阅读说明：本技术 可移动平台的控制方法、可移动平台及可读存储介质 (Control method of movable platform, movable platform and readable storage medium ) 是由 周游 杨振飞 黄金柱 于 2018-08-22 设计创作，主要内容包括：一种可移动平台的控制方法、设备及计算机可读存储介质,方法包括：确定目标物体与可移动平台的距离(101)；根据距离确定可移动平台的控制信息(102)；根据控制信息控制可移动平台进行运动,以使得可移动平台在接触目标物体之前,可移动平台的运动方向能够调整为与目标物体至可移动平台的沿线方向之间的夹角为0度至90度(103)。通过可移动平台感知周围环境,根据周围环境确定目标物体与可移动平台的距离,基于距离控制无人机的运动方向,无需用户干预,自主规划行进路线,能够安全飞行,简化用户操作,提高用户的使用体验。(A method, apparatus and computer-readable storage medium for controlling a movable platform, the method comprising: determining a distance (101) of the target object from the movable platform; determining control information (102) for the movable platform based on the distance; and controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0-90 degrees relative to the direction from the target object to the movable platform along the line before the movable platform contacts the target object (103). The movable platform senses the surrounding environment, the distance between the target object and the movable platform is determined according to the surrounding environment, the movement direction of the unmanned aerial vehicle is controlled based on the distance, user intervention is not needed, the traveling route is planned autonomously, safe flight can be achieved, user operation is simplified, and user experience is improved.)

1. A method of controlling a movable platform, the method comprising:

determining a distance of a target object from the movable platform;

determining control information of the movable platform according to the distance;

and controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0-90 degrees of an included angle between the target object and the direction along the movable platform before the movable platform contacts the target object.

2. The method of claim 1, wherein the target object comprises a first object for controlling motion of the movable platform.

3. The method according to claim 2, wherein the controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0 to 90 degrees from the direction along the line from the target object to the movable platform before the movable platform contacts the target object, comprises:

and controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0 degree of an included angle between the movable platform and the target object along the line direction of the movable platform before the movable platform contacts the target object.

4. The method of claim 1, wherein the target object comprises a second object for impeding motion of the movable platform.

5. The method according to claim 4, wherein the controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0 to 90 degrees from the direction along the line from the target object to the movable platform before the movable platform contacts the target object, comprises:

and controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 90 degrees relative to the included angle between the target object and the direction along the movable platform before the movable platform contacts the target object.

6. The method of claim 1, wherein the target object comprises a first object for controlling movement of the movable platform and a second object for impeding movement of the movable platform.

7. The method according to claim 6, wherein when the first object, the second object and the movable platform are collinear, the controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0 to 90 degrees from the line direction from the target object to the movable platform before the movable platform contacts the target object, comprises:

and controlling the movable platform to move according to the control information so that the movable platform is paused between the first object and the second object.

8. The method of claim 2 or 3 or 6 or 7, wherein an included angle between a direction along the line from the first object to the movable platform and a current motion direction of the movable platform is greater than or equal to 0 degree and less than or equal to 90 degrees.

9. The method according to any one of claims 4 to 7, wherein an angle between a direction along the line from the second object to the movable platform and a current direction of motion of the movable platform is greater than 90 degrees and equal to or less than 180 degrees.

10. The method according to any one of claims 4 to 6, wherein the control information comprises acceleration;

before the movable platform contacts the target object, a component of the acceleration in a first direction, which is opposite to a second direction along which the movable platform is to the second object, can be adjusted to be larger than a current acceleration of the movable platform in the second direction.

11. The method of claim 10, wherein said determining control information for the movable platform based on the distance comprises:

determining the acceleration of the movable platform according to a preset constant and the distance, wherein the acceleration of the movable platform is positively correlated with the preset constant and negatively correlated with the distance;

the controlling the movable platform to move according to the control information comprises:

and controlling the movable platform to move according to the acceleration of the movable platform.

12. The method according to any of claims 4 to 6, wherein the control information comprises a speed;

before the movable platform contacts the target object, a component of the velocity in a first direction can be adjusted to be larger than a current velocity of the movable platform in a second direction, the first direction being opposite to the second direction, the second direction being a direction along the movable platform to the second object.

