WO2022027199A1 - Procédé de commande d'une plate-forme mobile, plate-forme mobile et support de stockage - Google Patents

Procédé de commande d'une plate-forme mobile, plate-forme mobile et support de stockage Download PDF

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Publication number
WO2022027199A1
WO2022027199A1 PCT/CN2020/106657 CN2020106657W WO2022027199A1 WO 2022027199 A1 WO2022027199 A1 WO 2022027199A1 CN 2020106657 W CN2020106657 W CN 2020106657W WO 2022027199 A1 WO2022027199 A1 WO 2022027199A1
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WIPO (PCT)
Prior art keywords
movable platform
sub
value
obstacle
signal transmission
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PCT/CN2020/106657
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English (en)
Chinese (zh)
Inventor
赵力尧
刘昂
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/106657 priority Critical patent/WO2022027199A1/fr
Priority to CN202080005979.5A priority patent/CN112969976A/zh
Publication of WO2022027199A1 publication Critical patent/WO2022027199A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means

Definitions

  • the present application relates to the field of control, and in particular, to a control method of a movable platform, a movable platform and a storage medium.
  • the movable platform such as drones, ground mobile robots, etc.
  • the connection between the movable platform and the ground control equipment will be lost, causing the movable platform to the ground control device.
  • the image transmission signal of the device is interrupted, and the user who operates the movable platform cannot monitor the status of the movable platform on the ground control equipment, so that the user loses the actual control ability of the movable platform. On the one hand, this is not good for the user experience, on the other hand.
  • the movable platform if the user continues to operate the movable platform without monitoring the state of the movable platform, it is easy to cause an accident on the movable platform (for example, causing the movable platform to collide with an obstacle) and easily damage the movable platform.
  • the present application provides a control method of a movable platform, a movable platform and a storage medium.
  • the present application provides a method for controlling a movable platform, wherein the movable platform is communicatively connected to a ground control device, and the method includes:
  • a signal transmission quality parameter corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform is determined, and the signal quality parameter corresponding to each sub-area indicates that the movable platform is in the In the sub-region, the signal transmission quality when the movable platform and the ground control equipment transmit signals;
  • a target path of the movable platform is planned, so that the movable platform moves along the target path.
  • the present application provides a movable platform, the movable platform is communicatively connected with a ground control device, and the movable platform includes: a memory and a processor;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • a signal transmission quality parameter corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform is determined, and the signal quality parameter corresponding to each sub-area indicates that the movable platform is in the In the sub-region, the signal transmission quality when the movable platform and the ground control equipment transmit signals;
  • a target path of the movable platform is planned, so that the movable platform moves along the target path.
  • the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, enables the processor to implement the above-mentioned removable platform control method.
  • the embodiments of the present application provide a method for controlling a movable platform, a movable platform, and a storage medium, to obtain an obstacle distribution map of the surrounding environment of the movable platform; and to determine the surrounding environment of the movable platform according to the obstacle distribution map.
  • the signal transmission quality parameter corresponding to each sub-region in the multiple sub-regions of Signal transmission quality at the time of signal according to the signal transmission quality parameters corresponding to the multiple sub-regions, plan the target path of the movable platform, so that the movable platform moves along the target path.
  • the signal transmission quality parameter corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform is determined according to the obtained obstacle distribution map, the signal quality parameter corresponding to each sub-area represents the movable platform and the ground control in the sub-area.
  • the movable platform can always keep in contact with the ground control equipment when moving along the target path, and accidents can be avoided. And improve the user experience; when planning the target path, in addition to avoiding areas with poor signal transmission quality, and also considering not to encounter obstacles, it can also make the movable platform move along the target path to avoid collision with obstacles to ensure flight safety. sex.
  • FIG. 1 is a schematic flowchart of an embodiment of a control method for a mobile platform of the present application
  • FIG. 2 is a schematic diagram of an embodiment of an obstacle distribution map constructed in the control method of the mobile platform of the present application
  • FIG. 3 is a schematic flowchart of another embodiment of the control method of the mobile platform of the present application.
  • FIG. 4 is a schematic flowchart of another embodiment of the control method of the mobile platform of the present application.
  • FIG. 5 is a schematic flowchart of another embodiment of the control method of the mobile platform of the present application.
  • FIG. 6 is a schematic flowchart of another embodiment of the control method of the mobile platform of the present application.
  • FIG. 7 is a schematic flowchart of another embodiment of a control method for a movable platform of the present application.
  • FIG. 8 is a schematic flowchart of another embodiment of a control method for a movable platform of the present application.
  • FIG. 9 is a schematic diagram of an embodiment of determining the RSSI value corresponding to each grid area in the control method of the mobile platform of the present application.
  • Fig. 10 is a schematic diagram of the RSSI value obtained by updating the calculated RSSI value with the detected actual RSSI value in Fig. 9;
  • FIG. 11 is a schematic diagram of an embodiment of constructing a cost map in the control method of the mobile platform of the present application.
  • FIG. 12 is a schematic diagram of an embodiment of planning a target path according to a cost map in the control method of the mobile platform of the present application
  • FIG. 13 is a schematic diagram of an embodiment of re-planning the target path on the basis of FIG. 12;
  • FIG. 14 is a schematic structural diagram of an embodiment of a movable platform of the present application.
