WO2022126477A1 - Control method and device for movable platform, and movable platform - Google Patents

Abstract

A control method and control device for a movable platform, and a movable platform. The movable platform comprises a first visual sensor (201, 302, 810) and a second visual sensor (202, 303, 820), the first visual sensor (201, 302, 810) and the second visual sensor (202, 303, 820) having an overlapping observation range. Said method comprises: acquiring focal length information of the first visual sensor (201, 302, 810) and the second visual sensor (202, 303, 820) (S101); and adjusting the movement speed control amount of the movable platform according to the focal length information, so that the direction of the movement speed of the movable platform is within the field of view angle range corresponding to the overlapping observation range (S102). The security of a movable platform in a moving process is ensured.

Description

Control method and device for movable platform and movable platform technical field

The present application relates to the field of automatic control, and in particular, to a control method for a movable platform, a control device for a movable platform, and a movable platform.

Background technique

In order to ensure the safety of the movable platform and avoid damage during use, the movable platform can usually be equipped with a visual sensor for sensing the surrounding environment to prevent the movable platform from hitting obstacles.

For example, in order to fly safely, the existing UAV systems are equipped with a multi-eye (multi-camera) visual perception module based on machine vision, which is used for the UAV to perceive the surrounding environment, thereby assisting the controller to fly safely.

SUMMARY OF THE INVENTION

In a first aspect, an embodiment of the present application provides a control method for a movable platform, the movable platform includes a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor have overlapping The scope of observation, the method includes:

acquiring focal length information of the first vision sensor and the second vision sensor;

The movement speed control amount of the movable platform is adjusted according to the focal length information, so that the direction of the movement speed of the movable platform is within a field angle range corresponding to the overlapping observation range.

In a second aspect, embodiments of the present application provide a control method for a movable platform, where the movable platform includes a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor have overlapping The scope of observation, the method includes:

Acquiring parameter information of overlapping observation ranges of the first vision sensor and the second vision sensor, where the parameter information includes a field of view angle corresponding to the overlapping observation ranges;

The movement speed control amount of the movable platform is adjusted according to the parameter information of the overlapping observation range, so that the direction of the movement speed of the movable platform is within the field angle range corresponding to the overlapping observation range.

In a third aspect, embodiments of the present application provide a control device for a movable platform, where the movable platform includes a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor have overlapping observations scope, the control device includes:

processor;

memory for storing processor-executable instructions;

The processor is configured to:

acquiring focal length information of the first vision sensor and the second vision sensor;

The movement speed control amount of the movable platform is adjusted according to the focal length information, so that the direction of the movement speed of the movable platform is within a field angle range corresponding to the overlapping observation range.

In a fourth aspect, an embodiment of the present application provides a control device for a movable platform, the movable platform includes a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor have overlapping Observation range, the control device includes:

processor;

memory for storing processor-executable instructions;

The processor is configured to:

acquiring parameter information of overlapping observation ranges of the first vision sensor and the second vision sensor, where the parameter information includes a field of view angle corresponding to the overlapping observation ranges;

The movement speed control amount of the movable platform is adjusted according to the parameter information of the overlapping observation range, so that the direction of the movement speed of the movable platform is within the field angle range corresponding to the overlapping observation range.

In a fifth aspect, an embodiment of the present application provides a movable platform, the movable platform includes a first vision sensor and a second vision sensor, and the first vision sensor and the second vision sensor have overlapping observation ranges, The movable platform also includes:

processor;

memory for storing processor-executable instructions;

The processor is configured to:

acquiring focal length information of the first vision sensor and the second vision sensor;

The movement speed control amount of the movable platform is adjusted according to the focal length information, so that the direction of the movement speed of the movable platform is within a field angle range corresponding to the overlapping observation range.

In a sixth aspect, an embodiment of the present application provides a movable platform, the movable platform includes a first vision sensor and a second vision sensor, and the first vision sensor and the second vision sensor have overlapping observation ranges, The movable platform also includes:

processor;

memory for storing processor-executable instructions;

The processor is configured to:

acquiring parameter information of overlapping observation ranges of the first vision sensor and the second vision sensor, where the parameter information includes a field of view angle corresponding to the overlapping observation ranges;

The movement speed control amount of the movable platform is adjusted according to the parameter information of the overlapping observation range, so that the direction of the movement speed of the movable platform is within the field angle range corresponding to the overlapping observation range.

According to the real-time observation range of the actual scene, the embodiment of the present application controls the movable platform to move within the observation range, avoids the safety risk brought by the observation blind spot, and ensures that the movable platform is in a safe motion state.

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 is a flowchart of a control method of a mobile platform according to an exemplary embodiment of the present application.

FIG. 2 is a schematic diagram of an overlapping observation range of a first visual sensor and a second visual sensor according to an exemplary embodiment of the present application.

FIG. 3 is a schematic diagram of an unmanned aerial vehicle according to an exemplary embodiment of the present application.

FIG. 4 is a top view showing an unmanned aerial vehicle flying in a horizontal direction according to an exemplary embodiment of the present application.

FIG. 5 is a schematic diagram illustrating a predicted motion trajectory obtained when an unmanned aerial vehicle flies in a horizontal direction according to an exemplary embodiment of the present application.

FIG. 6 is a flowchart of another method for controlling a movable platform according to an exemplary embodiment of the present application.

FIG. 7 is a schematic diagram of a control device of a movable platform according to an exemplary embodiment of the present application.

FIG. 8 is a schematic diagram of a movable platform according to an exemplary embodiment of the present application.

Detailed ways

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

The embodiment of the present application provides a control method for a movable platform. As an improvement, the movable platform can be controlled to move within the observation range according to the real-time observation range of the actual scene, so as to ensure that the movable platform is in a safe motion state.

In the embodiments of the present application, the movable platform may be an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, a robot, etc. The control method may be implemented by a processor or a processing chip carried in the movable platform, and the movable platform Automatically adjust the movement state; or, since the user can control the movement of the movable platform by manipulating the control terminal that is communicatively connected to the movable platform, if possible, the control terminal can also control the movement of the movable platform by communicating with the movable platform. The information exchange between the mobile platform obtains the state information of the movable platform, and automatically adjusts the motion state of the movable platform; of course, the control terminal can also output the relevant parameters showing the real-time motion state of the movable platform, and the The picture captured by the camera or the visual sensor is returned, and the movement of the movable platform is controlled according to the instructions input by the user. The control terminal may be a mobile terminal, such as a handheld remote control, a mobile phone, a tablet, a notebook computer, etc.; or a fixed terminal, such as a desktop computer, a server, and the like.

