WO2019119222A1 - Procédé d'invite d'informations d'obstacle, système, équipement, dispositif et support d'enregistrement - Google Patents

Procédé d'invite d'informations d'obstacle, système, équipement, dispositif et support d'enregistrement Download PDF

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Publication number
WO2019119222A1
WO2019119222A1 PCT/CN2017/116985 CN2017116985W WO2019119222A1 WO 2019119222 A1 WO2019119222 A1 WO 2019119222A1 CN 2017116985 W CN2017116985 W CN 2017116985W WO 2019119222 A1 WO2019119222 A1 WO 2019119222A1
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WIPO (PCT)
Prior art keywords
obstacle
moving body
information
position information
information presenting
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PCT/CN2017/116985
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English (en)
Chinese (zh)
Inventor
黄宗继
王春明
徐富
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780006722.XA priority Critical patent/CN108521809A/zh
Priority to PCT/CN2017/116985 priority patent/WO2019119222A1/fr
Publication of WO2019119222A1 publication Critical patent/WO2019119222A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present disclosure relates to an obstacle information display method, apparatus and system, obstacle information display device, and recording medium.
  • the conventional method of providing obstacle information detected by the moving body to the user most of the relative positional relationship between the moving body and the obstacle is displayed (for example, the distance between the moving body and the obstacle, Orientation, etc., but the actual position of the obstacle (for example, latitude and longitude, altitude, etc.) is not recorded on the actual map in real time, and presented to the user, so that the user can control the mobile body to perform the operation intuitively and in real time.
  • An aspect of the present disclosure provides an obstacle information prompting method for displaying information of a moving body and an obstacle on an operation interface or an observation interface of a display screen, including: acquiring obstacle information, and acquiring the sensing element At a preset distance relative to the moving body Information of the obstacle in the range, and the relative position information of the obstacle relative to the moving body is taken as obstacle relative position information; acquiring moving body information, acquiring the obtained by the positioning device The actual position information of the moving body is used as the actual position information of the moving body; the position of the obstacle is calculated, and the actual position information of the obstacle is calculated according to the relative position information of the obstacle and the actual position information of the moving body as an obstacle Actual position information; displaying obstacle information, displaying the moving body and the obstacle on the display screen according to the moving body actual position information and the obstacle actual position information.
  • an obstacle information prompting system including: a moving body; a mobile body display terminal, including a display screen, displaying information of the moving body and the obstacle on an operation interface or an observation interface of the display screen; a sensing element for sensing information of the obstacle within a preset distance range with respect to the moving body, and using the sensed relative position information of the obstacle relative to the moving body as a movement
  • the relative position information of the body is used for acquiring the actual position information of the moving body as the actual position information of the moving body, and the relative information of the obstacle sensed by the obstacle information prompting system according to the sensing element
  • actual position information of the moving body acquired by the positioning device, and calculating actual position information of the obstacle as actual position information of the obstacle, according to actual position information of the moving body and actual position information of the obstacle
  • the moving body and the obstacle are displayed on the display screen.
  • an obstacle information presenting device comprising: a display screen displaying information of a moving body and an obstacle on an operation interface or an observation interface of the display screen; and a receiving unit capable of receiving an externally sent a processor for controlling the obstacle information prompting device, specifically for: receiving, by the receiving unit, the obstacle that is sensed by the sensing component within a preset distance range with respect to the moving body Information of the object, and sensing the relative position information of the obstacle relative to the moving body as obstacle relative position information; receiving, by the receiving unit, actual position information of the moving body acquired by the positioning device As the moving body actual position information; calculating the actual position information of the obstacle as the obstacle actual position information according to the obstacle relative position information and the moving body actual position information; according to the actual position of the moving body The information and the obstacle actual position information display the moving body and the obstacle on the display screen.
  • Another aspect of the present disclosure provides an obstacle information presenting apparatus including a processor and a memory in which computer executable instructions are stored, and when the instructions are executed by the processor, the processor is The obstacle information presentation method of any one of the aspects described above.
  • Another aspect of the present disclosure provides a computer readable recording medium storing computer executable instructions that, when executed by a processor, cause the processor to perform the obstacle of any one of the aspects Object information prompt method.
  • the obstacle information presenting method, device and system, device and computer readable recording medium according to the present disclosure can be provided to users of self-propelled mobile bodies such as robots, drones, self-propelled diving equipment, and self-driving vehicles. Intuitive and real-time obstacle location information to enhance the user experience.