  • the connection between the movable platform and the ground control equipment may be lost during the movement process, resulting in the interruption of the image transmission signal, and the operating user cannot monitor the status of the movable platform, so that the user loses the actual control ability.
  • the user experience is not good, if the user continues to operate the movable platform, it is easy to cause an accident on the movable platform (for example, the movable platform collides with an obstacle), and it is easy to damage the movable platform.
  • the embodiments of the present application provide a method for controlling a movable platform, a movable platform, and a storage medium, to obtain an obstacle distribution map of the surrounding environment of the movable platform; and to determine the surrounding environment of the movable platform according to the obstacle distribution map.
  • the signal transmission quality parameter corresponding to each sub-region in the multiple sub-regions of Signal transmission quality at the time of signal according to the signal transmission quality parameters corresponding to the multiple sub-regions, plan the target path of the movable platform, so that the movable platform moves along the target path.
  • the signal transmission quality parameter corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform is determined according to the obtained obstacle distribution map, the signal quality parameter corresponding to each sub-area represents the movable platform and the ground control in the sub-area.
  • the movable platform can avoid obstacles and provide technical support; when the target path is planned to avoid areas with poor signal transmission quality, the movable platform can always keep in contact with the ground control equipment when moving along the target path, which can avoid accidents. And improve the user experience; when planning the target path, in addition to avoiding areas with poor signal transmission quality, and also considering not to encounter obstacles, it can also make the movable platform move along the target path to avoid collision with obstacles and ensure flight safety. sex.
  • FIG. 1 is a schematic flowchart of an embodiment of a control method for a movable platform of the present application.
  • the movable platform is communicatively connected to a ground control device, and the movable platform can be automatically moved or controlled.
  • Various platforms that move under conditions such as: drones, vehicles, unmanned vehicles, ground robots, unmanned ships, etc.; the ground control equipment can be operated by the user or under the user's instructions. Controlled equipment, such as remote controls, ground stations, etc.
  • the method includes: step S101, step S102 and step S103.
  • Step S101 Obtain an obstacle distribution map of the surrounding environment of the movable platform.
  • the distribution map of obstacles in the surrounding environment of the movable platform may be a map of the distribution of obstacles in the surrounding environment where the movable platform is moving or is about to move
  • the information on the distribution map of obstacles includes: obstacles in the surrounding environment Location in the environment, height of obstacles, etc.
  • the information on the distribution map of obstacles may further include: categories or types of obstacles, and sizes of obstacles.
  • the obstacle distribution map of the surrounding environment of the movable platform can be obtained by constructing the movable platform in real time during the moving process, or it can be obtained by pre-constructing.
  • the obtaining an obstacle distribution map of the surrounding environment of the movable platform may include: obtaining obstacles in the surrounding environment of the movable platform constructed by obstacle avoidance sensors of the movable platform Distribution.
  • the movable platform can construct an obstacle distribution map by using its own obstacle avoidance sensor, and mark information such as the position and height of the obstacle on the map. It is worth noting that the specific content of the obstacle distribution map constructed in this way is strongly related to the movement trajectory of the movable platform. This is because the observation range of the movable platform is limited, and the map can only show the movement trajectory of the movable platform as A central, channel-like area with a radius of the observation distance. Areas that are not observed in the map can be considered free of obstacles.
  • the movable platform is an unmanned aerial vehicle (that is, an aircraft), the three circles in the figure are the obstacles detected by the drone, the white area is the area explored by the drone, and the gray area is the drone Unexplored areas are treated as if there are no obstacles.
  • obstacle avoidance sensors include but are not limited to: visual sensors, radar sensors, ultrasonic sensors, infrared sensors, and the like. Visual sensors have low cost and are widely used.
  • the obstacle avoidance sensor includes a visual sensor.
  • the obtaining an obstacle distribution map of the surrounding environment of the movable platform may further include: obtaining the surrounding environment of the movable platform constructed by a third-party server loaded on the movable platform obstacle distribution map.
  • the third-party server has already constructed an obstacle distribution map in the surrounding environment where the movable platform is about to move, and the movable platform can directly load the obstacles in the surrounding environment of the movable platform constructed by the third-party server. Distribution.
  • the movable platform can pre-load the obstacle distribution map before moving, or can load the obstacle distribution map during the moving process.
  • the above two methods can be combined to obtain the obstacle distribution map, that is, in step S101, the obtaining the obstacle distribution map of the surrounding environment of the movable platform may further include: obtaining the movable platform The obstacle distribution map of the surrounding environment of the movable platform constructed by the third-party server loaded by the platform; the obstacle distribution map of the surrounding environment of the movable platform constructed by the obstacle avoidance sensor of the movable platform is obtained; according to the loaded obstacles The object distribution map and the obstacle distribution map constructed by the obstacle avoidance sensor are used to obtain the final obstacle distribution map.
  • Step S102 According to the obstacle distribution map, determine a signal transmission quality parameter corresponding to each sub-area in a plurality of sub-areas of the surrounding environment of the movable platform, and the signal quality parameter corresponding to each sub-area represents the movable platform The signal transmission quality when the movable platform and the ground control equipment transmit signals when in the sub-area.
  • the electromagnetic wave signal In the process of signal transmission, the electromagnetic wave signal encounters obstacles such as rolling hills, buildings, woods, etc. on the propagation path, which will cause the attenuation of the electromagnetic wave signal, and even fail to reach the destination receiving end.
