WO2020037524A1

WO2020037524A1 - Control method for movable platform, movable platform and readable storage medium

Info

Publication number: WO2020037524A1
Application number: PCT/CN2018/101630
Authority: WO
Inventors: 周游; 杨振飞; 黄金柱
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-08-22
Filing date: 2018-08-22
Publication date: 2020-02-27
Also published as: CN110770668A

Abstract

A control method for a movable platform, and a device and a computer-readable storage medium. The method comprises: determining the distance between a target object and a movable platform (101); determining control information of the movable platform according to the distance (102); and controlling the movement of the movable platform according to the control information, such that before the movable platform comes into contact with the target object, the movement direction of the movable platform can be adjusted to form an included angle of 0 degrees to 90 degrees with the line direction from the target object to the movable platform (103). A surrounding environment is sensed by means of the movable platform, the distance between a target object and the movable platform is determined according to the surrounding environment, and the movement direction of an unmanned aerial vehicle is controlled based on the distance, without user intervention, and a moving route is autonomously planned; therefore, safe flight can be realized, user operations can be simplified, and the usage experience of a user can be improved.

Description

Control method of movable platform, movable platform and readable storage medium

Technical field

The present invention relates to the field of control technology, and in particular, to a control method of a movable platform, a movable platform, and a readable storage medium.

Background technique

Unmanned vehicles such as unmanned aerial vehicles (UAV, UAV for short) have been developed for use in a variety of fields, including consumer and industrial applications. For example, drones can be manipulated for entertainment, photography / camera, surveillance, delivery, or other applications, and drones have expanded every aspect of personal life.

As the use of drones becomes more common, the functions of drones are more and more, but the operation and control of drones is also more complicated, and how to safely control drones is a major problem. At present, there are some intelligent functions to assist users, and aerial video can be taken through simple interaction. However, these intelligent functions are aimed at outdoor aerial photography of medium and large drones, and for indoor operation of small and micro drones, there is no Very good solution, resulting in limited use of drones.

Summary of the Invention

The invention provides a control method of a movable platform, a movable platform and a readable storage medium.

According to a first aspect of the present invention, a control method of a movable platform is provided, and the method includes:

Determining a distance between a target object and the movable platform;

Determining control information of the movable platform according to the distance;

Controlling the movable platform to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be in line with the target object to the movable The included angle between the platform directions along the line is 0 degrees to 90 degrees.

According to a second aspect of the present invention, a movable platform is provided, including: a memory and a processor; the memory is used to store program code; the processor is used to call the program code, and when the program code is executed When the processor is used to perform the following operations:

Determining a distance between a target object and the movable platform;

According to a third aspect of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions, and when the computer instructions are executed, a control method of a movable platform is implemented.

Based on the above technical solution, in the embodiments of the present invention, the distance between the target object and the movable platform can be determined, the control information of the movable platform can be determined according to the distance, and the movable platform can be controlled to move according to the control information so that the movable platform is in contact with the target Before the object, the moving direction of the movable platform can be adjusted so that the included angle between the target object and the direction along the line of the movable platform is 0 degrees to 90 degrees. Obviously, the above method senses the surrounding environment through the movable platform, and determines the distance between the target object and the movable platform according to the surrounding environment. The direction of the drone's movement is controlled based on the distance, without user intervention, autonomously planning the travel route, which can safely fly and simplify User operation to improve user experience.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the technical solutions in the embodiments of the present invention more clearly, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are just some of the records in the present invention. For those of ordinary skill in the art, other drawings may be obtained based on the drawings of the embodiments of the present invention.

1 is a schematic flowchart of a control method of a movable platform;

2 is a schematic flowchart of determining a distance between a target object and a movable platform;

3 is a schematic flowchart of determining a distance between a target object and a movable platform according to depth information;

4A-4J are schematic diagrams of control of a movable platform;

Figure 5 is a block diagram of one embodiment of a mobile platform.

detailed description

In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. In addition, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms "a," "the," and "the" as used in this invention and in the claims are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be understood that the term "and / or" as used herein means any or all possible combinations that include one or more of the associated listed items.

Although the terms first, second, third, etc. may be used in the present invention to describe various information, these information should not be limited to these terms. These terms are used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, in addition, the word "if" can be interpreted as "at ...", or "at ...", or "in response to a determination".

Example 1:

An embodiment of the present invention provides a control method for a movable platform, and the method can be applied to a movable platform (such as a drone, an unmanned vehicle, etc., which is not limited). The embodiments of the present invention and the subsequent embodiments are described by using a movable platform as a drone as an example. It can be understood that other mobile platforms other than drones are also applicable to the descriptions in the embodiments of the present invention and subsequent embodiments.

Refer to FIG. 1, which is a schematic flowchart of a control method of a movable platform. The method includes:

Step 101: Determine the distance between the target object and the movable platform.

Specifically, the target object may be a first object used to control the movement of the movable platform (such as a user controlling the movement of the movable platform), and the target object may also be a second object used to hinder the movement of the movable platform (such as hindering the movement of the movable platform). Obstacles to platform movement), whether the target object is the first object or the second object, the distance between the target object and the movable platform can be determined. For details, see the subsequent embodiments.

Step 102: Determine control information of the movable platform according to the distance.

Specifically, the control information may be acceleration, speed, or a control force for generating acceleration (such as by controlling an output torque of a driving device used to drive a movable platform, such as an output torque of a motor). Whether the control information is acceleration, speed, or control force, the control information of the movable platform can be determined according to the distance. For details, see the subsequent embodiments.

Step 103: Control the movable platform for movement according to the control information, so that before the movable platform contacts the target object, the direction of movement of the movable platform can be adjusted to the direction along the line from the target object to the movable platform (such as the target object to The direction along the line of the center of the movable platform is not limited, and the included angle is 0 degrees to 90 degrees.

Specifically, when the target object is the first object for controlling the movement of the movable platform, the movable platform may be controlled to move according to the control information, so that the movable platform moves in the direction of movement before the movable platform contacts the target object. It can be adjusted so that the included angle between the target object and the direction along the line of the movable platform is 0 degrees. When the target object is a second object used to hinder the movement of the movable platform, the movable platform can be controlled to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to The angle between the target object and the direction along the line of the movable platform is 90 degrees. Of course, the above are just two examples of controlling the movement of the movable platform, which are not limited, and specific control methods can refer to the subsequent embodiments.

Based on the above technical solution, in the embodiment of the present invention, the surrounding environment is sensed by the movable platform, and the distance between the target object and the movable platform is determined according to the surrounding environment, and the control information of the movable platform is determined according to the distance. The mobile platform performs movement without user intervention and autonomously plans the travel route. It can fly safely, simplify user operations, and improve user experience.

Example 2:

For step 101, the distance between the target object and the movable platform can be determined as shown in FIG. 2.

Step 201: Obtain a depth map, where the depth map may include an object area corresponding to a target object.

Specifically, the movable platform can include two vision sensors, such as a camera. These two cameras can form a basic vision system called Stereo Vision System. The movable platform can use two cameras to shoot two cameras at different angles at the same time. Image, and use the triangle relationship to calculate the distance relationship between the scene and the camera based on the difference between the two images, the position and angle relationship between the two cameras, and obtain a depth map (that is, Depth Map) based on the distance relationship. The acquisition process of the depth map is not limited.