The control method of the movable platform provided by the embodiment of the present application will be introduced below. Referring to FIG. 1, FIG. 1 is a flowchart of a control method of a movable platform according to an exemplary embodiment of the present application, wherein the movable platform includes the first control method. A visual sensor and a second visual sensor, the first visual sensor and the second visual sensor have overlapping observation ranges, and the control method includes:

S101, acquiring focal length information of the first visual sensor and the second visual sensor;

S102: Adjust the movement speed control amount of the movable platform according to the focal length information, so that the direction of the movement speed of the movable platform is within the field of view angle range corresponding to the overlapping observation range.

The overlapping observation range may be the observation range that the user perceives, for example, the movable platform may send the overlapping observation range of the first visual sensor and the second visual sensor to the control terminal held by the user for the user to view. Of course, it may also be an observation range that the user does not perceive.

The first visual sensor and the second visual sensor may be cameras, and for the scene observed within the overlapping observation range of the first visual sensor and the second visual sensor, the observation between the first visual sensor and the second visual sensor may be used. Parallax is used to calculate the distance of the scene relative to the movable platform. Specifically, the first visual sensor and the second visual sensor can be used to take two photos at the same time and from different angles, and then use the position of the same scene in the two photos. Differences, as well as the position and angle relationship between the first visual sensor and the second visual sensor, use the triangular relationship to calculate the distance relationship between the scene and the first and second visual sensors, thereby obtaining the distance of the scene relative to the movable platform information. Therefore, in fact, the effective observation range of the movable platform is mainly the overlapping observation range of the first visual sensor and the second visual sensor. Within the range of the field of view corresponding to the observation range, the safety hazard caused by the observation blind spot can be effectively reduced. As shown in FIG. 2 , it is a schematic diagram of an overlapping observation range of a first visual sensor and a second visual sensor according to an exemplary embodiment of the present application. In order to make the expression concise, “overlapping observation range” will be directly used below to represent the overlapping observation range of the first visual sensor and the second visual sensor. It can be understood that, unless otherwise specified, the overlapping observation range that appears below refers to the first visual sensor. Overlapping viewing range with the second vision sensor.

In order to control the moving direction of the movable platform within the field of view angle range corresponding to the overlapped observation range, first obtain parameter information of the overlapped observation range, where the parameter information may include the field of view angle range corresponding to the overlapped observation range. The speed control amount of the movable platform is adjusted according to the acquired field of view angle range, so that the direction of the movement speed of the movable platform is within the field of view angle range corresponding to the overlapping observation range. The speed control amount of the movable platform can be the movement speed of the movable platform, which can be limited to the field of view angle corresponding to the overlapping observation range by directly adjusting the movement speed of the movable platform; the speed control amount of the movable platform is also It can be the limit amount of the movement speed of the movable platform, wherein the limit amount of the movement speed can be the maximum movement speed or the minimum movement speed, or the specified movement speed. The movement speed limit of the movable platform can be preset based on the field of view angle range corresponding to the initial overlap range, and then the movement speed limit amount can be adjusted based on the real-time change of the field of view angle range. The movement speed of the movable platform is adjusted by the limit amount, so as to limit the movement speed of the movable platform within the range of the field of view corresponding to the overlapping observation range.

The field angle range corresponding to the overlapping range can be obtained through the focal length information of the first visual sensor and the second visual sensor, where the focal length information can be the focal length of the first visual sensor and the second visual sensor, which can be obtained through the first visual sensor and the second visual sensor. The focal length of the second visual sensor determines the field of view angle corresponding to the overlapping observation range. Specifically, the description is still made with reference to FIG. 2 .

In order to describe the relationship between the focal length and the field angle of the first visual sensor 201 and the second visual sensor 202 more vividly, the first visual sensor 201 and the second visual sensor 202 are represented by an inverted triangle shape in FIG. 2 . It can be seen from FIG. 2 that, whether for the first visual sensor 201 or the second visual sensor 202, the focal length f is inversely correlated with the field of view angle FoV, that is, the corresponding field of view angle FoV when the focal length f increases will decrease.

Therefore, the angle of view corresponding to the focal length values of the first visual sensor 201 and the second visual sensor 202 can be pre-calibrated, so that when acquiring the focal length of the first visual sensor and the focal length value of the second visual sensor, the The focal length value of the sensor and the focal length value of the second visual sensor are used to determine the field of view angle of the first visual sensor and the field of view of the second visual sensor, and can further obtain the overlap of the first visual sensor and the second visual sensor. The field of view range corresponding to the observation range.

Considering that in the process of practical application, when the change of focal length is small, the corresponding change of the field of view is also small, so it is not necessary to calibrate all the focal length values of the first vision sensor and the second vision sensor. The field of view angle corresponding to the focal length value is calibrated, so that when zooming to an uncalibrated focal length, the field of view angle corresponding to the common focal length value close to it can be referred to. Thereby, the redundant calculation amount and the occupation of data storage during calibration can be reduced.

Further, multiple focal length modes can also be configured, such as a telephoto mode, a medium focal length mode, a short focal length mode, etc., and the focal length values used in each focal length mode are correspondingly set as the calibrated common focal length values. On this basis, the focal length information of the first visual sensor and the second visual sensor may also be the focal length mode of the first visual sensor and the second visual sensor. By acquiring the current focal length mode of the first visual sensor and the second visual sensor, the same The field angle range corresponding to the overlapping observation range can be determined.

In addition, since the focal length is related to the angle of view, the focal length information of the first visual sensor and the second visual sensor can also be the angle of view of the first visual sensor and the second visual sensor. By directly obtaining the first visual sensor , the field of view angle of the second visual sensor to determine the field of view angle corresponding to the overlapping observation range, and adjust the movement speed control amount of the movable platform, so that the direction of the movement speed of the movable platform is in the field of view corresponding to the overlapping observation range. within the range.

In addition, the field angle range corresponding to the overlapping observation range is not only related to the focal length information of the first visual sensor and the second visual sensor, but also related to the baseline distance of the first visual sensor and the second visual sensor. It can be seen from FIG. 2 that when the length of the baseline distance b between the first visual sensor 201 and the second visual sensor 202 changes, the range of the field of view angle corresponding to the corresponding overlapping observation range also changes. Therefore, in one embodiment, the baseline distances of the first visual sensor and the second visual sensor can also be obtained, and according to the baseline distance information and the aforementioned focal length information, the field angle range corresponding to the overlapping observation range can be determined, And adjust the movement speed control amount of the movable platform, so that the direction of the movement speed of the movable platform is within the range of the field angle corresponding to the overlapping observation range.

In order to further ensure the safety of the movable platform, the movement speed control amount of the movable platform can also be adjusted according to the observation distance of the first visual sensor and the second visual sensor, so as to avoid accidents caused by faster speed when the observation distance is small. . Based on this, the parameter information of the overlapping observation ranges of the first visual sensor and the second visual sensor may further include the observation distance, where the observation distance is related to the focal length information of the first visual sensor and the second visual sensor, and the first visual sensor and the second visual sensor. The baseline distance between the two visual sensors is related. Specifically, the larger the focal length, the longer the observation distance; the longer the baseline distance, the longer the observation distance. Therefore, the observation distance can be determined by acquiring the focal length information and baseline distance information of the first visual sensor and the second visual sensor, and then the movement speed control amount of the movable platform can be adjusted. For example, when the observation distance is far, you can increase the limit of the movement speed, or allow the increase of the movement speed; when the observation distance is short, you can reduce the limit of the movement speed, or reduce the real-time movement speed.

