WO2021087672A1

WO2021087672A1 - Control method and device, movable platform, and storage medium

Info

Publication number: WO2021087672A1
Application number: PCT/CN2019/115369
Authority: WO
Inventors: 龚鼎; 陈超彬; 贾向华
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2021-05-14
Also published as: CN112272807A

Abstract

A control method and device, a movable platform, and a storage medium. The method comprises: detecting the object distance between a movable platform (12) and an obstacle (S201); according to a first correspondence between speed and braking distance, determining a first braking distance corresponding to the current speed of the movable platform (S202); according to a second correspondence between speed and braking distance, determining a second braking distance corresponding to the current speed of the movable platform (S203); according to a magnitude relationship between the object distance, the first braking distance and the second braking distance, determining a deceleration control amount used to control the deceleration motion of the movable platform (S204). By means of the foregoing manner, the stability of the movable platform can be ensured while preventing a collision from occurring between the movable platform and the obstacle, and the safety of the movable platform when moving is improved.

Description

Control method, equipment, movable platform and storage medium

Technical field

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

Background technique

In the field of movable platforms, for the safety of movable platforms, distance sensing modules are generally installed on movable platforms. The movable platform will obtain the obstacle distance information output by the sensing module during the movement. During the planning of the movement speed and trajectory of the movable platform, the obstacle distance information output by the sensing module will be used to limit the movement speed of the movable platform to avoid The collision of obstacles ensures that the movable platform always moves in a safe environment.

Taking drones as an example, the existing obstacle avoidance methods are mainly to brake at the maximum attitude until the drone stops flying and stays hovering. However, this method of emergency braking at the maximum attitude angle, when the drone is at a high speed, the drone will decelerate greatly, which will affect the flight safety and stability of the drone to a certain extent. Sex. Therefore, how to control the movable platform to avoid obstacles more stably and safely is of great significance.

Summary of the invention

The embodiments of the present invention provide a control method, equipment, a movable platform and a storage medium, which can avoid collisions between the movable platform and obstacles while ensuring the stability of the movable platform, and improve the movement of the movable platform. Security.

In the first aspect, an embodiment of the present invention provides a control method, the method is applied to a movable platform, and the method includes:

Detecting the object distance between the movable platform and the obstacle;

Determine the first braking distance corresponding to the current speed of the movable platform according to the first corresponding relationship between the speed and the braking distance;

Determine the second braking distance corresponding to the current speed of the movable platform according to the second corresponding relationship between the speed and the braking distance;

According to the size relationship among the object distance, the first braking distance and the second braking distance, a deceleration control amount for controlling the deceleration movement of the movable platform is determined.

In the second aspect, an embodiment of the present invention provides another control method, which is applied to a movable platform, and the method includes:

Detecting the object distance between the movable platform and the obstacle;

Determine the first speed corresponding to the object distance according to the first corresponding relationship between the speed and the braking distance;

Determine the second speed corresponding to the object distance according to the second correspondence between the speed and the braking distance;

According to the magnitude relationship among the current speed, the first speed and the second speed, a deceleration control amount for controlling the deceleration movement of the movable platform is determined.

In the third aspect, an embodiment of the present invention provides a control device, including a memory and a processor;

The memory is used to store programs;

The processor is used to call the program, and when the program is executed, it is used to perform the following operations:

Detecting the object distance between the movable platform and the obstacle;

According to the magnitude relationship among the object distance, the first braking distance, and the second braking distance, a deceleration control amount for controlling the deceleration movement of the movable platform is determined.

In the fourth aspect, an embodiment of the present invention provides another control device, including a memory and a processor;

The memory is used to store programs;

Detecting the object distance between the movable platform and the obstacle;

In a fifth aspect, an embodiment of the present invention provides a movable platform, and the movable platform includes:

body;

The power system configured on the fuselage is used to provide mobile power for the movable platform;

The control device as described in the third aspect above.

In the sixth aspect, an embodiment of the present invention provides another movable platform, and the movable platform includes:

body;

The control device as described in the fourth aspect above.

In a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned first or second aspect is implemented. method.

In the embodiment of the present invention, the control device can determine the deceleration control amount for controlling the deceleration movement of the movable platform at different object distances according to the relationship between the object distance between the movable platform and the obstacle and different braking distances. By controlling the movable platform to decelerate to a safe speed in a stable posture within the range where the object distance of the movable platform is greater than the first braking distance and less than the second braking distance, the stability of the deceleration process of the movable platform can be improved, which is helpful Avoid collisions between the movable platform and obstacles. By controlling the movable platform to brake at the maximum attitude angle when the object distance of the movable platform is less than the first braking distance, the collision between the movable platform and the obstacle can be avoided, and the safety during the movement of the movable platform is improved.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.

