WO2021134376A1

WO2021134376A1 - Control method, movable platform, and storage medium

Info

Publication number: WO2021134376A1
Application number: PCT/CN2019/130217
Authority: WO
Inventors: 陈文平; 王俊喜; 高迪
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2021-07-08
Also published as: CN112740070A

Abstract

A control method, a movable platform (10), and a storage medium. The method comprises: obtaining observation data of a radar (11) for a target object (20), the observation data comprising multiple pieces of location information of multiple observation points (21) (S101); determining a linear model for the multiple observation points (21) according to the multiple pieces of location information (S102); and controlling the moving trajectory of the movable platform (10) according to the linear model to complete the inspection of the target object (20) (S103). The measurement accuracy and reliability of the movable platform (10) in power inspection can be improved.

Description

Control method, movable platform and storage medium

Technical field

This application relates to the field of control technology, in particular to a control method, a removable platform and a storage medium.

Background technique

In the power inspection industry, it is often necessary to conduct power inspections on high-voltage towers and wires to predict power failures in advance. The current power inspection operations mainly include manual inspection and mobile platform inspection, and mobile platforms include drones. Among them, the manual detection method is inefficient and causes high labor costs. When the movable platform performs detection, it needs to move along the wire, so it is very important to keep a certain safe distance from the wire.

The detection of movable platforms currently includes two methods: manual movement and automatic movement. The manual movement method is to be detected by human remote control, which is difficult and inefficient. Automatic movement methods include the need to rely on Global Positioning System (GPS) data to perform real-time dynamic (RTK, Real time kinematic) spotting on the movement trajectory of the movable platform in advance, and the method of determining the position of the wire through image acquisition and analysis. The way of visually ensuring safe distance movement.

Among them, the real-time dynamic dotting method will cause the problem of decreased accuracy when the GPS signal is weak. However, because the wires are relatively thin, it is difficult to accurately locate the wires in the image collection method. In addition, in the case of insufficient light, it will also affect the image collection, which greatly reduces the reliability of the vision solution.

Summary of the invention

Based on this, the present application provides a control method, a movable platform, and a storage medium to improve the measurement accuracy and reliability of the movable platform in power inspection.

In the first aspect, the present application provides a control method, which is applied to a movable platform including a radar, and the control method includes:

Acquiring radar observation data of the target object, the observation data including multiple position information of multiple observation points;

Determining a straight line model about the plurality of observation points according to the plurality of position information;

According to the linear model, the movement track of the movable platform is controlled to complete the inspection of the target object.

In the second aspect, the application also provides a movable platform, the movable platform includes a radar, a memory, and a processor: the radar is used to send radar signals for measurement or detection; the memory is used to store computer programs The processor is used to execute the computer program and when executing the computer program, implement the following steps:

Acquiring observation data of the target object by the radar, the observation data including multiple position information of multiple observation points;

In a third aspect, the present application also provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned control method.

The control method, the movable platform and the storage medium provided by the present invention can improve the measurement accuracy and reliability of the movable platform in the electric power inspection.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic diagram of a scene of a control method provided by an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a radar provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of a control method provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of another scenario of a control method provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a scene of a radar coordinate system and a target coordinate system provided by an embodiment of the present application;

FIG. 6 is a schematic flowchart of another control method provided by an embodiment of the present application;

FIG. 7 is a schematic flowchart of another control method provided by an embodiment of the present application;

FIG. 8 is a schematic flowchart of another control method provided by an embodiment of the present application;

FIG. 9 is a schematic flowchart of another control method provided by an embodiment of the present application;

FIG. 10 is a schematic flowchart of another control method provided by an embodiment of the present application;

FIG. 11 is a schematic diagram of another scenario of a control method provided by an embodiment of the present application;

FIG. 12 is a schematic flowchart of another control method provided by an embodiment of the present application;

FIG. 13 is a schematic flowchart of another control method provided by an embodiment of the present application;

FIG. 14 is a schematic diagram of a radar coordinate system and a target coordinate system provided by an embodiment of the present application;

15 is a schematic diagram of another scenario of a control method provided by an embodiment of the present application;

FIG. 16 is a schematic flowchart of another control method provided by an embodiment of the present application;

FIG. 17 is a schematic diagram of another scenario of a control method provided by an embodiment of the present application;

FIG. 18 is a schematic block diagram of a movable platform provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiments of the present application provide a control method, a movable platform, and a storage medium, which are applied to a movable platform including a radar during power inspection, which can improve the measurement accuracy and reliability of the movable platform in the power inspection .

Power patrol inspection refers to the patrol inspection of power facilities of the power system, for example, it can be the patrol inspection of power lines or high-voltage towers, and the faults of the power facilities can be predicted in advance through the power patrol inspection of the power facilities. The control method may be applied to a movable platform including a radar. Illustratively, the movable platform includes an aircraft, a robot, or an autonomous vehicle.

Aircraft include drones, which include rotary-wing drones, such as quadrotor drones, hexarotor drones, and octo-rotor drones. It can also be a fixed-wing drone or a rotary-wing drone. The combination with fixed-wing UAV is not limited here.

The movable platform is equipped with a radar, which can realize the detection of the surrounding environment of the movable platform during the movement. For example, the radar can realize functions such as speed measurement, ranging, detection, tracking, positioning, and identification. When the movable platform conducts power inspections, the radar can detect power facilities.

When conducting power inspections through the mobile platform, the radar can detect the target objects that the mobile platform is inspected in the power inspection. Exemplarily, as shown in FIG. 1, the movable platform 10 is patrolling the target object 20, the movable platform 10 may be a drone, the target object 20 may be a wire, and the movable platform 10 is equipped with a radar 11, The radar 11 can detect electric wires during the inspection process.

The radar can be a mechanical rotating radar. The radar includes a radio frequency module and a signal processing module. The radio frequency module can be a radio frequency board composed of an array antenna. The array antenna includes a transmitting antenna and a receiving antenna. During radar detection, the transmitting antenna of the array antenna can transmit radar signals, such as millimeter wave signals. The millimeter wave signals propagate in the air until they are reflected after encountering obstacles, and the receiving antenna of the array antenna can receive the returned millimeter waves. Signal, the signal processing module can convert the returned millimeter wave signal into an electric signal, and process the electric signal to detect the distance and angle information of the obstacle and the speed of the movable platform. The radar can scan in the horizontal direction and measure the angle in the vertical direction.

The outer normal direction of the radio frequency board is the direction perpendicular to the radio frequency board. The signal transmission direction of the antenna set on the radar is mainly to transmit the signal along the outer normal, and the signal from the antenna will also be scattered around.

Exemplarily, as shown in FIG. 2, the radar includes a radio frequency board 12 and a rotation axis 120. The radio frequency board 12 may be arranged on the rotation axis 120. The radio frequency board 12 may rotate around the rotation axis 120 to change the radio frequency board 12 The signal transmission direction of the antenna.

The movable platform is also provided with a posture detection module, and the posture detection module is used to obtain the running posture information of the movable platform when it is moving. For example, the movable platform can be a drone, the attitude detection module can be a flight control module, and the flight control module can also obtain the flight direction, flight attitude, flight height, flight speed and/or position information of the drone during flight. Wait.