In an example, the depth map may include an object area (such as an object area or multiple object areas) corresponding to the target object, and in order to obtain the object area from the depth map, similar pixel points in the depth map may be used. Aggregate to obtain a connected region, and determine that the connected region is an object region corresponding to the target object. Aggregating similar pixels in the depth map may include, but is not limited to: flooding filling algorithm may be used to aggregate similar pixels in the depth map.

Specifically, after obtaining the depth map, a floodfill algorithm (ie, a flood fill algorithm) can be used to aggregate similar pixels in the depth map, and the aggregated pixels form a connected region. The floodfill algorithm comprehensively considers color information, distance information (that is, depth information), and whether each pixel is connected to each other. It can aggregate similar pixels together into a connected area, and there is no restriction on this process. Then, each connected region may be determined as a target object. If there are 3 connected regions, there are 3 target objects. For convenience of description, in the subsequent embodiments, one target object is used as an example for description.

Step 202: Determine the distance between the target object and the movable platform according to the depth information of the object area.

Specifically, after obtaining the object area corresponding to the target object from the depth map, the depth information of the object area can be obtained, and the distance between the target object and the movable platform can be determined according to the depth information of the object area. For example, the following can be adopted: The process determines the distance between the target object and the movable platform.

Step 2021: Obtain depth information of pixels in the object area.

Step 2022: Obtain the depth confidence of the pixels in the object area.

Specifically, a disparity map corresponding to the depth map may be obtained, and a disparity pixel point corresponding to a pixel point of the object area is selected from the disparity map; then, the object area is determined according to the disparity confidence level of the disparity pixel point. Pixel depth confidence. Determining the depth confidence of the pixels in the object region according to the disparity confidence of the parallax pixels may include, but is not limited to, the following methods: According to the disparity confidence of the parallax pixels, the depth information of the pixels in the object region And the focal length and binocular distance of the movable platform to determine the depth confidence of the pixels in the object area.

Step 2023: Determine the distance between the target object and the movable platform according to the depth information of the pixel and the depth confidence of the pixel.

Specifically, the distance between the target object and the movable platform may be determined based on the filtering method according to the depth information of the pixel point and the depth confidence degree of the pixel point.

The filtering method may include, but is not limited to, a Kalman filtering method.

The implementation flow of step 202 is described in detail below with reference to the flowchart shown in FIG. 3.

Step 301: Obtain depth information of pixels in the object area.

Specifically, after obtaining the object area from the depth map, the depth information of each pixel point of the object area (that is, the distance between the corresponding position of the pixel point and the movable platform) can be obtained. The manner of the depth information of each pixel point is not repeated here.

Step 302: Obtain a disparity map corresponding to the depth map.

Specifically, the parallax map is based on any one of the image pairs (that is, two images taken simultaneously by two vision sensors at different angles for the same scene), the size is the size of the reference image, and the element value is the parallax value Image, and the disparity map contains the distance information of the scene. Because the depth map also contains the distance information of the scene, after obtaining the depth map, you can use the depth map to obtain the disparity map. There is no restriction on the acquisition process, as long as the disparity map can be obtained.

Step 303: Select a parallax pixel point corresponding to a pixel point of the object area from the parallax map.

Specifically, after obtaining the object area from the depth map, the corresponding pixel points of the object area in the depth map may be determined. These pixel points may be part of the pixel points in the depth map. For example, the pixel set A includes the object area. All pixels in the depth map. Then, after obtaining the disparity map corresponding to the depth map, it is possible to determine the corresponding pixel point of each pixel in the pixel set A in the disparity map, for example, the pixel set B includes each pixel in the pixel set A The pixel point corresponding to the point in the disparity map, then each pixel point in the pixel point set B can be referred to as a disparity pixel point.

Step 304: Obtain the parallax confidence of the parallax pixels.

Specifically, the parallax confidence of each parallax pixel can also be called the uncertainty of the parallax pixel. The difference between the measured value and the true value of each parallax pixel can be regarded as a Gaussian distribution. The parallax confidence of parallax pixels is bias. For example, the parallax confidence of the parallax pixels can be determined as follows:

Among them, σ _id represents the parallax confidence of the parallax pixels, and S represents the total energy, such as the total energy given in the SGM (Semi Global Matching) algorithm. There is no restriction on this.

Represents the theoretical minimum energy, such as the theoretical minimum energy given in the SGM algorithm, which is not limited. Of course, the above method for determining the parallax confidence is only an example, and there is no limitation on this, as long as the parallax confidence of the parallax pixels can be obtained.

Step 305: Determine the depth confidence of the pixels of the object area (ie, the pixels in the depth map) according to the parallax confidence of the disparity pixels (ie, the pixels in the disparity map).

Specifically, the depth confidence of the pixel points of the object region may be determined according to the parallax confidence of the parallax pixels, the depth information of the pixel points of the object region, and the focal distance and binocular distance of the movable platform.

For example, the depth confidence of a pixel can be determined as follows:

Among them, σ _id represents the parallax confidence of the parallax pixels, d represents the depth information of the pixels in the object area (that is, the distance between the corresponding position of the pixels and the movable platform), and f and b represent the visual sensors of the movable platform. Focal distance and binocular distance. It can be known from the above formula that when the depth information of the pixels in the object area is known, the parallax confidence of the parallax pixels is known, and the focal distance and binocular distance of the movable platform are known, the Depth confidence. Of course, the above method for determining the depth confidence is only an example, and there is no limitation on this, as long as the depth confidence can be obtained.

Step 306: Determine the distance between the target object and the movable platform according to the depth information of the pixel and the depth confidence of the pixel.

In one example, for a target object, the target object corresponds to multiple pixels, and each pixel corresponds to a depth information and a depth confidence. In this way, multiple pixels of the target object correspond to multiple distance values. Therefore, Kalman Filtering can be used to achieve data fusion and obtain a distance between the target object and the movable platform. That is, based on the depth information and depth confidence of each pixel, Kalman The Mann filter method realizes data fusion.

When using Kalman filtering to achieve data fusion, the distance update value at the current time can be determined according to the depth information of each pixel and the depth confidence of the pixel point; the distance prediction value at the current time is obtained, and the value is updated according to the distance And distance prediction value to determine the distance between the target object and the movable platform at the current moment. Of course, the above method is only an example of determining the distance between the target object and the movable platform, and there is no limitation on this, as long as the distance between the target object and the movable platform can be determined.

Example 3:

For step 102, when determining the control information of the movable platform according to the distance, the control information may be acceleration, speed, or a control force for generating acceleration (for example, by controlling a drive for driving the movable platform). The output torque of the device is realized, such as the output torque of a motor), and the type of the control information is not limited. Wherein, if the control information is acceleration, before the movable platform contacts the target object, the component of the acceleration in the first direction can be adjusted to be greater than the current acceleration of the movable platform in the second direction, and the first direction and the second direction The direction is opposite, and the second direction is the direction along the line from the movable platform to the target object (for example, the target object may be a second object for blocking the movement of the movable platform). In addition, if the control information is speed, before the movable platform contacts the target object, the component of the speed in the first direction can be adjusted to be greater than the current speed of the movable platform in the second direction, and the first direction and the second direction The direction is opposite, and the second direction is the direction along the line from the movable platform to the target object (for example, the target object is a second object for blocking the movement of the movable platform).