  • the surrounding environment of the movable platform can be divided into multiple sub-regions in advance, and a signal quality parameter can be determined, so that the signal quality parameter of each sub-region can characterize the transmission between the movable platform in the sub-region and the ground control device Signal transmission quality at the time of the signal.
  • the signal transmission quality parameter corresponding to each sub-area is determined according to the obstacle distribution map, which enables the signal transmission quality parameter corresponding to each sub-area to consider the influence of obstacles on the signal transmission quality, so that the signal transmission quality corresponding to each sub-area
  • the parameters can relatively and objectively characterize the signal transmission quality of the sub-region.
  • the signal transmission quality parameters include but are not limited to: Received Signal Strength (RSSI, Received Signal Strength Indicator), Signal to Interference plus Noise Ratio (SINR, Signal to Interference plus Noise Ratio), Reference Signal Received Power (RSRP, Reference Signal Receiving Power), Reference Signal Receiving Quality (RSRQ, Reference Signal Receiving Quality), and so on.
  • RSSI Received Signal Strength
  • SINR Received Signal Strength Indicator
  • SINR Signal to Interference plus Noise Ratio
  • RSRP Reference Signal Receiving Power
  • Reference Signal Receiving Quality Reference Signal Receiving Quality
  • Step S103 Plan a target path of the movable platform according to the signal transmission quality parameters corresponding to the multiple sub-regions, so that the movable platform moves along the target path.
  • the signal transmission quality parameter corresponding to the sub-region of the target path satisfies a preset condition.
  • the preset condition may be that the signal transmission quality parameter corresponding to the sub-region of the target path is greater than a preset signal transmission quality parameter threshold.
  • the target path of the movable platform can be planned according to the signal transmission quality parameters corresponding to the multiple sub-areas and in combination with specific path planning requirements.
  • the target path planned in this way has already considered the signal transmission quality parameter corresponding to each sub-area (ie, the signal transmission quality corresponding to each sub-area).
  • an obstacle distribution map of the surrounding environment of the movable platform is obtained; according to the obstacle distribution map, a signal transmission quality parameter corresponding to each sub-region in multiple sub-regions of the surrounding environment of the movable platform is determined.
  • the signal quality parameters corresponding to the sub-areas represent the signal transmission quality when the movable platform and the ground control equipment transmit signals when the movable platform is in the sub-area; according to the signal transmission quality corresponding to the multiple sub-areas parameters, plan a target path for the movable platform so that the movable platform moves along the target path.
  • the signal transmission quality parameter corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform is determined according to the obtained obstacle distribution map, the signal quality parameter corresponding to each sub-area represents the movable platform and the ground control in the sub-area.
  • the movable platform can avoid obstacles and provide technical support; when the target path is planned to avoid areas with poor signal transmission quality, the movable platform can always keep in contact with the ground control equipment when moving along the target path, which can avoid accidents. And improve the user experience; when planning the target path, in addition to avoiding areas with poor signal transmission quality, and also considering not to encounter obstacles, it can also make the movable platform move along the target path to avoid collision with obstacles to ensure flight safety. sex.
  • a signal propagation model can be constructed according to the signals sampled from the surrounding environment of the movable platform in advance, and the signal propagation model can be directly combined with the signal propagation model to determine the signal transmission quality parameters corresponding to each sub-area more accurately and conveniently.
  • step S102 before determining the signal transmission quality parameter corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform according to the obstacle distribution map and the signal propagation model, the method may include: According to the surrounding environment of the movable platform, a signal propagation model corresponding to the surrounding environment of the movable platform is determined.
  • the signal propagation model includes but is not limited to: a free space loss model, a ray tracing model, a dual-path model, a Hata model, an indoor attenuation model, and the like.
  • Each signal propagation model has corresponding applicable conditions, and the corresponding signal propagation model can be determined according to the characteristics of the surrounding environment of the movable platform.
  • step S102 according to the obstacle distribution map, the signal transmission quality parameter corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform is determined, which may be The method includes: determining, according to the obstacle distribution map and the signal propagation model, a signal transmission quality parameter corresponding to each sub-area in the surrounding environment of the movable platform.
  • the signal propagation model adopts a widely used path loss model, that is, step S102, wherein according to the obstacle distribution map and the signal propagation model, each of the multiple sub-regions of the surrounding environment of the movable platform is determined.
  • the signal transmission quality parameters corresponding to the sub-areas may include: determining the signal transmission quality parameter corresponding to each of the sub-areas in the surrounding environment of the movable platform according to the obstacle distribution map and the path loss model.
  • Path loss models may include free space propagation models and logarithmic distance path loss models. Among them, since the logarithmic distance path loss model is more widely used, the effect is better, and the model parameters have a large amount of actual data for reference, and the path loss model can include the logarithmic distance path loss model.
  • step S102 before determining the signal transmission quality parameter corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform according to the obstacle distribution map, it may include: step S104 and step S104. S105, as shown in FIG. 3 .
  • Step S104 Divide a plurality of grid regions on the obstacle distribution map to obtain a gridded obstacle distribution map.
  • Step S105 Use each grid area in the grid areas on the gridded obstacle distribution map as each sub area in the sub areas of the surrounding environment of the movable platform.