Figure 1 is a schematic structural diagram of a control system provided by an embodiment of the present invention;

2 is a schematic flowchart of a control method provided by an embodiment of the present invention;

3a is a schematic diagram of a corresponding relationship curve between speed and braking distance provided by an embodiment of the present invention;

Fig. 3b is a schematic diagram of another corresponding relationship curve between speed and braking distance provided by an embodiment of the present invention;

4 is a schematic flowchart of another control method provided by an embodiment of the present invention;

Figure 5 is a schematic structural diagram of a control device provided by an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of another control device provided by an embodiment of the present invention.

Detailed ways

The following clearly describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

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

The control method provided in the embodiment of the present invention may be executed by a control system. Wherein, the control system includes a control device and a movable platform. In some embodiments, the control device may be installed on the movable platform. In some embodiments, the control device may be spatially independent of A movable platform. In some embodiments, the control device may be a component of a movable platform, that is, the movable platform includes a control device. In some embodiments, the movable platform may include, but is not limited to, aerial vehicles such as drones, robots capable of autonomous movement, unmanned vehicles, unmanned ships and other movable devices. In some embodiments, the control device may be a controller of a movable platform. In an example, the control device may be a flight controller, a remote controller, or the like of an unmanned aerial vehicle. The control system provided by the embodiment of the present invention will be schematically described below with reference to FIG. 1.

Please refer to FIG. 1, which is a schematic structural diagram of a control system provided by an embodiment of the present invention. The control system includes: a control device 11 and a movable platform 12. The movable platform 12 includes a power system 121, and the power system 121 is used to provide the movable platform 12 with moving power. In some embodiments, the control device 11 is provided in the movable platform 12, and can establish a communication connection with other devices (such as the power system 121) in the movable platform through a wired communication connection. In other embodiments, the movable platform 12 and the control device 11 are independent of each other. For example, the control device 11 is set in a cloud server and establishes a communication connection with the movable platform 12 through a wireless communication connection.

In the embodiment of the present invention, the control device 11 may detect the object distance between the movable platform 12 and the obstacle, and determine that the current speed of the movable platform 12 corresponds to the first corresponding relationship between the speed and the braking distance According to the second corresponding relationship between the speed and the braking distance, the second braking distance corresponding to the current speed of the movable platform 12 is determined. If the first braking distance or the second braking distance is greater than the object distance, the control device 11 may be based on the size of the object distance, the first braking distance, and the second braking distance. Relationship to determine the deceleration control amount used to control the deceleration movement of the movable platform 12.

In the embodiment of the present invention, the control device in the control system may determine the deceleration control amount for controlling the movable platform to decelerate at different object distances according to the relationship between the object distance between the movable platform and the obstacle and different braking distances. In this way, the deceleration control amount can be flexibly determined based on the current motion state and object distance of the movable platform.

By controlling the movable platform to decelerate to a safe speed in a stable posture within the range where the object distance of the movable platform is greater than the first braking distance and less than the second braking distance, the stability of the deceleration process of the movable platform can be improved, which is helpful Avoid collisions between the movable platform and obstacles. By controlling the movable platform to brake at the maximum attitude angle when the object distance of the movable platform is less than the first braking distance, the collision between the movable platform and the obstacle can be avoided, and the safety during the movement of the movable platform is improved.

The control method provided by the embodiment of the present invention will be schematically described below with reference to the accompanying drawings.

Please refer to FIG. 2 for details. FIG. 2 is a schematic flowchart of a control method provided by an embodiment of the present invention. The method may be executed by a control device, and the specific explanation of the control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S201: Detect the object distance between the movable platform and the obstacle.

In the embodiment of the present invention, the control device can detect the object distance between the movable platform and the obstacle.

In some embodiments, a distance sensing module may be installed on the movable platform, and the control device may obtain the object distance between the movable platform and the obstacle collected by the distance sensing module.

S202: Determine the first braking distance corresponding to the current speed of the movable platform according to the first correspondence between the speed and the braking distance.

In the embodiment of the present invention, the control device may determine the first braking distance corresponding to the current speed of the movable platform according to the first corresponding relationship between the speed and the braking distance.

In an embodiment, the first corresponding relationship between the speed and the braking distance may be obtained based on the distance traveled by the pre-calibrated movable platform when the speed is decelerated to 0 when braking at the maximum attitude angle at different speeds. In some embodiments, the calibration process generally uses a movable platform to brake at different speeds in an open environment and then the calibration is completed.