In summary, taking the target object as a second object for blocking the movement of the movable platform as an example, if the control information is acceleration, before the movable platform contacts the second object, due to the component of the acceleration in the first direction It can be adjusted to be greater than the current acceleration of the movable platform in the second direction, and the first direction is opposite to the second direction. The second direction is the direction along the line from the movable platform to the second object. There is acceleration in the opposite direction of the direction of the second object, and the acceleration may be greater than the current acceleration in the direction of the movable platform to the second object, thereby achieving obstacle avoidance.

Or, taking the target object as a second object for hindering the movement of the movable platform as an example, if the control information is velocity, before the movable platform contacts the second object, the component of the velocity in the first direction can be adjusted before the movable platform contacts the second object. Is greater than the current speed of the movable platform in the second direction, and the first direction is opposite to the second direction, which is the direction along the line from the movable platform to the second object. There is a speed in the opposite direction of the direction of the two objects, and the speed may be greater than the current speed in the direction of the movable platform to the second object, thereby achieving obstacle avoidance.

For example, suppose the position of the movable platform is position A, the position of the target object is position B, the direction of movement of the movable platform is position A-position B, and the second direction is the direction along the line from the movable platform to the target object, that is, the second The direction is position A-position B, and the first direction is position B-position A.

The movable platform moves through the current acceleration 1 in the second direction. Before the movable platform contacts the target object, the acceleration A in the first direction is determined according to the distance. When the distance is relatively long, the acceleration A is small and may be smaller than the current acceleration 1. In this way, because the direction of the acceleration A is opposite to the direction of the current acceleration 1, the current acceleration 1 becomes smaller, but the direction of the current acceleration 1 is still the second direction. As the distance between the movable platform and the target object becomes closer, the acceleration A in the first direction determined according to the distance becomes larger, until the component of the acceleration A in the first direction is greater than the current acceleration 1 in the second direction, which results in The moving direction of the mobile platform is the first direction, and it is no longer the second direction. The movable platform moves toward the first direction, so that the distance between the movable platform and the target object becomes longer.

As another example, the movable platform moves at the current speed 2 in the second direction. Before the movable platform contacts the target object, the speed B in the first direction may be determined according to the distance. When the distance is relatively long, the speed B is relatively small and may be less than the current speed 2. In this way, because the direction of the speed B is opposite to the direction of the current speed 2, the current speed 2 becomes smaller, but the direction of the current speed 2 is still the second direction. As the distance between the movable platform and the target object becomes closer, the speed B in the first direction determined according to the distance becomes larger, until the component of the speed B in the first direction is greater than the current speed 2 in the second direction, which results in The moving direction of the mobile platform is the first direction, and it is no longer the second direction. The movable platform moves toward the first direction, so that the distance between the movable platform and the target object becomes longer.

In one example, when determining the control information of the movable platform according to the distance, if the control information is acceleration, the acceleration of the movable platform may be determined according to a preset constant and distance, and the acceleration of the movable platform may be equal to the preset constant. There is a positive correlation and a negative correlation with this distance.

Further, the movable platform can also be controlled to move according to the acceleration of the movable platform, so that before the movable platform contacts the target object, the direction of movement of the movable platform can be adjusted to the direction along the line from the target object to the movable platform ( For example, the angle between the target object and the center of the movable platform along the line is 0 to 90 degrees. For example, the included angle may be, for example, 0 degrees, 10 degrees, 20 degrees, 30 degrees, 40 degrees, 50 degrees, 60 degrees, 70 degrees, 80 degrees, or 90 degrees.

In another example, when determining the control information of the movable platform according to the distance, if the control information is speed, the acceleration of the movable platform may also be determined according to a preset constant and distance. The acceleration of the movable platform may be related to the preset Let the constant be positively correlated and negatively correlated with the distance. Then, the speed of the movable platform can also be determined based on the acceleration of the movable platform. Further, the movable platform can also be controlled to move according to the speed of the movable platform, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be along the line from the target object to the movable platform. The included angle is between 0 and 90 degrees. For example, the included angle may be 0 degrees, 10 degrees, 20 degrees, 30 degrees, 40 degrees, 50 degrees, 60 degrees, 70 degrees, 80 degrees, or 90 degrees.

In the above embodiment, the preset constant may be determined according to the type of the target object. If the type of the target object is a preset first type (such as a first object, such as a user), the preset constant may be a first value; if the type of the target object is a preset second type (such as a second object, such as an obstacle) Object), the preset constant is a second value; wherein the first value may be greater than the second value, and both the first value and the second value may be configured according to experience. Obviously, when the target object is the user, since the acceleration of the movable platform is positively related to the preset constant (that is, the first value), if the first value is relatively large, a relatively large acceleration can be generated to avoid the contact of the movable platform. To the user, thereby protecting the user more effectively. Moreover, when the movable platform is located between the user and the obstacle, if the first value is greater than the second value, the distance between the movable platform and the user and the distance between the movable platform and the obstacle are the same or similar, Then, the acceleration between the movable platform and the user may be greater than the acceleration between the movable platform and the obstacle, thereby preventing the movable platform from contacting the user and protecting the user more effectively.

Optionally, regarding the type of the target object, in addition to distinguishing the first object and the second object as types, in actual applications, other classification standards such as living objects and non-living objects can be used, so that When the type is a living object, the living object can be more effectively protected through different setting of the distance threshold, and the living object can be prevented from being injured due to the improper movement control of the movable platform.

In summary, when determining the control information of the movable platform according to the distance, a repulsive force field can be constructed (that is, a control force can be generated). For example, a repulsive force field can be constructed by the following formula:

In this formula, F can represent the repulsive force field, m _obstacls can represent the mass of the target object, r can represent the radius of the constructed repulsive force field, and m _drons can represent the mass of the movable platform. Among them, assuming that the mass m _obstacls of the target object is a large constant value and G is also a constant value, G · m _obstacls in the above formula can be expressed by a preset constant w.

Further, the acceleration of the movable platform can be determined by using the above-mentioned repulsive force field. For example, the acceleration of the movable platform can be determined by the following formula:

In the formula, a represents the acceleration of the movable platform, w represents a preset constant, and d represents the distance between the target object and the movable platform.

Among them, the acceleration of the movable platform has a positive correlation with the preset constant and a negative correlation with the distance. Of course, the above formula is only an example, and there is no limitation on this. Moreover, if the type of the target object is a preset first type (such as a first object, such as a user), the preset constant w is a first value, and if the type of the target object is a preset second type (such as a second object, (Such as obstacles), the preset constant w is a second value, and the first value is greater than the second value.

In one example, after determining the acceleration of the movable platform, the movable platform may be controlled to move according to the acceleration of the movable platform; or, after determining the acceleration of the movable platform, the movable platform may be determined according to the acceleration of the movable platform. The speed of the mobile platform is not limited in this determination method. Then, the mobile platform can be controlled to move according to the speed of the mobile platform.

Example 4:

For step 102, when determining the control information of the movable platform according to the distance, when the distance is not greater than the distance threshold, the control information of the movable platform is determined according to the distance. For a specific determination method, refer to Embodiment 3, and details are not described herein again. Obviously, the repulsive force field can be generated only when the distance is not greater than the distance threshold, so as to determine the control information of the movable platform according to the distance, and use the control information to control the movable platform for movement. Therefore, it is not necessary to determine the control information of the movable platform according to the distance, and it is not necessary to use the control information to control the movement of the movable platform.