  • a plurality of grid areas are divided on the obstacle distribution map, and each grid area corresponds to a sub-area of the surrounding environment of the movable platform, so that the gridded obstacle distribution map can visually display the obstacles on the grid.
  • step S102 the determining, according to the obstacle distribution map, the signal transmission quality parameter corresponding to each sub-region in the multiple sub-regions of the surrounding environment of the movable platform may include: according to the gridding The obstacle distribution map is obtained, and the signal transmission quality parameter corresponding to each grid area in the multiple grid areas is determined.
  • step S102 the determining the signal transmission quality parameter corresponding to each grid area in the plurality of grid areas according to the gridded obstacle distribution map, may further include: sub-step S1021, Sub-step S1022 and sub-step S1023 are shown in FIG. 4 .
  • Sub-step S1021 Determine the first distance between the actual position corresponding to each grid area and the actual position where the ground control device is located.
  • the actual position corresponding to each grid area may be the actual position of the sub-area in the surrounding environment of the movable platform corresponding to each grid area, and may represent the position of the signal receiving end or the signal transmitting end.
  • the actual location of the ground control equipment can represent the location of the signal transmitter or the signal receiver.
  • the distance between the ground control equipment and the movable platform can be known through the positioning of the movable platform itself.
  • Sub-step S1022 Determine the first obstacle category on the connection between the actual position corresponding to each grid area and the actual position corresponding to the ground control device.
  • the first obstacle category may be the category of the first obstacle on the connecting line between the actual position corresponding to each grid area and the actual position corresponding to the ground control device.
  • the first obstacle category includes no obstacles (LOS, Line of Sight) and obstacles; when there are obstacles, the obstacle categories include but are not limited to: buildings, trees, bridges, mountains, iron plates, reinforced concrete, etc.
  • the distribution of obstacles in the surrounding environment and the specific information of obstacles can be obtained through obstacle avoidance sensors (eg, vision sensors) of the movable platform.
  • obstacle avoidance sensors eg, vision sensors
  • Sub-step S1023 Determine a signal transmission quality parameter corresponding to each grid area in the plurality of grid areas according to the first distance and the first obstacle category.
  • the first distance and the first obstacle type are mainly considered, which can simplify the steps of determining the signal transmission quality parameter and reduce the complexity.
  • sub-step S1023, the determining the signal transmission quality parameter corresponding to each grid area in the plurality of grid areas according to the first distance and the first obstacle category may further include: Sub-step S10231 and sub-step S10232 are shown in FIG. 5 .
  • Sub-step S10231 Determine the value of a model parameter corresponding to each grid area according to the first obstacle category, where the model parameter is a parameter of a signal propagation model.
  • Sub-step S10232 Determine, according to the first distance, the value of the model parameter, and the signal propagation model, a signal transmission quality parameter corresponding to each grid area of the plurality of grid areas.
  • a signal propagation model is used when determining the signal transmission quality parameter.
  • the signal propagation model has model parameters, and the model parameter may be one or multiple.
  • the model parameters are usually related to the first obstacle category. According to the first obstacle category, the value of the model parameter corresponding to each grid area can be determined. According to the first distance, the value of the model parameter, and the According to the signal propagation model, the signal transmission quality parameter corresponding to each grid area of the multiple grid areas can be determined. In this way, the signal transmission quality parameter corresponding to each grid area can be determined simply and conveniently.
  • sub-step S10231 the determining the value of the model parameter corresponding to each grid area according to the first obstacle category, may further include: sub-step S10231A, sub-step S10231B and sub-step S10231C, As shown in Figure 6.
  • Sub-step S10231A Determine the value of the model parameter corresponding to the first obstacle class according to the correspondence between the first obstacle class, the preset obstacle class and the model parameters.
  • the corresponding relationship between the obstacle category and the model parameter is preset, and according to the first obstacle category, the value of the model parameter corresponding to the first obstacle category can be determined in the corresponding relationship.
  • the corresponding relationship between obstacle categories and model parameters can be expressed as a corresponding table, which is more intuitive and convenient.
  • Sub-step S10231B If there is only one first obstacle type corresponding to the grid area, determine the value of the model parameter corresponding to the first obstacle type to the value of the model parameter corresponding to the grid area.
  • Sub-step S10231C If the first obstacle category corresponding to the grid area includes multiple types, determine the value of the model parameter corresponding to the grid area according to the values of the model parameters corresponding to the multiple first obstacle categories .
  • the first obstacle category may be one type or multiple types. If there is only one type, the value of the model parameter corresponding to the first obstacle category is the value of the model parameter corresponding to the grid area. If there are multiple types, the value of the model parameter corresponding to the grid area needs to be determined according to the value of the model parameter corresponding to the multiple types of the first obstacle category.
  • the first obstacle category includes obstacle 1, obstacle 2, and obstacle 3 (that is, the first obstacle category has three types), the value of the model parameter corresponding to obstacle 1 is 1, and the value of obstacle 2 corresponds to The value of the model parameter is value 2, the value of the model parameter corresponding to obstacle 3 is value 3, and the value of the model parameter corresponding to the final grid area needs to be determined by value 1, value 2, and value 3.
  • the determining the value of the model parameter corresponding to the grid area according to the values of the model parameters corresponding to the various types of the first obstacle may include: combining the various types of the first obstacle category.