Take FIG. 3a as an example for description. FIG. 3a is a schematic diagram of a corresponding relationship curve between speed and braking distance provided by an embodiment of the present invention. Figure 3a shows the corresponding relationship curve between speed and braking distance established with distance as the abscissa and speed as the ordinate. The first corresponding relationship between the speed and the braking distance is shown in Figure 3a. 31 shown.

Through this embodiment, the correspondence between different speeds and braking distances can be determined, which helps to determine the first braking distance corresponding to the current speed of the movable platform in real time.

S203: Determine the second braking distance corresponding to the current speed of the movable platform according to the second correspondence between the speed and the braking distance.

In the embodiment of the present invention, the control device may determine the second braking distance corresponding to the current speed of the movable platform according to the second correspondence between the speed and the braking distance.

In one embodiment, the second corresponding relationship between the speed and the braking distance is determined according to a preset safe distance between the movable platform and the obstacle when the speed of the movable platform decelerates to 0 at different speeds. Taking FIG. 3a as an example, the second corresponding relationship between the speed and the braking distance is shown as the second corresponding relationship curve 32 in FIG. 3a.

Through this implementation manner, it can be ensured that the movable platform still retains a certain distance from the obstacle when the speed is reduced to 0, so as to ensure the safety of the movable platform.

S204: Determine a deceleration control amount for controlling the deceleration movement of the movable platform according to the magnitude relationship among the object distance, the first braking distance, and the second braking distance.

In an optional embodiment, if the first braking distance or the second braking distance is greater than the object distance, the control device may be based on the object distance, the first braking distance, and the second braking distance. The magnitude relationship between the three braking distances determines the deceleration control amount used to control the deceleration movement of the movable platform. If the first braking distance or the second braking distance is greater than the object distance, a decision can be made to trigger the execution of a deceleration operation, and the deceleration control amount can be determined according to the above-mentioned magnitude relationship. In some embodiments, the deceleration control amount may include, but is not limited to, maximum acceleration, deceleration inclination, and the like.

In one embodiment, the control device determines the deceleration control amount used to control the movement of the movable platform according to the relationship between the object distance, the first braking distance, and the second braking distance. If the first braking distance is greater than the object distance, a first deceleration control amount for controlling the decelerating movement of the movable platform can be generated; if the first braking distance is less than the object distance, and the If the second braking distance is greater than the object distance, a second deceleration control amount for controlling the deceleration movement of the movable platform can be generated; in some embodiments, the first deceleration control amount is not less than the first deceleration control amount. 2. Deceleration control amount. In an example, the first deceleration control amount may be the maximum acceleration, and the second deceleration control amount may be less than the maximum acceleration.

Taking a drone as an example, as shown in Figure 3a, assuming that the current speed of the drone is v, according to the first corresponding relationship between the speed and the braking distance, the first braking distance corresponding to the current speed v of the drone is determined as d1, and according to the second correspondence between the speed and the braking distance, it is determined that the second braking distance corresponding to the current speed v of the UAV is d2. If the object distance between the drone and the obstacle is d, and the first braking distance d1 is greater than the object distance d, the first deceleration control amount a1 for controlling the deceleration movement of the drone can be generated, To control the drone to decelerate to stop at a1. If the first braking distance d1 is less than the object distance d, and the second braking distance d2 is greater than the object distance d, a second deceleration control amount a2 for controlling the deceleration movement of the drone can be generated , To control the drone to smoothly decelerate from the current speed v at a2 to below the target speed determined according to the object distance d and the second correspondence relationship. In some embodiments, the first deceleration control amount a1 is not less than the second deceleration control amount a2.

It can be seen that through this embodiment, the movable platform can be controlled to decelerate in a relatively stable posture within the long-distance braking distance, so as to improve the stability of the drone. When it decelerates to the short-distance braking distance, it can be controlled to move. The platform brakes to a stop to ensure the safety of the movable platform.

In an embodiment, within a distance interval greater than the first distance threshold, the first braking distance of the first correspondence is smaller than the second braking distance of the second correspondence.

Taking Figure 3a as an example, the first distance threshold is d0, and the distance interval greater than the first distance threshold is the distance interval d0. When the current speed of the drone is v, the first correspondence curve 31 The first braking distance corresponding to v is d1, and the first braking distance corresponding to v in the second correspondence curve 32 is d2, where d1 is smaller than d2.

In one embodiment, within a distance interval less than the second distance threshold, the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence is less than the first difference In some embodiments, the second distance threshold is not greater than the first distance threshold; in some embodiments, the first difference is within the distance interval greater than the first distance threshold, The difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence.