13. The method of claim 12, wherein said determining control information for the movable platform based on the distance comprises:

determining the acceleration of the movable platform according to a preset constant and the distance, wherein the acceleration of the movable platform is positively correlated with the preset constant and negatively correlated with the distance;

determining a velocity of the movable platform from the acceleration of the movable platform;

the controlling the movable platform to move according to the control information comprises:

and controlling the movable platform to move according to the speed of the movable platform.

14. The method according to claim 11 or 13, wherein the predetermined constant is determined according to the type of the target object.

15. The method according to claim 14, wherein the predetermined constant is a first value if the type of the target object is a predetermined first type;

if the type of the target object is a preset second type, the preset constant is a second numerical value;

wherein the first value is greater than the second value.

16. The method of any one of claims 1 to 7, wherein said determining control information for the movable platform from the distance comprises:

when the distance is not greater than a distance threshold, determining control information for the movable platform according to the distance.

17. The method of claim 16, wherein after said controlling the movable platform to move according to the control information, the method further comprises:

when the distance is greater than a distance threshold, maintaining current motion information of the movable platform.

18. The method of claim 17, wherein the distance threshold is determined based on a type of the target object.

19. The method according to claim 18, wherein the distance threshold is a third value if the type of the target object is a preset third type;

if the type of the target object is a preset fourth type, the distance threshold value is a fourth numerical value;

wherein the third value is greater than the fourth value.

20. The method according to claim 2, 3, 6 or 7, wherein the controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0-90 degrees from the direction along the line from the target object to the movable platform before the movable platform contacts the target object, comprises:

and controlling the distance between the movable platform and the first object not to be larger than a distance threshold value according to the control information.

21. The method according to any one of claims 1 to 7, wherein the target object includes a plurality of target objects, and the control information includes control information corresponding to each of the target objects;

the controlling the movable platform to move according to the control information comprises:

fusing control information corresponding to each target object;

and controlling the movable platform to move according to the fusion result.

22. The method of any one of claims 1 to 7, wherein the determining a distance of a target object from the movable platform comprises:

acquiring a depth map, wherein the depth map comprises an object region corresponding to the target object;

and determining the distance between the target object and the movable platform according to the depth information of the object area.

23. The method of claim 22, wherein prior to said determining the distance of the target object from the movable platform from the depth information of the object region, the method further comprises:

aggregating similar pixel points in the depth map to obtain a connected region;

and determining the communication area as an object area corresponding to the target object.

24. The method of claim 23, wherein the aggregating similar pixel points in the depth map comprises:

and aggregating similar pixel points in the depth map by adopting a flooding filling algorithm.

25. The method of claim 22, wherein determining the distance of the target object from the movable platform from the depth information of the object region comprises:

acquiring depth information of pixel points of the object region, and acquiring depth confidence of the pixel points of the object region;

and determining the distance between the target object and the movable platform according to the depth information of the pixel points and the depth confidence of the pixel points.

26. The method of claim 25, wherein obtaining the depth confidence of the pixel points of the object region comprises:

acquiring a disparity map corresponding to the depth map;

selecting parallax pixel points corresponding to the pixel points of the object region from the parallax image;

and determining the depth confidence of the pixel points of the object region according to the parallax confidence of the parallax pixel points.

27. The method of claim 26, wherein determining the depth confidence of the pixel points of the object region according to the disparity confidence of the disparity pixel points comprises:

and determining the depth confidence of the pixel points in the object region according to the parallax confidence of the parallax pixel points, the depth information of the pixel points in the object region, the focal length of the movable platform and the binocular distance.

28. The method of claim 25, wherein determining the distance between the target object and the movable platform according to the depth information of the pixel points and the depth confidence of the pixel points comprises:

and determining the distance between the target object and the movable platform based on a filtering method according to the depth information of the pixel points and the depth confidence of the pixel points.

29. The method of claim 28, wherein the filtering method comprises a kalman filtering method.

30. A movable platform, comprising: a memory and a processor; the memory for storing program code; the processor to invoke the program code, the processor to perform the following when the program code is executed:

determining a distance of a target object from the movable platform;

determining control information of the movable platform according to the distance;

and controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0-90 degrees of an included angle between the target object and the direction along the movable platform before the movable platform contacts the target object.

31. The movable platform of claim 30, wherein the target object comprises a first object for controlling movement of the movable platform.