  • the maximum value among the values of the model parameters corresponding to an obstacle category is used as the value of the model parameters corresponding to the grid area. This method is relatively simple, and the maximum value is directly taken as the value of the model parameter corresponding to the grid area.
  • the first obstacle category includes obstacle 1, obstacle 2 and obstacle 3 (that is, the first obstacle category is 3), the value of the model parameter corresponding to obstacle 1 is 1, and the value of obstacle 2 corresponds to The value of the model parameter is value 2, the value of the model parameter corresponding to obstacle 3 is value 3, among value 1, value 2 and value 3, value 2 is the maximum value, and value 2 can be used as the corresponding grid area The value of the model parameter.
  • a more refined manner may be: performing a weighted average of the values of the model parameters corresponding to the plurality of types of the first obstacle to obtain the values of the model parameters corresponding to the grid area. That is, the value of the model parameter corresponding to each obstacle category can be given a weight in advance, and finally the value of the model parameter corresponding to the grid area is equal to the value of the model parameters corresponding to the first obstacle category, and the weighted average is obtained. .
  • the values of the model parameters corresponding to the plurality of types of the first obstacle are arithmetically averaged.
  • the movable platform When the movable platform passes through these sub-regions, it will detect and record the actual signal transmission quality parameters of these sub-regions through its own signal receiving device.
  • the detected actual signal transmission quality parameter of the sub-area may be corrected to the signal transmission quality parameter of the corresponding sub-area, that is, the method further includes: according to the movable platform detected by the movable platform and the ground control
  • the actual signal transmission quality parameter between devices and the sub-area corresponding to the actual signal transmission quality parameter, and the signal transmission quality parameter corresponding to the sub-area is updated.
  • the signal transmission quality parameters corresponding to sub-areas A, B, C, and D are a, b, c, and d
  • the actual signal transmission quality parameters of sub-areas A and C detected by the movable platform are a1 and c1, which can be Update the signal transmission quality parameter a of sub-region A to a1, and update the signal transmission quality parameter c of sub-region C to c1.
  • the signal transmission quality parameters corresponding to sub-regions A, B, C, and D are a1, b, and c1 , d.
  • the actual signal transmission quality parameter between the movable platform and the ground control equipment includes the received signal strength of the mobile platform receiving the signal sent by the ground control equipment.
  • step S103 The details of step S103 will be described in detail below.
  • the planning of the target path of the movable platform according to the signal transmission quality parameters corresponding to the multiple sub-regions may include: according to the signal transmission quality parameters corresponding to the multiple sub-regions, The target path of the movable platform is planned so that the movable platform can at least avoid sub-regions where the signal transmission quality parameter is smaller than a threshold value when moving along the target path.
  • the movable platform when moving along the target path, can at least avoid the sub-regions where the signal transmission quality parameter is smaller than the threshold value. In this way, the movable platform can always keep the ground control when moving along the target path.
  • the connection of the equipment can avoid accidents and improve the user experience.
  • the planning of the target path of the movable platform according to the signal transmission quality parameters corresponding to the multiple sub-regions may further include: sub-step S1031 and sub-step S1032, as shown in FIG. 7 . .
  • Sub-step S1031 Construct a cost map of the surrounding environment of the movable platform according to the signal transmission quality parameters and obstacle distribution maps corresponding to the multiple sub-regions.
  • Sub-step S1032 Plan the target path of the movable platform according to the cost map of the surrounding environment of the movable platform, so that the movable platform can at least avoid that the signal transmission quality parameter is less than a threshold value when moving along the target path sub-region without colliding with obstacles.
  • the cost map may refer to the map with the lowest moving cost
  • the requirements of the cost map include but are not limited to: avoiding sub-regions where the signal transmission quality parameter is less than a threshold, not colliding with obstacles, and having the shortest moving distance to the destination, etc.
  • the cost map constructed according to the signal transmission quality parameters and obstacle distribution maps corresponding to multiple sub-regions the planned target path can meet at least two requirements, can avoid sub-regions whose signal transmission quality parameters are less than the threshold, and will not collide with obstacles thing.
  • sub-step S1031 the construction of a cost map of the surrounding environment of the movable platform according to the signal transmission quality parameters and obstacle distribution maps corresponding to the plurality of sub-areas may include: sub-step S10311, sub-step S10311, sub-step Step S10312 and sub-step S10313 are shown in FIG. 8 .
  • Sub-step S10311 Map the signal transmission quality parameters corresponding to the multiple sub-regions to the first generation value corresponding to the multiple sub-regions.
  • each signal gear may correspond to a first generation value.
  • the signal level corresponding to each sub-area is determined according to the signal transmission quality parameter corresponding to each sub-area, and then the first generation value of each sub-area mapping is determined.
  • Sub-step S10312 Map the obstacle distribution information corresponding to the multiple sub-regions to the second generation value corresponding to the multiple sub-regions.
  • the distance scale (ie, the distance range) of the distance to the obstacle may be determined first, and each distance scale may correspond to a second generation value.
  • the distance gear corresponding to each sub-area is determined, and then the second generation value of each sub-area mapping is determined.
  • Sub-step S10313 According to the first-generation value and the second-generation value corresponding to the plurality of sub-regions, construct a cost map of the surrounding environment of the movable platform.