The radar can obtain the operating attitude information of the movable platform from the attitude detection module, and adjust the signal emission direction of the radar according to the operating attitude information of the movable platform. For example, if the radar includes a radio frequency board, the radar can obtain the movement direction of the movable platform through the attitude detection module, and adjust the angle of the radio frequency board according to the movement direction to adjust the signal transmission direction of the radar, and maintain the signal transmission direction of the radar and the movable screen. The moving direction is the same, and the radar can realize the detection of the environment in the forward direction of the movable platform.

Please refer to FIG. 3, which is a schematic flowchart of steps of a control method provided by an embodiment of the present application. The method can be applied to a movable platform that includes a radar, and is used for power inspection of a target object, so as to improve the measurement accuracy and reliability of the movable platform in the power inspection.

As shown in Fig. 3, the control method includes step S101 to step S103.

S101. Obtain observation data of a target object by a radar, where the observation data includes multiple position information of multiple observation points.

Wherein, the target object is a linear object that is inspected in the power inspection. For example, the target object may be any one of wires, cables, optical cables, or optical fibers.

As shown in FIG. 4, when the movable platform 10 is patrolling the target object 20, the radar signal emitted by the radar on the movable platform 10 will meet multiple position points on the target object 20, and the radar signal of the radar The multiple locations encountered are regarded as observation points. For example, if the target object is an electric wire, and the scanning range of the radar includes a part of the electric wire, several radar signals emitted by the radar will encounter a part of the electric wire, and the several radar signals will be returned to the radar. In this way, the radar can determine the position information of the observation point based on the transmitted radar signal and the received radar signal.

The position information of the observation point may be a parameter used to reflect the position relationship between the observation point and the radar, or it may be a parameter used to reflect the position relationship between the observation point and the movable platform.

In some embodiments, the acquisition of radar observation data of the target object may be implemented in the following manner:

The relative distance and relative included angle between multiple observation points of the target object and the movable platform are collected by radar, and the position information of the observation point is determined according to the relative distance and relative included angle between the observation point and the movable platform.

Among them, the relative distance and the relative included angle are parameters used to reflect the positional relationship between the observation point and the movable platform. The radar sends a radar signal, and the radar signal returns after encountering the target object. According to the sending time of the radar signal and the receiving time of the returned radar signal, the relative distance between the target object and the radar can be determined.

When the target object is detected by radar, the radar signal encounters multiple observation points on the target object, and the relative distance between each observation point and the radar can be determined according to the radar signal corresponding to each observation point.

The radar is provided with multiple antennas, and the radar can determine the phase angle between the target object and the radar according to the phase difference between the returned radar signals received by the multiple antennas. For example, in a radar observation, n observation points on the target object are acquired, the corresponding relative distance is r _n , and the corresponding relative included angle is θ _n .

The radar is mounted on a movable platform, so according to the relative distance and the relative angle between the observation point and the radar collected by the radar, the relative distance and the relative angle between the observation point and the movable platform can be determined.

After determining the relative distance and relative included angle between the observation point and the movable platform, the location of the observation point can be determined, and then the location information of the observation point can be determined.

In some embodiments, the relative distance is the distance of the line between the observation point and the movable platform, and the relative included angle is the clamp between the line and the outer normal direction of the radio frequency board of the radar. angle.

As shown in FIG. 4, the relative distance can be the length of the line 22 between the observation point 21 and the radar center point on the movable platform 10, and the line 22 and the outer normal direction 100 of the radar radio frequency board The included angle 23 is used as the relative included angle. According to the relative distance and the relative included angle, the positional relationship between the observation point and the movable platform can be determined.

In practical applications, the definition of the relative distance and the relative included angle can be set according to actual needs, and is not limited to this. For example, other angles representing the angular relationship between the observation point and the radar, or the observation point and the movable platform can be used in the present invention.

In some embodiments, the determination of the position information of the observation point according to the relative distance and the relative included angle between the observation point and the movable platform may be implemented in the following manner:

The coordinates of the observation point in the radar coordinate system are determined according to the relative distance of each observation point and the relative included angle, and the position information of the observation point is obtained.

Among them, the radar itself defines a radar coordinate system, and what the radar determines by observing the target object can be the position information of the target object in the radar coordinate system. Exemplarily, as shown in FIG. 5, the radar coordinate system may be based on the center point of the radar as the origin O, and the signal emission direction of the radar as the coordinate axis X _{b of the} radar coordinate system, and the coordinate axis Y _b is parallel to the radar radio frequency , The coordinate axis Y _b , the coordinate axis X _b and the coordinate axis Z _b conform to the right-hand rule of the coordinate system; for example, the coordinate axis Z _b may point to the sky. In practical applications, the radar coordinate system can be set according to actual conditions, and is not limited to this.

The relative distance and relative included angle of each observation point detected by the radar can be the relative distance and relative included angle between the center point of the radar and the relative distance and relative included angle of each observation point. The coordinates of each observation point in the radar coordinate system, and the coordinates of the observation point in the radar coordinate system are used as the position information of the observation point.

The relative distance of each observation point and the relative included angle can be converted into coordinates in the radar coordinate system according to the following formula:

among them,

Is the coordinates of the radar coordinate system, r _n is the relative distance, and θ _n is the relative included angle.

S102. Determine a straight line model about the multiple observation points according to the multiple location information.

Among them, multiple observation points belong to the target object, and the position information of the observation point can be a parameter used to reflect the position relationship between the observation point and the movable platform, so the straight line model determined according to the position information of the observation point can be used To embody the position function equation of the target object relative to the movable platform.

After obtaining the position information of the two points, a straight line can be determined, which passes through the two points. After obtaining the position information of multiple observation points, a straight line model of the straight line where the multiple observation points are located can be determined.

Since the target object is a linear object, the radar continuously observes the target object when the movable platform is patrolling the target object, so the part of the target object observed by the radar every time can be regarded as a straight line. Exemplarily, if the target object is an electric wire, the multiple observation points detected by the radar may be a short section of the electric wire, and the linear model of the short electric wire can be determined based on the multiple observation points on this small electric wire.

A wire is generally a long section of a smooth line. After determining the straight line model of this small section of wire, it can be considered that the part of the wire in front is also on the straight line model. Therefore, after determining the linear model, the position of the wire in front of the moving process can be predicted, and then the movement of the movable platform can be controlled accordingly.

Wherein, the determined straight line model about the multiple observation points may be the following formula:

Y=kX+b;

Among them, k is the slope of the linear model, and b is the intercept of the linear model.

In some embodiments, the determination of a straight line model about the plurality of observation points according to the plurality of position information may be implemented in the following manner:

Fitting is performed according to the plurality of position information to determine a straight line model with respect to the plurality of observation points.

Among them, fitting is to determine a smooth line based on multiple points, which can connect multiple points. According to the fitting method, a straight line model about multiple observation points can be determined, and a straight line can be determined according to multiple position information, and the straight line can connect multiple observation points. In one case, multiple observation points are located in the On a straight line, in another case, some of the multiple observation points are located on the straight line, and other observation points are kept relatively close to the straight line.

