired from the control equipment meet a first preset condition, the working mode of the movable platform is controlled to be switched to a second automatic mode. Through the implementation mode, the stability of the movable platform can be improved on the basis of flexibly switching the working modes of the movable platform, and the moving safety of the movable platform is ensured.
It should be noted that the preset time, the preset parameter threshold and the preset pole amount threshold provided by the implementation of the present invention may be set according to actual requirements of those skilled in the art, and each preset time may be the same or different, each preset parameter threshold may be the same or different, and each preset pole amount threshold may be the same or different.
In addition, the control method for the movable platform provided by the embodiment of the present invention may also be applied to an unmanned vehicle, for example, an automatic driving scene, and the unmanned vehicle is taken as an example herein and should not be construed as a limitation to the present invention.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a mobile control device according to an embodiment of the present invention. Specifically, the mobile control apparatus includes: memory 501, processor 502.
In one embodiment, the mobile control device further comprises a data interface 503, and the data interface 503 is used for transferring data information between the mobile control device and other devices.
The memory 501 may include a volatile memory (volatile memory); the memory 501 may also include a non-volatile memory (non-volatile memory); the memory 501 may also comprise a combination of memories of the kind described above. The processor 502 may be a Central Processing Unit (CPU). The processor 502 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
The memory 501 is used for storing programs, and the processor 502 can call the programs stored in the memory 501 for executing the following steps:
when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, the working mode of the movable platform is controlled to be switched into a manual mode;
when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever amount acquired from the control equipment meet a first preset condition, controlling the working mode of the movable platform to be switched into a second automatic mode;
the first automatic mode is used for indicating the movable platform to move according to a control instruction automatically generated by the movable platform, the manual mode is used for indicating the movable platform to move according to a control lever quantity acquired from the control equipment, and the second automatic mode is used for indicating the movable platform to move according to the control instruction automatically generated by the movable platform after amplitude limiting.
Further, the moving state parameter of the movable platform and/or the control lever amount acquired from the control device satisfy a first preset condition, including:
within a first preset time, the moving state parameter of the movable platform is smaller than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error; and/or the presence of a gas in the gas,
and in a second preset time, the quantity of the control lever quantity acquired from the control equipment is smaller than a first preset lever quantity threshold value.
Further, the processor 502 is further configured to:
when the movable platform moves in the second automatic mode, if the moving state parameter of the movable platform meets a second preset condition, controlling the working mode of the movable platform to be switched to the first automatic mode.
Further, the moving state parameter of the movable platform meets a second preset condition, which includes:
and in a third preset time, the moving state parameter of the movable platform is greater than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error.
Further, the manual mode is a first manual mode, the operation mode further includes a second manual mode, and the processor 502 is further configured to:
when the movable platform moves in the first manual mode or the second automatic mode, if the control lever quantity sent by the control equipment is obtained and the movement state parameter of the movable platform meets a third preset condition, controlling the working mode of the movable platform to be switched into the second manual mode.
Further, when the movable platform moves in the first manual mode or the second manual mode, the processor 502 is further configured to:
mapping the control lever amount obtained from the control device into a control command;
controlling the movable platform to move in the first manual mode or the second manual mode according to the control instruction;
and under the first manual mode and the second manual mode, the mapping relation between the control lever quantity and the control command is different.
Further, the moving state parameter of the movable platform meets a third preset condition, which includes:
and in a fourth preset time, the moving state parameter of the movable platform is greater than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error.
Further, the operation modes further include a third automatic mode, and the processor 502 is further configured to:
when the movable platform moves in the second manual mode, if the control lever amount acquired by the movable platform from the control device meets a fourth preset condition or a reset command is acquired from the control device, controlling the working mode of the movable platform to be switched to a third automatic mode.
Further, the control lever amount acquired by the movable platform from the control device meets a fourth preset condition, which includes:
and in a fifth preset time, the number of the control lever amounts acquired from the control equipment is smaller than a second preset lever amount threshold value.
