WO2022061614A1

WO2022061614A1 - Movable platform control method, control apparatus, movable platform, and computer storage medium

Info

Publication number: WO2022061614A1
Application number: PCT/CN2020/117221
Authority: WO
Inventors: 邸健; 宋春林; 李子健
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2022-03-31

Abstract

Provided are a movable platform control method, control apparatus, movable platform, and computer storage medium; the control method (200) comprises: obtaining first data information of a restricted area used for constructing a grid map (S201); on the basis of the first data information of the restricted area, obtaining a grid map of the restricted area (S202); on the basis of the grid map of the restricted area, controlling the movement of the movable platform (S203). On the basis of the control method (200), it is possible to conserve onboard computing power, increasing the speed of searching restricted areas.

Description

Control method of movable platform, control device, movable platform and computer storage medium

manual

technical field

The present invention generally relates to the technical field of data processing, and more particularly, to a control method of a movable platform, a control device, a movable platform and a computer storage medium.

Background technique

Most of the airport restricted flight areas consider drones in the horizontal and vertical directions respectively. The common form of the airport restricted flight area is that there is an expanded area with a fixed height limit outside the no-fly area that is not allowed to take off at all.

In conventional products, the fly-restriction data are directly stored in the form of circles and polygons. The circular fly-restriction area stores the GPS coordinates and radius of the center of the fly-restriction area, and the polygon fly-restriction area stores the GPS points of each vertex of the polygon. During the fly-restriction judgment process , are to read the GPS points stored in the database into the memory and then convert them to the NED coordinate system, and calculate the geometric relationship between the UAV position and the restricted flight area in the NED coordinate system, and then form the relevant flight restriction conclusions and implement the relevant restrictions.

However, the above-mentioned geometric operations consume a large amount of computing power and are not conducive to the use of general motion planning methods.

SUMMARY OF THE INVENTION

The present application has been made to solve at least one of the above-mentioned problems. Specifically, one aspect of the present application provides a control method for a movable platform, the control method comprising:

obtaining first data information of a restricted area for constructing a grid map;

obtaining a grid map of the restricted area based on the first data information of the restricted area;

Movement of the movable platform is controlled based on the grid map of the restricted area.

Another aspect of the present application provides a control device for a movable platform, the control device comprising:

memory for storing executable program instructions;

one or more processors for executing the program instructions stored in the memory, causing the processors to perform the following steps:

Another aspect of the present application also provides a movable platform, and the movable platform includes:

a power mechanism for moving the movable platform;

memory for storing executable program instructions;

One or more processors for executing the program instructions stored in the memory, so that the processors execute the aforementioned control method.

Yet another aspect of the present application provides a computer storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the aforementioned method for controlling a movable platform.

In the control method of the movable platform in the embodiment of the present application, the data form of the restricted area is converted into the form of a grid map, and the data of the restricted area is stored in the form of a grid map. The method of searching the grid map can quickly obtain the data information of the restricted area around the movable platform, which can save the airborne computing power and improve the search speed of the restricted area, so that the moving path can be reasonably planned according to the found restricted area, which can effectively avoid possible The problem of mobile platforms straying into restricted areas (such as restricted areas) arises.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 shows a schematic diagram of an aircraft in an embodiment of the present application;

Fig. 2 shows the flow chart of the control method of the movable platform in one embodiment of the present application;

FIG. 3 shows a schematic diagram of a scan line scanning restricted area in an embodiment of the present application;

FIG. 4 shows a schematic diagram of a grid map of a restricted area in an embodiment of the present application;

FIG. 5 shows a schematic flowchart of controlling the movement of an aircraft in an embodiment of the present application;

FIG. 6 shows a schematic block diagram of a control apparatus of a movable platform in an embodiment of the present application.

detailed description

In order to make the objectives, technical solutions and advantages of the present application more apparent, the exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, some technical features known in the art have not been described in order to avoid confusion with the present application.

It should be understood that the application may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a," "an," and "the/the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "compose" and/or "include", when used in this specification, identify the presence of stated features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, parts and/or groups. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

For a thorough understanding of the present application, detailed structures and methods will be presented in the following description in order to explain the technical solutions proposed by the present application. Alternative embodiments of the present application are described in detail below, however, the present application may have other embodiments in addition to these detailed descriptions.

The control method, control device and movable platform of the movable platform of the present application will be described in detail below with reference to the accompanying drawings. The features of the embodiments and implementations described below may be combined with each other without conflict.

It should be noted that the control method of the movable platform provided in the embodiments of the present application can be applied to the movable platform and any other application scenarios involving restricted areas (such as restricted areas), for example, the movable platform may include an aircraft (for example, unmanned aerial vehicles), robots, unmanned vehicles, and unmanned ships, the embodiments of the present application do not limit specific application scenarios. Correspondingly, when the movable platform is an aircraft, the restricted area may be a restricted flying area, a no-flying area, or a restricted height area. When the movable platform is a robot, the restricted area may be a restricted activity area, a restricted activity area, or an area such as a restricted activity height. When the movable platform is an unmanned vehicle, the restricted area may be a restricted area, a restricted area, or an area such as a restricted driving height. When the movable platform is an unmanned ship, the restricted area can be a restricted area, a restricted area, and the like.

It should be noted that the restricted areas (such as restricted flight areas) in this document may include at least one of the following: (1) large civil aviation airports; (2) fixed-wing airports for general aviation; (3) heliports; (4) restricted areas in special areas (for example, restricted areas), such as Washington, Beijing, commercial areas, military areas, office areas, etc.; (5) other restricted areas (for example, restricted areas), such as temporary restricted areas (for example, restricted areas).

In the embodiment of the present application, the case where the movable platform is an aircraft is mainly used as an example to describe the solution of the present application, but it can be understood that this is not intended to limit the application scenario of the present application.

In one example, FIG. 1 shows a schematic diagram of an aircraft 100 in one embodiment of the present application. The aircraft 100 includes a carrier (ie, a frame) 102 and a load 104 . Those skilled in the art will appreciate that any of the embodiments described herein with respect to aircraft are applicable to any aircraft (eg, unmanned aerial vehicles, also known as drones). In some embodiments, the load 104 may be located directly on the aircraft 100 without the need for the carrier 102 . Aircraft 100 may include processor 101 , memory 102 , powertrain 106 , sensing system 108 , and communication system 110 . These components are interconnected by a bus system and/or other form of connection mechanism (not shown).

The powertrain 106 may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, nozzles. For example, the rotating body of the power mechanism may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit. An aircraft may have one or more power mechanisms. All powertrains can be of the same type. Alternatively, one or more of the power mechanisms may be of a different type. Powertrain 106 may be mounted on the aircraft by suitable means, such as by support elements (eg, drive shafts). The powertrain 106 may be installed in any suitable location on the aircraft 100, such as the top end, the lower end, the front end, the rear end, the side, or any combination thereof.