It can be known from the analysis of the previous embodiment that the effective observation range of the movable platform is the field angle range corresponding to the overlapping observation range. In order to reduce the safety hazard caused by the observation blind spot, in addition to controlling the movement of the movable platform within the range of the field of view corresponding to the overlapping observation range, the movable platform can also be adjusted according to the observation requirements of the movable platform for the real-time scene in which it is located. The effective observation range of the platform, thereby reducing the observation blind spot of the movable platform.

In one embodiment, the distance information of the object observed in the overlapping observation range may be determined according to the observation data of the first visual sensor and the observation data of the second visual sensor. For details on how to determine the distance information of the objects observed within the observation range, reference may be made to the foregoing description, and the description will not be repeated here. According to the determined distance information, the depth information of the current scene relative to the movable platform can be obtained, so as to determine the observation requirements of the movable platform for the real-time scene, and adjust the effective observation range of the movable platform according to this, That is, the overlapping observation range.

Wherein, adjusting the overlapping observation range may be adjusting the focal length information of the first visual sensor and the second visual sensor according to the determined distance information. For example, when the determined distance is large, it can be determined that the current scene is far from the movable platform, that is, there is no risk of collision in the vicinity of the movable platform, so the first visual transmission can be adaptively increased. sense, the focal length of the second vision sensor, so as to increase the observation distance of the movable platform, so that it can be observed more clearly in the distance; on the contrary, when the determined distance is small, it can be determined that the current scene is relatively close to the movable platform , that is, the adjacent area of the mobile platform is prone to collision, so the focal length of the first visual sensor and the second visual sensor can be adaptively reduced, thereby increasing the field of view of the first visual sensor and the second visual sensor, Further, the field of view angle corresponding to the overlapping observation range is increased, and the blind spot for observation of nearby objects is reduced. It should be noted that adjusting the focal length of the first visual sensor and the second visual sensor may be adjusting the focal length of the first visual sensor and the focal length of the second visual sensor at the same time, or may choose one to adjust, or adjust the focal length of the first visual sensor. The focal length and the focal length of the second vision sensor can be adjusted in different ranges. The specific adjustment method can be configured according to the actual scene requirements.

Adjusting the overlapping observation range may also be adjusting the baseline distance information of the first vision sensor and the second vision sensor according to the determined distance information. Similar to the previous embodiment, when the determined distance is large, the baseline distance of the first visual sensor and the second visual sensor can be increased adaptively, thereby increasing the observation distance of the movable platform; When the determined distance is small, the baseline distance between the first visual sensor and the second visual sensor can be adaptively reduced, so that the observation dead zone between the first visual sensor and the second visual sensor can be reduced (refer to Fig. 2), to reduce the blind spot of observation for nearby objects.

In addition, the overlapping observation range can also be adjusted by simultaneously adjusting the focal length information of the first visual sensor and the second visual sensor, and the baseline distance information of the first visual sensor and the second visual sensor. For details, please refer to the previous embodiment. described, and will not be repeated here.

It should be noted that the determination as to whether the determined distance is larger may be that when the determined distance is greater than the preset first distance threshold, the determined distance is considered larger; or it may be determined between the first visual sensor and the second Vision sensor, when taking two photos at the same moment and from different angles, the position difference of the same scene in the two photos is small, for example, when it is less than the preset position difference threshold, it can be considered that the distance between the scene and the movable platform is relatively large. The distance results in a smaller parallax between the first vision sensor and the second vision sensor, so it can also be assumed that the determined distance is larger. Similarly, when the determined distance is smaller than the second preset distance threshold (the second preset distance threshold is smaller than the first preset distance threshold), the determined distance is considered to be small. It can be understood that the determination method given above is only an example, and the technical personnel can choose the criterion for determining whether the distance belongs to a larger or smaller distance according to actual needs, which is not limited.

Adjust the focal length information of the first vision sensor and the second vision sensor, or adjust the baseline distance information of the first vision sensor and the second vision sensor based on the depth of the scene relative to the movable platform, so as to adjust the parameter information of the overlapping observation range, so that the The effective observation range of the mobile platform is more in line with the needs of the scene, which can effectively reduce the observation blind spot of the mobile platform.

The following will further describe how to adjust the movement speed control amount of the movable platform according to different movement modes of the movable platform after obtaining the parameter information of the adjusted overlapping observation range. For the convenience of description, the mobile platform is taken as an example to introduce the drone. It can be understood that it is also applicable to other forms of mobile platforms.

The first thing that needs to be introduced is the installation of the first visual sensor and the second visual sensor on the drone. Since the drone usually flies in front of the fuselage, the first visual sensor and the second visual sensor on the drone can be side by side facing forward. Installed on the drone to sense the environmental conditions in front of the drone. For example, the drone shown in FIG. 3 includes a main camera 301 for capturing images, and a first visual sensor 302 and a second visual sensor 303 arranged side by side and facing forward for sensing environmental conditions.

In order to ensure the safety of the UAV flying forward, for the UAV equipped with the first visual sensor and the second visual sensor, it is first necessary to adjust the movement speed control amount of the UAV in the forward direction according to the parameter information of the overlapping observation range. , wherein the forward direction is perpendicular to the extension direction of the baselines of the first visual sensor and the second visual sensor, and the forward direction is denoted as the first direction. According to the different pitch angles during the flight of the drone, the first direction in space may be in the horizontal direction, or it may be inclined downward at a certain angle, or inclined upward at a certain angle.

For the adjustment of the movement speed control amount of the drone in the first direction, the movement speed limit of the drone in the first direction can be determined based on the observation distance of the overlapping observation range. Specifically, since the observation distance is actually determined by The focal length information of the first vision sensor, the second vision sensor, and the baseline distance information of the first vision sensor and the second vision sensor are determined, so the observation distance can be determined according to the focal length information and the baseline distance information, and then the UAV can be determined along the first The movement speed limit in one direction, and then based on the speed limit of the drone in the first direction, adjust the movement speed of the drone in the first direction, where if the drone moves in the first direction in real time If the speed is greater than the determined speed limit, it needs to be adjusted; if the real-time movement speed of the UAV in the first direction is not greater than the determined speed limit, it can be adjusted or not adjusted according to requirements. The adjustment of the movement speed based on the movement speed limit may be to adjust the movement speed of the drone in the first direction to a specified value within the range of the determined speed limit, or to adjust the movement speed of the drone according to a preset reduction ratio. The determined speed limit is reduced to determine a new movement speed. Of course, it is not limited to the above-mentioned methods, and the skilled person can choose according to requirements.