Further, the third automatic mode is used for instructing the movable platform to move according to a preset speed and replanning a moving track.
Further, the joystick amount includes any one or more of a first joystick amount for controlling a speed of the movable platform, a second joystick amount for controlling a height of the movable platform, and a third joystick amount for controlling a lateral offset of the movable platform.
Further, the processor 502 is further configured to:
when the movable platform moves in the third automatic mode, if a replanned movement track is acquired within a sixth preset time, controlling the working mode of the movable platform to be switched to the first automatic mode.
Further, the processor 502 is further configured to:
and when the movable platform moves in the third automatic mode, if the re-planned movement track is not acquired within sixth preset time, controlling the movable platform to exit the third automatic mode.
In the embodiment of the invention, when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, the mobile control equipment can control the working mode of the movable platform to be switched into the manual mode; when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever quantity acquired from the control equipment meet a first preset condition, the working mode of the movable platform is controlled to be switched to a second automatic mode. By the mode, the stability of the movable platform can be improved and the moving safety of the movable platform can be ensured on the basis of flexibly switching the working modes of the movable platform.
The embodiment of the present invention further provides a movable platform, the working modes of the movable platform include a first automatic mode, a manual mode and a second automatic mode, and the movable platform includes: a body; the power system is arranged on the machine body and used for providing moving power for the movable platform; a mobile control device as in any one of the embodiments above.
In the embodiment of the invention, when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, the working mode of the movable platform can be controlled to be switched into the manual mode; when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever quantity acquired from the control equipment meet a first preset condition, the working mode of the movable platform is controlled to be switched to a second automatic mode. Through the implementation mode, the stability of the movable platform can be improved and the moving safety of the movable platform can be ensured on the basis of flexibly switching the working modes of the movable platform.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method described in the embodiment corresponding to fig. 3 of the present invention is implemented, and the apparatus according to the embodiment corresponding to the present invention described in fig. 5 may also be implemented, which is not described herein again.
The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.
Claims (28)
- A method of controlling a movable platform, wherein the modes of operation of the movable platform include a first automatic mode, a manual mode, and a second automatic mode, the method comprising:when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, controlling the working mode of the movable platform to be switched to the manual mode;when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever amount acquired from the control equipment meet a first preset condition, controlling the working mode of the movable platform to be switched to the second automatic mode;the first automatic mode is used for indicating the movable platform to move according to a control instruction automatically generated by the movable platform, the manual mode is used for indicating the movable platform to move according to a control lever quantity acquired from the control equipment, and the second automatic mode is used for indicating the movable platform to move according to the control instruction automatically generated by the movable platform after amplitude limiting.
- The method according to claim 1, wherein the movement state parameter of the movable platform and/or the joystick amount obtained from the control device satisfies a first preset condition, comprising:within a first preset time, the moving state parameter of the movable platform is smaller than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error; and/or the presence of a gas in the gas,and in a second preset time, the quantity of the control lever quantity acquired from the control equipment is smaller than a first preset lever quantity threshold value.
- The method of claim 1, further comprising:when the movable platform moves in the second automatic mode, if the moving state parameter of the movable platform meets a second preset condition, controlling the working mode of the movable platform to be switched to the first automatic mode.
- The method of claim 3, wherein the moving state parameter of the movable platform satisfies a second predetermined condition comprising:and in a third preset time, the moving state parameter of the movable platform is greater than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error.
- The method of claim 1, wherein the manual mode is a first manual mode, the operational mode further comprises a second manual mode, the method further comprising:when the movable platform moves in the first manual mode or the second automatic mode, if the control lever quantity sent by the control equipment is obtained and the movement state parameter of the movable platform meets a third preset condition, controlling the working mode of the movable platform to be switched into the second manual mode.