In some embodiments, the powertrain 106 enables the aircraft to take off vertically from a surface, or land vertically on a surface, without requiring any horizontal movement of the aircraft 100 (eg, without taxiing on a runway). Optionally, powertrain 106 may allow aircraft 100 to preset positions and/or steering wheel in the air. One or more of the power mechanisms 106 may be controlled independently of the other power mechanisms. Alternatively, one or more power mechanisms 106 may be controlled simultaneously. For example, the aircraft 100 may have multiple horizontal rotations to track the lift and/or push of the target. The horizontally oriented rotator can be actuated to provide the ability of the aircraft 100 to take off vertically, land vertically, and hover. In some embodiments, one or more of the horizontal rotating bodies may rotate clockwise, while the other one or more of the horizontal rotating bodies may rotate counterclockwise. For example, there are the same number of rotating bodies that rotate clockwise as there are counter-clockwise rotating bodies. The rate of rotation of each horizontal rotator can be varied independently to effect lift and/or push operations caused by each rotator to adjust the spatial orientation, velocity, and/or acceleration of the aircraft 100 (eg, relative to up to three rotation and translation of degrees of freedom).

Sensing system 108 may include one or more sensors to sense spatial orientation, velocity, and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom) of aircraft 100 . The one or more sensors include any of the sensors described above, including GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. Sensing data provided by the sensing system 108 may be used to track the spatial orientation, velocity and/or acceleration of the target 100 (as described below, using a suitable processing unit and/or control unit). Optionally, the sensing system 108 may be used to collect data on the environment of the aircraft, such as climatic conditions, potential obstacles to be approached, locations of geographic features, locations of man-made structures, and the like.

The communication system 110 is capable of communicating with the terminal 112 having the communication system 114 via the wireless signal 116 .

Communication systems

110, 114 may include any number of transmitters, receivers, and/or transceivers for wireless communication. The communication may be one-way communication, so that data can be sent from one direction. For example, one-way communication may include only aircraft 100 transmitting data to terminal 112, or vice versa. One or more transmitters of communication system 110 may transmit data to one or more receivers of communication system 112, and vice versa. Optionally, the communication may be two-way communication, so that data may be transmitted between the aircraft 100 and the terminal 112 in both directions. Two-way communication includes that one or more transmitters of communication system 110 can transmit data to one or more receivers of communication system 114, and vice versa.

In certain embodiments, terminal 112 may provide control data to, and receive information from, one or more of aircraft 100 , carrier 102 , and payload 104 (eg position and/or motion information of aircraft, carrier or payload, payload sensing data, such as image data captured by a camera). In some embodiments, the terminal's control data may include instructions regarding position, movement, actuation, or control of the aircraft, carrier, and/or payload. For example, the control data may cause changes in the position and/or orientation of the aircraft (eg, by controlling the power mechanism 106 ), or cause movement of the carrier relative to the aircraft (eg, by controlling the carrier 102 ). Terminal control data can lead to load control, such as controlling the operation of a camera or other image capture device (capturing still or moving images, zooming, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, changing exposure time, changing the viewing angle or field of view). In some embodiments, the communication of the aircraft, carrier and/or payload may include information from one or more sensors (eg, sensing system 108 or payload 104). The communication may include sensory information transmitted from one or more different types of sensors, such as GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. The sensed information is about the position (eg, orientation, position), motion, or acceleration of the aircraft, carrier, and/or load. The sensed information transmitted from the load includes the data captured by the load or the status of the load. Terminal 112 transmits provided control data that may be used to track the status of one or more of aircraft 100 , carrier 102 , or payload 104 . Alternatively or concurrently, carrier 102 and payload 104 may each include a communication module for communicating with terminal 112 so that the terminal may communicate or track aircraft 100 , carrier 102 and payload 104 individually.

In some embodiments, aircraft 100 may communicate with other remote devices in addition to terminal 112 , and terminal 112 may also communicate with other remote devices in addition to aircraft 100 . For example, the aircraft and/or terminal 112 may be in communication with another aircraft or a carrier or payload of another aircraft. The additional remote device may be a second terminal or other computing device (eg, a computer, desktop, tablet, smartphone, or other mobile device) when desired. The remote device may transmit data to the aircraft 100 , receive data from the aircraft 100 , transmit data to the terminal 112 , and/or receive data from the terminal 112 . Optionally, the remote device may be connected to the Internet or other telecommunications network to allow data received from aircraft 100 and/or terminal 112 to be uploaded to a website or server.

In some embodiments, the movement of the aircraft, the movement of the carrier, and the movement of the load relative to a fixed reference (eg, the external environment), and/or relative to each other, may be controlled by the terminal. The terminal may be a remote control terminal located remotely from the aircraft, carrier and/or load. The terminal can be located on or attached to the support platform. Optionally, the terminal may be handheld or wearable. For example, the terminal may include a smartphone, tablet, desktop, computer, glasses, gloves, helmet, microphone, or any combination thereof. The terminal may include a user interface such as a keyboard, mouse, joystick, touch screen or display. Any suitable user input may interact with the terminal, such as manual input of commands, voice control, gesture control, or position control (eg, through movement, position, or tilt of the terminal).

The aircraft 100 may include one or more memories 102, and the memory 102 stores a computer program executed by the processor, for example, for storing the corresponding information in the method for implementing the control method of the movable platform according to the embodiment of the present application. steps and procedural instructions. One or more computer program products may be included, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and/or cache memory, or the like. The non-volatile memory may include, for example, read only memory (ROM), hard disk, flash memory, and the like.

Aircraft 100 may include one or more processors 101, which may be central processing units (CPUs), graphics processing units (GPUs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or have data processing Other forms of processing units capable of and/or instruction execution capabilities, and may control other components in aircraft 100 to perform desired functions. The processor can execute the program instructions stored in the memory, so as to execute the relevant steps in the mobile platform control method of the embodiments of the present application described below. For example, a processor can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware finite state machines (FSMs), digital signal processors (DSPs), or combinations thereof. In this embodiment, the processor includes a Field Programmable Gate Array (FPGA), or one or more ARM processors.

According to the regulations on airspace control and the management of drones, drones must fly in the specified airspace. The drone geofencing system is a way to restrict the flight of drones. The geofence system has two forms on some current UAVs: one is the UAV without a high-performance processor (no advanced functions such as forward-looking obstacle avoidance), and currently only the most advanced UAV can be realized. A simple circular restricted area (such as a restricted area), the data storage format of this restricted area (such as a restricted area) is very simple, and the number of databases is also small; the other is a drone with a high-performance processor ( With advanced functions such as visual obstacle avoidance and tracking), complex polygonal restricted areas (such as flying restricted areas) are currently implemented on such products, and there are also a large number of restricted areas (such as flying restricted areas).

The function of the restricted area (such as the restricted area) of the UAV without a high-performance processor can be realized on the microcontroller unit (MCU) where the flight control system (FC) is located, but with a high-performance processor The function of the restricted area (such as restricted flight area) of the UAV can be realized on the AP (Application Processor), and only executed on the FC.

In the existing UAVs, the airport restricted areas (such as flight restricted areas) are mostly considered in the horizontal and vertical directions of the UAV. The common forms of airport restricted areas (such as flight restricted areas) are: There is an enlarged area (also called restricted area (such as height restriction area)) with a fixed height limit outside the no-fly zone that does not allow take-off at all.

In the existing products, the flight restriction data are stored directly according to circles and polygons. The circular flight restriction area stores the GPS coordinates and radius of the center of the flight restriction area, and the polygon flight restriction area stores the GPS points of each vertex of the polygon. The flight restriction judgment process In the method, the GPS points stored in the database are read into the memory and converted to the NED coordinate system, and the geometric relationship between the position of the UAV and the restricted flight area is calculated in the NED coordinate system, and then the relevant flight restriction conclusions are formed and relevant restrictions are implemented. . However, the above-mentioned geometric operations consume a large amount of computing power and are not conducive to the use of general motion planning methods.