In some embodiments, the fitting according to the plurality of position information to determine the straight line model about the plurality of observation points may be implemented in the following manner:

Performing linear fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points.

Among them, the position information of multiple observation points belongs to the target object, and the target object is a linear object, so the position information of multiple observation points will show a linear relationship, and then the multiple position information can be calculated according to linear fitting. Fitting is performed to obtain a straight line model of multiple observation points.

In some embodiments, the step of performing linear fitting according to the plurality of position information may be implemented in the following manner: based on the least square method, performing linear fitting according to the plurality of position information.

Among them, the least square method is a mathematical optimization algorithm. The unknown data can be easily obtained by the least square method, and the sum of squares of the error between the obtained data and the actual data is minimized. The multiple position information can be fitted based on the least squares method, and a straight line model with the smallest sum of squares of the error from the multiple position information can be obtained.

In some embodiments, as shown in FIG. 6, the performing linear fitting according to the plurality of position information to determine the straight line model about the plurality of observation points may be implemented in the following manner:

S21: Determine two first observation points from the multiple observation points, and determine a first sample straight line model about the two first observation points according to the position information of the two first observation points;

S22. Determine multiple Euclidean distances between multiple observation points other than the two first observation points among the multiple observation points and the first sample straight line model;

S23. Determine distance data of the first sample straight line model according to the multiple Euclidean distances;

S24. Determine a straight line model with respect to the multiple observation points according to the distance data and the first sample straight line model.

Wherein, the multiple observation points include at least two observation points, and after determining the position information of the two observation points, a straight line can be determined based on the two points, and the straight line can connect the two observation points. Therefore, two first observation points can be determined from a plurality of observation points, and a first sample straight line model passing through the two first observation points can be determined according to the position information of the two first observation points.

After determining the first sample line model of the two first observation points, the position relationship between the other observation points and the first sample line model can be determined, if the position relationship between the other observation points and the first sample line model conforms to The set conditions can determine the first sample linear model as the linear model.

The Euclidean distance between each observation point and the first sample straight line model can be used to determine the positional relationship between the observation point and the first sample straight line model, based on multiple other observation points and the first sample straight line model. The Euclidean distance determines the distance data of the first sample linear model.

The distance data is used to reflect the positional relationship between the multiple other observation points and the first sample straight line model, and the straight line model about the multiple observation points can be determined according to the distance data and the first sample straight line model. Exemplarily, if the distance data meets the set distance condition, it is determined that the first sample straight line model is a straight line model with respect to the plurality of observation points.

In some embodiments, as shown in FIG. 7, the determining the distance data of the first sample linear model according to the multiple Euclidean distances may be implemented in the following manner:

S231. Add the multiple Euclidean distances to obtain a first value;

S232. Use the first value as distance data of the first sample straight line model.

Wherein, the Euclidean distances between multiple other observation points and the first sample straight line model can be added to the first value, and the first value is used as the distance data of the first sample straight line model. According to the sum of the Euclidean distances corresponding to multiple other observation points, the overall positional relationship between the multiple other observation points and the first sample linear model can be determined, and then the overall positional relationship and the first sample linear model can be determined. Determine the straight line model of multiple observation points.

In some embodiments, as shown in FIG. 8, performing linear fitting according to the plurality of position information to determine a straight line model about the plurality of observation points may be implemented in the following manner:

S211. Select multiple sample point sets from the multiple observation points, where each sample point set includes two first observation points;

S212: Determine multiple sample straight line models for the multiple sample point sets according to the position information of the two first observation points in each sample point set respectively;

S213: Determine the minimum value of the multiple distance data respectively according to multiple distance data about the multiple sample straight line models;

S214. Use the sample straight line model corresponding to the minimum value as a straight line model with respect to the multiple observation points.

Among them, two arbitrary observation points can be selected from multiple observation points as a sample point set. The observation points contained in each two sample point sets are not completely the same. According to the permutation and combination, multiple samples can be determined from multiple observation points. Point collection.

Each sample point set can determine a sample line model, and multiple sample point sets can determine multiple sample line models; because the observation points contained in every two sample point sets are not completely the same, the determined multiple sample line models There will be no duplication.

After obtaining multiple sample straight line models, for each sample straight line model, the Euclidean distances between multiple other observation points and each sample straight line model are calculated, and the distance data of the multiple sample straight line models can be determined.

Select the minimum value from multiple distance data, and use the sample straight line model corresponding to the minimum value as the straight line model for the multiple observation points, so that the straight line model closest to the multiple observation points can be obtained, that is, the straight line model is the most Close to the actual shape of the target object.

In some embodiments, as shown in FIG. 9, the fitting according to the plurality of position information to determine the straight line model about the plurality of observation points may be implemented in the following manner:

S25: Perform fitting according to multiple pieces of position information received at the first moment, and determine a first straight line model of the multiple observation points at the first moment;

S26: Perform fitting according to the multiple pieces of position information received at the second time, and determine a second straight line model of the multiple observation points at the second time;

S27. Determine a straight line model according to the first straight line model and the second straight line model, wherein the first time is before the second time.

Among them, the radar can continuously detect the target object, and the radar obtains the position information of the observation point on the target object at two times before and after. The radar can acquire the position information of the multiple observation points at the first moment, and then determine the first straight line model about the multiple observation points at the first moment according to the position information of the multiple observation points. The radar obtains the position information of multiple observation points at the second time, and can determine the second linear model of the multiple observation points at the second time according to the position information of the multiple observation points. For the specific implementation of determining the linear model according to the position information of multiple observation points, reference may be made to the relevant description above, which will not be repeated here.

After obtaining the straight line models at two moments before and after, the final straight line model can be determined according to the straight line models at the two moments. In some embodiments, as shown in FIG. 10, the determination of a straight line model based on the first straight line model and the second straight line model may be implemented in the following manner:

S271. Determine an average value of the intercepts of the first straight line model and the second straight line model as the average intercept.

S272. Determine an average value of the slopes of the first straight line model and the second straight line model as the average slope;

S273. Determine a straight line model according to the average intercept and the average slope.

Among them, by calculating the average of the intercept and slope of the two straight line models, the final straight line model is determined according to the average intercept and average slope, which can avoid the problem of inaccurate detection accuracy caused by the delay or advancement of the radar detection work , Select the average intercept and slope to determine the final straight line model, which can improve the accuracy of the straight line model, and further improve the measurement accuracy and reliability of the inspection of the movable platform during the inspection process.

S103. According to the straight line model, control the movement track of the movable platform to complete the inspection of the target object.

Among them, the movable platform can move according to the set movement track. After the linear model of the target object is obtained, the positions of other segments of the wires in front can be calculated according to the linear model, and the movement trajectory of the movable platform can be adjusted in real time according to this, so that the movable platform can perform inspections along the target object to avoid An error occurred during the inspection process.

In some embodiments, the movement track includes the running direction of the movable platform and the target distance from the movable platform to the target object, and the movement of the movable platform is controlled according to the linear model The trajectory can be implemented in the following ways:

The target distance from the movable platform to the target object and the running direction of the movable platform are determined according to the model parameters of the linear model.