  • sub-step S10313 the construction of a cost map of the surrounding environment of the movable platform according to the first-generation value and the second-generation value corresponding to the plurality of sub-regions may include:
  • the determining the cost value corresponding to the sub-region according to the first cost value and the second cost value corresponding to the sub-region may also include: combining the first cost value and the second cost value The larger value of the second-generation values is used as the cost value corresponding to the sub-area; or, the first-generation value and the second-generation value are weighted and averaged to obtain the cost value corresponding to the sub-area.
  • the first cost value corresponding to sub-region A is cost1
  • the corresponding second cost value is cost2, where cost1 is greater than cost2
  • the final cost value corresponding to sub-region A may be cost1.
  • the first cost value corresponding to sub-region A is cost1
  • the corresponding second cost value is cost2
  • the weight of the first generation value is Q1
  • the cost value corresponding to the final sub-region A may be (cost1*Q1+cost2*Q2).
  • the first cost value corresponding to sub-region A is cost1
  • the corresponding second cost value is cost2
  • the first-generation value and the second-generation value have no determined weight
  • the final cost value corresponding to sub-region A can be (cost1 +cost2)/2.
  • the weight of the first-generation value of the sub-area can be Increase; if the obstacles near the sub-area are detected by the obstacle avoidance sensor, the weight of the second generation value of the sub-area can be increased; if the signal transmission quality parameter of the sub-area is the actual signal transmission quality, the sub-area Obstacles near the area are detected by the obstacle avoidance sensor, then the weight of the first generation value and the second generation value of the sub-area can be 0.5 respectively.
  • the first cost value corresponding to sub-region A is cost1
  • the corresponding second cost value is cost2
  • the weight of the predetermined first-generation value is 0.6
  • the predetermined weight of the second-generation value is 0.4
  • the sub-region The signal transmission quality parameter corresponding to A is the actual signal transmission quality
  • the weight of the first generation value can be re-determined as 0.7
  • the predetermined weight of the second generation value is 0.3
  • the cost value corresponding to the final sub-area A can be (cost1 *0.7+cost2*0.3).
  • the first cost value corresponding to sub-area A is cost1
  • the corresponding second cost value is cost2
  • the weight of the predetermined first-generation value is 0.7
  • the predetermined weight of the second-generation value is 0.3. Obstacles near area A are detected by visual sensors, then the weight of the first generation value can be re-determined as 0.6
  • the predetermined weight of the second generation value is 0.4
  • the final cost value corresponding to sub-area A can be ( cost1*0.6+cost2*0.4).
  • the first generation value and the second generation value corresponding to the sub-regions of the target path meet a preset condition.
  • the preset condition may be that the first generation value and the second generation value corresponding to the sub-regions of the target path are greater than a preset cost value threshold.
  • the above process can be performed cyclically, that is, during the moving process, new obstacles can be found through the obstacle avoidance sensor, and the actual signal transmission quality parameters of the sub-areas in the moving area can be detected. According to this, the target path is re-planned and the current movement trajectory is corrected.
  • A1 Obtain the obstacle distribution map.
  • A2 Determine the signal transmission quality parameter corresponding to each sub-region.
  • the signal propagation model used is the log distance path loss model, and its mathematical expression is: in:
  • PL represents the amount of signal attenuation
  • PL 0 represents the signal attenuation at the distance d 0 from the ground control equipment
  • ⁇ represents the signal attenuation exponent (path-loss exponent);
  • d is the distance to the ground control equipment (ie the first distance from the sub-area to the ground control equipment);
  • d 0 is the reference distance to the ground control equipment
  • X g is a Gaussian random variable with mean 0 and standard deviation ⁇ .
  • the values of the model parameter ⁇ and the model parameter ⁇ are different.
  • This set of model parameters mainly reflects the influence of signal propagation medium, signal refraction, diffraction, multipath effect, etc. on signal propagation.
  • R rx R tx -PL M .
  • R tx is the signal transmission strength of the ground control equipment
  • PL M is the signal attenuation at point M.
  • the value of the model parameter corresponding to each obstacle class can be known according to the preset correspondence table (ie, the comparison relationship) between the obstacle class and the model parameter, see Table 1.
  • the RSSI value of the signal strength corresponding to each raster area can be calculated, as shown in FIG. 9 .
  • A3 Update the transmission quality parameter.
  • A4 Build a cost map and plan the target path.
  • the signal transmission quality parameter it is divided into three signal gears: no signal, weak signal, and normal signal.
  • Each signal gear can map a first generation value, see Table 2. This is related to the following target path planning strategy.
  • the path planning strategy is: absolutely avoid areas with no signal, try to avoid areas with weak signals, and the movable platform can pass freely in areas with normal signals.
  • Signal interval Mapped value (first generation value) meaning RSSI ⁇ R1 2 no signal R1 ⁇ RSSI ⁇ R2 1 weak signal RSSI>R2 0 Signal is normal
  • a costmap can be used to represent the signal distribution and obstacle distribution.
  • a safe passing radius that is, the distance to the obstacle
  • the following mapping is also made to the obstacle distribution information, see Table 3.
  • A1-A4 can be continuously executed in a loop.
  • the costmap is constantly updated as the mobile platform has new observations (including RSSI values and obstacles).
  • step B1 plan a target path according to the latest cost map.