Taking Figure 3a as an example, the second distance is equal to the first distance threshold d0, and within a distance interval less than the second distance threshold d0, when the current speed of the drone is v0, the first correspondence curve The difference between the first braking distance d3 of 31 and the second braking distance d4 of the second correspondence curve 32 is smaller than the first difference. Wherein, the first difference is the first braking distance d1 of the first correspondence curve 31 and the second braking distance d1 of the second correspondence curve 32 within the distance interval greater than the first distance threshold d0 The difference in distance d2 is d1-d2.

In an embodiment, the first deceleration control amount may be determined according to the maximum deceleration capacity of the movable platform. In an example, the first deceleration control amount may be determined according to the maximum acceleration of the drone, and the maximum deceleration capacity is determined according to the maximum deceleration capacity. The first deceleration control amount is determined by the maximum deceleration capacity, which can ensure that the movable platform decelerates at the maximum deceleration capacity, and avoid collisions between the movable platform and obstacles.

In one embodiment, the second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined according to the object distance and the second correspondence. By decelerating the movable platform from the current speed to below the target speed determined according to the object distance and the second correspondence relationship, it can be ensured that the movable platform is decelerated in a stable posture, and avoiding the movement of the movable platform. When colliding with obstacles, it helps the stability of the movable platform.

In one embodiment, if the control speed in the received motion control instruction is greater than the target speed, the control device may control the movable platform to move at the target speed. Through this embodiment, it can avoid controlling the movable platform to move according to the determined target speed when the motion control instruction is abnormal or wrong, which can effectively avoid the collision between the movable platform and the obstacle due to the abnormal motion control instruction, and further improve The safety of the movement of the movable platform is improved.

In one embodiment, the movable platform may be a multi-rotor rotorcraft, and the deceleration control amount may be the deceleration inclination of the multi-rotor rotorcraft. By controlling the deceleration angle of the multi-rotor rotorcraft, the deceleration of the multi-rotor aircraft can be controlled.

Please refer to FIG. 4 for details. FIG. 4 is a schematic flowchart of another control method provided by an embodiment of the present invention. The method may be executed by a control device, and the specific explanation of the control device is as described above. The difference between the embodiment of the present invention and the embodiment of FIG. 2 is that the embodiment of the present invention describes the process of controlling the decelerating movement of the movable platform at the speed corresponding to the object distance determined according to the corresponding relationship between the speed and the braking distance. Specifically, the method of the embodiment of the present invention includes the following steps.

S401: Detect the object distance between the movable platform and the obstacle.

S402: Determine the first speed corresponding to the object distance according to the first correspondence between the speed and the braking distance.

In the embodiment of the present invention, the control device may determine the first speed corresponding to the object distance according to the first corresponding relationship between the speed and the braking distance.

In one embodiment, when the control device obtains the object distance between the movable platform and the obstacle, it can detect whether the object distance is less than or equal to the braking distance, and if the object distance is less than or equal to the braking distance, it can be According to the first corresponding relationship between the speed and the braking distance, the first speed corresponding to the object distance is determined.

Take Fig. 3b as an example, Fig. 3b is a schematic diagram of another corresponding relationship curve between speed and braking distance provided by an embodiment of the present invention. The first corresponding relationship between speed and braking distance is shown in Fig. 3 as the first corresponding relationship curve. 31 shown. Taking the drone as an example, assuming that the object distance between the drone and the obstacle is D1, then according to the first correspondence curve 31 of speed and braking distance, it can be determined that the first speed corresponding to the object distance D1 is V1 .

S403: Determine the second speed corresponding to the object distance according to the second correspondence between the speed and the braking distance.

In the embodiment of the present invention, the control device may determine the second speed corresponding to the object distance according to the second corresponding relationship between the speed and the braking distance.

Taking the drone as an example, as shown in Figure 3b, assuming that the object distance between the drone and the obstacle is D2, then according to the second correspondence curve 32 of speed and braking distance, it can be determined that the object distance D2 corresponds to The second speed is V2.

S404: Determine a deceleration control amount for controlling the deceleration movement of the movable platform according to the magnitude relationship between the current speed, the first speed and the second speed.

In the embodiment of the present invention, if the current speed of the movable platform is greater than the first speed or the current speed is greater than the second speed, the control device may be based on the current speed, the first speed, and the current speed. The magnitude relationship between the three second speeds determines the deceleration control amount used to control the deceleration movement of the movable platform. If the current speed of the movable platform is greater than the first speed or the current speed is greater than the second speed, a decision can be made to trigger the execution of a deceleration operation, and the deceleration control amount can be determined according to the above-mentioned magnitude relationship.

In one embodiment, the movable platform may accept the original speed command, for example, accept the original speed command sent by the remote controller of the communication connection point with the movable platform, this command is based on the user's control of the joystick by the remote controller. Control generated. If the joystick is moved to the maximum attitude angle, the generated speed command can drive the movable platform to move at the maximum travel speed.