Wherein, the moving direction is the forward direction when the movable platform is moving, and the target distance is the distance between the target object and the movable platform. In the process of patrolling the target object, the movable platform needs to keep a proper distance from the target object to realize the detection of the target object, and at the same time, it can avoid the collision of the movable platform and the target object when the distance is too close.

By observing the target object and determining the straight-line model of the target object, the position of the target object in front can be predicted, and then the moving trajectory of the movable platform can be adjusted in real time, so that the movable platform moves along the running direction determined according to the model parameters , And keep the target distance with the target object.

In some embodiments, the target distance includes a vertical distance from the movable platform to the target object.

Among them, the target object is linear, and the moving direction of the movable platform is generally along a straight line. The vertical distance from the movable platform to the target object can be determined as the target distance. As shown in Figure 4, the movable platform The vertical distance between 10 and the target object 20 is 102. When the vertical distance 102 is maintained, the movable platform 10 can effectively measure the target object 20 and maintain an appropriate distance from the target object 20. If the movable platform 10 continuously maintains a vertical distance 102 from the target object 20 during the inspection process, the measurement accuracy and safety reliability of the movable platform during the inspection process of the target object can be ensured.

In some embodiments, the determination of the target distance from the movable platform to the target object and the running direction of the movable platform according to the model parameters of the linear model may be implemented in the following manner:

The vertical distance from the movable platform to the target object and the running direction of the movable platform are determined according to the slope and intercept of the straight line model.

Among them, the straight line model is a function equation that reflects the position of the target object relative to the movable platform, and the coordinate system where the straight line model is located may be based on the movable platform as the origin. Therefore, the vertical distance from the movable platform to the target object and the running direction of the movable platform can be determined according to the slope and intercept of the linear model.

The vertical distance can be determined according to the following formula:

The running direction can be determined according to the following formula:

θ _L =tan ^-1 k;

Among them, L is the vertical distance, θ _L is the direction of the linear model and also the running direction, k is the slope of the linear model, and b is the intercept of the linear model.

Among them, the direction determined according to the slope and intercept of the linear model is the direction of the linear model, and the direction of the linear model is taken as the running direction of the movable platform, which can make the mobile platform move in parallel with the linear model during operation, which can ensure The movable platform is safe during the inspection process to avoid collision with the target object.

In some embodiments, the running direction of the movable platform is parallel to the linear model.

Wherein, setting the running direction of the movable platform to be parallel to the linear model can make the movable platform move along the target object and keep parallel during the inspection process, so as to ensure that the movable platform is in the inspection process. It is safe to avoid collision between the movable platform and the target object.

As shown in FIG. 4, if the movable platform 10 continues to move along the original running direction 100, the target distance between the movable platform 10 and the target object 20 will change, and if the running direction of the movable platform 10 is set to Parallel to the linear model, the movable platform 10 can move along the running direction 101, so that the movable platform 10 can continue to maintain a stable target distance from the target object 20 during the movement.

In some embodiments, in order to improve the observation efficiency of the radar on the target object on the movable platform, the signal transmission direction of the radar can be set before receiving the observation data of the radar on the target object; specifically including: obtaining the information of the movable platform The operating attitude parameter is used to adjust the angle of the radio frequency board of the radar according to the operating attitude parameter.

Among them, the radar can be a mechanical rotating radar. The radio frequency board of the radar can be rotated according to the needs. Multiple antennas are set on the radio frequency board. The radio frequency board can be rotated along the rotation axis to adjust the angle of the radio frequency board. After the angle, the signal transmission direction of the antenna on the radio frequency board will also change.

At the initial moment of the inspection of the movable platform, the radio frequency board of the radar on the movable platform may be at the angle maintained at the end of the previous scan, or at the initial angle, but the angle of the radio frequency board at the initial time may not be adapted to Inspection task, so the angle of the radio frequency board of the radar can be adjusted according to the inspection task.

The running posture parameters include parameters for reflecting the movement state of the movable platform. In some embodiments, the running posture parameters include the running direction of the movable platform. The movable platform is also provided with a posture detection module, and the posture detection module can obtain the operating posture parameters of the movable platform in real time. The radar can obtain the operating attitude parameters of the movable platform through the attitude detection module. Exemplarily, if the movable platform is a drone, the attitude detection module may be a flight control module.

When the operating attitude parameters of the movable platform are obtained, the movement status of the movable platform can be obtained. When the movable platform conducts inspections, it will adjust its own movement status according to the target object, and adjust the radar according to the movement status of the movable platform. The angle of the radio frequency board so that the radar signal of the radar can radiate to the target object.

In some embodiments, the outer normal direction of the radio frequency board of the radar is the same as the running direction of the movable platform.

Wherein, the signal emission direction of the radar is set to be the same as the running direction of the movable platform, that is, the radar can detect the position information of the target object in the forward direction of the movable platform, and determine the straight line model of the target object accordingly.

As shown in Figure 4, the running direction of the movable platform 10 is consistent with the outer normal direction of the radar radio frequency board, that is, the running direction of the mobile platform 10 is perpendicular to the radar radio frequency board, so that the radar can detect that the movable platform 10 is moving forward. Direction of the target object 20.

In some embodiments, the outer normal direction of the radio frequency board of the radar is perpendicular to the running direction of the movable platform, that is, the radio frequency board of the radar is parallel to the running direction of the movable platform and faces the target object. .

Wherein, the direction of the radio frequency board of the radar is set such that the outer normal direction is perpendicular to the running direction of the movable platform and faces the target object. That is, the radio frequency board of the radar is parallel to the running direction of the movable platform. In this embodiment, during the operation of the movable platform, the radar can directly face the target object. During the inspection process of the movable platform, the radar can observe the position of a part of the target object closest to the movable platform in real time. Information, and determine the straight line model of the target object based on this.

As shown in FIG. 11, the movable platform 10 moves along the running direction 100, and the outer normal direction 111 of the radio frequency board of the radar is perpendicular to the running direction of the movable platform 10 and faces the target object 20. That is, the radio frequency board of the radar is parallel to the running direction of the movable platform 10. In this way, during the movement of the movable platform 10, the radar can observe some of the target objects 20 that are closest to the movable platform 10.

In some embodiments, as shown in FIG. 12, the determination of a straight line model about the plurality of observation points according to the plurality of position information may be implemented in the following manner:

S1020: Perform coordinate conversion on the multiple position information to obtain the coordinates of the multiple observation points in the target coordinate system;

S1021, according to the coordinates of the multiple observation points in the target coordinate system, determine a straight line model with respect to the multiple observation points.

Among them, the multiple position information of the observation point obtained by the radar is based on the position information in the radar coordinate system defined by the radar, and the movable platform is not necessarily based on the radar coordinate system defined by the radar.

The target coordinate system is a coordinate system on which the movement trajectory of the movable platform is defined, and the target coordinate system may be a coordinate system defined by an actual geographic environment. In some embodiments, the target coordinate system is the northeast coordinate system. The northeast coordinate system may be based on the movable platform as the origin, the direction pointing to the north as the north axis, the direction pointing to the east as the east axis, and the vertical pointing The direction of the ground serves as the axis of the earth. As shown in Figure 5, the north axis of the north-east coordinate system can be X _g , the east axis can be Y _g , and the earth axis can be Z _g .