In view of the existence of the above problems, an embodiment of the present application provides a control method for a movable platform, characterized in that the control method includes: acquiring first data information of a restricted area for constructing a grid map; The first data information of the restricted area is obtained, and the grid map of the restricted area is obtained; based on the grid map of the restricted area, the movement of the movable platform is controlled.

It should be noted that, in the control method of the movable platform provided by the embodiments of the present application, the execution subject may be a movable platform (such as an aircraft), or a movable platform that can be implemented by software, hardware or a combination of software and hardware. Part or all of the computer equipment of the control method.

Hereinafter, the control method of the movable platform provided by the embodiment of the present application will be described with reference to FIG. 2 and FIG. 3 .

As an example, as shown in FIG. 2 , the method 200 for controlling a mobile platform provided by an embodiment of the present application includes the following steps S201 to S203.

First, in step S201, first data information of a restricted area for constructing a grid map is acquired.

The restricted area data stored in the restricted area database is large, and the moving range of the movable platform is usually limited. Therefore, it is necessary to obtain (ie, filter) the data for building the map from the restricted area database. The data used to build the map can be obtained from the restricted area by any suitable method. The map range used to build the map can be determined by the specific business scenario, or an area can be selected near the current location; the restricted area database can be any database that stores restricted area data. The regional database may be a global flight restriction database, and may also be, for example, a database organized by geohash.

In an example, the acquiring the first data information of the restricted area for constructing the grid map includes: according to the current position information (such as the current GPS position information, particularly the current GPS coordinates) of the movable platform (such as the aircraft) ), determine the first data information of the restricted area for constructing the grid map, wherein the restricted area for constructing the grid map includes the restricted area whose distance from the current position of the movable platform is lower than the threshold distance, the The threshold distance can be reasonably set according to actual needs, such as 1 km, 2 km, 3 km, etc.

In another example, the obtaining the first data information of the restricted area for constructing the grid map includes: determining the restricted area for constructing the grid map according to the overlapping relationship between the restricted area and the current map area, wherein, The restricted area used to construct the grid map includes the restricted area that overlaps with the current map area, and the current map area includes the area covered by the historical movement track of the movable platform, for example, the movable platform is currently in the first position, and If the movable platform is moved from the second position to the first position, the historical movement track also includes its movement track from the second position to the first position, and the movable platform will return from the first position to the first position. For example, the aircraft is about to return home. Therefore, the current map area can be drawn by using the area covered by the historical movement trajectory of the aircraft moving from the second position to the first position. Restricted restricted area.

It is worth mentioning that the method for obtaining the first data information of the restricted area for constructing a grid map in the above example may be used alone or may be used in combination.

Optionally, the first data information of the restricted area is, for example, the restricted flight data of the restricted area. The restricted data can be directly stored in a circle and/or a polygon. The circular restricted area stores the GPS coordinates and radius of the center of the restricted area, and the polygon The restricted fly area stores the GPS coordinates of each vertex of the polygon.

It should be noted that the first data information of the restricted area in this application may also include, for example, the length, width, and height of the restricted area (such as the restricted area) (that is, the restricted area (for example, the restricted area) The maximum movable height of the mobile platform), center position, shape, type and other data information.

Continuing as shown in FIG. 2 , in step S202 , a grid map of the restricted area is obtained based on the first data information of the restricted area.

In the grid map, the grid covered by the restricted area includes height information, and the height information is the maximum movable height of the movable platform. For example, when the movable platform is an aircraft, the height information may include The maximum movable altitude of the aircraft (that is, the maximum flying altitude). The restricted area is presented in the form of obstacles with height information in the grid map, and the movable platform can quickly obtain the relevant information of the restricted area by simply searching for the restricted area during the movement, and plan the movement reasonably according to the relevant information. route to avoid the problem of accidentally entering prohibited movement areas (such as no-fly zones).

In one example, the first data information of the restricted area includes data information of the geometric restricted area stored in GPS points, and based on the first data information of the restricted area, the grid map of the restricted area is obtained, including: Obtaining the first data information of the restricted area and converting it to the second data information under the geographic coordinate system, for example, converting the first data information under the GPS coordinate system (and the world coordinate system) to the geographic coordinate system (for example, the NED coordinate system) The second data information below, the GPS coordinate system can include the geocentric fixed coordinate system, for example, the geocentric fixed coordinate system can be the WGS-84 coordinate system or other GPS coordinate systems, and the geographic coordinate system is, for example, the North East Down , NED) coordinate system or other geographic coordinate system that can be used when navigating. The grid map of the restricted area in the geographic coordinate system is constructed based on the second data information, for example, the grid map of the restricted area in the NED coordinate system is constructed based on the second data information in the NED coordinate system.

In this paper, the NED coordinate system is the current position on the earth, with the north direction as the N direction, the east direction as the E direction, and the vertical downward direction as the D direction.

The GPS coordinates in a GPS coordinate system (eg, WGS-84 coordinate system) can be converted to coordinates in a geographic coordinate system such as the NED coordinate system by any suitable coordinate system conversion method, for example, by obtaining a GPS coordinate system (eg, WGS coordinate system). -84 coordinate system) to a geographic coordinate system such as a transformation matrix of the NED coordinate system, and based on the transformation matrix, the GPS coordinates are converted into coordinate information in the NED coordinate system.

In an example, constructing the grid map of the restricted area under the geographic coordinate system based on the second data information includes: as shown in FIG. 4 , in the grid in the area enclosed by the edge of the restricted area Fill height information, the height information is the maximum movable height of the movable platform. As shown in FIG. 4 , each grid may have a height, and the height is used to indicate the restricted movement height in the corresponding restricted area of the grid. On the grid map, the size and height of the grid can have a scale relationship with the size and height of the actual restricted area. 500 meters in the height limit area, etc. For example, if the height information corresponding to the candy-shaped grid is 0.5 cm, it indicates that the restricted flight height of the actual flight restriction area corresponding to the grid is 250 meters. Wherein, when the first data information of the restricted area includes multiple height information, the obtained grid map of the restricted area also has multiple heights, and when the first data information of the restricted area includes a single height information, then The obtained raster map of the restricted area corresponds to one layer of height.

The height information can be filled in the grid in the area enclosed by the edge of the restricted area by any suitable method to construct a grid map, wherein different construction methods can be adopted for the restricted area of different geometric shapes, and the geometry of the restricted area Shapes may include, for example, circles, polygons, or other irregular shapes, and the like.

In an example, as shown in FIG. 3 , when the geometric shape of the restricted area is a circle, the grid in the area enclosed by the edge of the restricted area is filled with height information, including the following steps A1 to A2 :

In step A1, the intersection coordinates of a plurality of scan lines and the circle are obtained, wherein the extension direction of each scan line is perpendicular to the first coordinate axis of the geographic coordinate system, and the first coordinate axis includes the x-axis Or the y-axis, wherein the spacing distance between adjacent scan lines is the same as the grid size, wherein the grid size of the present application can be reasonably set according to actual needs, which is not specifically limited here.