Further, after controlling the movable platform for movement according to the control information, when the distance is greater than the distance threshold, the current movement information of the movable platform can be maintained, that is, when the distance is greater than the distance threshold, the repulsive force information can be ignored and no longer When a repulsive force field is generated, the control information of the movable platform is no longer determined according to the distance, and it is not necessary to use the control information to control the movable platform for movement.

In the above embodiment, the distance threshold may be determined according to the type of the target object. If the type of the target object is a preset third type (such as a first object, such as a user), the distance threshold may be a third value; if the type of the target object is a preset fourth type (such as a second object, such as an obstacle) ), The distance threshold may be a fourth value; wherein the third value may be greater than the fourth value, and the third value and the fourth value may be configured according to experience.

When determining the control information of the movable platform according to the distance, the control information may include one or any combination of the following: control force in one or more directions, acceleration in one or more directions, and one or more directions speed. In the above embodiment, the acceleration in one direction or the speed in one direction is taken as an example. The processing flow in other cases is similar, and is not described herein again.

Example 5:

For step 103, when controlling the movable platform for movement according to the control information, if the target object is the first object (such as a user) for controlling the movement of the movable platform, the movable platform may be controlled for movement according to the control information. Before the movable platform contacts the target object, the moving direction of the movable platform can be adjusted to an angle between the target object and the direction along the line of the movable platform is 0 degrees to 90 degrees, for example, the angle between the two The angle can be 0 degrees.

For the positional relationship of the first object, the included angle between the direction along the line of the first object to the movable platform and the current movement direction of the movable platform is greater than or equal to 0 degrees and less than or equal to 90 degrees.

As shown in FIG. 4A, the target object is the first object (such as a user), and the included angle between the direction of movement of the movable platform and the direction along the line (that is, the direction of the target object to the movable platform) is 0 degrees to 90 degrees, FIG. 4A takes an included angle of 0 degrees as an example. Moreover, it can be seen from FIG. 4A that the included angle between the first object and the movable platform along the line direction and the current movement direction of the movable platform is 0 degrees.

When the movable platform is controlled to perform motion according to the control information, the following effects can be achieved by adopting the foregoing manner. First, after starting the movable platform, the movable platform uses the cruise speed (the cruise speed can be set in advance) to fly in direction 1. The user does not control the movable platform. Because the distance between the movable platform and the user is greater than the threshold . Therefore, the repulsive force field can be ignored, and the movable platform continues to fly in direction 1.

Then, if the user needs to control the movable platform to accelerate to fly in direction 1, the user moves to the rear of the movable platform (such as the opposite direction of the flight direction) and moves toward the movable platform. At this time, the movable platform continues to fly in direction 1, but due to the user's movement, the distance between the movable platform and the user can become smaller and smaller. When the distance between the movable platform and the user is less than the threshold, the repulsive field Will play a role, at this time, it can produce the same acceleration as the current direction of movement of the movable platform, and the speed of the movable platform gradually increases to fly in direction 1, as the distance between the movable platform and the user becomes smaller and smaller, The repulsive force field continues to play a role. At this time, the acceleration further increases, and the speed of the movable platform further increases, and continues to fly in direction 1. At this time, if the user no longer moves to the movable platform, as the distance between the movable platform and the user becomes larger and larger, when the distance is greater than the threshold value, no acceleration will be generated, and the movable platform adopts the current cruising speed. Continue to fly in direction 1; or, at this time, if the user continues to move to the movable platform, when the distance between the movable platform and the user is not greater than the threshold, acceleration will continue to occur, and the movable platform accelerates to fly in direction 1 and has been The distance to the mobile platform and the user is greater than a threshold.

Further, the movement direction of the first object can be the same as the movement direction of the movable platform. In this way, when the first object moves along the movement direction, the movable platform can be controlled to also move along the movement direction to achieve The control of the mobile platform achieves the effect of promoting the mobile platform.

Obviously, in the above manner, the user does not need to use the control terminal to implement control of the movable platform, thereby simplifying the operation of the user and improving the user experience.

Example 6:

For step 103, when controlling the movable platform for movement according to the control information, if the target object is a second object (such as an obstacle) for blocking the movement of the movable platform, then controlling the movable platform for movement according to the control information, Before the movable platform contacts the target object, the moving direction of the movable platform can be adjusted to an angle between the target object and the direction along the line of the movable platform is 0 degrees to 90 degrees, for example, the angle between the two The angle can be 90 degrees.

For the positional relationship of the second object, the included angle between the second object to the movable platform and the current movement direction of the movable platform is greater than 90 degrees and less than or equal to 180 degrees.

Referring to FIG. 4B and FIG. 4C, the target object is a second object (such as an obstacle), and the current movement direction of the movable platform is toward the second object. After controlling the movable platform for movement according to the control information, The angle between the adjusted direction of movement and the direction along the line (that is, the direction along the line from the target object to the movable platform) is 0 degrees to 90 degrees. In FIG. 4B, the angle is 0 degrees as an example, and in FIG. 4C, As an example, the included angle is 90 degrees. Furthermore, it can be seen from FIG. 4B and FIG. 4C that the included angle between the second object to the movable platform and the current movement direction of the movable platform is 180 degrees.

Further, since the included angle between the adjusted movement direction of the movable platform and the direction along the line is 0 degrees to 90 degrees, in this way, the movable platform can be moved in a direction away from the second object (such as an obstacle). For example, the movable platform moves in the reverse direction to realize the control of the movable platform, to achieve the effect of popping up the movable platform, to achieve detours to obstacles, and to simplify operations while flying safely.

When the movable platform is controlled to perform motion according to the control information, the effects shown in FIGS. 4D to 4G can be achieved by using the foregoing manner. First, the movable platform uses cruising speed to fly forward. Since the distance between the movable platform and the obstacle (that is, the second object) is larger than the threshold, the repulsive force field can be ignored and the movable platform continues to fly forward, see Figure 4D As shown. Then, as the movable platform flies forward, the distance between the movable platform and the obstacle is getting smaller and smaller. When the distance between the movable platform and the obstacle is less than the threshold, the repulsive force field will play a role. At this time, an acceleration opposite to the current movement direction of the movable platform can be generated, and the speed of the movable platform is gradually reduced to fly forward, as shown in FIG. 4E. Then, as the movable platform continues to fly forward, the distance between the movable platform and the obstacle is getting smaller and smaller, and the repulsive force field continues to play a role. At this time, the acceleration further increases, and the movable platform moves toward the obstacle. After the speed in the direction is reduced to 0, the movable platform can accelerate backwards and return to the backward flight due to the generated reverse acceleration, as shown in FIG. 4F. Then, as the movable platform flies backward, the distance between the movable platform and the obstacle is getting larger and larger. At this time, the acceleration gradually decreases. When the distance between the movable platform and the obstacle is greater than the threshold, The repulsive force field can be ignored, that is, the acceleration is 0. Therefore, the movable platform can resume the cruising speed, maintain the current flight direction, and fly backward, as shown in FIG. 4G. For control of control information such as control force or speed, reference may be made to the above-mentioned control process of acceleration, and details are not described herein again.