The radar coordinate system and the target coordinate system are differently defined coordinate axes, and the coordinates of the objects in the actual physical space in the radar coordinate system and the target coordinate system are differently defined. The coordinates of the observation point in the target coordinate system can be obtained through the coordinate conversion of the position information of the observation point acquired by the radar under the definition of the radar coordinate system.

After obtaining the position information of multiple observation points, the position information can be coordinate transformed to obtain the coordinates of the multiple observation points in the target coordinate system, and the target object can be obtained through the coordinates of the multiple observation points in the target coordinate system The linear model in the target coordinate system, and then the linear model of the target coordinate system and the moving trajectory of the movable platform are in the same coordinate system. The movable platform can directly adjust its own moving trajectory according to the linear model, which can improve the movable platform. The processing efficiency can improve the efficiency of the inspection process in the movable platform.

In some embodiments, before the receiving radar observation data of the target object, the method further includes:

Obtain the operating attitude parameters of the movable platform, and adjust the signal emission direction of the radar according to the operating attitude parameters.

Among them, if the radar includes a radio frequency board composed of an array antenna, the signal transmission direction of the radar is the outer normal direction of the radio frequency board, and the signal transmission direction of the radar can be adjusted by adjusting the angle of the radio frequency board of the radar. If the antenna of the radar adopts other structure types, the transmitting direction of the radar signal can be adjusted correspondingly according to the other structure types.

By acquiring the operating attitude parameters of the movable platform, the signal emission direction of the radar is adjusted according to the operating attitude parameters, so that the radar signal of the radar can radiate to the target object when the movable platform is patrolled, which can further improve the mobility The inspection efficiency of the platform.

In some embodiments, the signal transmission direction of the radar is the same as the running direction of the movable platform.

As shown in Fig. 4, the signal transmission direction of the radar is the same as the running direction of the movable platform, and both are direction 100. Setting the signal emission direction of the radar to be the same as the running direction of the movable platform can make the radar scan the position information of the target object in the forward direction of the movable platform, and determine the linear model of the target object based on this.

In some embodiments, the position information includes the coordinates of the observation point in the radar coordinate system, and the signal emission direction of the radar is the same as the running direction of the movable platform, as shown in FIG. Coordinate conversion is performed on multiple position information to obtain the coordinates of the multiple observation points in the target coordinate system, which can be implemented in the following manner:

S201: Determine a first included angle between a coordinate axis of the radar coordinate system and a coordinate axis of the target coordinate system according to the running direction of the movable platform;

S202. Determine a conversion matrix according to the first included angle.

S203: Perform coordinate conversion on the coordinates of the multiple observation points in the radar coordinate system according to the conversion matrix to obtain the coordinates of the multiple observation points in the target coordinate system.

Among them, the radar coordinate system is a coordinate system defined by the radar, and the position information of the observation point detected by the radar includes the coordinates of the observation point in the radar coordinate system. The radar coordinate system and the target coordinate system are different coordinate systems, and there is a corresponding spatial geometric relationship between the two coordinate systems in the actual physical space. Since the defined coordinates of an observation point in the actual physical space are different in the two coordinate systems, it is necessary to transform the coordinates in the two coordinate systems according to the transformation matrix. For example, the transformation matrix can be determined according to the spatial geometric relationship between the two coordinate systems.

Exemplarily, as shown in FIG. 14, the coordinate axis X _g and the coordinate axis Y _g of the target coordinate system constitute a plane of the target coordinate system, and the coordinate axis X _b and the coordinate axis Y _b of the radar coordinate system constitute the correspondence of the radar coordinate system. Plane. The spatial geometric relationship between the plane of the target coordinate system and the corresponding plane of the radar coordinate system includes: _{the angle between the coordinate axis X g of the} target coordinate system and the coordinate axis X _{b of the} radar coordinate system is the first angle θ _v . The conversion matrix can be determined according to the included angle, and then the coordinates of the radar coordinate system can be converted into the coordinates of the target coordinate system.

In this embodiment, the signal transmission direction of the radar is the same as the running direction of the movable platform. Therefore, _{the angle between the coordinate axis X g of the} target coordinate system and the coordinate axis X _{b of the} radar coordinate system is the first angle. The angle θ _v _{is the angle between the coordinate axis X g of} the target coordinate system and the running direction of the movable platform. That is to say, when the signal emission direction of the radar is the same as the running direction of the movable platform, the conversion matrix can be determined according to the angle between the _{coordinate axis X g of the target coordinate system and the running direction of the movable platform} .

In one embodiment, when the signal emission direction of the radar is the same as the running direction of the movable platform, the spatial geometric relationship between the two coordinate systems can be determined according to the running direction of the movable platform, and the radar coordinate system can be determined A first included angle between a coordinate axis and a coordinate axis of the target coordinate system, and the conversion matrix can be determined according to the first included angle. Among them, a coordinate axis in the radar coordinate system corresponds to a coordinate axis of the target coordinate system. For example, the two coordinate axes are the same x-axis, or the same y-axis, or both are the z-axis.

The mapping relationship between the coordinates of the radar coordinate system and the coordinates of the target coordinate system conforms to the following formula:

among them,

Is the coordinates of the target coordinate system,

Is the coordinates of the radar coordinate system, θ _v is the angle between the _{coordinate axis X g} of the target coordinate system and the running direction of the movable platform when the signal emission direction of the radar is the same as the running direction of the movable platform ,

Is the conversion matrix. In one embodiment, the target coordinate system is a geodetic coordinate system.

Among them, by multiplying the coordinates of the radar coordinate system by the conversion matrix, the coordinates of the target coordinate system can be obtained, that is, the coordinates of the observation point in the target coordinate system can be obtained, and then the linear model of the target object in the target coordinate system can be obtained , The linear model of the target coordinate system and the movement trajectory of the movable platform are in the same coordinate system. The movable platform can directly adjust its movement trajectory according to the linear model, which can improve the processing efficiency of the movable platform and improve the movable platform. The efficiency of the inspection process.

It should be noted that when the signal emission direction of the radar is inconsistent with the movement direction of the movable platform, the spatial geometric relationship of the two coordinate systems needs to be determined according to the signal emission direction of the radar and the movement direction of the movable platform. The specific implementation is as follows:

In some embodiments, the position information includes the coordinates of the observation point in the radar coordinate system. As shown in FIG. 16, the coordinate conversion is performed on the plurality of position information to obtain the coordinates of the plurality of observation points in the target coordinate system. The coordinates of the system can be implemented as follows:

S204: Determine a first included angle between a coordinate axis in the radar coordinate system and a coordinate axis of the target coordinate system according to the running direction of the movable platform and the signal emission direction of the radar;

S205. Determine a conversion matrix according to the first included angle.

S206: Perform coordinate conversion on the coordinates of the multiple observation points in the radar coordinate system according to the conversion matrix to obtain the coordinates of the multiple observation points in the target coordinate system.