Optionally, the plurality of scan lines include a first scan line, a second scan line, and at least one third scan line between the first scan line and the second scan line, wherein the The first scan line passes through the point corresponding to the maximum value of the geometric shape of the restricted area in the direction of the first coordinate axis and is perpendicular to the direction of the first coordinate axis, and the second scan line passes through the geometric shape of the restricted area The point corresponding to the minimum value in the direction of the first coordinate axis is perpendicular to the direction of the first coordinate axis. Optionally, the maximum and minimum values of the circular restricted area in the direction of the first coordinate axis may be obtained according to the center and radius of the circular restricted area. Further, the first scan line may be used as the start scan line, and the second scan line may be used as the end scan line, or the first scan line may be used as the end scan line, and the second scan line may be used as the start scan line.

For example, as shown in Figure 3, taking the first coordinate axis as the Y-axis as an example, according to the center and radius of the restricted area of the circle, the maximum value ymax and the minimum value ymin of the restricted area of the circle in the y-axis direction are obtained, Pass (0, ymin) to make a straight line a perpendicular to the y-axis, pass (0, ymax) to make a straight line b perpendicular to the y-axis, use straight line a as the starting scan line, and straight line b as the end scan line, according to the grid The size selects the middle scan line, that is, the third scan line.

In step A2, according to the number of intersections between each scan line and the circle, determine the grid to be filled with the height information. The grid is filled with height information corresponding to the intersection. When the scan line and the circle have two intersections, the grid in the area between the two intersections is filled with height information, and the two intersections are filled with height information. The filling height of other areas outside the intersection along the extension direction of the scan line (that is, the other areas are not restricted areas) is not restricted and can be set to a maximum value. The height information to be filled is determined according to the restricted height information of the restricted area (such as the maximum movable height of the movable platform), for example, when the restricted area has a single maximum movable height of the movable platform, or, the restricted area has multiple The maximum movable height of the mobile platform. The maximum movable heights of the multiple movable platforms correspond to different regions. The height information that needs to be filled in the grid can be set according to the specific region where the grid is located, and then the obtained limit area is A raster map, which can have multiple heights.

When the geometric shape of the restricted area is a polygon, any suitable method known to those skilled in the art can be used to fill it with height information, for example, by means of scanning lines, it is determined that the grid mark located in the polygon area is the first The flag bit is determined, and the grid outside the polygon area is determined to be marked as the second flag bit, and the corresponding height information is filled in the grid marked by the first flag bit.

In an example, when the geometric shape of the restricted area is a polygon, filling the grid with height information in the area enclosed by the edge of the restricted area includes the following steps B1 and B3:

In step B1, the intersection points of a plurality of scan lines and the polygon are acquired, wherein the extension direction of each scan line is perpendicular to the first coordinate axis of the geographic coordinate system, wherein the interval distance between adjacent scan lines is The same as the grid size, the first coordinate axis includes an x-axis or a y-axis.

For example, taking the first coordinate axis as the Y-axis as an example, obtain the maximum value ymax and the minimum value ymin of the restricted area of the polygon in the y-axis direction, and pass (0, ymin) to make a straight line a perpendicular to the y-axis, and pass (0 , ymax) to make a straight line b perpendicular to the y-axis, take straight line a as the starting scan line, take straight line b as the ending scan line, and select the middle scan line according to the grid size, that is, the third scan line. In this application, only the case where the first coordinate axis is the Y axis is used as an example for description, but it can be understood that the case where the first coordinate axis is the X axis is also applicable to this application.

In step B2, the grid where each scan line extends from one side to the other side of the polygon and the first intersection of the polygon is set as the first flag bit, indicating that the scan line is now in Inside the polygon, set the grid where the next intersection with the polygon is located as the second flag bit, indicating that the scan line has passed the polygon, and outside the polygon, set the first intersection with the next intersection The grid that the scan line passes through and is determined to be located in the restricted area is set as the first flag bit, wherein the first flag bit is 1, the second flag bit is 0, or the first flag bit is 0 The flag bit is 0 and the second flag bit is 1. When the scan line and the polygon have more than two intersection points, according to the time sequence of the intersection of the scan line and the polygon, the first intersection point, the second intersection point...the nth Intersections, until all intersections are taken, where the grid corresponding to the odd-numbered intersections is set as the first flag bit, the grid corresponding to the even-numbered intersections is set as the second flag bit, and the sorted intersections are paired in pairs. The grid between the two intersections determined to be located within the restricted area is set as the first flag bit. Specifically, any suitable method known to those skilled in the art can be used to determine whether the grid between two intersection points is located within the restricted area.

In step B3, the corresponding height information is filled in the grid marked by the first flag bit, otherwise, the height is set as unrestricted, that is, the maximum value.

The grid map of the restricted area of the polygon is obtained by the above method, and other methods that can fill the restricted area of the polygon are also applicable to the present application.

4 shows a grid map of the rasterized restricted area, and each raised area in the figure is an adjacent restricted area, such as an airport restricted area, where aircraft such as drones are prohibited from entering.

Continuing to refer to FIG. 2 , in step S203 , the movement of the movable platform is controlled based on the grid map of the restricted area.

Movement of the movable platform can be controlled based on the grid map of the restricted area by any suitable method, eg, based on the grid map of the restricted area, controlling the flight of the aircraft, eg restricting the flight of the aircraft.

In a first control method, controlling the movement of the movable platform based on the grid map of the restricted area includes: determining the positional relationship between the movable platform and the restricted area based on the grid map of the restricted area; Based on the positional relationship, the movement of the movable platform is controlled, for example, under the grid map, the positional relationship between the aircraft and the flight restriction area is determined and the flight speed is directly restricted. The movement of the movable platform is controlled, and the relevant restrictions on the movable platform (such as the aircraft) are performed, such as controlling the aircraft to perform deceleration logic, change the flight direction, reduce the flight altitude, etc. So as to prevent movable platforms (such as aircraft) from violating the rules of restricted areas (such as restricted flight areas), resulting in unnecessary risks

Exemplarily, the grid map is a grid map in a geographic coordinate system. Based on the grid map of the restricted area, determining the positional relationship between the movable platform and the restricted area includes: obtaining the current state of the movable platform. Location information, such as the current GPS location of the aircraft. Map the current location information to the geographic coordinate system, and obtain the grid location corresponding to the current location, for example, convert the current location information of the movable platform to the NED coordinate system, and obtain the grid location in the NED coordinate system. grid position; based on the grid position and the grid map of the restricted area, determine the restricted area within the range of the predetermined grid number from the grid position, for example, by looking up a table to find the corresponding mobile platform (such as an aircraft) Check whether the grid position of the mobile platform (such as an aircraft) is in a restricted area (such as a restricted area), and check the situation of the restricted area (such as a restricted area) within a predetermined number of grids around the grid position corresponding to the movable platform (such as an aircraft); The positional relationship between the movable platform and the restricted area, for example, when there is a restricted area (such as a restricted area), then obtain the positional relationship between the movable platform and the restricted area, for example, the positional relationship includes a movable platform (such as an aircraft) The closest distances to all restricted areas (eg all flybacks) and corresponding direction vectors.