32. The movable platform of claim 31, wherein the processor controls the movable platform to move according to the control information, so that before the movable platform contacts the target object, a moving direction of the movable platform can be adjusted to be an included angle between the target object and a line direction of the movable platform is 0-90 degrees, and specifically:

and controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0 degree of an included angle between the movable platform and the target object along the line direction of the movable platform before the movable platform contacts the target object.

33. The movable platform of claim 30, wherein the target object comprises a second object for impeding motion of the movable platform.

34. The movable platform of claim 33, wherein the processor controls the movable platform to move according to the control information, so that before the movable platform contacts the target object, a moving direction of the movable platform can be adjusted to be an included angle between the target object and a line direction of the movable platform is 0-90 degrees, and specifically:

and controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 90 degrees relative to the included angle between the target object and the direction along the movable platform before the movable platform contacts the target object.

35. The movable platform of claim 30, wherein the target object comprises a first object for controlling movement of the movable platform and a second object for impeding movement of the movable platform.

36. The movable platform of claim 35, wherein when the first object, the second object, and the movable platform are collinear, the processor controls the movable platform to move according to the control information, so that before the movable platform contacts the target object, the moving direction of the movable platform can be adjusted to be an angle between 0 degree and 90 degrees with respect to the direction along the line from the target object to the movable platform, and is specifically configured to:

and controlling the movable platform to move according to the control information so that the movable platform is paused between the first object and the second object.

37. The movable platform of claim 31, 32, 35 or 36, wherein an angle between a direction along the line from the first object to the movable platform and a current direction of motion of the movable platform is greater than or equal to 0 degrees and less than or equal to 90 degrees.

38. The movable platform of any one of claims 33-36, wherein an angle between a direction along the line from the second object to the movable platform and a current direction of motion of the movable platform is greater than 90 degrees and less than or equal to 180 degrees.

39. The movable platform of any one of claims 33-35, wherein the control information comprises acceleration;

before the movable platform contacts the target object, a component of the acceleration in a first direction, which is opposite to a second direction along which the movable platform is to the second object, can be adjusted to be larger than a current acceleration of the movable platform in the second direction.

40. The movable platform of claim 39, wherein the processor is further configured to determine the control information for the movable platform based on the distance, and in particular to:

determining the acceleration of the movable platform according to a preset constant and the distance, wherein the acceleration of the movable platform is positively correlated with the preset constant and negatively correlated with the distance;

the processor is specifically configured to, when controlling the movable platform to move according to the control information:

and controlling the movable platform to move according to the acceleration of the movable platform.

41. The movable platform of any one of claims 33-35, wherein the control information comprises a speed;

before the movable platform contacts the target object, a component of the velocity in a first direction can be adjusted to be larger than a current velocity of the movable platform in a second direction, the first direction being opposite to the second direction, the second direction being a direction along the movable platform to the second object.

42. The movable platform of claim 41, wherein the processor is further configured to determine control information for the movable platform based on the distance by:

determining the acceleration of the movable platform according to a preset constant and the distance, wherein the acceleration of the movable platform is positively correlated with the preset constant and negatively correlated with the distance;

determining a velocity of the movable platform from the acceleration of the movable platform;

the processor is specifically configured to, when controlling the movable platform to move according to the control information:

and controlling the movable platform to move according to the speed of the movable platform.

43. The movable platform of claim 40 or 42, wherein the predetermined constant is determined according to the type of the target object.

44. The movable platform of claim 43, wherein the predetermined constant is a first value if the type of the target object is a predetermined first type;

if the type of the target object is a preset second type, the preset constant is a second numerical value;

wherein the first value is greater than the second value.

45. The movable platform of any one of claims 30-36, wherein the processor is configured to determine the control information for the movable platform based on the distance, and in particular to:

when the distance is not greater than a distance threshold, determining control information for the movable platform according to the distance.

46. The movable platform of claim 45, wherein the processor is further configured to, after controlling the movable platform to move according to the control information:

when the distance is greater than a distance threshold, maintaining current motion information of the movable platform.

47. The movable platform of claim 46, wherein the distance threshold is determined based on a type of the target object.

48. The movable platform of claim 47, wherein the distance threshold is a third value if the type of the target object is a preset third type;

if the type of the target object is a preset fourth type, the distance threshold value is a fourth numerical value;

wherein the third value is greater than the fourth value.