In this embodiment, the signal emission direction of the radar is not necessarily the same as the running direction of the movable platform. The signal emission direction of the radar and the running direction of the movable platform may be at a preset angle. It can be 30°, 40°, 75° or 90°, etc. For example, when the outer normal direction of the radio frequency board of the radar is perpendicular to the running direction of the movable platform and facing the target object, that is, the signal emission direction of the radar is perpendicular to the running direction of the movable platform.

As shown in Fig. 17, in the case where the signal transmission direction 111 of the radar and the running direction 100 of the movable platform 10 are at a preset angle θ', the coordinate axis X _b of the radar coordinate system is the signal transmission direction 111 of the radar. The angle defined by the running direction 100 of the mobile platform 10 in the target coordinate system is θ ₀ , and θ ₀ may be the angle between the running direction 100 of the movable platform 10 and the coordinate axis X _{g of the target coordinate system.}

Since in this embodiment, the signal emission direction of the radar and the running direction 100 of the movable platform 10 are at a preset angle, the angle between the coordinate axis X _{g of the} target coordinate system and the coordinate axis X _{b of the radar coordinate system is} θ _v is not equivalent to the angle θ ₀ between the running direction 100 of the movable platform 10 and the coordinate axis X _{g of the} target coordinate system. The angle between the coordinate axis X _{g of the} target coordinate system and the coordinate axis X _{b of the} radar coordinate system needs to be determined according to the running direction 100 of the movable platform 10 and the signal emission direction 111 of the radar.

The preset included angle θ'may be determined according to the running direction of the movable platform and the signal emission direction of the radar, and the first included angle may be determined according to the running direction of the movable platform and the preset included angle. _{Exemplarily, it may be the angle θ 0} defined in the target coordinate system of the running direction of the movable platform minus the preset angle θ′ to obtain the first angle θ _v .

In this embodiment, the signal transmission direction of the radar may not necessarily be set to be consistent with the running direction of the movable platform. The signal transmission direction of the radar can be adjusted according to the actual inspection situation. As long as it is facing the target object, various presets can be set. Setting the angle to meet different inspection requirements can further improve the inspection efficiency of the movable platform.

Please refer to FIG. 18, which is a schematic block diagram of a movable platform provided by an embodiment of the present application. The mobile platform 10 includes a radar 11, a processor 13, and a memory 14. The processor 13, the memory 14 and the radar 11 are connected by a bus. The bus is, for example, an I2C (Inter-integrated Circuit) bus or the radar 11 and the processor 13 pass through CAN bus connection.

Among them, the movable platform includes aircraft, robots or autonomous unmanned vehicles.

Specifically, the processor 13 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 14 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Specifically, the radar 11 is used to send radar signals for measurement or detection.

Wherein, the processor is used to run a computer program stored in a memory, and implement the following steps when executing the computer program:

Obtain radar observation data of the target object, the observation data including multiple position information of multiple observation points; determine a straight line model about the multiple observation points according to the multiple position information; according to the straight line model, Control the movement track of the movable platform to complete the inspection of the target object.

In some embodiments, the step of obtaining radar observation data of the target object includes:

The relative distance and relative included angle between multiple observation points of the target object and the movable platform are collected by radar; the position information of the observation point is determined according to the relative distance and relative included angle between the observation point and the movable platform.

In some embodiments, the step of determining the position information of the observation point according to the relative distance and the relative included angle between the observation point and the movable platform includes:

In some embodiments, the step of determining a straight line model for the plurality of observation points according to the plurality of position information includes:

In some embodiments, the step of performing fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points includes:

In some embodiments, the step of performing linear fitting according to the plurality of position information includes:

Based on the least square method, linear fitting is performed according to the multiple position information.

In some embodiments, the step of performing linear fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points includes:

Determine two first observation points from the multiple observation points, determine a first sample straight line model about the two first observation points according to the position information of the two first observation points; determine the multiple The multiple Euclidean distances between multiple observation points other than the two first observation points in the two observation points and the first sample straight line model; determine the first same according to the multiple Euclidean distances The distance data of the present straight line model; the straight line model about the multiple observation points is determined according to the distance data and the first sample straight line model.

Select a plurality of sample point sets from the plurality of observation points, wherein each sample point set includes two first observation points; respectively according to the position information of the two first observation points in each sample point set Determine a plurality of sample line models about the plurality of sample point sets; determine the minimum value of the plurality of distance data according to the plurality of distance data about the plurality of sample line models; and correspond the minimum value to The sample straight line model serves as a straight line model with respect to the plurality of observation points.

In some embodiments, the step of determining the distance data of the first sample linear model according to the multiple Euclidean distances includes:

The multiple Euclidean distances are added together to obtain a first value; and the first value is used as the distance data of the first sample straight line model.

Fitting is performed according to the multiple position information received at the first time to determine the first linear model of the multiple observation points at the first time; and the first straight line model is determined based on the multiple location information received at the second time. A second straight-line model of multiple observation points at two moments; a straight-line model is determined according to the first straight-line model and the second straight-line model; wherein the first moment precedes the second moment.

In some embodiments, the step of determining a straight line model according to the first straight line model and the second straight line model includes:

Determine the average value of the intercepts of the first straight line model and the second straight line model as the average intercept; determine the average value of the slopes of the first straight line model and the second straight line model as the average Slope; a straight line model is determined according to the average intercept and the average slope.

In some embodiments, the movement track includes the running direction of the movable platform and the target distance from the movable platform to the target object; the movement of the movable platform is controlled according to the linear model The steps of the trajectory include:

In some embodiments, the step of determining the target distance from the movable platform to the target object and the running direction of the movable platform according to the model parameters of the linear model includes:

In some embodiments, the target object includes wires, cables, optical cables, or optical fibers.

In some embodiments, before the step of receiving radar observation data of the target object, the method further includes:

Obtain the operating attitude parameters of the movable platform, and adjust the angle of the radio frequency board of the radar according to the operating attitude parameters.

In some embodiments, the outer normal direction of the radio frequency board of the radar is perpendicular to the running direction of the movable platform and faces the target object.

Perform coordinate conversion on the plurality of position information to obtain the coordinates of the plurality of observation points in the target coordinate system; determine the linear model of the plurality of observation points according to the coordinates of the plurality of observation points in the target coordinate system .

In some embodiments, the operating posture parameter includes the operating direction of the movable platform.

In some embodiments, the signal transmission direction of the radar is the same as the running direction of the movable platform

In some embodiments, the position information includes the coordinates of the observation point in the radar coordinate system, and the step of performing coordinate conversion on the plurality of position information to obtain the coordinates of the plurality of observation points in the target coordinate system, include:

Determine the first included angle between a coordinate axis in the radar coordinate system and a coordinate axis of the target coordinate system according to the running direction of the movable platform; determine a conversion matrix according to the first included angle; determine the conversion matrix according to the conversion The matrix performs coordinate conversion on the coordinates of the multiple observation points in the radar coordinate system to obtain the coordinates of the multiple observation points in the target coordinate system.

Determine the first included angle between a coordinate axis in the radar coordinate system and a coordinate axis of the target coordinate system according to the running direction of the movable platform and the signal emission direction of the radar; according to the first included angle Determine a conversion matrix; perform coordinate conversion on the coordinates of the multiple observation points in the radar coordinate system according to the conversion matrix to obtain the coordinates of the multiple observation points in the target coordinate system.