- The method of claim 5, wherein when the movable platform moves in the first manual mode or the second manual mode, the method further comprises:mapping the control lever amount obtained from the control device into a control command;controlling the movable platform to move in the first manual mode or the second manual mode according to the control instruction of the control lever amount mapping;and under the first manual mode and the second manual mode, the mapping relation between the control lever quantity and the control command is different.
- The method of claim 5, wherein the movement state parameter of the movable platform satisfies a third predetermined condition comprising:and in a fourth preset time, the moving state parameter of the movable platform is greater than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error.
- The method of claim 5, wherein the operating modes further include a third automatic mode, the method further comprising:when the movable platform moves in the second manual mode, if the control lever amount acquired by the movable platform from the control device meets a fourth preset condition or a reset command is acquired from the control device, controlling the working mode of the movable platform to be switched to a third automatic mode.
- The method of claim 8, wherein the joystick amount retrieved by the movable platform from the control device satisfies a fourth preset condition comprising:and in a fifth preset time, the number of the control lever amounts acquired from the control equipment is smaller than a second preset lever amount threshold value.
- The method of claim 8,and the third automatic mode is used for indicating the movable platform to move according to a preset speed and replanning a moving track.
- The method of claim 10, further comprising:when the movable platform moves in the third automatic mode, if a replanned movement track is acquired within a sixth preset time, controlling the working mode of the movable platform to be switched to the first automatic mode.
- The method of claim 10, further comprising:and when the movable platform moves in the third automatic mode, if the re-planned movement track is not acquired within sixth preset time, controlling the movable platform to exit the third automatic mode.
- The method of claim 1,the control stick amount comprises any one or more of a first control stick amount, a second control stick amount and a third control stick amount, wherein the first control stick amount is used for controlling the speed of the movable platform, the second control stick amount is used for controlling the height of the movable platform, and the third control stick amount is used for controlling the lateral offset of the movable platform.
- A mobile control device comprising a memory and a processor;the memory is used for storing programs;the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:when the movable platform moves in the first automatic mode, if the control lever quantity sent by the control equipment is obtained, controlling the working mode of the movable platform to be switched to the manual mode;when the movable platform moves in the manual mode, if the moving state parameters of the movable platform and/or the control lever amount acquired from the control equipment meet a first preset condition, controlling the working mode of the movable platform to be switched to the second automatic mode;the first automatic mode is used for indicating the movable platform to move according to a control instruction automatically generated by the movable platform, the manual mode is used for indicating the movable platform to move according to a control lever quantity acquired from the control equipment, and the second automatic mode is used for indicating the movable platform to move according to the control instruction automatically generated by the movable platform after amplitude limiting.
- The apparatus according to claim 14, wherein the movement state parameter of the movable platform and/or the joystick amount obtained from the control apparatus satisfy a first preset condition, including:within a first preset time, the moving state parameter of the movable platform is smaller than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error; and/or the presence of a gas in the gas,and in a second preset time, the quantity of the control lever quantity acquired from the control equipment is smaller than a first preset lever quantity threshold value.
- The device of claim 14, wherein the processor is further configured to:when the movable platform moves in the second automatic mode, if the moving state parameter of the movable platform meets a second preset condition, controlling the working mode of the movable platform to be switched to the first automatic mode.
- The apparatus of claim 16, wherein the moving state parameter of the movable platform satisfies a second preset condition comprising:and in a third preset time, the moving state parameter of the movable platform is greater than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error.
- The apparatus of claim 14, wherein the manual mode is a first manual mode, the operational mode further comprises a second manual mode, and the processor is further configured to:when the movable platform moves in the first manual mode or the second automatic mode, if the control lever quantity sent by the control equipment is obtained and the movement state parameter of the movable platform meets a third preset condition, controlling the working mode of the movable platform to be switched into the second manual mode.