Further, controlling the movement of the movable platform based on the positional relationship includes: when it is determined based on the positional relationship that the movable platform is in a prohibited movement area in the restricted area, controlling the movable platform to stop moving or Forbid the movable platform to start moving, for example, when it is determined that the aircraft is in a no-fly zone, control the aircraft to stop flying or prohibit the aircraft from starting to fly; or, when it is determined based on the positional relationship that the movable platform is in a restricted area with a height limit control the movable platform to move below the height limit of the height limit area, for example, when it is determined that the aircraft is in the height limit area of the limit area, control the aircraft to fly below the limit height of the height limit area; or, when Based on the positional relationship, it is determined that the movable platform is not currently in the restricted area, and the movable platform is prohibited from moving in the direction according to the obtained closest distance from the movable platform to the restricted area and the corresponding direction vector, for example, according to The obtained shortest distance and direction vector to the nearest flight limit area, limit the movement of the UAV in this direction, for example, control the aircraft to decelerate, or change the course after deceleration, so as to prevent the UAV from flying into the flight limit area, create risk.

In one example, the grid map of the restricted area is obtained based on data information collected during the movement of the movable platform from the second position to the first position, the grid of the restricted area The map also includes obstacles detected by the visual sensor of the movable platform in the process of moving from the second position to the first position. When the movement of the movable platform is controlled based on the grid map, for example, the movable platform can be moved. When the platform is moving, it is mapped to the same geographic coordinate system as the grid map, and then finds obstacles around it, so as to control the movable platform to avoid obstacles during its movement, prevent it from colliding with obstacles and affect its movement and lead to problems such as platform damage.

In the second control method, based on the grid map of the restricted area, it is also possible to actively bypass the restricted area (for example, the restricted area) when planning the moving route (for example, the route of the aircraft), based on the grid map of the restricted area , controlling the movement of the movable platform, comprising: obtaining a predetermined movement route of the movable platform from the first position to the second position based on the grid map of the restricted area, wherein the predetermined movement route is not related to the The restricted area intersects, that is, the predetermined movement route does not pass through the restricted area, thereby preventing the movable platform from entering the restricted area such as the drone flying into the restricted area or too close to the restricted area.

For example, a planned moving route can be obtained based on a conventional algorithm for moving route planning, and the planned moving route can be one or more, and then the grid map of the restricted area is searched to determine the predetermined moving route, that is, the safe route. The route does not intersect the restricted area, ie the predetermined movement route does not pass through the restricted area. After a route is planned, the grid map of the restricted area is searched. When the planned route does not meet the requirements, that is, when it passes through the restricted area, the route is re-planned, and then the restriction is searched based on the re-planned route. The grid map of the area is used to determine whether the route meets the requirements, that is, whether it passes through the restricted area. Repeat the above planning and search steps until a route that does not pass through the restricted area is obtained as the predetermined moving route. Alternatively, a plurality of planned routes may be obtained based on a planning algorithm, and then based on the routes one by one, a grid map of the restricted area may be searched, thereby determining a predetermined moving route among the plurality of planned routes. Alternatively, other suitable methods may also be used to determine the predetermined moving route.

In one example, the grid map of the restricted area is obtained based on data information collected during the movement of the movable platform from the second position to the first position, so that the grid map can be Covers all the information of the flight control area between the first position and the second position. Therefore, when the movable platform returns from the first position to the second position, the moving route can be well planned based on the grid map, which can save Computing power, quickly find information about restricted areas, and improve the efficiency and speed of route planning.

Optionally, the grid map of the restricted area further includes obstacles detected by the visual sensor of the movable platform during the movement from the second position to the first position, the predetermined movement route. Do not intersect with the obstacle, that is, the predetermined moving route avoids the obstacle, so as to avoid the problem of collision with the obstacle during the movement of the movable platform.

When planning the flight route of an aircraft such as an unmanned aerial vehicle by using a route planning algorithm (such as RRT, PRM, etc.) according to actual needs, you can query the restricted area established above, such as the grid map of the restricted flight area, to obtain a safe route (that is, a safe route). Predetermined moving route), and then control the UAV to fly by the flight control method to ensure that the UAV will not appear in the restricted flight area during the flight.

The above two control methods can be used separately or in combination to obtain a more reliable movement path (eg flight path). The combined use process can be shown in Figure 5. Taking the aircraft as an example, firstly, through the second control method, plan the route through the planning algorithm of the specific business, and judge whether the planned route passes the limit based on the grid map of the restricted flight area. In the flying area, the route that does not pass through the restricted flight area is used as the predetermined moving route, that is, the safe route. After that, the aircraft is controlled to fly according to the safe route, and the route is tracked during the flight, and the unmanned aerial vehicle is controlled according to the speed command of the drone. At the same time, according to the aforementioned first control method during the flight, the current position of the drone is obtained, and it is converted into a geographic coordinate system such as the NED coordinate system, based on the grid map of the restricted flight area, Determine the positional relationship between the drone and the restricted flight area, limit the flight speed of the drone based on the positional relationship, and control the drone to execute the restricted drone speed command.

For example, taking an aircraft as an example, if the aircraft is located in the restricted flight area, if the flying height of the aircraft is higher than the restricted flying height of the restricted area, control the aircraft to lower its flying height to below the restricted flying height. In the flying zone, the heading (ie, the flight direction) of the aircraft is adjusted to control the drone to fly outside the restricted flight zone. For another example, if the aircraft is located outside the flight-restricted area and within a preset distance from the flight-restricted area, the aircraft is prevented from taking off or the aircraft is prohibited from flying in the direction of the flight-restricted area. Also for example, if the aircraft is in a no-fly zone, the aircraft is controlled to land on the ground. For another example, if the aircraft is located in a restricted flight zone, the aircraft is controlled to decelerate, or, after deceleration, the course is changed to prevent entering the no-fly zone by mistake.

To sum up, the control method of the movable platform in the embodiment of the present application converts the data form of the restricted area into the form of a grid map, and stores the data of the restricted area in the form of a grid map. During the process, the data information of the restricted area around the movable platform can be quickly obtained by searching the grid map, which can save the on-board computing power and improve the searching speed of the restricted area, so that the movement can be reasonably planned according to the found restricted area. The path can effectively avoid the problem of the movable platform straying into the restricted area (such as the restricted area), which is beneficial to the use of a general motion planning method.

As shown in FIG. 6 , an embodiment of the present application further provides a control device for a movable platform. The control device may be an external device independent of the movable platform, such as a control terminal of the movable platform. The control terminal may include, for example, a mobile phone, Remote control, tablet computer, notebook, etc., the control device can also be a part or all of the control system of the mobile platform, and can also be a computer device that can realize the control method of the mobile platform through software, hardware or a combination of software and hardware. part or all of it.

As shown in FIG. 6 , the control apparatus 600 of the movable platform may include one or more memories 601 for storing executable program instructions, and one or more processors 602 for executing the The program instructions cause the processor to execute the relevant steps of the control method 200 of the movable platform described above.

As shown in FIG. 6, the control device 600 of the movable platform includes one or more memories 601, one or more processors 602, a display device (not shown), a communication device, etc., these components are connected through a bus system and/or Other forms of connection mechanisms (not shown) are interconnected. It should be noted that the components and structures of the apparatus 600 shown in FIG. 8 are only exemplary and not restrictive, and the apparatus 600 may also have other components and structures as required.

The memory 601 is used to store various data and executable program instructions generated during the movement of the relevant movable platform, for example, used to store various application programs or algorithms for implementing various specific functions. One or more computer program products may be included, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and/or cache memory, or the like. The non-volatile memory may include, for example, read only memory (ROM), hard disk, flash memory, and the like.