In addition, the movable platform can have a built-in perception module to measure the object distance between the movable platform and obstacles based on imaging, infrared, radar and other technologies.

The speed limit module can obtain the object distance measured by the sensing module, and determine the current speed based on the original speed command, and further implement the method in the above embodiment.

For example, the movable platform is an unmanned aerial vehicle, birds flying in the sky are identified as obstacles, the first speed determined by the object distance and the first correspondence, and the second speed determined by the object distance and the second correspondence. speed. If the current speed of the drone is greater than the first speed or the second speed, it can be determined that the drone needs to slow down so as to avoid collisions with birds. Further, according to the speed zone where the speed is located, the speed zone is determined based on the first speed and the second speed, and determines the output amount of the deceleration control. In this way, the deceleration of the drone can be flexibly controlled.

It is worth noting that the object distance may be large at the first moment, because the obstacle itself is also moving. For a movable platform, its current speed may continuously change, but the detected change in the object distance is not continuous. In the case of a long object distance, adopting the scheme of braking at the maximum attitude angle may cause unnecessary emergency braking and bring instability to flight control. Using the solution of the embodiment of the present application, the deceleration control amount can be determined more flexibly. For the sudden jump of obstacles, the relationship between the current speed, the first speed and the second speed is also Will change, and then for such jumping obstacles, the deceleration control amount can be flexibly determined.

In one embodiment, when the control device determines the deceleration control amount used to control the deceleration movement of the movable platform according to the magnitude relationship between the current speed, the first speed and the second speed If the current speed is greater than the first speed, a first deceleration control amount for controlling the deceleration movement of the movable platform can be generated; if the current speed is less than the first speed, and the current speed Greater than the second speed, a second deceleration control amount for controlling the deceleration movement of the movable platform can be generated; in some embodiments, the first deceleration control amount is not less than the second deceleration control amount .

Taking a drone as an example, as shown in Figure 3b, assuming that the current speed of the drone is V, if the current speed V is greater than the first speed V1, it can be used to control the drone to decelerate. If the current speed V is less than the first speed V1, and the current speed V is greater than the second speed V2, it can be used to control the deceleration movement of the drone. The second deceleration control amount A2; in some embodiments, the first deceleration control amount A1 is not less than the second deceleration control amount A2.

It can be seen that through this implementation, it is possible to decelerate to a safe speed with a relatively stable attitude in the high-speed section, so as to improve the stability of the drone, and brake at the low-speed section to ensure the safety of the movable platform.

In an embodiment, within a distance interval greater than the first distance threshold, the first braking distance of the first correspondence is smaller than the second braking distance of the second correspondence. The specific embodiments are as described above, and will not be repeated here.

In one embodiment, within a distance interval less than the second distance threshold, the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence is less than the first difference In some embodiments, the second distance threshold is not greater than the first distance threshold; in some embodiments, the first difference is within the distance interval greater than the first distance threshold, The difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence. The specific embodiments are as described above, and will not be repeated here.

In the embodiment of the present invention, the control device can detect the object distance between the movable platform and the obstacle, and determine the first speed corresponding to the object distance according to the first corresponding relationship between the speed and the braking distance, and according to the speed The second corresponding relationship with the braking distance determines the second speed corresponding to the object distance. If the current speed of the movable platform is greater than the first speed or the current speed is greater than the second speed, the current speed, the first speed, and the second speed may be determined according to the relationship between the current speed, the first speed and the second speed. Determine the deceleration control amount used to control the deceleration movement of the movable platform. Through this implementation, the drone can be decelerated to a safe speed with a relatively stable attitude in the high-speed section according to the speed of the drone, so as to improve the stability of the drone, and brake in the low-speed section to ensure the safety of the movable platform, thereby achieving While avoiding the collision of the movable platform with obstacles, it also ensures the stability and safety of the movable platform.

Please refer to FIG. 5, which is a schematic structural diagram of a control device according to an embodiment of the present invention. Specifically, the control device includes: a memory 501 and a processor 502.

In an embodiment, the control device further includes a data interface 503, and the data interface 503 is used to transfer data information between the control device and other devices.

The memory 501 may include a volatile memory (volatile memory); the memory 501 may also include a non-volatile memory (non-volatile memory); the memory 501 may also include a combination of the foregoing types of memories. The processor 502 may be a central processing unit (CPU). The processor 502 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The memory 501 is used to store programs, and the processor 502 can call the programs stored in the memory 501 to perform the following steps:

Detect the object distance between the movable platform and the obstacle;

Further, the processor 502 determines the deceleration control amount used to control the movement of the movable platform according to the relationship between the object distance, the first braking distance, and the second braking distance. , Specifically used for:

If the first braking distance is greater than the object distance, generating a first deceleration control amount for controlling the deceleration movement of the movable platform;

If the first braking distance is less than the object distance, and the second braking distance is greater than the object distance, generating a second deceleration control amount for controlling the decelerating movement of the movable platform;

Wherein, the first deceleration control amount is not less than the second deceleration control amount.