In some embodiments, the target coordinate system is a northeast coordinate system.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the control method provided by the example.

The computer-readable storage medium may be the internal storage unit of the removable platform described in any of the foregoing embodiments, such as the hard disk or memory of the server. The computer-readable storage medium may also be an external storage device of the server, such as a plug-in hard disk equipped on the server, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A control method applied to a movable platform including a radar, characterized in that the control method includes:

Acquiring observation data of the target object by the radar, the observation data including multiple position information of multiple observation points;

Determining a straight line model about the plurality of observation points according to the plurality of position information;

According to the linear model, the movement track of the movable platform is controlled to complete the inspection of the target object.
The method according to claim 1, wherein said obtaining radar observation data of the target object comprises:

The relative distance and relative included angle between multiple observation points of the target object and the movable platform are collected by radar;

The position information of the observation point is determined according to the relative distance and the relative included angle between the observation point and the movable platform.
The method according to claim 2, wherein the determining the position information of the observation point according to the relative distance and the relative included angle between the observation point and the movable platform comprises:

The coordinates of the observation point in the radar coordinate system are determined according to the relative distance of each observation point and the relative included angle, and the position information of the observation point is obtained.
The method according to claim 2 or 3, wherein the relative distance is the distance between the observation point and the movable platform, and the relative included angle is the connection and the radio frequency board of the radar. The angle between the directions of the outer normals.
The method according to claim 1, wherein the determining a straight line model about the plurality of observation points according to the plurality of position information comprises:

Fitting is performed according to the plurality of position information to determine a straight line model with respect to the plurality of observation points.
The method according to claim 5, wherein the fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points comprises:

Performing linear fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points.
The method according to claim 6, wherein the performing linear fitting according to the plurality of position information comprises:

Based on the least square method, linear fitting is performed according to the multiple position information.
The method according to claim 6, wherein the performing linear fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points comprises:

Determining two first observation points from the plurality of observation points, and determining a first sample straight line model about the two first observation points according to location information of the two first observation points;

Determining a plurality of Euclidean distances between a plurality of observation points other than the two first observation points among the plurality of observation points and the first sample straight line model;

Determine the distance data of the first sample linear model according to the multiple Euclidean distances;

A straight line model with respect to the plurality of observation points is determined according to the distance data and the first sample straight line model.
The method according to claim 6, wherein the performing linear fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points comprises:

Selecting multiple sample point sets from the multiple observation points, wherein each sample point set includes two first observation points;

Determining, respectively, a plurality of sample line models about the plurality of sample point sets according to the position information of the two first observation points in each sample point set;

Determine the minimum value of the multiple distance data respectively according to multiple distance data about the multiple sample straight line models;

The sample straight line model corresponding to the minimum value is used as the straight line model with respect to the multiple observation points.
The method according to claim 8, wherein the determining the distance data of the first sample linear model according to the multiple Euclidean distances comprises:

Adding up the multiple Euclidean distances to obtain a first value;

The first value is used as the distance data of the first sample straight line model.
The method according to claim 5, wherein the fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points comprises:

Fitting according to a plurality of position information received at the first moment, and determining a first straight line model of the plurality of observation points at the first moment;

Fitting according to multiple pieces of position information received at the second time, and determining a second straight line model of multiple observation points at the second time;

Determining a straight line model according to the first straight line model and the second straight line model;

Wherein, the first moment is prior to the second moment.
The method according to claim 11, wherein the determining a straight line model according to the first straight line model and the second straight line model comprises:

Determining the average value of the intercepts of the first straight line model and the second straight line model as the average intercept;

Determining the average value of the slopes of the first straight line model and the second straight line model as the average slope;

A straight line model is determined according to the average intercept and the average slope.
The method according to claim 1, wherein the movement track includes the running direction of the movable platform and the target distance from the movable platform to the target object;

The controlling the movement trajectory of the movable platform according to the straight line model includes:

The target distance from the movable platform to the target object and the running direction of the movable platform are determined according to the model parameters of the linear model.
The method according to claim 13, wherein the target distance includes a vertical distance from the movable platform to the target object.
The method according to claim 14, wherein the determining the target distance from the movable platform to the target object and the running direction of the movable platform according to the model parameters of the linear model comprises:

The vertical distance from the movable platform to the target object and the running direction of the movable platform are determined according to the slope and intercept of the straight line model.
The method according to claim 15, wherein the running direction of the movable platform is parallel to the linear model.
The method according to claim 1, wherein the target object includes a wire, a cable, an optical cable, or an optical fiber.
The method according to claim 1, characterized in that, before the receiving radar observation data of the target object, the method further comprises:

Obtain the operating attitude parameters of the movable platform, and adjust the angle of the radio frequency board of the radar according to the operating attitude parameters.
The method according to claim 18, wherein the outer normal direction of the radio frequency board of the radar is the same as the running direction of the movable platform.
The method according to claim 18, wherein the outer normal direction of the radio frequency board of the radar is perpendicular to the running direction of the movable platform and faces the target object.
The method according to claim 1, wherein the determining a straight line model about the plurality of observation points according to the plurality of position information comprises:

Performing coordinate conversion on the multiple position information to obtain the coordinates of the multiple observation points in the target coordinate system;

According to the coordinates of the multiple observation points in the target coordinate system, a straight line model with respect to the multiple observation points is determined.
The method according to claim 21, characterized in that before the receiving radar observation data of the target object, the method further comprises:

Obtain the operating attitude parameters of the movable platform, and adjust the signal emission direction of the radar according to the operating attitude parameters.
The method according to claim 18 or 22, wherein the operating posture parameter includes the operating direction of the movable platform.
The method according to claim 23, wherein the signal transmission direction of the radar is the same as the running direction of the movable platform.
The method according to claim 24, wherein the position information includes the coordinates of the observation point in a radar coordinate system, and the coordinate conversion is performed on the plurality of position information to obtain that the plurality of observation points are in the target The coordinates of the coordinate system, including:

Determining a first included angle between a coordinate axis of the radar coordinate system and a coordinate axis of the target coordinate system according to the running direction of the movable platform;

Determining a conversion matrix according to the first included angle;

The coordinates of the multiple observation points in the radar coordinate system are converted according to the transformation matrix to obtain the coordinates of the multiple observation points in the target coordinate system.
23. The method according to claim 23, wherein the position information includes the coordinates of the observation point in a radar coordinate system, and the coordinate conversion is performed on the plurality of position information to obtain the coordinates of the plurality of observation points in the target The coordinates of the coordinate system, including:

Determining a first included angle between a coordinate axis in the radar coordinate system and a coordinate axis in the target coordinate system according to the running direction of the movable platform and the signal emission direction of the radar;

Determining a conversion matrix according to the first included angle;

Perform coordinate conversion on the coordinates of the multiple observation points in the radar coordinate system according to the transformation matrix to obtain the coordinates of the multiple observation points in the target coordinate system.
The method according to claim 21, wherein the target coordinate system is a north-east coordinate system.
A movable platform, characterized in that the movable platform includes a radar, a memory and a processor:

The radar is used to send radar signals for measurement or detection;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Acquiring observation data of the target object by the radar, the observation data including multiple position information of multiple observation points;

Determining a straight line model about the plurality of observation points according to the plurality of position information;

According to the linear model, the movement track of the movable platform is controlled to complete the inspection of the target object.
The movable platform according to claim 28, wherein the step of obtaining observation data of the target object by the radar comprises:

The relative distance and relative included angle between multiple observation points of the target object and the movable platform are collected by radar;

The position information of the observation point is determined according to the relative distance and the relative included angle between the observation point and the movable platform.
The movable platform according to claim 29, wherein the step of determining the position information of the observation point according to the relative distance and the relative included angle between the observation point and the movable platform comprises:

The coordinates of the observation point in the radar coordinate system are determined according to the relative distance of each observation point and the relative included angle, and the position information of the observation point is obtained.
The movable platform according to claim 29 or 30, wherein the relative distance is the distance between the observation point and the movable platform, and the relative included angle is the distance between the connection and the radar. The angle between the outer normal directions of the radio frequency board.
The movable platform according to claim 28, wherein the step of determining a linear model of the plurality of observation points according to the plurality of position information comprises:

Fitting is performed according to the plurality of position information to determine a straight line model with respect to the plurality of observation points.
The movable platform according to claim 32, wherein the step of fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points comprises:

Performing linear fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points.
The movable platform according to claim 33, wherein the step of performing linear fitting according to the plurality of position information comprises:

Based on the least square method, linear fitting is performed according to the multiple position information.
The movable platform according to claim 33, wherein the step of performing linear fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points comprises:

Determining two first observation points from the plurality of observation points, and determining a first sample straight line model about the two first observation points according to location information of the two first observation points;

Determining a plurality of Euclidean distances between a plurality of observation points other than the two first observation points among the plurality of observation points and the first sample straight line model;

Determine the distance data of the first sample linear model according to the multiple Euclidean distances;

A straight line model with respect to the plurality of observation points is determined according to the distance data and the first sample straight line model.
The movable platform according to claim 33, wherein the performing linear fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points comprises:

Selecting multiple sample point sets from the multiple observation points, wherein each sample point set includes two first observation points;

Determining, respectively, a plurality of sample line models about the plurality of sample point sets according to the position information of the two first observation points in each sample point set;

Determine the minimum value of the multiple distance data respectively according to multiple distance data about the multiple sample straight line models;

The sample straight line model corresponding to the minimum value is used as the straight line model with respect to the multiple observation points.
The movable platform according to claim 35, wherein the step of determining the distance data of the first sample linear model according to the multiple Euclidean distances comprises:

Adding up the multiple Euclidean distances to obtain a first value;

The first value is used as the distance data of the first sample straight line model.
The movable platform according to claim 32, wherein the step of fitting according to the plurality of position information to determine a straight line model with respect to the plurality of observation points comprises:

Fitting according to a plurality of position information received at the first moment, and determining a first straight line model of the plurality of observation points at the first moment;

Fitting according to multiple pieces of position information received at the second time, and determining a second straight line model of multiple observation points at the second time;

Determining a straight line model according to the first straight line model and the second straight line model;

Wherein, the first moment is prior to the second moment.
The movable platform according to claim 38, wherein the step of determining a straight line model according to the first straight line model and the second straight line model comprises:

Determining the average value of the intercepts of the first straight line model and the second straight line model as the average intercept;

Determining the average value of the slopes of the first straight line model and the second straight line model as the average slope;

A straight line model is determined according to the average intercept and the average slope.
The movable platform according to claim 28, wherein the movement track includes the running direction of the movable platform and the target distance from the movable platform to the target object;

The step of controlling the movement trajectory of the movable platform according to the linear model includes:

The target distance from the movable platform to the target object and the running direction of the movable platform are determined according to the model parameters of the linear model.
The movable platform of claim 40, wherein the target distance includes a vertical distance from the movable platform to the target object.
The movable platform according to claim 41, wherein the step of determining the target distance from the movable platform to the target object and the running direction of the movable platform according to the model parameters of the linear model ,include:

The vertical distance from the movable platform to the target object and the running direction of the movable platform are determined according to the slope and intercept of the straight line model.
The movable platform according to claim 42, wherein the running direction of the movable platform is parallel to the linear model.
The movable platform according to claim 28, wherein the target object includes wires, cables, optical cables or optical fibers.
The movable platform according to claim 28, characterized in that, before the step of receiving the observation data of the target object by the radar, it further comprises:

Obtain the operating attitude parameters of the movable platform, and adjust the angle of the radio frequency board of the radar according to the operating attitude parameters.
The movable platform according to claim 45, wherein the outer normal direction of the radio frequency board of the radar is the same as the running direction of the movable platform.
The movable platform according to claim 45, wherein the outer normal direction of the radio frequency board of the radar is perpendicular to the running direction of the movable platform and faces the target object.
The movable platform according to claim 28, wherein the step of determining a linear model of the plurality of observation points according to the plurality of position information comprises:

Performing coordinate conversion on the multiple position information to obtain the coordinates of the multiple observation points in the target coordinate system;

According to the coordinates of the multiple observation points in the target coordinate system, a straight line model with respect to the multiple observation points is determined.
The movable platform according to claim 48, characterized in that, before the step of receiving the observation data of the target object by the radar, it further comprises:

Obtain the operating attitude parameters of the movable platform, and adjust the signal emission direction of the radar according to the operating attitude parameters.
The movable platform according to claim 45 or 49, wherein the operating posture parameter includes the operating direction of the movable platform.
The movable platform according to claim 50, wherein the signal transmission direction of the radar is the same as the running direction of the movable platform.
The mobile platform according to claim 51, wherein the position information includes the coordinates of the observation point in a radar coordinate system, and the coordinate conversion is performed on the plurality of position information to obtain the plurality of observation points The steps for the coordinates in the target coordinate system include:

Determining a first included angle between a coordinate axis of the radar coordinate system and a coordinate axis of the target coordinate system according to the running direction of the movable platform;

Determining a conversion matrix according to the first included angle;

The coordinates of the multiple observation points in the radar coordinate system are converted according to the transformation matrix to obtain the coordinates of the multiple observation points in the target coordinate system.
The movable platform according to claim 50, wherein the position information includes the coordinates of the observation point in a radar coordinate system, and the coordinate conversion is performed on the plurality of position information to obtain the plurality of observation points The steps for the coordinates in the target coordinate system include:

Determining a first included angle between a coordinate axis in the radar coordinate system and a coordinate axis of the target coordinate system according to the running direction of the movable platform and the signal emission direction of the radar;

Determining a conversion matrix according to the first included angle;

Perform coordinate conversion on the coordinates of the multiple observation points in the radar coordinate system according to the transformation matrix to obtain the coordinates of the multiple observation points in the target coordinate system.
The movable platform according to claim 48, wherein the target coordinate system is a north-east coordinate system.
The movable platform according to any one of claims 28 to 54, wherein the movable platform comprises an aircraft, a robot or an unmanned vehicle.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the method described in any one of claims 1 to 27. The control method described.