In summary, in this embodiment, a more stable repulsive force field can be obtained through distance detection, which makes route planning smoother without causing sudden changes in speed, and can automatically plan routes to avoid obstacles, greatly simplifying operations, and Improved safety performance. Able to sense the surrounding environment, detect obstacles in the direction of movement, and build a repulsive field to achieve the function of "visual spring". It can change the direction of travel before colliding with obstacles without intervention, and independently plan the travel route. It also simplifies operations while flying safely. The above method is an autonomous flight mode. When safety is a priority, automatic navigation planning routes, obstacle avoidance and active flight are achieved, and smooth flight in a small space is completed.

Example 7:

For step 103, when controlling the movable platform for movement according to the control information, if the target object includes a first object (such as a user) for controlling the movement of the movable platform and a second object (such as an obstacle for hindering the movement of the movable platform) Object), according to the control information, to control the movable platform for movement, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be along the line direction from the target object to the movable platform (such as the target object to the movable The angle between the center of the platform along the line) is 0 degrees to 90 degrees.

For the positional relationship between the first object and the movable platform, the included angle between the first object to the movable platform and the current movement direction of the movable platform is greater than or equal to 0 degrees and less than or equal to 90 degrees. For example, the included angle may be 0 degrees, 10 degrees, 20 degrees, 30 degrees, 40 degrees, 50 degrees, 60 degrees, 70 degrees, 80 degrees, or 90 degrees.

For the positional relationship between the second object and the movable platform, the included angle between the second object to the movable platform and the current movement direction of the movable platform is greater than 90 degrees and less than or equal to 180 degrees. For example, the included angle may be 91 degrees, 100 degrees, 110 degrees, 120 degrees, 130 degrees, 140 degrees, 150 degrees, 160 degrees, 170 degrees, or 180 degrees.

In one example, the control information 1 can be obtained according to the distance between the movable platform and the first object, and then the movable platform is controlled to move according to the control information 1 so that the movable platform can be moved before contacting the first object. The moving direction of the moving platform can be adjusted so that the included angle between the first object and the direction along the line of the movable platform is 0 degrees to 90 degrees. For details, see Embodiment 5.

Further, the control information 2 can be obtained according to the distance between the movable platform and the second object, and then the movable platform is controlled to move according to the control information 2 so that the movable platform can move the platform before contacting the second object. The moving direction of can be adjusted so that the included angle between the second object and the direction along the line of the movable platform is 0 degrees to 90 degrees. For a specific determination method, see Embodiment 6.

In summary, regardless of whether the movable platform, the first object, and the second object are collinear, the movement direction of the movable platform can be adjusted to be between the first object and the direction along the line of the movable platform. The angle is 0 degrees to 90 degrees, and the movement direction of the movable platform can be adjusted to an included angle between the second object and the direction along the line of the movable platform is 0 degrees to 90 degrees, which will not be described again.

For example, referring to FIG. 4H, the first object can make the moving direction of the movable platform to be direction 1, and the second object can make the moving direction of the movable platform to be direction 2. When the direction 1 and the direction 2 are superimposed, Later, the final movement direction of the movable platform can be adjusted to direction 3. Obviously, it can be seen from FIG. 4H that the angle between the direction 3 and the direction along the line from the first object to the movable platform is 0 degrees to 90 degrees. The included angle is between 0 degrees and 90 degrees.

In one example, when the first object, the second object, and the movable platform are all in line, the movable platform is controlled to move according to the control information, so that the movable platform can move the movable platform before contacting the target object. The movement direction can be adjusted so that the included angle between the target object and the direction along the movable platform is 0 degrees to 90 degrees, which can include but is not limited to: the movable platform can be controlled to move according to the control information, so that the movable platform is suspended Between the first object and the second object, that is, hovering between them; or, the movable platform can be controlled to move according to the control information, so that the movable platform moves toward the second object and contacts the second object Before, you can hover in front of the second object; or you can control the movable platform to move according to the control information, so that the movable platform moves in other directions, such as bypassing the second object and moving in the opposite direction of the second object.

For example, when the first object, the second object, and the movable platform are all in line, when the movable platform is controlled to perform motion according to the control information, the effects shown in FIG. 4I to FIG. 4J can be achieved by using the foregoing method. First, the distance between the first object and the movable platform is relatively short, which results in a large repulsive force field, while the distance between the second object and the movable platform is relatively large, which results in a small or no repulsive force field. The mobile platform moves forward to achieve the effect of pushing to the movable platform, as shown in FIG. 4I. Then, the distance between the second object and the movable platform is getting closer and closer, so a larger repulsive force field is generated, and because the first object controls the movable platform to move forward, the distance between the first object and the movable platform can be maintained relative Fixed (the first object can also move farther and farther away from the movable platform without moving), and the repulsive force field is relatively problematic. In this way, due to the superposition of the two repulsive force fields, the movable platform can be promoted. Hover between the first object and the second object. Alternatively, when the first object, the second object, and the movable platform are not in line, due to the superposition of the two repulsive force fields, the movable platform can be caused to rebound to fly obliquely backward, as shown in FIG. 4J.

Example 8:

For step 103, when controlling the movable platform for movement according to the control information, if the target object is the first object (such as a user) for controlling the movement of the movable platform, the movable platform may be controlled for movement according to the control information. Before the movable platform contacts the target object, the moving direction of the movable platform can be adjusted to an angle between the target object and the direction along the line of the movable platform from 0 degrees to 90 degrees, which can include but is not limited to: according to the control information The distance between the movable platform and the first object is controlled to be not greater than a distance threshold. That is, when the movable platform moves in the first direction, if the first object moves in the second direction (such as the opposite direction of the first direction), the distance between the movable platform and the first object is getting farther and farther. When the distance between the movable platform and the first object is greater than the distance threshold, the movable platform no longer moves in the first direction, but moves in the second direction, that is, the direction of movement of the movable platform and the first object The movement direction is the same, so that the distance between the movable platform and the first object is at a constant value, and then the effect that the first object retracts and the movable platform also retracts can be achieved.

Example 9:

Regarding step 103, when controlling the movable platform for movement according to the control information, if there are multiple target objects, the control information may further include control information corresponding to each target object, that is, there is multiple control information. Based on this, controlling the movable platform to perform motion according to the control information may include, but is not limited to: fusing control information corresponding to each target object, and controlling the movable platform to perform motion according to the fusion result. For example, if the control information is acceleration, the accelerations corresponding to the respective target objects can be fused, such as vector superposition of the accelerations corresponding to the respective target objects to obtain a total acceleration, and the total acceleration is used as the final acceleration. Move the platform for movement. For another example, if the control information is speed, the speeds corresponding to the respective target objects can be fused, such as vector superposition of the speeds corresponding to the respective target objects to obtain a total speed, with the total speed as the final speed, and controlling according to the total speed Moveable platform for movement.

In one example, the movable platform itself also has an acceleration. Therefore, when the acceleration corresponding to each target object is superimposed to obtain the total acceleration, the acceleration corresponding to each target object can also be vectored with the acceleration of the movable platform itself. Add up to get a total acceleration.