- The apparatus of claim 18, wherein when the movable platform moves in the first manual mode or the second manual mode, the processor is further configured to:mapping the control lever amount obtained from the control device into a control command;controlling the movable platform to move in the first manual mode or the second manual mode according to the control instruction of the control lever amount mapping;and under the first manual mode and the second manual mode, the mapping relation between the control lever quantity and the control command is different.
- The apparatus of claim 18, wherein the movement state parameter of the movable platform satisfies a third preset condition comprising:and in a fourth preset time, the moving state parameter of the movable platform is greater than a preset parameter threshold value, and the moving state parameter of the movable platform comprises at least one of a lateral offset distance, a speed error and a height error.
- The apparatus of claim 18, wherein the operating modes further comprise a third automatic mode, the processor further configured to:when the movable platform moves in the second manual mode, if the control lever amount acquired by the movable platform from the control device meets a fourth preset condition or a reset command is acquired from the control device, controlling the working mode of the movable platform to be switched to a third automatic mode.
- The apparatus of claim 21, wherein the joystick amount retrieved by the movable platform from the control device satisfies a fourth preset condition comprising:and in a fifth preset time, the number of the control lever amounts acquired from the control equipment is smaller than a second preset lever amount threshold value.
- The apparatus of claim 21,and the third automatic mode is used for indicating the movable platform to move according to a preset speed and replanning a moving track.
- The device of claim 23, wherein the processor is further configured to:when the movable platform moves in the third automatic mode, if a replanned movement track is acquired within a sixth preset time, controlling the working mode of the movable platform to be switched to the first automatic mode.
- The device of claim 23, wherein the processor is further configured to:and when the movable platform moves in the third automatic mode, if the re-planned movement track is not acquired within sixth preset time, controlling the movable platform to exit the third automatic mode.
- The apparatus of claim 14,the control stick amount comprises any one or more of a first control stick amount, a second control stick amount and a third control stick amount, wherein the first control stick amount is used for controlling the speed of the movable platform, the second control stick amount is used for controlling the height of the movable platform, and the third control stick amount is used for controlling the lateral offset of the movable platform.
- A movable platform, wherein the modes of operation of the movable platform include a first automatic mode, a manual mode, and a second automatic mode, the movable platform comprising:a body;the power system is arranged on the machine body and used for providing power for moving the movable platform;a movement control apparatus as claimed in any one of claims 14 to 26.
- A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 13.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/093057 WO2021237626A1 (en) | 2020-05-28 | 2020-05-28 | Movable platform control method, device, movable platform, and storage medium |
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| CN113892069A true CN113892069A (en) | 2022-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202080034031.2A Pending CN113892069A (en) | 2020-05-28 | 2020-05-28 | Control method and device for movable platform, movable platform and storage medium |
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| CN (1) | CN113892069A (en) |
| WO (1) | WO2021237626A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB900057A (en) * | 1959-09-07 | 1962-07-04 | Short Brothers & Harland Ltd | Improved control apparatus for jet lift aircraft |
| CN101813944B (en) * | 2010-03-25 | 2012-02-29 | 北京航空航天大学 | Height control stabilizing system of coaxial unmanned helicopter and operation method |
| JP6176264B2 (en) * | 2015-01-19 | 2017-08-09 | トヨタ自動車株式会社 | Automated driving vehicle system |
| CN104881024B (en) * | 2015-06-12 | 2017-09-26 | 浙江嘉蓝海洋电子有限公司 | Manual and remote control and control method peculiar to vessel |
| JP6473735B2 (en) * | 2016-12-19 | 2019-02-20 | 本田技研工業株式会社 | Vehicle control device |
| CN108873928A (en) * | 2017-05-10 | 2018-11-23 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of unmanned helicopter height keeping method based on sensor states assessment result |
| CN107977002A (en) * | 2017-11-24 | 2018-05-01 | 北京益康生活智能科技有限公司 | The mobile platform control system and method for a kind of auto-manual |
-
2020
- 2020-05-28 CN CN202080034031.2A patent/CN113892069A/en active Pending
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