In addition, the corresponding relationship between the observation distance and the movement speed limit can be obtained by engineering experiments, and can be pre-stored in the UAV or in the control terminal or server connected to the UAV, and called when needed.

In one embodiment, for some special shooting requirements, the drone may change the motion trajectory by panning for shooting. At this time, the motion speed of the drone may include the motion speed in the first direction, and the vertical For the movement speed in the first direction, the vertical direction of the first direction is recorded as the second direction, that is, the movement speed of the drone is actually composed of the movement speed in the first and second directions. In order to make the movement speed direction of the UAV within the range of the field of view corresponding to the overlapping observation range, on the basis of determining the movement speed limit in the first direction according to the observation distance and adjusting the movement speed in the first direction, you can also Further, according to the adjusted movement speed in the first direction and the field of view corresponding to the overlapping observation range, determine the movement speed limit in the second direction, and adjust the unmanned person based on the movement speed limit in the second direction. The moving speed of the camera along the second direction is determined, so that the combined moving speed direction of the moving speeds along the first and second directions is within the field of view angle range corresponding to the overlapping observation range.

Specifically, an example of the drone flying in the horizontal direction is given for illustration. Referring to FIG. 4 , FIG. 4 is a top view of a drone flying in a horizontal direction. In Figure 4, the movement speed v1 in the vertical direction (ie, the direction of the UAV's roll axis) represents the movement speed in the first direction, and the movement speed v2 in the horizontal upward direction (ie, the direction of the UAV's pitch axis) represents the movement speed in the first direction. The movement speed in the second direction, the movement speed v of the drone is composed of v1 and v2. Among them, the movement speed limit in the vertical direction, that is, the maximum value of v1, can be determined based on the observation distance, and the actual movement speed v1 of the UAV can be adjusted based on this, and the horizontal field angle θ corresponding to the overlapping observation range can be determined at the same time. The movement speed limit in the direction, that is, the maximum value of v2, specifically, can be passed through

It is calculated so that the movement speed direction synthesized by the movement speed in the vertical direction and the movement speed limit in the horizontal direction is within the range of the field angle corresponding to the overlapping observation range, so that for the movement speed limit according to the horizontal direction The direction of the movement speed v synthesized by the obtained movement speed v2 in the horizontal direction and the movement speed v1 in the vertical direction is within the range of the field angle corresponding to the overlapping observation range.

It should be noted that the second direction is not limited to the pitch axis direction of the UAV, it may be any direction under the premise of being perpendicular to the first direction, or may include multiple directions perpendicular to the first direction. It can be determined according to the actual movement direction of the drone. For example, if the drone wants to pan down while moving forward, the second direction can be the direction of the drone's pan axis; if the drone wants to pan down to the left while moving forward, the second direction can be the direction of the drone's pan axis. Can include pitch axis direction and pan axis direction. In any case, the principle thereof is the same as that of the above-mentioned embodiment, which will not be repeated here.

In one embodiment, the UAV may change the motion trajectory by rotating, and specifically, the motion speed of the UAV may include the motion speed in the first direction, the angular speed on the yaw axis, and the angular speed on the pitch axis, That is, the movement speed of the UAV is actually composed of the movement speed in the first direction, the angular speed on the yaw axis and the angular speed on the pitch axis, so that the direction of the movement speed of the UAV is within the range of the field of view corresponding to the overlapping observation range. On the basis of determining the movement speed limit in the first direction according to the observation distance and adjusting the movement speed in the first direction, it is also possible to further predict the direction of the movement speed of the UAV after a preset period of time, If the direction of the movement speed after the preset time exceeds the field of view range corresponding to the overlapping observation range, it can be determined that the instantaneous change of the movement speed of the current UAV is large, which is likely to occur after the UAV turns. Only the visual sensor perceives the information of the scene after the UAV turns, which can easily lead to accidents. Therefore, it is possible to appropriately adjust the angular velocity on the UAV's panning axis at the current moment, or the angular velocity on the pitching axis, or adjust the angular velocity on the panning axis and the pitching axis at the same time. Specifically, the angular velocity on the panning axis can be determined. The limit amount, the angular velocity limit on the pitch axis, and the angular velocity on the pan axis and the angular velocity on the pitch axis are adjusted to the determined limit amount, so that the movement speed of the drone can be pointed at the Within the field of view corresponding to the overlapping observation range, it is ensured that the UAV can turn while sensing the scene to ensure the safety of the UAV. The preset duration can be set according to requirements, for example, it can be set to 3s in some examples.

In addition, predicting the direction of the movement speed of the drone after the preset time period may be based on the adjusted movement speed of the drone in the first direction and the angular velocity on the heading axis and the pitch axis at the current moment. The movement trajectory of the UAV within the duration is determined, and then the direction of the movement speed of the UAV after the preset duration is determined based on the preset obtained movement trajectory. Of course, in some cases, the drone may be diving or pitching in the forward direction. At this time, the angular velocity on the yaw axis is 0. The angular velocity on the yaw axis can be ignored, and only the movement speed in the first direction is considered. Predict with the angular velocity on the pitch axis; or maybe the drone is flying in the horizontal direction, at this time the angular velocity on the pitch axis is 0, the angular velocity on the pitch axis can be ignored, and only the movement in the first direction is considered The velocity and angular velocity on the pan axis are predicted. For example, as shown in Figure 5, it is a schematic diagram of the predicted motion trajectory obtained when a UAV is flying in the horizontal direction. In the figure, since the end point of the predicted motion trajectory, the direction of the motion speed is corresponding to the overlapping observation range. Therefore, the angular velocity on the pan axis cannot be adjusted.

Further, considering that there may be a certain error in the calculation and adjustment of the UAV's movement speed, in order to avoid the error causing the movement speed of the UAV to be too close to the boundary of the field of view corresponding to the overlapping observation range, or even beyond the boundary , to improve the occurrence rate of accidents. In one embodiment, the angle between the direction of the movement speed of the UAV and the boundary of the field of view angle range corresponding to the overlapping observation range can also be limited to be no less than the preset first Angle margin, so that the safety of the UAV in flight can still be ensured under the condition of allowing the existence of system errors. The first angle margin can be any preset angle, for example, it can be set to 5 degrees, and on this basis, the movement speed of the UAV in the second direction or the angular speed on the pan axis and the angular speed on the pitch axis are adjusted. When angular velocity, according to the overlapping observation range, the left and right edges of the corresponding field of view are the field of view range after subtracting 5 degrees. For example, when the field of view corresponding to the original overlapping observation range is 90 degrees At this time, the field of view corresponding to the overlapping observation range becomes 80 degrees, and the direction of the movement speed of the UAV is adjusted to be within the field of view corresponding to the overlapping observation range at this time. The specific process can be Referring to the introduction in the previous embodiment, details are not repeated here.