  • FIG. 1 is a schematic block diagram showing an obstacle information presenting system of an embodiment of the present disclosure.
  • FIG. 2 is a schematic block diagram showing an obstacle information presenting apparatus of an embodiment of the present disclosure.
  • FIG. 3 is a schematic flow chart showing an obstacle information prompting method of an embodiment of the present disclosure.
  • FIG. 4 schematically shows an exemplary diagram of a display situation on a display screen in the obstacle information presenting device of the embodiment of the present disclosure.
  • FIG. 5 schematically shows another exemplary diagram of a display situation on a display screen in the obstacle information presenting device of the embodiment of the present disclosure.
  • Fig. 6 is a schematic block diagram showing an obstacle information presenting apparatus of another embodiment of the present disclosure.
  • FIG. 1 is a schematic block diagram showing an obstacle information presenting system of an embodiment of the present disclosure.
  • the obstacle information presenting system W of the embodiment of the present disclosure includes at least a moving body M, a moving body display terminal T, a sensing element S, and a positioning device G.
  • the moving body M may be any self-propelled moving body such as a self-propelled robot, a drone, a self-propelled diving device, or an autonomous driving vehicle.
  • h denotes the front end of the moving body M
  • an arrow indicates the direction in which the moving body M is traveling. According to the direction of the front end h and the arrow, it is known that the traveling direction of the moving body M is currently forward. It goes without saying that the traveling direction of the moving body M can be obtained according to the orientation of the front end h of the moving body M and the direction of the acceleration of the moving body M, for example, the traveling direction can be forward, backward, ascending, Any combination of the downward direction and any direction.
  • the mobile body display terminal T may be a portable computer as shown in FIG. 1, or may be any control device such as a desktop computer, a mobile phone terminal, or a tablet computer, for example, for controlling the mobile body M.
  • the mobile display terminal T includes at least a display screen P having an operation interface or an observation interface on which various information related to the mobile body M can be displayed, for example, The information of the moving body M itself shown in FIG. 1 and the information of the obstacle B in the traveling direction of the moving body M shown in FIG. 1 and the like.
  • the positioning device G may be, for example, a positioning device or the like for acquiring actual position information of the moving body M as the actual position information of the moving body, such as GPS, RTK, or the like.
  • the actual position information of the mobile body may include at least the actual latitude and longitude of the mobile body M, that is, the latitude and longitude of the moving body, and the altitude, that is, the altitude of the moving body.
  • the actual position information of the moving body further includes the orientation of the front end h of the moving body M. Taking the drone as an example, the front end is oriented toward the head.
  • the moving body actual position information further includes an acceleration direction of the moving body M.
  • the traveling direction of the moving body M such as forward, backward, ascending, and descending can be calculated based on the orientation of the front end h of the moving body M and the acceleration direction of the moving body M.
  • the sensing element S may be any one of, for example, a radar detector, a vision detector, an ultrasonic detector, or a laser detector for sensing the obstacle B within a predetermined distance range with respect to the moving body M.
  • Information, and the relative position information of the obstacle B with respect to the moving body is used as the moving body relative position information.
  • the preset distance range preferably increases as the moving speed of the moving body M increases. For example, if the moving body M is a drone, the speed is generally faster than the self-propelled robot.
  • the sensing element S is preferably disposed on the moving body M as shown in FIG. 1, it can be more accurately and conveniently sensed, but it goes without saying that the sensing element S can also Not disposed on the moving body M, but disposed at any other place as long as it can sense obstacle information with respect to the moving body M, and transmit the sensed obstacle information
  • the terminal T can be displayed to the mobile body.
  • the obstacle relative position information may include at least: a distance and an orientation of the obstacle relative to the moving body. Further, the obstacle relative position information may further include at least a distance of the obstacle B with respect to the moving body M and a direction with respect to an orientation of the front end h of the moving body M.
  • the sensing element S may also acquire the relative position information of the obstacle in the traveling direction of the moving body M in combination with the traveling direction (for example, forward, backward, ascending or descending) of the moving body M. .
  • the sensing element may calculate a traveling direction of the moving body according to an orientation of the front end h of the moving body M and the acceleration direction of the moving body M, and acquire the The obstacle relative position information in the traveling direction. In this way, only the relative position information of the obstacle in the traveling direction can be acquired according to the traveling direction.