Further, in a distance interval greater than the first distance threshold, the first braking distance of the first correspondence is smaller than the second braking distance of the second correspondence.

Further, in a distance interval less than the second distance threshold, the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence is less than the first difference;

The second distance threshold is not greater than the first distance threshold;

The first difference is the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence within the distance interval greater than the first distance threshold.

Further, the first deceleration control amount is determined according to the maximum deceleration capacity of the movable platform.

Further, the second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined according to the object distance and the second correspondence relationship.

Further, the movable platform is a multi-axis rotorcraft, and the deceleration control amount is the deceleration angle of the multiaxis rotorcraft.

Further, the processor 502 is further configured to:

If the control speed in the received motion control instruction is greater than the target speed, the movable platform is controlled to move at the target speed.

Please refer to FIG. 6, which is a schematic structural diagram of another control device according to an embodiment of the present invention. Specifically, the control device includes: a memory 601 and a processor 602.

In an embodiment, the control device further includes a data interface 603, and the data interface 603 is used to transfer data information between the control device and other devices.

The memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also include a combination of the foregoing types of memories. The processor 602 may be a central processing unit (CPU). The processor 602 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The memory 601 is used to store programs, and the processor 602 can call the programs stored in the memory 601 to perform the following steps:

Detecting the object distance between the movable platform and the obstacle;

Further, when the processor 602 determines the deceleration control amount for controlling the deceleration movement of the movable platform according to the magnitude relationship between the current speed, the first speed and the second speed, Specifically used for:

If the current speed is greater than the first speed, generate a first deceleration control variable for controlling the deceleration movement of the movable platform;

If the current speed is less than the first speed, and the current speed is greater than the second speed, generating a second deceleration control amount for controlling the decelerating movement of the movable platform;

The second distance threshold is not greater than the first distance threshold;

Further, the movable platform is a multi-axis rotorcraft, and the deceleration control amount is the deceleration inclination of the multi-axis rotorcraft.

Further, the processor 602 is further configured to:

In the embodiment of the present invention, the control device can detect the object distance between the movable platform and the obstacle, and determine the first speed corresponding to the object distance according to the first corresponding relationship between the speed and the braking distance, and according to the speed The second corresponding relationship with the braking distance determines the second speed corresponding to the object distance. The deceleration control amount used to control the deceleration movement of the movable platform may be determined according to the magnitude relationship between the current speed, the first speed and the second speed. Through this embodiment, it can decelerate to a safe speed with a relatively stable attitude in the high-speed section to improve the stability of the drone, and brake in the low-speed section to ensure the safety of the movable platform, so as to avoid the movable platform and the safe speed. When obstacles collide, the stability and safety of the movable plane are ensured.

The embodiment of the present invention also provides a movable platform, the movable platform includes: a fuselage; a power system configured on the fuselage to provide the movable platform with moving power; and the above-mentioned FIG. 5 controlling device. In the embodiment of the present invention, the movable platform can determine the deceleration control amount for controlling the decelerating movement of the movable platform at different object distances according to the relationship between the object distance between the movable platform and the obstacle and different braking distances. By controlling the movable platform to decelerate to a safe speed in a stable posture within the range where the object distance of the movable platform is greater than the first braking distance and less than the second braking distance, the stability of the deceleration process of the movable platform can be improved, which is helpful Avoid collisions between the movable platform and obstacles. By controlling the movable platform to brake at the maximum attitude angle when the object distance of the movable platform is less than the first braking distance, the collision between the movable platform and the obstacle can be avoided, and the safety during the movement of the movable platform is improved.

The embodiment of the present invention also provides another movable platform, the movable platform includes: a fuselage; a power system configured on the fuselage to provide the movable platform with moving power; and the above-mentioned FIG. 6 Control equipment. In the embodiment of the present invention, the movable platform can detect the object distance between the movable platform and the obstacle, and determine the first speed corresponding to the object distance according to the first corresponding relationship between the speed and the braking distance, and according to The second corresponding relationship between the speed and the braking distance determines the second speed corresponding to the object distance. The deceleration control amount used to control the deceleration movement of the movable platform may be determined according to the magnitude relationship between the current speed, the first speed and the second speed. Through this implementation method, it can decelerate to a safe speed with a relatively stable attitude in the high-speed section, so as to improve the stability of the drone, and brake in the low-speed section to ensure the safety of the movable platform, so as to avoid When obstacles collide, the stability and safety of the movable plane are ensured.

The embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it realizes that in the embodiment corresponding to FIG. 2 or FIG. 4 of the present invention The described method can also implement the device corresponding to the embodiment of the present invention described in FIG. 5 or FIG. 6, which will not be repeated here.

The computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD) card. , Flash Card, etc. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

The above-disclosed are only some of the embodiments of the present invention, which of course cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

A control method, characterized in that the method is applied to a movable platform, and the method includes:

Detecting the object distance between the movable platform and the obstacle;

Determine the first braking distance corresponding to the current speed of the movable platform according to the first corresponding relationship between the speed and the braking distance;

Determine the second braking distance corresponding to the current speed of the movable platform according to the second corresponding relationship between the speed and the braking distance;

According to the magnitude relationship among the object distance, the first braking distance, and the second braking distance, a deceleration control amount for controlling the deceleration movement of the movable platform is determined.
The method according to claim 1, characterized in that, according to the size relationship among the object distance, the first braking distance and the second braking distance, the determination is used to control the movable The deceleration control amount of platform movement includes:

If the first braking distance is greater than the object distance, generating a first deceleration control amount for controlling the deceleration movement of the movable platform;

If the first braking distance is less than the object distance, and the second braking distance is greater than the object distance, generating a second deceleration control amount for controlling the decelerating movement of the movable platform;

Wherein, the first deceleration control amount is not less than the second deceleration control amount.
The method of claim 2, wherein:

In a distance interval greater than the first distance threshold, the first braking distance of the first correspondence is smaller than the second braking distance of the second correspondence.
The method of claim 3, wherein:

In a distance interval less than the second distance threshold, the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence is smaller than the first difference;

The second distance threshold is not greater than the first distance threshold;

The first difference is the difference between the first braking distance of the first correspondence relationship and the second braking distance of the second correspondence relationship within the distance interval greater than the first distance threshold.
The method according to any one of claims 2-4, characterized in that,

The first deceleration control amount is determined according to the maximum deceleration capacity of the movable platform.
The method according to any one of claims 2-4, characterized in that,

The second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined according to the object distance and the second correspondence relationship.
The method according to any one of claims 1-6, characterized in that,

The movable platform is a multi-axis rotorcraft, and the deceleration control amount is the deceleration inclination of the multi-axis rotorcraft.
The method according to claim 6, wherein the method further comprises:

If the control speed in the received motion control instruction is greater than the target speed, the movable platform is controlled to move at the target speed.
A control method, characterized in that the method is applied to a movable platform, and the method includes:

Detecting the object distance between the movable platform and the obstacle;

Determine the first speed corresponding to the object distance according to the first corresponding relationship between the speed and the braking distance;

Determine the second speed corresponding to the object distance according to the second correspondence between the speed and the braking distance;

According to the magnitude relationship among the current speed, the first speed and the second speed, a deceleration control amount for controlling the deceleration movement of the movable platform is determined.
The method according to claim 9, characterized in that, according to the magnitude relationship between the current speed, the first speed, and the second speed, the determination is used to control the deceleration of the movable platform The deceleration control amount of the movement includes:

If the current speed is greater than the first speed, generate a first deceleration control variable for controlling the deceleration movement of the movable platform;

If the current speed is less than the first speed, and the current speed is greater than the second speed, generating a second deceleration control amount for controlling the decelerating movement of the movable platform;

Wherein, the first deceleration control amount is not less than the second deceleration control amount.
The method of claim 10, wherein:

In a distance interval greater than the first distance threshold, the first braking distance of the first correspondence is smaller than the second braking distance of the second correspondence.
The method of claim 11, wherein:

In a distance interval less than the second distance threshold, the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence is smaller than the first difference;

The second distance threshold is not greater than the first distance threshold;

The first difference is the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence within the distance interval greater than the first distance threshold.
The method according to any one of claims 10-12, wherein:

The first deceleration control amount is determined according to the maximum deceleration capacity of the movable platform.
The method according to any one of claims 10-12, wherein:

The second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined according to the object distance and the second correspondence relationship.
The method according to any one of claims 9-14, wherein:

The movable platform is a multi-axis rotorcraft, and the deceleration control amount is the deceleration inclination of the multi-axis rotorcraft.
The method according to claim 14, wherein the method further comprises:

If the control speed in the received motion control instruction is greater than the target speed, the movable platform is controlled to move at the target speed.
A control device, characterized in that it comprises a memory and a processor;

The memory is used to store programs;