It can be understood that the relevant embodiments described above by taking the UAV as an example can also be applied to other movable platforms, such as unmanned vehicles, unmanned ships, etc., when feasible, and the implementation of the above-mentioned implementation For example, they can be used in combination with each other without conflict.

An embodiment of the present application further provides a method for controlling a movable platform. Referring to FIG. 6 , FIG. 6 is a flowchart of a control method for a movable platform according to an exemplary embodiment of the present application. The movable platform includes a first A vision sensor and a second vision sensor, the first vision sensor and the second vision sensor have overlapping observation ranges, and the method includes:

S601. Acquire parameter information of overlapping observation ranges of the first visual sensor and the second visual sensor, where the parameter information includes a field of view angle corresponding to the overlapping observation ranges;

S602: Adjust the movement speed control amount of the movable platform according to the parameter information of the overlapping observation range, so that the direction of the movement speed of the movable platform is within the field of view angle range corresponding to the overlapping observation range .

For the introduction of the control method, reference may be made to the above embodiments, which will not be repeated here.

In the above embodiments of the present application, the observation range of the movable platform is adjusted according to the scene information, so that it is more in line with the observation requirements of the movable platform for the current scene, the observation range is rationalized, and the observation blind area can be effectively reduced. At the same time, controlling the movement speed and direction of the movable platform within the observation range can ensure that the movable platform moves within the most reasonable observation range for the current scene, realize the accurate observation of the scene by the movable platform, minimize the observation blind area, and avoid Observe the safety hazards brought by blind spots.

An embodiment of the present application further provides a control device for a movable platform, the movable platform includes a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor have overlapping observation ranges. FIG. 7 is a schematic diagram of a control device of a movable platform according to an exemplary embodiment of the present application, and the control device includes:

processor 701;

memory 702 for storing instructions executable by processor 701;

The processor 701 is configured to:

acquiring focal length information of the first vision sensor and the second vision sensor;

The movement speed control amount of the movable platform is adjusted according to the focal length information, so that the direction of the movement speed of the movable platform is within a field angle range corresponding to the overlapping observation range.

The processor 701 can also be configured to:

acquiring parameter information of overlapping observation ranges of the first vision sensor and the second vision sensor, where the parameter information includes a field of view angle corresponding to the overlapping observation ranges;

The movement speed control amount of the movable platform is adjusted according to the parameter information of the overlapping observation range, so that the direction of the movement speed of the movable platform is within the field angle range corresponding to the overlapping observation range.

It can be understood that, on the basis of the processor and memory shown in the above control device, the control device may also include other components necessary for normal operation according to its actual type. For example, in the case where the control device is a processing chip or a mainboard integrated with the processing chip, it realizes the control function by being installed on the device, for example, installed on a movable platform or a control terminal. At this time, the control device may also include a communication interface, It is used for data interaction with other devices on the device; in the case where the control device is an electronic device, the control device may also include, for example, an input/output interface, a communication interface, a bus, etc., and the input/output interface can be used to connect the input /Output module to realize information input and output. The input/output/module can be configured in the electronic device as a component (not shown in the figure), or can be externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various types of sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, and the like. The communication interface is used to connect a communication module (not shown in the figure) to realize communication interaction between the electronic device and other devices. The communication module may implement communication through wired means (eg, USB, network cable, etc.), or may implement communication through wireless means (eg, mobile network, WIFI, Bluetooth, etc.). A bus includes a path that transfers information between various components of an electronic device, such as the processor, memory, input/output interfaces, and communication interfaces.

An embodiment of the present application further provides a movable platform. Referring to FIG. 8 , FIG. 8 is a schematic diagram of a movable platform shown in an exemplary embodiment of the present application. As shown in FIG. 8 , the movable platform includes:

a first visual sensor 810;

a second visual sensor 820;

The first visual sensor 810 and the second visual sensor 820 have overlapping observation ranges;

Fuselage 830; wherein fuselage 830 includes:

processor 831;

memory 832 for storing instructions executable by processor 831;

input/output interface 833;

communication interface 834;

bus 835;

The processor 831 is configured to:

acquiring focal length information of the first vision sensor and the second vision sensor;

The movement speed control amount of the movable platform is adjusted according to the focal length information, so that the direction of the movement speed of the movable platform is within the field angle range corresponding to the overlapping observation range.

The processor 831 can also be configured to:

acquiring parameter information of overlapping observation ranges of the first vision sensor and the second vision sensor, where the parameter information includes a field of view angle corresponding to the overlapping observation ranges;

The movement speed control amount of the movable platform is adjusted according to the parameter information of the overlapping observation range, so that the direction of the movement speed of the movable platform is within the field angle range corresponding to the overlapping observation range.

The embodiments of the present application further provide a computer storage medium, on which a computer program is stored, and when the computer program is executed, the method described in any of the foregoing embodiments is implemented. For the apparatus embodiments, since they basically correspond to the method embodiments, reference may be made to the partial descriptions of the method embodiments for related parts. The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

All the embodiments given in this application may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions according to the embodiments of the present application are generated in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. Computer instructions may be stored in or transmitted over a computer-readable storage medium. Computer instructions may be sent from one website site, computer, server, or data center to another website site, computer, by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wirelessly (eg, infrared, wireless, microwave, etc.) , server or data center for transmission. A computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media. Useful media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.

It should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. The terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also other not expressly listed elements, or also include elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The methods and devices provided by the embodiments of the present application have been introduced in detail above, and specific examples are used to illustrate the principles and implementations of the present application. At the same time, for those of ordinary skill in the art, according to the idea of the application, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be construed as a limitation to the application. .

Claims (72)

1. A control method of a movable platform, the movable platform includes a first vision sensor and a second vision sensor, and the first vision sensor and the second vision sensor have overlapping observation ranges, characterized in that the Methods include:

   acquiring focal length information of the first vision sensor and the second vision sensor;

   The movement speed control amount of the movable platform is adjusted according to the focal length information, so that the direction of the movement speed of the movable platform is within a field angle range corresponding to the overlapping observation range.
2. The method according to claim 1, wherein before acquiring the focal length information of the first vision sensor and the second vision sensor, the method further comprises:

   According to the observation data of the first visual sensor and the observation data of the second visual sensor, determine the distance information of the object observed in the overlapping observation range;

   The focal length information of the first vision sensor and/or the second vision sensor is adjusted according to the distance information.
3. The method according to claim 1, wherein the method further comprises:

   acquiring baseline distance information of the first vision sensor and the second vision sensor;

   The adjusting the movement speed control amount of the movable platform according to the focal length information includes:

   The movement speed control amount of the movable platform is adjusted according to the baseline distance information and the focal length information.
4. The method according to claim 3, wherein before acquiring the baseline distance information of the first vision sensor and the second vision sensor, the method further comprises:

   According to the observation data of the first visual sensor and the observation data of the second visual sensor, determine the distance information of the object observed in the overlapping observation range;

   The baseline distance information is adjusted according to the distance information.
5. The method according to claim 1, wherein the movement speed control amount comprises: the movement speed and/or the limit amount of the movement speed of the movable platform.
6. The method according to claim 3, wherein the adjusting the movement speed control amount of the movable platform according to the baseline distance information and the focal length information, comprising:

   The movement speed control amount of the movable platform in a first direction is adjusted according to the baseline distance information and the focal length information, and the first direction is perpendicular to the baselines of the first vision sensor and the second vision sensor extension direction.
7. The method according to claim 6, wherein the adjusting the movement speed control amount of the movable platform along the first direction according to the baseline distance information and the focal length information comprises:

   determining a movement speed limit of the movable platform along the first direction based on the baseline distance information and the focal length information;

   The speed of movement of the movable platform in the first direction is adjusted based on the speed limit of the movable platform in the first direction.
8. The method according to claim 7, wherein the movement trajectory of the movable platform is changed by translation during the movement of the movable platform;

   The adjusting the movement speed control amount of the movable platform according to the baseline distance information and the focal length information further includes:

   Determine the movement speed limit of the movable platform along the second direction based on the obtained movement speed of the movable platform along the first direction and the field angle of the overlapping observation range;

   adjusting the speed of movement of the movable platform in the second direction based on a speed limit of the movable platform in the second direction;

   wherein the second direction is perpendicular to the first direction.
9. The method according to claim 7, wherein, during the movement of the movable platform, a movement trajectory is changed by rotation, and the movement speed control of the movable platform is adjusted according to the baseline distance information and the focal length information. The amount also includes:

   Predicting the direction of the movement speed of the movable platform after a preset period of time;

   If the direction of the movement speed after the preset time exceeds the field of view angle range corresponding to the overlapping observation range, adjust the angular velocity on the pan axis and/or the pitch axis of the movable platform at the current moment, so that the preset time after the The direction of the movement speed is within the range of the field angle corresponding to the coincident observation range.
10. The method according to claim 9, wherein the predicting the direction of the moving speed of the movable platform after a preset period of time comprises:

    Predicting the movement trajectory of the movable platform within a preset period of time based on the adjusted movement speed of the movable platform in the first direction and the angular velocity on the pan axis and/or the pitch axis at the current moment;

    The direction of the movement speed of the movable platform after the preset time period is determined based on the movement trajectory.
11. The method according to claim 1, wherein the included angle formed by the moving speed of the movable platform pointing to the boundary of the field of view angle range corresponding to the coincident observation range is not less than a preset first angle Margin.
12. The method of claim 1, wherein the movable platform is an unmanned aerial vehicle.
13. A control method of a movable platform, the movable platform includes a first vision sensor and a second vision sensor, and the first vision sensor and the second vision sensor have overlapping observation ranges, characterized in that the Methods include:

    acquiring parameter information of overlapping observation ranges of the first vision sensor and the second vision sensor, where the parameter information includes a field of view angle corresponding to the overlapping observation ranges;

    The movement speed control amount of the movable platform is adjusted according to the parameter information of the overlapping observation range, so that the direction of the movement speed of the movable platform is within the field angle range corresponding to the overlapping observation range.
14. The method according to claim 13, wherein the parameter information of the overlapping observation range further comprises an observation distance.
15. The method according to claim 14, wherein before acquiring the parameter information of the overlapping observation range of the first vision sensor and the second vision sensor, the method further comprises:

    According to the observation data of the first visual sensor and the observation data of the second visual sensor, determine the distance information of the object observed in the overlapping observation range;

    The parameter information of the overlapping observation range is adjusted according to the distance information.
16. The method according to claim 15, wherein the adjusting the parameter information of the overlapping observation range according to the distance information comprises:

    Adjust the focal length information of the first vision sensor and the second vision sensor according to the distance information; and/or

    The baseline distance information of the first vision sensor and the second vision sensor is adjusted according to the distance information.
17. The method according to claim 13, wherein the movement speed control amount comprises: the movement speed and/or the limit amount of the movement speed of the movable platform.
18. The method according to claim 14, wherein adjusting the motion speed control amount of the movable platform according to the parameter information of the overlapping observation range comprises:

    Adjust the movement speed control amount of the movable platform along a first direction according to the parameter information of the overlapping observation range, the first direction being perpendicular to the baselines of the first vision sensor and the second vision sensor extension direction.
19. The method according to claim 18, wherein the adjusting the movement speed control amount of the movable platform along the first direction according to the parameter information of the overlapping observation range comprises:

    determining a movement speed limit amount of the movable platform along the first direction based on the observation distance of the overlapping observation range;

    The movement speed of the movable platform in the first direction is adjusted based on the limit amount of the movement speed of the movable platform in the first direction.
20. The method according to claim 19, wherein the movement trajectory is changed by translation during the movement of the movable platform;

    The adjusting the motion speed control amount of the movable platform according to the parameter information of the overlapping observation range further includes:

    Determine the movement speed limit of the movable platform along the second direction based on the obtained moving speed of the movable platform along the first direction and the field angle corresponding to the overlapping observation range;

    adjusting the speed of movement of the movable platform in the second direction based on a speed limit of the movable platform in the second direction;

    wherein the second direction is perpendicular to the first direction.
21. The method according to claim 19, wherein, during the movement of the movable platform, a movement trajectory is changed by rotation, and the movement speed control of the movable platform is adjusted according to the parameter information of the overlapping observation range. The amount also includes:

    Predicting the direction of the movement speed of the movable platform after a preset period of time;

    If the direction of the movement speed after the preset time exceeds the field of view angle range corresponding to the overlapping observation range, adjust the angular velocity on the pan axis and/or the pitch axis of the movable platform at the current moment, so that the preset time after the The direction of the movement speed is within the range of the field angle corresponding to the coincident observation range.
22. The method according to claim 21, wherein the predicting the direction of the moving speed of the movable platform after a preset period of time comprises:

    Predict the movement trajectory of the movable platform within a preset time period based on the adjusted movement speed of the movable platform along the first direction and the angular velocity on the pan axis and the angular velocity on the pitch axis at the current moment;

    The direction of the movement speed of the movable platform after the preset time period is determined based on the movement trajectory.
23. The method according to claim 13, wherein the included angle formed by the moving speed of the movable platform to the boundary of the field of view angle range corresponding to the coincident observation range is not less than a preset first angle Margin.
24. The method of claim 13, wherein the movable platform is an unmanned aerial vehicle.
25. A control device for a movable platform, the movable platform includes a first visual sensor and a second visual sensor, the first visual sensor and the second visual sensor have overlapping observation ranges, characterized in that the control The device includes:

    processor;

    memory for storing processor-executable instructions;