  • the main portion of the obstacle information presentation system W of the embodiment of the present disclosure that is, the structure of the mobile body display terminal T as the obstacle information presentation device will be described with reference to FIG. 2 .
  • FIG. 2 is a schematic block diagram showing an obstacle information presenting apparatus of an embodiment of the present disclosure.
  • the obstacle information prompting device includes at least a display screen P, a receiving unit R, and a processor C.
  • the display screen P has at least an operation interface or an observation interface on which various information related to the mobile body M can be displayed, for example, as shown in FIG.
  • the information of the moving body M itself and the information of the obstacle B shown in FIG. 1 and the like.
  • the information of the moving body M for example, the front end direction, the traveling direction, the traveling speed, the latitude and longitude, and the altitude of the moving body M can be displayed (here, the altitude may naturally include the altitude depth)
  • the information about the obstacle B for example, in the case of a moving body below sea level such as a self-propelled submarine, etc., for example, the obstacle B can be displayed relative to the movement as in the prior art.
  • the distance, the orientation (ie, the azimuth angle) of the body M, the relative height, and the like may also indicate, for example, the latitude and longitude and the altitude of the moving body M (here, the so-called altitude may of course also include the altitude of the altitude, to Absolute position information such as obstacles below sea level.
  • the receiving unit R is capable of receiving various kinds of information sent from the outside. For example, the information of the obstacle B transmitted by the sensing element S shown in FIG. 1 and the information of the moving body M transmitted by the positioning device G may be received.
  • the processor C is configured to control the obstacle information prompting device, and is specifically configured to: receive, by the receiving unit R, a range of a preset distance relative to the moving body M sensed by the sensing element S (here) And the preset distance range preferably increases the information of the obstacle B as the moving speed of the moving body M increases, and the sensed obstacle B is relative to the moving body
  • the relative position information of the M is used as the obstacle relative position information; the actual position information of the moving body M acquired by the positioning device G is received by the receiving unit R as the actual position information of the moving body; Position information and actual position information of the moving body, calculating actual position information of the obstacle B as actual position information of the obstacle; displaying the actual position information according to the moving body and the actual position information of the obstacle
  • the moving body M and the obstacle B are displayed on the screen P.
  • the obstacle information presenting method is the obstacle information presenting method in the obstacle information presenting system W of the embodiment of the present disclosure.
  • FIG. 3 is a schematic flow chart showing an obstacle information prompting method of an embodiment of the present disclosure.
  • the obstacle information prompting method of the embodiment of the present disclosure includes: acquiring an obstacle The object information S1; the acquired moving body information S2; the calculated obstacle position S3; and the displayed obstacle information S4.
  • the acquisition obstacle information S1 information of the obstacle B that is sensed by the sensing element S with respect to the moving body M within a preset distance range is acquired, and the sensing is performed.
  • the relative position information of the obstacle B with respect to the moving body M is taken as the obstacle relative position information.
  • acquiring information of the obstacle B that is sensed by the sensing element S with respect to the moving body M within a preset distance range means: Obtaining, in the real-time sense, the front, the rear, the upper, the lower, and the like of the moving body M in the preset distance range by the sensing element S (wherein the preset distance range is preferably determined by the moving body) Information of the obstacle B of the traveling speed of M, and the information is relative position information of the obstacle B with respect to the moving body M, that is, obstacle relative position information, for example, with respect to the moving body B Distance, orientation (ie, azimuth), etc. Further, the obstacle relative position information may also include a distance of the obstacle B with respect to the moving body M and a direction with respect to an orientation of the front end h of the moving body M.
  • the actual position information of the moving body M acquired by the positioning device G is acquired as the moving body actual position information.
  • the positioning device G can be a normal GPS.
  • the acquired actual position information of the moving body may include an actual latitude and longitude of the moving body M, that is, a moving body latitude and longitude, and an actual altitude of the moving body M, that is, a moving body altitude.
  • the moving body actual position information further includes the orientation of the front end h of the moving body M.
  • the moving body actual position information further includes an acceleration direction of the moving body M. In this way, based on the orientation of the front end h of the moving body M and the acceleration direction of the moving body M, it can be calculated which of the forward, backward, ascending, and descending directions of the traveling body M is traveling. A direction of travel.
  • the actual position information of the obstacle B is calculated as the obstacle actual position information based on the obstacle relative position information and the moving body actual position information.