Processor 602 may be a central processing unit (CPU), graphics processing unit (GPU), application specific integrated circuit (ASIC), field programmable gate array (FPGA), or other form of processing with data processing capabilities and/or instruction execution capabilities unit, and may control other components in device 600 to perform desired functions. For example, a processor can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware finite state machines (FSMs), digital signal processors (DSPs), graphics processing units (GPUs), or the like The combination.

In one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes the following steps: acquiring first data information of a restricted area for constructing a grid map; based on the The first data information of the restricted area is obtained, and the grid map of the restricted area is obtained; based on the grid map of the restricted area, the movement of the movable platform is controlled. For example, the processor 602 transmits control instructions to the movable platform through the communication device to control the movement of the movable platform.

In one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes the acquisition of the first data information for building the restricted area of the raster map, including: according to the available The current location information of the mobile platform, and the first data information for determining the restricted area for constructing the grid map, wherein the restricted area for constructing the grid map includes a distance from the current location of the movable platform that is lower than a threshold distance restricted area.

In one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes and obtains the first data information of the restricted area for constructing the grid map, including: according to the restricted area and the The overlapping relationship of the current map area, determining the restricted area for constructing the grid map, wherein the restricted area for constructing the grid map includes the restricted area overlapping with the current map area, and the current map area includes the movable platform The area covered by the historical movement track.

The first data information of the restricted area includes data information of the geometric restricted area stored in GPS points. In one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes Obtaining the grid map of the restricted area based on the first data information of the restricted area includes: converting the first data information of the restricted area into second data information in a geographic coordinate system; based on the second data information of the restricted area The data information constructs a grid map of the restricted area under the geographic coordinate system.

In one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes constructing the grid of the restricted area under the geographic coordinate system based on the second data information The map includes: filling the grid in the area enclosed by the edge of the restricted area with height information, where the height information is the maximum movable height of the movable platform.

Optionally, in the grid map, the grid covered by the restricted area includes height information, and the height information is the maximum movable height of the movable platform.

When the geometric shape of the restricted area is a circle, in one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes in an area surrounded by the edge of the restricted area Filling height information in the grid of the The interval distance between the scan lines is the same as the grid size, and the first coordinate axis includes the x-axis or the y-axis; according to the number of intersections between each scan line and the circle, determine the grid predetermined to fill the height information, wherein , when the scan line and the circle have one intersection, fill the grid where the intersection is with the height information corresponding to the intersection, and when the scan line and the circle have two intersections, then Fills the grid with height information in the area between the two intersections.

When the geometrical shape of the restricted area is a polygon, in one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes the operation in the area enclosed by the edge of the restricted area. Filling the grid with height information includes: acquiring the intersection points of a plurality of scan lines and the polygon, wherein the extension direction of each scan line is perpendicular to the first coordinate axis of the geographic coordinate system, wherein the distance between adjacent scan lines is perpendicular to the first coordinate axis of the geographic coordinate system. The spacing distance between them is the same as the grid size, and the first coordinate axis includes the x-axis or the y-axis; when each of the scan lines is extended from one side of the polygon to the other side, it is the same as the first coordinate axis of the polygon. The grid where each intersection is located is set as the first flag bit, the grid where the next intersection with the polygon is located is set as the second flag bit, and all the points between the first intersection and the next intersection are set as the second flag The grids that the scan lines pass through and are determined to be located in the restricted area are set as the first flags; the grids marked by the first flags are filled with corresponding height information.

Optionally, the plurality of scan lines include a first scan line, a second scan line, and at least one third scan line between the first scan line and the second scan line, wherein the The first scan line passes through the point corresponding to the maximum value of the geometric shape of the restricted area in the direction of the first coordinate axis and is perpendicular to the direction of the first coordinate axis, and the second scan line passes through the geometric shape of the restricted area The point corresponding to the minimum value in the direction of the first coordinate axis is perpendicular to the direction of the first coordinate axis.

In one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes the grid map based on the restricted area, and controls the movement of the movable platform, including: based on the A grid map of the restricted area is used to determine the positional relationship between the movable platform and the restricted area; based on the positional relationship, the movement of the movable platform is controlled.

The grid map is a grid map in a geographic coordinate system. In one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes the grid map based on the restricted area. The grid map is used to determine the positional relationship between the movable platform and the restricted area, including: obtaining the current position information of the movable platform; mapping the current position information to the geographic coordinate system, and obtaining the grid corresponding to the current position grid position; based on the grid position and the grid map of the restricted area, determine a restricted area within a range of a predetermined grid number from the grid position; acquire the positional relationship between the movable platform and the restricted area.

In one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes: based on the positional relationship, controlling the movement of the movable platform, including: when based on the positional relationship When the positional relationship determines that the movable platform is in a prohibited movement area in the restricted area, control the movable platform to stop moving or prohibit the movable platform from starting to move; or, when the movable platform is determined based on the positional relationship When it is in the restricted area in the restricted area, control the movable platform to move below the restricted height of the restricted area; or when it is determined based on the positional relationship that the movable platform is not currently in the restricted area, according to the obtained The closest distance of the movable platform to the restricted area and the corresponding direction vector, the movable platform is prohibited from moving in the direction.

In one example, the processor 602 is configured to execute the program instructions stored in the memory, so that the processor executes: based on the grid map of the restricted area, controlling the movement of the movable platform, including: based on the The grid map of the restricted area is used to obtain a predetermined movement route of the movable platform from the first position to the second position, wherein the predetermined movement route does not intersect the restricted area.

The grid map of the restricted area is obtained based on the data information collected during the movement of the movable platform from the second position to the first position, wherein the grid map of the restricted area further includes: Including obstacles detected by the vision sensor of the movable platform during the movement from the second position to the first position, the predetermined movement route does not intersect the obstacles.

In one example, the control device 600 further includes an output device that can output various information (eg, images or sounds) to the outside (eg, a user), and may include one or more of a display device, a speaker, and the like.

In one example, the control device 600 further includes a display device, which can be used to acquire a grid map of the restricted area, and display the grid map on the display interface.

In one example, the control device 600 further includes a communication interface (or called a communication device, not shown), which is used between each component in the control device 600 and between each component of the control device 600 and other devices outside the system For communication, for example, when the device is an external device, it can communicate with the movable platform through a communication interface, so that information can be exchanged between the two.

The communication interface is an interface that can be any currently known communication protocol, such as a wired interface or a wireless interface, wherein the communication interface can include one or more serial ports, USB interfaces, Ethernet ports, WiFi, wired networks, DVI interfaces, device Integrated interconnect modules or other suitable various ports, interfaces, or connections. Device 600 may also access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G, 5G, or a combination thereof. In one exemplary embodiment, the communication interface receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication interface further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In one example, the device 600 also includes an input device (not shown) that may be a device used by a user to input instructions, and may include one or more of a keyboard, trackball, mouse, microphone, touch screen, etc., or An input device consisting of other control buttons.

The control device in the embodiment of the present application is used to implement the aforementioned control method, and therefore also has the advantages of the aforementioned control method, converting the data form of the restricted area into the form of a grid map, and storing the data of the restricted area in the form of a grid map , During the movement of the movable platform, the data information of the restricted area around the movable platform can be quickly obtained by searching the grid map, which can save the on-board computing power and improve the searching speed of the restricted area. Reasonable planning of the moving path in the restricted area, effectively avoiding the problem of the movable platform entering the restricted area (such as the restricted area) by mistake.