    The processor is configured to:

    acquiring focal length information of the first vision sensor and the second vision sensor;

    The movement speed control amount of the movable platform is adjusted according to the focal length information, so that the direction of the movement speed of the movable platform is within a field angle range corresponding to the overlapping observation range.
26. The control device of claim 25, wherein the processor is further configured to:

    According to the observation data of the first visual sensor and the observation data of the second visual sensor, determine the distance information of the object observed in the overlapping observation range;

    The focal length information of the first vision sensor and/or the second vision sensor is adjusted according to the distance information.
27. The control device of claim 25, wherein the processor is further configured to:

    acquiring baseline distance information of the first vision sensor and the second vision sensor;

    The movement speed control amount of the movable platform is adjusted according to the baseline distance information and the focal length information.
28. The control device of claim 27, wherein the processor is further configured to:

    According to the observation data of the first visual sensor and the observation data of the second visual sensor, determine the distance information of the object observed in the overlapping observation range;

    The baseline distance information is adjusted according to the distance information.
29. The control device according to claim 25, wherein the movement speed control amount comprises: the movement speed and/or the limit amount of the movement speed of the movable platform.
30. The control device according to claim 27, wherein the processor is specifically configured to:

    The movement speed control amount of the movable platform in a first direction is adjusted according to the baseline distance information and the focal length information, and the first direction is perpendicular to the baselines of the first vision sensor and the second vision sensor extension direction.
31. The control device according to claim 30, wherein the processor is specifically configured to:

    determining a movement speed limit of the movable platform along the first direction based on the baseline distance information and the focal length information;

    The speed of movement of the movable platform in the first direction is adjusted based on the speed limit of the movable platform in the first direction.
32. The control device according to claim 31, wherein the movement trajectory of the movable platform is changed by translation during the movement of the movable platform;

    The processor is specifically configured to:

    Determine the movement speed limit of the movable platform along the second direction based on the obtained movement speed of the movable platform along the first direction and the field angle of the overlapping observation range;

    adjusting the speed of movement of the movable platform in the second direction based on a speed limit of the movable platform in the second direction;

    wherein the second direction is perpendicular to the first direction.
33. The control device according to claim 31, wherein, during the movement of the movable platform, the movement trajectory is changed by rotation, and the processor is specifically configured to:

    Predicting the direction of the movement speed of the movable platform after a preset period of time;

    If the direction of the movement speed after the preset time exceeds the field of view angle range corresponding to the overlapping observation range, adjust the angular velocity on the pan axis and/or the pitch axis of the movable platform at the current moment, so that the preset time after the The direction of the movement speed is within the range of the field angle corresponding to the coincident observation range.
34. The control device according to claim 33, wherein the processor is specifically configured to:

    Predicting the movement trajectory of the movable platform within a preset period of time based on the adjusted movement speed of the movable platform in the first direction and the angular velocity on the pan axis and/or the pitch axis at the current moment;

    The direction of the movement speed of the movable platform after the preset time period is determined based on the movement trajectory.
35. The control device according to claim 25, wherein the included angle formed by the moving speed of the movable platform pointing to the boundary of the field of view angle range corresponding to the overlapping observation range is not less than a preset first Angle allowance.
36. The control device according to claim 25, wherein the movable platform is an unmanned aerial vehicle.
37. A control device for a movable platform, the movable platform includes a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor have overlapping observation ranges, characterized in that the Controls include:

    processor;

    memory for storing processor-executable instructions;

    The processor is configured to:

    acquiring parameter information of overlapping observation ranges of the first vision sensor and the second vision sensor, where the parameter information includes a field of view angle corresponding to the overlapping observation ranges;

    The movement speed control amount of the movable platform is adjusted according to the parameter information of the overlapping observation range, so that the direction of the movement speed of the movable platform is within the field angle range corresponding to the overlapping observation range.
38. The control device according to claim 13, wherein the parameter information of the overlapping observation range further includes an observation distance.
39. The control device of claim 38, wherein the processor is further configured to:

    According to the observation data of the first visual sensor and the observation data of the second visual sensor, determine the distance information of the object observed in the overlapping observation range;

    The parameter information of the overlapping observation range is adjusted according to the distance information.
40. The control device according to claim 39, wherein the processor is specifically configured to:

    Adjust the focal length information of the first vision sensor and the second vision sensor according to the distance information; and/or

    The baseline distance information of the first vision sensor and the second vision sensor is adjusted according to the distance information.
41. The control device according to claim 37, wherein the movement speed control amount comprises: the movement speed and/or the limit amount of the movement speed of the movable platform.
42. The control device according to claim 38, wherein the processor is specifically configured to:

    Adjust the movement speed control amount of the movable platform along a first direction according to the parameter information of the overlapping observation range, the first direction being perpendicular to the baselines of the first vision sensor and the second vision sensor extension direction.
43. The control device according to claim 42, wherein the processor is specifically configured to:

    determining a movement speed limit amount of the movable platform along the first direction based on the observation distance of the overlapping observation range;

    The movement speed of the movable platform in the first direction is adjusted based on the limit amount of the movement speed of the movable platform in the first direction.
44. The control device according to claim 43, wherein the movement trajectory of the movable platform is changed by translation during the movement of the movable platform;

    The processor is specifically configured to:

    Determine the movement speed limit of the movable platform along the second direction based on the obtained movement speed of the movable platform along the first direction and the field angle corresponding to the overlapping observation range;

    adjusting the speed of movement of the movable platform in the second direction based on a speed limit of the movable platform in the second direction;

    wherein the second direction is perpendicular to the first direction.
45. The control device according to claim 43, wherein, during the movement of the movable platform, the movement trajectory is changed by rotation, and the processor is specifically configured to:

    Predicting the direction of the movement speed of the movable platform after a preset period of time;

    If the direction of the movement speed after the preset time exceeds the field of view angle range corresponding to the overlapping observation range, adjust the angular velocity on the pan axis and/or the pitch axis of the movable platform at the current moment, so that the preset time after the The direction of the movement speed is within the range of the field angle corresponding to the coincident observation range.
46. The control device according to claim 45, wherein the processor is specifically configured to:

    Predict the movement trajectory of the movable platform within a preset time period based on the adjusted movement speed of the movable platform along the first direction and the angular velocity on the pan axis and the angular velocity on the pitch axis at the current moment;

    The direction of the movement speed of the movable platform after the preset time period is determined based on the movement trajectory.
47. The control device according to claim 37, wherein the included angle between the moving speed of the movable platform and the boundary of the field of view angle range corresponding to the overlapping observation range is not less than a preset first Angle allowance.
48. The control device of claim 37, wherein the movable platform is an unmanned aerial vehicle.
49. A movable platform, the movable platform includes a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor have overlapping observation ranges, characterized in that the movable platform Also includes:

    processor;

    memory for storing processor-executable instructions;