  • the actual location information of the obstacle is at least The actual latitude and longitude of the obstacle B, that is, the obstacle latitude and longitude, and the actual altitude of the obstacle B, that is, the obstacle altitude.
  • the altitude may of course also include the altitude depth to target moving objects and obstacles below sea level.
  • the moving body actual position information further includes an orientation of the front end h of the moving body M
  • the obstacle relative position information includes a distance of the obstacle B with respect to the moving body M and relative to the
  • the calculating obstacle position S3 may specifically include: according to the obstacle relative position information, the moving body latitude and longitude, the moving body altitude and the The orientation of the front end h is calculated as the obstacle latitude and longitude and the obstacle altitude.
  • the moving body M and the obstacle B are displayed on the display screen P based on the moving body actual position information and the obstacle actual position information.
  • the moving body latitude and longitude, the moving body altitude, and the like of the moving body M can be displayed, and the moving body M can be marked.
  • the display obstacle information S4 may further include: according to an orientation of the front end h of the moving body M, The direction of acceleration of the moving body M is calculated as the traveling direction of the moving body M; and the obstacle B in the proceeding direction is displayed on the display screen P. Further, the displaying the obstacle information S4 may further include: marking, on the display screen P, at least one of the obstacles B in the traveling direction that is less than a predetermined threshold from the moving body M.
  • the preset threshold value also preferably increases as the moving speed of the moving body M increases.
  • the marked moving body M and at least one of the obstacles B closest to the moving body M in the traveling direction are connected in a straight line, and may be simultaneously displayed.
  • the distance between the moving body M and the obstacle B is displayed, whereby the distance between the moving body M and the obstacle M can be more intuitively displayed.
  • the user can intuitively observe the distance between the moving body M and the obstacle M, and facilitate the accurate manipulation of the moving body M to perform work operations such as obstacle avoidance.
  • the traveling party The direction may include any one of forward, backward, ascending, and descending of the moving body M.
  • the above technical solution is to obtain the relative position information of the obstacle first, and then display only the information of the obstacle B in the traveling direction according to the traveling direction of the moving body M.
  • the technical solution can also be a technical solution for acquiring only the information of the obstacle B in the traveling direction according to the traveling direction.
  • the acquiring the obstacle information S1 may specifically include acquiring the obstacle relative position information in the traveling direction of the moving body M in conjunction with the traveling direction of the moving body M. More specifically, the acquiring the obstacle information S1 may specifically include calculating the travel of the moving body M according to the orientation of the front end h of the moving body M and the acceleration direction of the moving body M. a direction; acquiring the relative position information of the obstacle in the traveling direction.
  • the traveling direction may include any one of forward, backward, ascending, and descending of the moving body M.
  • the moving body M is a drone
  • the sensing element S is a radar detector
  • the positioning device G is a GPS as an example, and the display in the display screen P is described using FIG. 4 and FIG. Example.
  • FIG. 4 schematically shows an exemplary diagram of a display situation on a display screen in the obstacle information presenting device of the embodiment of the present disclosure.
  • a moving body M As shown in FIG. 4, on the operation interface or the observation interface of the display screen P, a moving body M, an obstacle B (three in the example), a traveling direction D of the moving body M, a map m, and a moving body M are marked.
  • the moving body M is represented by an arrow, and the head of the arrow indicates the front end h of the moving body M.
  • there are only two wires L which are two wires of the moving body M and the nearest two obstacles B.
  • FIG. 5 schematically shows another exemplary diagram of a display situation on a display screen in the obstacle information presenting device of the embodiment of the present disclosure.
  • the pie chart on the left side shows the scan result of the radar as the sensing element, wherein the mark B corresponding to the obstacle B in FIG. 4 is respectively Marked 1, 2, 3 in order from the nearest to the far, in the table on the right, the labels 1, 2, and 3, which are marks of the obstacle B, respectively represent: the drone currently being the moving body
  • the direction of travel is "back", "latitude and longitude” value, "height” value, and "distance” value.
  • the values of the reference numerals 1, 2 are indicated, which correspond to the two lines of the obstacle closest to the moving body in Fig. 4 .
  • the value is blurred, because the value itself is not important, but the actual value is confidential.
  • FIGS. 4 and 5 are merely exemplary views, and the technical solutions of the present disclosure are not particularly limited.
  • the obstacle information presentation method, the obstacle information presentation device, and the obstacle information presentation system according to the above embodiments of the present disclosure can be self-propelled, self-propelled, self-driving, etc.