An embodiment of the present application also provides a movable platform. The movable platform may include an aircraft (for example, an unmanned aerial vehicle), a robot, an unmanned vehicle, and an unmanned ship. When the movable platform includes an aircraft, the restricted area is the restricted area of flight. Area.

The movable platform may include a power mechanism for moving the movable platform; a memory for storing executable program instructions; and one or more processors for executing all the programs stored in the memory. The program instructions cause the processor to execute the relevant steps of the control method 200 of the movable platform described above.

Continuing to refer to FIG. 1 , taking the case where the movable platform is an aircraft 100 as an example, the aircraft 100 includes one or more processors 101 for executing the program instructions stored in the memory, so that the processors execute the foregoing For the steps related to the control method 200 of the movable platform in the embodiment, in order to avoid repetition, reference may be made to the foregoing description.

Since the movable platform (such as an aircraft) of the embodiment of the present application can be used to execute the relevant steps of the aforementioned method 200 for controlling a movable platform, it also has the advantages of the above method, and the data form of the restricted area is converted into a grid map In the process of moving the movable platform, the data information of the restricted area around the movable platform can be quickly obtained by searching the grid map, so as to save airborne The computing power increases the search speed of the restricted area, so that the movement path can be reasonably planned according to the found restricted area, and the problem of the mobile platform entering the restricted area (such as the restricted area) by mistake can be effectively avoided.

In addition, the embodiments of the present application further provide a computer storage medium, such as a computer-readable storage medium, on which a computer program is stored. One or more computer program instructions may be stored on the computer storage medium, and the processor may execute the program instructions stored in the memory to implement the functions (implemented by the processor) in the embodiments of the present application described herein and/or or other desired functions, for example, to execute the corresponding steps of the method 200 for controlling a mobile platform according to an embodiment of the present application, various application programs and various data may also be stored in the computer-readable storage medium, such as the Various data used and/or generated by the application, etc.

For example, the computer-readable storage medium may include, for example, a memory card of a smartphone, a storage component of a tablet computer, a hard disk of a personal computer, a read only memory (ROM), an erasable programmable read only memory (EPROM), a portable compact disk read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium can be any combination of one or more computer-readable storage media.

It should be understood that various parts of this application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one of the following techniques known in the art, or a combination thereof: discrete with logic gates for implementing logic functions on data signals Logic circuits, application-specific integrated circuits with suitable combinational logic gate circuits, Programmable Gate Array (hereinafter referred to as: PGA), Field Programmable Gate Array (Field Programmable Gate Array; referred to as: FPGA), etc.

Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described example embodiments are exemplary only, and are not intended to limit the scope of the application thereto. Various changes and modifications may be made therein by those of ordinary skill in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that in the description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, FIG. , or in its description. However, this method of application should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as the corresponding claims reflect, the invention lies in the fact that the corresponding technical problem may be solved with less than all features of a single disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or apparatus so disclosed may be used in any combination, except that the features are mutually exclusive. Processes or units are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the present application within and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The present application can also be implemented as a program of apparatus (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

It should be noted that the above-described embodiments illustrate rather than limit the application, and alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

Claims

A control method for a movable platform, characterized in that the control method comprises:

obtaining first data information of a restricted area for constructing a grid map;

obtaining a grid map of the restricted area based on the first data information of the restricted area;

Movement of the movable platform is controlled based on the grid map of the restricted area.
The control method according to claim 1, wherein the acquiring the first data information used to construct the restricted area of the grid map comprises:

According to the current position information of the movable platform, first data information of a restricted area for constructing a grid map is determined, wherein the restricted area for constructing a grid map includes a distance from the current position of the movable platform A restricted area below a threshold distance.
The control method according to claim 1, wherein the acquiring the first data information used to construct the restricted area of the grid map comprises:

According to the overlapping relationship between the restricted area and the current map area, the restricted area for constructing the grid map is determined, wherein the restricted area used for constructing the grid map includes the restricted area overlapping with the current map area, and the current map area includes The area covered by the historical movement track of the movable platform.
The control method according to claim 1, wherein the first data information of the restricted area includes data information of a geometric restricted area stored in GPS points, and the first data information of the restricted area is obtained based on the first data information of the restricted area. Raster map of restricted areas, including:

Obtaining the first data information of the restricted area and converting it to the second data information under the geographic coordinate system;

A grid map of the restricted area under the geographic coordinate system is constructed based on the second data information.
The control method according to claim 4, wherein constructing a grid map of the restricted area under the geographic coordinate system based on the second data information, comprising:

The grid in the area enclosed by the edge of the restricted area is filled with height information, the height information being the maximum movable height of the movable platform.
The control method according to claim 1, wherein, in the grid map, the grid covered by the restricted area includes height information, and the height information is the maximum movable height of the movable platform .
The control method according to claim 5, wherein, when the geometric shape of the restricted area is a circle, filling the grid in the area surrounded by the edge of the restricted area with height information includes:

Obtain the coordinates of the intersection of a plurality of scan lines and the circle, wherein the extension direction of each scan line is perpendicular to the first coordinate axis of the geographic coordinate system, wherein the distance between adjacent scan lines is the same as that of the grid same size;

According to the number of intersections between each scan line and the circle, a grid predetermined to fill the height information is determined, wherein when the scan line and the circle have an intersection, the grid where the intersection is filled with and For the height information corresponding to the intersection, when the scan line and the circle have two intersections, the grid in the area between the two intersections is filled with the height information.
The control method according to claim 5, wherein when the geometric shape of the restricted area is a polygon, the filling height information in the grid in the area surrounded by the edge of the restricted area comprises:

Obtain the intersection of a plurality of scan lines and the polygon, wherein the extension direction of each scan line is perpendicular to the first coordinate axis of the geographic coordinate system, wherein the spacing distance between adjacent scan lines is the same as the grid size ;

Set the grid where each scan line extends from one side of the polygon to the other side with the first intersection with the polygon as the first flag bit, and set the grid where the next intersection with the polygon is located. The grid is set as the second flag bit, and the grid that the scan line between the first intersection point and the next intersection passes through and is determined to be located in the restricted area is set as the first flag bit;

Corresponding height information is filled in the grid marked by the first flag bit.
The control method according to claim 7 or 8, wherein the plurality of scan lines comprise a first scan line, a second scan line, and a space between the first scan line and the second scan line at least one third scan line of , wherein the first scan line passes through the point corresponding to the maximum value of the geometric shape of the restricted area in the direction of the first coordinate axis and is perpendicular to the direction of the first coordinate axis, and the The second scan line passes through the point corresponding to the minimum value of the geometric shape of the restricted area in the direction of the first coordinate axis and is perpendicular to the direction of the first coordinate axis.
The control method according to claim 1, wherein, based on the grid map of the restricted area, controlling the movement of the movable platform comprises:

determining the positional relationship between the movable platform and the restricted area based on the grid map of the restricted area;

Based on the positional relationship, movement of the movable platform is controlled.
The control method according to claim 10, wherein the grid map is a grid map in a geographic coordinate system, and based on the grid map of the restricted area, the positions of the movable platform and the restricted area are determined relationships, including:

Get the current location information of the movable platform;

mapping the current location information to the geographic coordinate system, and obtaining a grid location corresponding to the current location;

determining a restricted area within a range of a predetermined number of grids from the grid location based on the grid location and the grid map of the restricted area;

Obtain the positional relationship between the movable platform and the restricted area.
The control method according to claim 11, wherein, based on the positional relationship, controlling the movement of the movable platform comprises:

When it is determined based on the positional relationship that the movable platform is in a prohibited movement area in the restricted area, controlling the movable platform to stop moving or prohibiting the movable platform from starting to move; or,

When it is determined based on the positional relationship that the movable platform is in a restricted height area in the restricted area, controlling the movable platform to move below the restricted height of the restricted height area; or

When it is determined based on the positional relationship that the movable platform is not currently in the restricted area, the movable platform is prohibited from moving toward the direction according to the acquired closest distance from the movable platform to the restricted area and the corresponding direction vector.
The control method according to claim 1, wherein, based on the grid map of the restricted area, controlling the movement of the movable platform comprises:

Based on the grid map of the restricted area, a predetermined movement route of the movable platform from the first position to the second position is obtained, wherein the predetermined movement route does not intersect the restricted area.
The control method according to claim 13, wherein the grid map of the restricted area is based on data information collected during the movement of the movable platform from the second position to the first position. Obtaining, wherein the grid map of the restricted area further includes obstacles detected by the visual sensor of the movable platform during the movement from the second position to the first position, the predetermined movement route Does not intersect the obstacle.
The control method according to any one of claims 1 to 14, wherein the movable platform comprises an aircraft, an unmanned vehicle, an unmanned ship or a robot.
The control method according to any one of claims 1 to 14, wherein when the movable platform includes an aircraft, the restricted area is a restricted flight area.
A control device for a movable platform, characterized in that the control device comprises:

memory for storing executable program instructions;

one or more processors for executing the program instructions stored in the memory, causing the processors to perform the following steps:

obtaining first data information of a restricted area for constructing a grid map;

obtaining a grid map of the restricted area based on the first data information of the restricted area;

Movement of the movable platform is controlled based on the grid map of the restricted area.
The control device according to claim 17, wherein the acquiring the first data information for constructing the restricted area of the grid map comprises:

According to the current position information of the movable platform, first data information of a restricted area for constructing a grid map is determined, wherein the restricted area for constructing a grid map includes a distance from the current position of the movable platform A restricted area below a threshold distance.
The control device according to claim 17, wherein the acquiring the first data information for constructing the restricted area of the grid map comprises:

According to the overlapping relationship between the restricted area and the current map area, the restricted area for constructing the grid map is determined, wherein the restricted area used for constructing the grid map includes the restricted area overlapping with the current map area, and the current map area includes The area covered by the historical movement track of the movable platform.
The control device according to claim 17, wherein the first data information of the restricted area includes data information of the geometric restricted area stored in GPS points, and the first data information of the restricted area is obtained based on the first data information of the restricted area. Raster map of restricted areas, including:

Obtaining the first data information of the restricted area and converting it to the second data information under the geographic coordinate system;

A grid map of the restricted area under the geographic coordinate system is constructed based on the second data information.
The control device according to claim 20, wherein the grid map of the restricted area under the geographic coordinate system is constructed based on the second data information, comprising:

The grid in the area enclosed by the edge of the restricted area is filled with height information, the height information being the maximum movable height of the movable platform.
The control device according to claim 17, wherein, in the grid map, the grid covered by the restricted area includes height information, and the height information is the maximum movable height of the movable platform .
The control device according to claim 21, wherein when the geometric shape of the restricted area is a circle, filling the grid in the area surrounded by the edge of the restricted area with height information includes:

Obtain the coordinates of the intersection of a plurality of scan lines and the circle, wherein the extension direction of each scan line is perpendicular to the first coordinate axis of the geographic coordinate system, wherein the distance between adjacent scan lines is the same as that of the grid same size;

According to the number of intersections between each scan line and the circle, a grid predetermined to fill the height information is determined, wherein when the scan line and the circle have an intersection, the grid where the intersection is filled with and For the height information corresponding to the intersection, when the scan line and the circle have two intersections, the grid in the area between the two intersections is filled with the height information.
The control device according to claim 21, wherein when the geometric shape of the restricted area is a polygon, the filling height information in the grid in the area surrounded by the edge of the restricted area includes:

Obtain the intersection of a plurality of scan lines and the polygon, wherein the extension direction of each scan line is perpendicular to the first coordinate axis of the geographic coordinate system, wherein the spacing distance between adjacent scan lines is the same as the grid size ;

Set the grid where each scan line extends from one side of the polygon to the other side with the first intersection with the polygon as the first flag bit, and set the grid where the next intersection with the polygon is located. The grid is set as the second flag bit, and the grid that the scan line between the first intersection point and the next intersection passes through and is determined to be located in the restricted area is set as the first flag bit;

Corresponding height information is filled in the grid marked by the first flag bit.
The control device according to claim 23 or 24, wherein the plurality of scan lines comprise a first scan line, a second scan line, and a space between the first scan line and the second scan line at least one third scan line of , wherein the first scan line passes through the point corresponding to the maximum value of the geometric shape of the restricted area in the direction of the first coordinate axis and is perpendicular to the direction of the first coordinate axis, and the The second scan line passes through the point corresponding to the minimum value of the geometric shape of the restricted area in the direction of the first coordinate axis and is perpendicular to the direction of the first coordinate axis.
The control device of claim 17, wherein, based on the grid map of the restricted area, controlling the movement of the movable platform comprises:

determining the positional relationship between the movable platform and the restricted area based on the grid map of the restricted area;

Based on the positional relationship, movement of the movable platform is controlled.
The control device according to claim 26, wherein the grid map is a grid map in a geographic coordinate system, and based on the grid map of the restricted area, the positions of the movable platform and the restricted area are determined relationships, including:

Get the current location information of the movable platform;

mapping the current location information to the geographic coordinate system, and obtaining a grid location corresponding to the current location;

determining a restricted area within a range of a predetermined number of grids from the grid location based on the grid location and the grid map of the restricted area;

Obtain the positional relationship between the movable platform and the restricted area.
The control device according to claim 27, wherein, based on the positional relationship, controlling the movement of the movable platform comprises:

When it is determined based on the positional relationship that the movable platform is in a prohibited movement area in the restricted area, controlling the movable platform to stop moving or prohibiting the movable platform from starting to move; or,

When it is determined based on the positional relationship that the movable platform is in a restricted height area in the restricted area, controlling the movable platform to move below the restricted height of the restricted height area; or

When it is determined based on the positional relationship that the movable platform is not currently in the restricted area, the movable platform is prohibited from moving toward the direction according to the acquired closest distance from the movable platform to the restricted area and the corresponding direction vector.
The control device of claim 17, wherein, based on the grid map of the restricted area, controlling the movement of the movable platform comprises:

Based on the grid map of the restricted area, a predetermined movement route of the movable platform from the first position to the second position is obtained, wherein the predetermined movement route does not intersect the restricted area.
29. The control device of claim 29, wherein the grid map of the restricted area is based on data information collected during the movement of the movable platform from the second position to the first position Obtaining, wherein the grid map of the restricted area further includes obstacles detected by the visual sensor of the movable platform during the movement from the second position to the first position, the predetermined movement route Does not intersect the obstacle.
A movable platform, characterized in that the movable platform comprises:

a power mechanism for moving the movable platform;

memory for storing executable program instructions;

One or more processors for executing the program instructions stored in the memory, so that the processors execute the control method according to any one of claims 1 to 16 .
A computer storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the control method described in any one of 1 to 16 is implemented.