    The processor is configured to:

    acquiring focal length information of the first vision sensor and the second vision sensor;

    The movement speed control amount of the movable platform is adjusted according to the focal length information, so that the direction of the movement speed of the movable platform is within a field angle range corresponding to the overlapping observation range.
50. The movable platform of claim 49, wherein the processor is further configured to:

    According to the observation data of the first visual sensor and the observation data of the second visual sensor, determine the distance information of the object observed in the overlapping observation range;

    The focal length information of the first vision sensor and/or the second vision sensor is adjusted according to the distance information.
51. The movable platform of claim 49, wherein the processor is further configured to:

    acquiring baseline distance information of the first vision sensor and the second vision sensor;

    The movement speed control amount of the movable platform is adjusted according to the baseline distance information and the focal length information.
52. The movable platform of claim 51, wherein the processor is further configured to:

    According to the observation data of the first visual sensor and the observation data of the second visual sensor, determine the distance information of the object observed in the overlapping observation range;

    The baseline distance information is adjusted according to the distance information.
53. The movable platform according to claim 49, wherein the movement speed control amount comprises: the movement speed and/or the limit amount of the movement speed of the movable platform.
54. The movable platform of claim 51, wherein the processor is specifically configured to:

    The movement speed control amount of the movable platform along a first direction is adjusted according to the baseline distance information and the focal length information, and the first direction is perpendicular to the baselines of the first vision sensor and the second vision sensor extension direction.
55. The movable platform of claim 54, wherein the processor is specifically configured to:

    determining a movement speed limit of the movable platform along the first direction based on the baseline distance information and the focal length information;

    The speed of movement of the movable platform in the first direction is adjusted based on the speed limit of the movable platform in the first direction.
56. The movable platform according to claim 55, wherein the movement trajectory is changed by translation during the movement of the movable platform;

    The processor is specifically configured to:

    Determine the movement speed limit of the movable platform along the second direction based on the obtained movement speed of the movable platform along the first direction and the field angle of the overlapping observation range;

    adjusting the speed of movement of the movable platform in the second direction based on a speed limit of the movable platform in the second direction;

    wherein the second direction is perpendicular to the first direction.
57. The movable platform according to claim 55, wherein, during the movement of the movable platform, the movement trajectory is changed by rotation, and the processor is specifically configured to:

    Predicting the direction of the movement speed of the movable platform after a preset period of time;

    If the direction of the motion speed after the preset time exceeds the field of view angle range corresponding to the overlapping observation range, adjust the angular velocity on the pan axis and/or the pitch axis of the movable platform at the current moment so that the preset time The direction of the movement speed is within the range of the field angle corresponding to the coincident observation range.
58. The movable platform of claim 57, wherein the processor is specifically configured to:

    Predicting the movement trajectory of the movable platform within a preset period of time based on the adjusted movement speed of the movable platform in the first direction and the angular velocity on the pan axis and/or the pitch axis at the current moment;

    The direction of the movement speed of the movable platform after the preset time period is determined based on the movement track.
59. The movable platform according to claim 49, wherein the moving speed of the movable platform points to the boundary of the field of view angle range corresponding to the overlapping observation range, and the included angle is not less than a preset first An angular margin.
60. The movable platform of claim 49, wherein the movable platform is an unmanned aerial vehicle.
61. A movable platform, the movable platform includes a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor have overlapping observation ranges, characterized in that the movable platform Also includes:

    processor;

    memory for storing processor-executable instructions;

    The processor is configured to:

    acquiring parameter information of overlapping observation ranges of the first vision sensor and the second vision sensor, where the parameter information includes a field of view angle corresponding to the overlapping observation ranges;

    The movement speed control amount of the movable platform is adjusted according to the parameter information of the overlapping observation range, so that the direction of the movement speed of the movable platform is within a field angle range corresponding to the overlapping observation range.
62. The movable platform according to claim 61, wherein the parameter information of the overlapping observation range further comprises an observation distance.
63. The movable platform of claim 62, wherein the processor is further configured to:

    According to the observation data of the first visual sensor and the observation data of the second visual sensor, determine the distance information of the object observed in the overlapping observation range;

    The parameter information of the overlapping observation range is adjusted according to the distance information.
64. The movable platform of claim 63, wherein the processor is specifically configured to:

    adjusting the focal length information of the first vision sensor and the second vision sensor according to the distance information; and/or

    The baseline distance information of the first vision sensor and the second vision sensor is adjusted according to the distance information.
65. The movable platform according to claim 61, wherein the movement speed control amount comprises: the movement speed and/or the limit amount of the movement speed of the movable platform.
66. The movable platform of claim 62, wherein the processor is specifically configured to:

    Adjust the movement speed control amount of the movable platform along a first direction according to the parameter information of the overlapping observation range, the first direction being perpendicular to the baselines of the first vision sensor and the second vision sensor extension direction.
67. The movable platform of claim 66, wherein the processor is specifically configured to:

    determining a movement speed limit amount of the movable platform along the first direction based on the observation distance of the overlapping observation range;

    The movement speed of the movable platform in the first direction is adjusted based on the limit amount of the movement speed of the movable platform in the first direction.
68. The movable platform according to claim 67, wherein the movement trajectory of the movable platform is changed by translation during the movement of the movable platform;

    The processor is specifically configured to:

    Determine the movement speed limit of the movable platform along the second direction based on the obtained movement speed of the movable platform along the first direction and the field angle corresponding to the overlapping observation range;

    adjusting the speed of movement of the movable platform in the second direction based on a speed limit of the movable platform in the second direction;

    wherein the second direction is perpendicular to the first direction.
69. The movable platform according to claim 67, wherein, during the movement of the movable platform, the movement trajectory is changed by rotation, and the processor is specifically configured to:

    Predicting the direction of the movement speed of the movable platform after a preset period of time;

    If the direction of the motion speed after the preset time exceeds the field of view angle range corresponding to the overlapping observation range, adjust the angular velocity on the pan axis and/or the pitch axis of the movable platform at the current moment so that the preset time The direction of the movement speed is within the range of the field angle corresponding to the coincident observation range.
70. The movable platform of claim 69, wherein the processor is specifically configured to:

    Predicting the movement trajectory of the movable platform within a preset period of time based on the adjusted movement speed of the movable platform along the first direction and the angular velocity on the pan axis and the angular velocity on the pitch axis at the current moment;

    The direction of the movement speed of the movable platform after the preset time period is determined based on the movement trajectory.
71. The movable platform according to claim 61, wherein the moving speed of the movable platform points to the boundary of the field of view angle range corresponding to the overlapping observation range, and the included angle is not less than a preset first An angular margin.
72. The movable platform of claim 61, wherein the movable platform is an unmanned aerial vehicle.

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