  • the user of the mobile body provides intuitive and real-time obstacle location information to enhance the user experience and enable the user to take obstacle avoidance operations accurately and in a timely manner.
  • FIG. 6 Another wireless communication device in which the wireless communication method is implemented by hardware will be described using FIG. 6 as an example.
  • Fig. 6 is a view schematically showing a schematic configuration of an obstacle information presenting apparatus having a hardware and software structure corresponding to the obstacle information presenting method of the embodiment of the present embodiment.
  • the wireless communication device 300 can include a processor 310 (eg, a CPU, etc.), and a memory 320 (eg, a hard disk HDD, a read only memory ROM, etc.). Further, a readable storage medium 321 (for example, a magnetic disk, an optical disk CD-ROM, a USB, etc.) indicated by a broken line may also be included.
  • a processor 310 eg, a CPU, etc.
  • a memory 320 eg, a hard disk HDD, a read only memory ROM, etc.
  • a readable storage medium 321 for example, a magnetic disk, an optical disk CD-ROM, a USB, etc.
  • Each of the portions of the wireless communication device 300 may be one or more.
  • the processor 310 may be one or more processors.
  • the process described above with reference to the flowchart (FIG. 3) of the wireless communication method of the embodiments of the present disclosure may be implemented as a computer software program.
  • the computer software program may also be one or more.
  • the computer software program is stored in a memory 320 of the wireless communication device 300 as a storage device, by executing the computer software program, thereby causing one or more processors 310 of the wireless communication device 300 to execute
  • the wireless communication method can also be stored as a computer program in a computer readable storage medium (for example, the readable storage medium 521 shown in FIG. 6), which can include a code/computer.
  • the instructions are executed to cause the computer to execute the wireless communication method, such as shown in the flowchart of FIG. 3 of the present disclosure, and variations thereof.
  • a computer readable storage medium may be, for example, any medium that can contain, store, communicate, propagate or transport the instructions.
  • a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium.
  • Specific examples of the readable storage medium include: a magnetic storage device such as a magnetic tape or a hard disk (HDD); an optical storage device such as a compact disk (CD-ROM); a memory such as a random access memory (RAM) or a flash memory; and/or a wired /Wireless communication link.
  • a computer program can be configured to have computer program code, for example, including a computer program module. It should be noted that the division manner and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual conditions, and when these program module combinations are executed by a computer (or processor), the computer is made The flow of the image processing method such as described above in connection with FIG. 3 and variations thereof can be performed.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
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Abstract

La présente invention concerne un procédé d'invite d'informations d'obstacle, un système, un équipement, un dispositif et un support d'enregistrement lisible par ordinateur. Le procédé d'invite d'informations d'obstacle, servant à l'affichage d'informations d'un corps mobile et d'un obstacle sur une interface d'exploitation ou une interface d'observation d'un écran d'affichage, consiste : à acquérir des informations de l'obstacle dans la plage d'une distance prédéfinie par rapport au corps mobile détectées par un élément de détection et à utiliser les informations d'emplacement relatif détectées de l'objet par rapport au corps mobile en tant qu'informations d'emplacement relatif d'obstacle ; à acquérir des informations d'emplacement réel du corps mobile acquises par un dispositif de positionnement, à utiliser les informations en tant qu'informations d'emplacement réel de corps mobile ; à calculer des informations d'emplacement réel de l'obstacle sur la base des informations d'emplacement relatif d'obstacle et des informations d'emplacement réel de corps mobile, à utiliser les informations en tant qu'informations d'emplacement réel d'obstacle ; et à afficher le corps mobile et l'obstacle sur l'écran d'affichage sur la base des informations d'emplacement réel de corps mobile et des informations d'emplacement réel d'obstacle.
PCT/CN2017/116985 2017-12-18 2017-12-18 Procédé d'invite d'informations d'obstacle, système, équipement, dispositif et support d'enregistrement WO2019119222A1 (fr)

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Application Number Priority Date Filing Date Title
CN201780006722.XA CN108521809A (zh) 2017-12-18 2017-12-18 障碍物信息提示方法、系统、设备、装置及记录介质
PCT/CN2017/116985 WO2019119222A1 (fr) 2017-12-18 2017-12-18 Procédé d'invite d'informations d'obstacle, système, équipement, dispositif et support d'enregistrement

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