The processor is used to call the program, and when the program is executed, it is used to perform the following operations:

Detecting the object distance between the movable platform and the obstacle;

Determine the first braking distance corresponding to the current speed of the movable platform according to the first corresponding relationship between the speed and the braking distance;

Determine the second braking distance corresponding to the current speed of the movable platform according to the second corresponding relationship between the speed and the braking distance;

According to the magnitude relationship among the object distance, the first braking distance, and the second braking distance, a deceleration control amount for controlling the deceleration movement of the movable platform is determined.
The device according to claim 17, wherein the processor determines to control the distance between the object distance, the first braking distance and the second braking distance. When the deceleration control amount of movable platform movement, it is specifically used for:

If the first braking distance is greater than the object distance, generating a first deceleration control amount for controlling the deceleration movement of the movable platform;

If the first braking distance is less than the object distance, and the second braking distance is greater than the object distance, generating a second deceleration control amount for controlling the decelerating movement of the movable platform;

Wherein, the first deceleration control amount is not less than the second deceleration control amount.
The device of claim 18, wherein:

In a distance interval greater than the first distance threshold, the first braking distance of the first correspondence is smaller than the second braking distance of the second correspondence.
The device of claim 19, wherein:

In a distance interval less than the second distance threshold, the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence is smaller than the first difference;

The second distance threshold is not greater than the first distance threshold;

The first difference is the difference between the first braking distance of the first correspondence relationship and the second braking distance of the second correspondence relationship within the distance interval greater than the first distance threshold.
The device according to any one of claims 18-20, wherein:

The first deceleration control amount is determined according to the maximum deceleration capacity of the movable platform.
The device according to any one of claims 18-20, wherein:

The second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined according to the object distance and the second correspondence relationship.
The device according to any one of claims 17-22, characterized in that:

The movable platform is a multi-axis rotorcraft, and the deceleration control amount is the deceleration inclination of the multi-axis rotorcraft.
The device according to claim 22, wherein the processor is further configured to:

If the control speed in the received motion control instruction is greater than the target speed, the movable platform is controlled to move at the target speed.
A control device, characterized in that it comprises a memory and a processor;

The memory is used to store programs;

The processor is used to call the program, and when the program is executed, it is used to perform the following operations:

Detecting the object distance between the movable platform and the obstacle;

Determine the first speed corresponding to the object distance according to the first corresponding relationship between the speed and the braking distance;

Determine the second speed corresponding to the object distance according to the second correspondence between the speed and the braking distance;

According to the magnitude relationship among the current speed, the first speed and the second speed, a deceleration control amount for controlling the deceleration movement of the movable platform is determined.
The device according to claim 25, wherein the processor determines to control the movable speed according to the magnitude relationship between the current speed, the first speed and the second speed When the deceleration control amount of the platform deceleration movement, it is specifically used for:

If the current speed is greater than the first speed, generate a first deceleration control variable for controlling the deceleration movement of the movable platform;

If the current speed is less than the first speed, and the current speed is greater than the second speed, generate a second deceleration control amount for controlling the deceleration movement of the movable platform;

Wherein, the first deceleration control amount is not less than the second deceleration control amount.
The device of claim 26, wherein:

In a distance interval greater than the first distance threshold, the first braking distance of the first correspondence is smaller than the second braking distance of the second correspondence.
The device of claim 27, wherein:

In a distance interval less than the second distance threshold, the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence is smaller than the first difference;

The second distance threshold is not greater than the first distance threshold;

The first difference is the difference between the first braking distance of the first correspondence and the second braking distance of the second correspondence within the distance interval greater than the first distance threshold.
The device according to any one of claims 26-28, characterized in that:

The first deceleration control amount is determined according to the maximum deceleration capacity of the movable platform.
The device according to any one of claims 26-28, characterized in that:

The second deceleration control amount is used to decelerate the movable platform from the current speed to below a target speed determined according to the object distance and the second correspondence relationship.
The device according to any one of claims 25-30, characterized in that:

The movable platform is a multi-axis rotorcraft, and the deceleration control amount is the deceleration inclination of the multi-axis rotorcraft.
The device according to claim 30, wherein the processor is further configured to:

If the control speed in the received motion control instruction is greater than the target speed, the movable platform is controlled to move at the target speed.
A movable platform, characterized in that, the movable platform includes:

body;

The power system configured on the fuselage is used to provide mobile power for the movable platform;

The control device according to any one of claims 17-24.
A movable platform, characterized in that, the movable platform includes:

body;

The power system configured on the fuselage is used to provide mobile power for the movable platform;

The control device according to any one of claims 25-32.
A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 16 when the computer program is executed by a processor.