In another example, the movable platform itself also has a speed. Therefore, when the speed corresponding to each target object is superimposed on the vector to obtain the total speed, the speed corresponding to each target object can also be compared with the speed of the movable platform itself. The vectors are superimposed to get a total velocity.

Example 10:

Based on the same inventive concept as the above method, an embodiment of the present invention further provides a movable platform including: a memory and a processor; referring to FIG. 5, it is a schematic structural diagram of the movable platform.

The memory is used to store program code; the processor is used to call the program code, and when the program code is executed, the processor is used to perform the following operations:

Determining a distance between a target object and the movable platform;

Preferably, the target object includes a first object for controlling the movement of the movable platform;

The processor controls the movable platform to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be equal to that of the target object. When the included angle between the movable platforms along the line direction is 0 degrees to 90 degrees, it is specifically used to: control the movable platform to move according to the control information, so that the movable platform is in contact with the target Before the object, the moving direction of the movable platform can be adjusted so that the included angle between the target object and the direction along the line of the movable platform is 0 degrees.

Preferably, the target object includes a second object for blocking movement of the movable platform;

The processor controls the movable platform to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be equal to that of the target object. When the included angle between the movable platforms along the line direction is 0 degrees to 90 degrees, it is specifically used to: control the movable platform to move according to the control information, so that the movable platform is in contact with the target Before the object, the moving direction of the movable platform can be adjusted so that the included angle between the target object and the direction along the line of the movable platform is 90 degrees.

Preferably, the target object includes a first object for controlling the movement of the movable platform and a second object for hindering the movement of the movable platform;

When the first object, the second object, and the movable platform are all in line, the processor controls the movable platform to move according to the control information, so that the movable platform is in Before touching the target object, the direction of movement of the movable platform can be adjusted to an angle between the target object and the direction along the line of the movable platform is 0 degrees to 90 degrees. The control information controls the movable platform to move so that the movable platform is suspended between the first object and the second object.

Preferably, an included angle between a direction along the line of the first object to the movable platform and a current movement direction of the movable platform is greater than or equal to 0 degrees and less than or equal to 90 degrees.

Preferably, an included angle between a direction along the line of the second object to the movable platform and a current movement direction of the movable platform is greater than 90 degrees and less than or equal to 180 degrees.

Preferably, the control information includes acceleration; before the movable platform contacts the target object, a component of the acceleration in a first direction can be adjusted to be greater than a current acceleration of the movable platform in a second direction The first direction is opposite to the second direction, and the second direction is a direction along the line from the movable platform to the second object.

Preferably, when determining the control information of the movable platform according to the distance, the processor is specifically configured to determine the acceleration of the movable platform according to a preset constant and the distance, and the acceleration of the movable platform and The preset constant has a positive correlation and a negative correlation with the distance;

When the processor controls the movable platform to perform motion according to the control information, the processor is specifically configured to: control the movable platform to perform motion according to the acceleration of the movable platform.

Preferably, the control information includes a speed; before the movable platform contacts the target object, a component of the speed in a first direction can be adjusted to be greater than a current speed of the movable platform in a second direction The first direction is opposite to the second direction, and the second direction is a direction along the line from the movable platform to the second object.

Determining the speed of the movable platform according to the acceleration of the movable platform;

When the processor controls the movable platform to perform motion according to the control information, the processor is specifically configured to: control the movable platform to perform motion according to the speed of the movable platform.

Preferably, when the processor determines the control information of the movable platform according to the distance, the processor is specifically configured to: when the distance is not greater than a distance threshold, determine the control information of the movable platform according to the distance.

Preferably, after the processor controls the movable platform to perform movement according to the control information, the processor is further configured to: when the distance is greater than a distance threshold, maintain current movement information of the movable platform.

Preferably, the target object includes a plurality of objects, and the control information includes control information corresponding to each of the target objects; the processor is specifically configured to: when controlling the movable platform to perform motion according to the control information: Fusing control information corresponding to the target object;

And controlling the movable platform for movement according to the fusion result.

Preferably, when the processor determines the distance between the target object and the movable platform, the processor is specifically configured to: obtain a depth map, where the depth map includes an object area corresponding to the target object; and according to the depth information of the object area Determining a distance between the target object and the movable platform.

Preferably, before determining the distance between the target object and the movable platform according to the depth information of the object area, the processor is further configured to: aggregate similar pixel points in the depth map to obtain a connected area; determine The connected region is an object region corresponding to the target object.

Preferably, when the processor aggregates similar pixels in the depth map, the processor is specifically configured to: use a flood filling algorithm to aggregate similar pixels in the depth map.

Preferably, when the processor determines the distance between the target object and the movable platform according to the depth information of the object area, the processor is specifically configured to: obtain depth information of pixels of the object area, and obtain the object A depth confidence level of a pixel point of the region; and determining a distance between the target object and the movable platform according to the depth information of the pixel point and the depth confidence level of the pixel point.

Preferably, when the processor obtains the depth confidence of the pixels of the object region, the processor is specifically configured to: obtain a disparity map corresponding to the depth map; and select the pixels of the object area from the disparity map A corresponding parallax pixel point; and a depth confidence level of a pixel point of the object region is determined according to the parallax confidence level of the parallax pixel point.

Preferably, when the processor determines the depth confidence level of the pixel point of the object area according to the parallax confidence level of the parallax pixel point, the processor is specifically configured to: according to the parallax confidence level of the parallax pixel point, the The depth information of the pixels and the focal distance and binocular distance of the movable platform determine the depth confidence of the pixels in the object area.

Preferably, when determining the distance between the target object and the movable platform according to the depth information of the pixel point and the depth confidence degree of the pixel point, the processor is specifically configured to: according to the depth of the pixel point The information and the depth confidence level of the pixel point are used to determine the distance between the target object and the movable platform based on a filtering method.

Example 11:

In the embodiment of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium stores computer instructions. When the computer instructions are executed, the control method of the movable platform is implemented.

The system, device, module, or unit described in the foregoing embodiments may be implemented by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer, and the specific form of the computer may be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email sending and receiving device, and a game control Desk, tablet computer, wearable device, or a combination of any of these devices.

For the convenience of description, when describing the above device, the functions are divided into various units and described separately. Of course, when implementing the present invention, the functions of the units may be implemented in the same or multiple software and / or hardware.

Those skilled in the art should understand that the embodiments of the present invention may be provided as a method, a system, or a computer program product. Therefore, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, so that instructions generated by the processor of the computer or other programmable data processing device may be used to Means for implementing the functions specified in one or more flowcharts and / or one or more blocks of the block diagrams.

Moreover, these computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured article including the instruction device, The instruction device implements the functions specified in a flowchart or a plurality of processes and / or a block or a block of the block diagram.

These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operating steps are performed on the computer or other programmable device to produce a computer-implemented process, and the instructions executed on the computer or other programmable device Provides steps for implementing the functions specified in one or more flowcharts and / or one or more blocks of the block diagrams.