  • the movable platform is an unmanned aerial vehicle (that is, the aircraft in the picture)
  • the ground control device is a remote controller
  • the planned target path will avoid the dark gray area (that is, no signal, obstacles, collision obstacles) ), try to avoid the light gray area (that is, the signal is weak, there is no obstacle, and it is possible to collide with an obstacle), and the planned target path is in the medium gray area (that is, the signal is normal, there is no obstacle, and it will not collide with obstacles).
  • the movable platform When the movable platform is moving, repeat the above A1-A4; and re-plan the target path (that is, repeat the above B1 with a certain frequency, especially when new obstacles are found in the process of returning home, re-plan the target path.
  • the current movement trajectory of the movable platform is particularly useful); the current movement trajectory is corrected according to the latest target path.
  • the movable platform is a UAV (that is, the aircraft in the picture), the ground control device is a remote controller, and the old planned target path (the dotted line in the picture is the old target path) will avoid the old dark gray Area (that is, no signal, there are obstacles, will collide with obstacles), try to avoid the old light gray area (that is, weak signal, no obstacles, may collide with obstacles), the old planned target path is in the old Gray area (that is, the signal is normal, there are no obstacles, and there will be no collision with obstacles); the UAV has new observation information during the flight, determines new no-signal areas and new obstacles, and re-plans to get new targets path (the solid line in the figure is the new target path), correct the current motion trajectory according to the latest target path.
  • the old planned target path the dotted line in the picture is the old target path
  • FIG. 14 is a schematic structural diagram of an embodiment of a movable platform of the present application. It should be noted that the movable platform of this embodiment can execute the steps in the above-mentioned control method of the movable platform. Please refer to the above-mentioned control method of the movable platform, which will not be repeated here.
  • the movable platform 100 is in communication connection with the ground control equipment, and the movable platform 100 includes: a memory 1 and a processor 2; the processor 2 and the memory 1 are connected through a bus.
  • the processor 2 may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.
  • the memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and implement the following steps when executing the computer program:
  • the obstacle distribution map of the surrounding environment of the movable platform determines the signal transmission quality parameter corresponding to each sub-region in the multiple sub-regions of the surrounding environment of the movable platform, and each sub-region
  • the corresponding signal quality parameter represents the signal transmission quality when the movable platform and the ground control equipment transmit signals when the movable platform is in the sub-area; according to the signal transmission quality parameters corresponding to the plurality of sub-areas, A target path for the movable platform is planned to move the movable platform along the target path.
  • the processor when executing the computer program, implements the following steps: according to the obstacle distribution map and the signal propagation model, determine the signal transmission corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform quality parameters.
  • the processor when executing the computer program, implements the following steps: according to the obstacle distribution map and the path loss model, determine the signal transmission corresponding to each sub-area in the multiple sub-areas of the surrounding environment of the movable platform quality parameters.
  • the processor when executing the computer program, implements the following steps: determining a signal propagation model corresponding to the surrounding environment of the movable platform according to the surrounding environment of the movable platform.
  • the processor when executing the computer program, implements the following steps: dividing a plurality of grid regions on the obstacle distribution map to obtain a gridded obstacle distribution map; Each grid area in the plurality of grid areas on the obstacle distribution map is used as each sub area in the plurality of sub areas of the surrounding environment of the movable platform.
  • the processor when executing the computer program, implements the following steps: determining a signal transmission quality parameter corresponding to each grid region in the plurality of grid regions according to the gridded obstacle distribution map.
  • the processor when executing the computer program, implements the following steps: determining the first distance between the actual position corresponding to each grid area and the actual position of the ground control equipment; determining each grid area a first obstacle type on the connection line between the corresponding actual position and the actual position corresponding to the ground control device; according to the first distance and the first obstacle type, determine each of the plurality of grid areas The signal transmission quality parameter corresponding to the grid area.
  • the processor when executing the computer program, implements the following steps: determining the value of a model parameter corresponding to each grid area according to the first obstacle category, where the model parameter is a parameter of a signal propagation model ; According to the first distance, the value of the model parameter and the signal propagation model, determine the signal transmission quality parameter corresponding to each grid area of the plurality of grid areas.
  • the processor when executing the computer program, implements the following steps: determining the first obstacle category according to the correspondence between the first obstacle category, the preset obstacle category and model parameters The value of the corresponding model parameter; if there is only one first obstacle category corresponding to the grid area, the value of the model parameter corresponding to the first obstacle category is determined to be the value of the model parameter corresponding to the grid area. If the first obstacle category corresponding to the grid area includes multiple types, the value of the model parameter corresponding to the grid area is determined according to the values of the model parameters corresponding to the multiple first obstacle categories.
  • the processor when executing the computer program, implements the following steps: taking the maximum value among the values of the model parameters corresponding to the plurality of types of the first obstacle as the value of the model parameter corresponding to the grid area ; or, performing a weighted average of the values of the model parameters corresponding to a plurality of the first obstacle categories to obtain the values of the model parameters corresponding to the grid area.
  • the processor executes the computer program, the following steps are implemented: according to the actual signal transmission quality parameter between the movable platform and the ground control device detected by the movable platform and the actual signal transmission quality parameter For the sub-region corresponding to the signal transmission quality parameter, the signal transmission quality parameter corresponding to the sub-region is updated.
  • the actual signal transmission quality parameter between the movable platform and the ground control equipment includes the received signal strength of the mobile platform receiving the signal sent by the ground control equipment.
  • the processor when executing the computer program, implements the following steps: acquiring an obstacle distribution map of the surrounding environment of the movable platform constructed by the obstacle avoidance sensor of the movable platform.
  • the obstacle avoidance sensor includes a visual sensor.
  • the processor when executing the computer program, implements the following steps: acquiring an obstacle distribution map of the surrounding environment of the movable platform constructed by a third-party server loaded on the movable platform.
  • the processor when executing the computer program, implements the following steps: planning the target path of the movable platform according to the signal transmission quality parameters corresponding to the multiple sub-regions, so that the movable platform can move along the When the target path moves, it can at least avoid sub-regions where the signal transmission quality parameter is smaller than the threshold.
  • the processor when executing the computer program, implements the following steps: constructing a cost map of the surrounding environment of the movable platform according to the signal transmission quality parameters and obstacle distribution maps corresponding to the plurality of sub-regions; A cost map of the surrounding environment of the movable platform is used to plan the target path of the movable platform, so that the movable platform can at least avoid sub-regions where the signal transmission quality parameter is less than a threshold when moving along the target path, and does not collision with obstacles.
  • the processor when executing the computer program, implements the following steps: mapping the signal transmission quality parameters corresponding to the multiple sub-regions to the first generation value corresponding to the multiple sub-regions; mapping the multiple sub-regions to the first generation value corresponding to the multiple sub-regions The corresponding obstacle distribution information is mapped to the second generation value corresponding to the multiple sub-areas; according to the first generation value and the second generation value corresponding to the multiple sub-areas, a cost map of the surrounding environment of the movable platform is constructed.
  • the processor when executing the computer program, implements the following steps: if the first generation value and the second generation value corresponding to any one of the multiple sub-areas are equal, then use one of the cost values as the The cost value corresponding to the sub-area, if the first-generation value and the second-generation value corresponding to any one of the multiple sub-areas are not equal, then the first-generation value and the second-generation value corresponding to the sub-area are Determine the cost value corresponding to the sub-areas; construct a cost map of the surrounding environment of the movable platform according to the cost value corresponding to each sub-area in the plurality of sub-areas.
  • the processor when executing the computer program, implements the following steps: taking the larger value of the first generation value and the second generation value as the cost value corresponding to the sub-region; or, using The first generation value and the second generation value are weighted and averaged to obtain the cost value corresponding to the sub-area.
  • the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the above-mentioned mobile platform.
  • Control Method For a detailed description of the relevant content, please refer to the above-mentioned relevant content section, which will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the above-mentioned removable platform, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention se rapporte à un procédé de commande d'une plate-forme mobile, à la plate-forme mobile et à un support de stockage. Le procédé consiste : à acquérir une carte de distribution d'obstacles de l'environnement ambiant de la plate-forme mobile (S101) ; à déterminer un paramètre de qualité de transmission de signal correspondant à chaque sous-région de l'environnement ambiant de la plate-forme mobile, le paramètre de qualité de transmission de signal correspondant à chaque sous-région représentant la qualité de transmission de signal entre la plate-forme mobile et un dispositif de commande au sol lorsque la plate-forme mobile est située dans chaque sous-région (S102) ; et à planifier un trajet cible en fonction des paramètres de qualité de transmission de signal correspondant à la pluralité de sous-régions de telle sorte que la plate-forme mobile se déplace le long du trajet cible (S103).
PCT/CN2020/106657 2020-08-03 2020-08-03 Procédé de commande d'une plate-forme mobile, plate-forme mobile et support de stockage WO2022027199A1 (fr)

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CN202080005979.5A CN112969976A (zh) 2020-08-03 2020-08-03 可移动平台的控制方法、可移动平台及存储介质

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Citations (5)

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CN105466421A (zh) * 2015-12-16 2016-04-06 东南大学 面向可靠wifi连接的移动机器人自主巡航方法
CN108334062A (zh) * 2017-01-18 2018-07-27 华为技术有限公司 路径规划方法和装置
EP3570133A1 (fr) * 2018-05-16 2019-11-20 Siemens Aktiengesellschaft Procédé et système de commande d'un véhicule en mouvement dans un environnement
CN110988498A (zh) * 2019-12-23 2020-04-10 湘潭大学 一种建筑密集区域的基站电磁辐射预测方法

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CN107861508B (zh) * 2017-10-20 2021-04-20 纳恩博（北京）科技有限公司 一种移动机器人局部运动规划方法及装置
KR20200084423A (ko) * 2018-12-24 2020-07-13 삼성전자주식회사 기계 학습 기반의 로컬 모션 생성 방법 및 장치

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Publication number Priority date Publication date Assignee Title
CN103369549A (zh) * 2013-06-19 2013-10-23 山东润谱通信工程有限公司 基于射线跟踪传播模型的室内三维空间无线信号预测方法
CN105466421A (zh) * 2015-12-16 2016-04-06 东南大学 面向可靠wifi连接的移动机器人自主巡航方法
CN108334062A (zh) * 2017-01-18 2018-07-27 华为技术有限公司 路径规划方法和装置
EP3570133A1 (fr) * 2018-05-16 2019-11-20 Siemens Aktiengesellschaft Procédé et système de commande d'un véhicule en mouvement dans un environnement
CN110988498A (zh) * 2019-12-23 2020-04-10 湘潭大学 一种建筑密集区域的基站电磁辐射预测方法

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