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

A control method of a movable platform, characterized in that the method includes:

Determining a distance between a target object and the movable platform;

Determining control information of the movable platform according to the distance;

Controlling the movable platform to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be in line with the target object to the movable The included angle between the platform directions along the line is 0 degrees to 90 degrees.
The method according to claim 1, wherein the target object comprises a first object for controlling movement of the movable platform.
The method according to claim 2, characterized in that the mobile platform is controlled to move according to the control information, so that before the mobile platform contacts the target object, the mobile platform The direction of movement can be adjusted to an angle between the target object and the direction along the line of the movable platform from 0 degrees to 90 degrees, including:

Controlling the movable platform to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be in line with the target object to the movable The included angle between the platforms along the line is 0 degrees.
The method of claim 1, wherein the target object comprises a second object for hindering movement of the movable platform.
The method according to claim 4, characterized in that the mobile platform is controlled to move according to the control information, so that before the mobile platform contacts the target object, the mobile platform The direction of movement can be adjusted to an angle between the target object and the direction along the line of the movable platform from 0 degrees to 90 degrees, including:

Controlling the movable platform to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be in line with the target object to the movable The included angle between the platforms along the line is 90 degrees.
The method according to claim 1, wherein the target object comprises a first object for controlling movement of the movable platform and a second object for hindering movement of the movable platform.
The method according to claim 6, characterized in that when the first object, the second object, and the movable platform are in line, the controlling the movable platform according to the control information Perform movement so that before the movable platform contacts the target object, the moving direction of the movable platform can be adjusted to an angle between the target object and the direction along the line of the movable platform is 0 Degrees to 90 degrees, including:

Controlling the movable platform to move according to the control information, so that the movable platform is paused between the first object and the second object.
The method according to claim 2 or 3 or 6 or 7, characterized in that an included angle between a direction along the line of the first object to the movable platform and a current movement direction of the movable platform is greater than 0 degrees and 90 degrees or less.
The method according to any one of claims 4 to 7, wherein an included angle between a direction along the line of the second object to the movable platform and a current movement direction of the movable platform is greater than 90 degrees and 180 degrees or less.
The method according to any one of claims 4 to 6, wherein the control information includes acceleration;

Before the movable platform contacts the target object, a component of the acceleration in a first direction can be adjusted to be greater than a current acceleration of the movable platform in a second direction, and the first direction and the first direction The two directions are opposite, and the second direction is a line direction from the movable platform to the second object.
The method according to claim 10, wherein determining the control information of the movable platform according to the distance comprises:

Determining the acceleration of the movable platform according to a preset constant and the distance, and the acceleration of the movable platform has a positive correlation with the preset constant and a negative correlation with the distance;

The controlling the movable platform to perform movement according to the control information includes:

The movable platform is controlled to move according to the acceleration of the movable platform.
The method according to any one of claims 4 to 6, wherein the control information includes a speed;

Before the movable platform contacts the target object, the velocity component in the first direction can be adjusted to be greater than the current velocity of the movable platform in the second direction, and the first direction and the first direction The two directions are opposite, and the second direction is a line direction from the movable platform to the second object.
The method according to claim 12, wherein determining the control information of the movable platform according to the distance comprises:

Determining the acceleration of the movable platform according to a preset constant and the distance, and the acceleration of the movable platform has a positive correlation with the preset constant and a negative correlation with the distance;

Determining the speed of the movable platform according to the acceleration of the movable platform;

The controlling the movable platform to perform movement according to the control information includes:

The movable platform is controlled to move according to the speed of the movable platform.
The method according to claim 11 or 13, wherein the preset constant is determined according to a type of the target object.
The method according to claim 14, wherein if the type of the target object is a preset first type, the preset constant is a first value;

If the type of the target object is a preset second type, the preset constant is a second value;

The first value is greater than the second value.
The method according to any one of claims 1 to 7, wherein the determining control information of the movable platform according to the distance comprises:

When the distance is not greater than a distance threshold, control information of the movable platform is determined according to the distance.
The method according to claim 16, wherein after the controlling the movable platform for movement according to the control information, the method further comprises:

When the distance is greater than the distance threshold, current movement information of the movable platform is maintained.
The method according to claim 17, wherein the distance threshold is determined according to a type of the target object.
The method according to claim 18, wherein if the type of the target object is a preset third type, the distance threshold is a third value;

If the type of the target object is a preset fourth type, the distance threshold is a fourth value;

The third value is greater than the fourth value.
The method according to claim 2 or 3 or 6 or 7, characterized in that the mobile platform is controlled to move according to the control information, so that before the mobile platform contacts the target object, The moving direction of the movable platform can be adjusted so that the included angle between the target object and the direction along the line of the movable platform is 0 degrees to 90 degrees, including:

Controlling the distance between the movable platform and the first object according to the control information to be not greater than a distance threshold.
The method according to any one of claims 1 to 7, wherein the target object includes a plurality of pieces, and the control information includes control information corresponding to each of the target objects;

The controlling the movable platform to perform movement according to the control information includes:

Fusing control information corresponding to each of the target objects;

And controlling the movable platform for movement according to the fusion result.
The method according to any one of claims 1 to 7, wherein the determining a distance between a target object and the movable platform comprises:

Acquiring a depth map, where the depth map includes an object region corresponding to the target object;

Determining a distance between the target object and the movable platform according to the depth information of the object region.
The method according to claim 22, wherein before the determining the distance between the target object and the movable platform according to the depth information of the object region, the method further comprises:

Aggregate similar pixels in the depth map to obtain a connected region;

It is determined that the connected region is an object region corresponding to the target object.
The method according to claim 23, wherein the aggregating similar pixels in the depth map comprises:

A flood filling algorithm is used to aggregate similar pixels in the depth map.
The method according to claim 22, wherein determining the distance between the target object and the movable platform according to the depth information of the object region comprises:

Acquiring depth information of pixels of the object region, and acquiring depth confidence of the pixels of the object region;

Determining the distance between the target object and the movable platform according to the depth information of the pixel point and the depth confidence degree of the pixel point.
The method according to claim 25, wherein the acquiring a depth confidence level of a pixel point of the object region comprises:

Obtaining a disparity map corresponding to the depth map;

Selecting a parallax pixel point corresponding to a pixel point of the object region from the parallax map;

A depth confidence level of a pixel point of the object region is determined according to the parallax confidence level of the parallax pixel point.
The method according to claim 26, wherein determining the depth confidence level of the pixel point of the object area according to the parallax confidence level of the parallax pixel point comprises:

The depth confidence of the pixel points of the object area is determined according to the parallax confidence of the parallax pixels, the depth information of the pixel points of the object area, and the focal distance and binocular distance of the movable platform.
The method according to claim 25, wherein determining the distance between the target object and the movable platform according to the depth information of the pixel point and the depth confidence degree of the pixel point comprises:

According to the depth information of the pixel point and the depth confidence degree of the pixel point, a distance between the target object and the movable platform is determined based on a filtering method.
The method according to claim 28, wherein the filtering method comprises a Kalman filtering method.
A movable platform includes: a memory and a processor; the memory is used to store program code; the processor is used to call the program code, and when the program code is executed, all the The processor is used to perform the following operations:

Determining a distance between a target object and the movable platform;

Determining control information of the movable platform according to the distance;

Controlling the movable platform to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be in line with the target object to the movable The included angle between the platform directions along the line is 0 degrees to 90 degrees.
The movable platform according to claim 30, wherein the target object comprises a first object for controlling a movement of the movable platform.
The movable platform according to claim 31, wherein the processor controls the movable platform to move according to the control information, so that before the movable platform contacts the target object, the processor When the moving direction of the movable platform can be adjusted to an angle between the target object and the direction along the line of the movable platform is 0 degrees to 90 degrees, it is specifically used for:

Controlling the movable platform to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be in line with the target object to the movable The included angle between the platforms along the line is 0 degrees.
The movable platform according to claim 30, wherein the target object includes a second object for blocking movement of the movable platform.
The movable platform according to claim 33, wherein the processor controls the movable platform to move according to the control information, so that before the movable platform contacts the target object, the processor When the moving direction of the movable platform can be adjusted to an angle between the target object and the direction along the line of the movable platform is 0 degrees to 90 degrees, it is specifically used for:

Controlling the movable platform to move according to the control information, so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be in line with the target object to the movable The included angle between the platforms along the line is 90 degrees.
The movable platform according to claim 30, wherein the target object comprises a first object for controlling the movement of the movable platform and a second object for hindering the movement of the movable platform.
The movable platform according to claim 35, wherein when the first object, the second object, and the movable platform are all in line, the processor controls the mobile station according to the control information. The movable platform moves so that before the movable platform contacts the target object, the movement direction of the movable platform can be adjusted to be between the target object and the direction along the line of the movable platform. When the included angle is 0 degrees to 90 degrees, it is specifically used for:

Controlling the movable platform to move according to the control information, so that the movable platform is paused between the first object and the second object.
The movable platform according to claim 31 or 32 or 35 or 36, wherein an angle between a direction along a line from the first object to the movable platform and a current movement direction of the movable platform 0 degrees or more and 90 degrees or less.
The movable platform according to any one of claims 33 to 36, wherein an angle between a direction along the line of the second object to the movable platform and a current movement direction of the movable platform It is greater than 90 degrees and less than or equal to 180 degrees.
The movable platform according to any one of claims 33 to 35, wherein the control information includes acceleration;

Before the movable platform contacts the target object, a component of the acceleration in a first direction can be adjusted to be greater than a current acceleration of the movable platform in a second direction, and the first direction and the first direction The two directions are opposite, and the second direction is a line direction from the movable platform to the second object.
The movable platform according to claim 39, wherein when the processor determines the control information of the movable platform according to the distance, the processor is specifically configured to:

Determining the acceleration of the movable platform according to a preset constant and the distance, and the acceleration of the movable platform has a positive correlation with the preset constant and a negative correlation with the distance;

When the processor controls the movable platform to perform movement according to the control information, the processor is specifically configured to:

The movable platform is controlled to move according to the acceleration of the movable platform.
The movable platform according to any one of claims 33 to 35, wherein the control information includes a speed;

Before the movable platform contacts the target object, the velocity component in the first direction can be adjusted to be greater than the current velocity of the movable platform in the second direction, and the first direction and the first direction The two directions are opposite, and the second direction is a line direction from the movable platform to the second object.
The movable platform according to claim 41, wherein when the processor determines the control information of the movable platform according to the distance, the processor is specifically configured to:

Determining the acceleration of the movable platform according to a preset constant and the distance, and the acceleration of the movable platform has a positive correlation with the preset constant and a negative correlation with the distance;

Determining the speed of the movable platform according to the acceleration of the movable platform;

When the processor controls the movable platform to perform movement according to the control information, the processor is specifically configured to:

The movable platform is controlled to move according to the speed of the movable platform.
The movable platform according to claim 40 or 42, wherein the preset constant is determined according to a type of the target object.
The movable platform according to claim 43, wherein if the type of the target object is a preset first type, the preset constant is a first value;

If the type of the target object is a preset second type, the preset constant is a second value;

The first value is greater than the second value.
The movable platform according to any one of claims 30 to 36, wherein the processor is specifically configured to: when determining the control information of the movable platform according to the distance:

When the distance is not greater than a distance threshold, control information of the movable platform is determined according to the distance.
The movable platform according to claim 45, wherein after the processor controls the movable platform to perform movement according to the control information, the processor is further configured to:

When the distance is greater than the distance threshold, current movement information of the movable platform is maintained.
The movable platform according to claim 46, wherein the distance threshold is determined according to the type of the target object.
The movable platform according to claim 47, wherein if the type of the target object is a preset third type, the distance threshold is a third value;

If the type of the target object is a preset fourth type, the distance threshold is a fourth value;

The third value is greater than the fourth value.
The method according to claim 31 or 32 or 35 or 36, wherein the processor controls the movable platform to perform movement according to the control information, so that the movable platform is contacting the target object Previously, when the moving direction of the movable platform can be adjusted to an angle between the target object and the direction along the line of the movable platform is 0 degrees to 90 degrees, it is specifically used for:

Controlling the distance between the movable platform and the first object according to the control information to be not greater than a distance threshold.
The movable platform according to any one of claims 30 to 36, wherein the target object includes a plurality, and the control information includes control information corresponding to each of the target objects;

When the processor controls the movable platform to perform movement according to the control information, the processor is specifically configured to:

Fusing control information corresponding to each of the target objects;

And controlling the movable platform for movement according to the fusion result.
The movable platform according to any one of claims 30 to 36, wherein the processor is specifically configured to: when determining a distance between a target object and the movable platform:

Acquiring a depth map, where the depth map includes an object region corresponding to the target object;

Determining a distance between the target object and the movable platform according to the depth information of the object region.
The movable platform according to claim 51, wherein before the processor determines the distance between the target object and the movable platform according to the depth information of the object region, the processor is further configured to:

Aggregate similar pixels in the depth map to obtain a connected region;

It is determined that the connected region is an object region corresponding to the target object.
The movable platform according to claim 52, wherein when the processor aggregates similar pixels in the depth map, the processor is specifically configured to:

A flood filling algorithm is used to aggregate similar pixels in the depth map.
The movable platform according to claim 51, wherein the processor is specifically configured to determine the distance between the target object and the movable platform according to the depth information of the object area:

Acquiring depth information of pixels of the object region, and acquiring depth confidence of the pixels of the object region;

Determining the distance between the target object and the movable platform according to the depth information of the pixel point and the depth confidence degree of the pixel point.
The movable platform according to claim 54, wherein the processor is specifically configured to: when obtaining the depth confidence of the pixels of the object region:

Obtaining a disparity map corresponding to the depth map;

Selecting a parallax pixel point corresponding to a pixel point of the object region from the parallax map;

A depth confidence level of a pixel point of the object region is determined according to the parallax confidence level of the parallax pixel point.
The movable platform according to claim 55, wherein the processor is specifically configured to: when determining the depth confidence of the pixels of the object region according to the disparity confidence of the disparity pixels,

The depth confidence of the pixel points of the object area is determined according to the parallax confidence of the parallax pixels, the depth information of the pixel points of the object area, and the focal distance and binocular distance of the movable platform.
The movable platform according to claim 54, wherein the processor determines the distance between the target object and the movable platform according to the depth information of the pixel point and the depth confidence degree of the pixel point. Specific when:

A distance between the target object and the movable platform is determined based on a filtering method according to the depth information of the pixel point and the depth confidence degree of the pixel point.
The movable platform according to claim 57, wherein the filtering method comprises a Kalman filtering method.
A computer-readable storage medium, characterized in that computer instructions are stored on the computer-readable storage medium, and when the computer instructions are executed, the control method of the movable platform according to claims 1-29 is implemented.