49. The method according to claim 31, 32, 35 or 36, wherein the processor controls the movable platform to move according to the control information, so that before the movable platform contacts the target object, the moving direction of the movable platform can be adjusted to be an included angle between the target object and the line direction of the movable platform, which is 0 to 90 degrees, specifically:

and controlling the distance between the movable platform and the first object not to be larger than a distance threshold value according to the control information.

50. The movable platform of any one of claims 30 to 36, wherein the target object comprises a plurality of target objects, and the control information comprises control information corresponding to each target object;

the processor is specifically configured to, when controlling the movable platform to move according to the control information:

fusing control information corresponding to each target object;

and controlling the movable platform to move according to the fusion result.

51. The movable platform of any one of claims 30-36, wherein the processor, when determining the distance of the target object from the movable platform, is specifically configured to:

acquiring a depth map, wherein the depth map comprises an object region corresponding to the target object;

and determining the distance between the target object and the movable platform according to the depth information of the object area.

52. The movable platform of claim 51, wherein the processor, prior to determining the distance of the target object from the movable platform from the depth information of the object region, is further configured to:

aggregating similar pixel points in the depth map to obtain a connected region;

and determining the communication area as an object area corresponding to the target object.

53. The movable platform of claim 52, wherein the processor, when aggregating similar pixel points in the depth map, is specifically configured to:

and aggregating similar pixel points in the depth map by adopting a flooding filling algorithm.

54. The movable platform of claim 51, wherein the processor is configured to determine the distance between the target object and the movable platform based on the depth information of the object region, and is further configured to:

acquiring depth information of pixel points of the object region, and acquiring depth confidence of the pixel points of the object region;

and determining the distance between the target object and the movable platform according to the depth information of the pixel points and the depth confidence of the pixel points.

55. The movable platform of claim 54, wherein the processor, when obtaining the depth confidence for the pixel points of the object region, is specifically configured to:

acquiring a disparity map corresponding to the depth map;

selecting parallax pixel points corresponding to the pixel points of the object region from the parallax image;

and determining the depth confidence of the pixel points of the object region according to the parallax confidence of the parallax pixel points.

56. The movable platform of claim 55, wherein the processor, when determining the depth confidence of the pixel points of the object region according to the parallax confidence of the parallax pixel points, is specifically configured to:

and determining the depth confidence of the pixel points in the object region according to the parallax confidence of the parallax pixel points, the depth information of the pixel points in the object region, the focal length of the movable platform and the binocular distance.

57. The movable platform of claim 54, wherein the processor, based on the depth information of the pixel points and the depth confidence of the pixel points, is specifically configured to:

and determining the distance between the target object and the movable platform based on a filtering method according to the depth information of the pixel points and the depth confidence of the pixel points.

58. The movable platform of claim 57, wherein the filtering method comprises a Kalman filtering method.

59. A computer-readable storage medium having stored thereon computer instructions which, when executed, implement the method of controlling a movable platform of claims 1-29.

Technical Field

The present invention relates to the field of control technologies, and in particular, to a method for controlling a movable platform, and a readable storage medium.

Background

Unmanned vehicles, such as Unmanned Aerial Vehicles (UAVs), have been developed for various fields, including consumer applications and industrial applications. For example, drones may be manipulated for entertainment, photography/video, surveillance, delivery, or other applications, which have expanded aspects of personal life.

Along with unmanned aerial vehicle's use becomes more and more common, unmanned aerial vehicle's function is more and more, but unmanned aerial vehicle's operation and control are also more loaded down with trivial details, and how to safely control unmanned aerial vehicle is a big problem. At present, some intelligent functions have come auxiliary users, can shoot out the video of taking photo by plane through simple interaction, but these intelligent functions are to the outdoor aerial photography of medium and large-scale unmanned aerial vehicle, and to small-size, miniature unmanned aerial vehicle's indoor operation, and fine solution has not been provided, leads to unmanned aerial vehicle's use to have received the restriction.

Disclosure of Invention

The invention provides a control method of a movable platform, the movable platform and a readable storage medium.

In a first aspect of the present invention, a method for controlling a movable platform is provided, the method comprising:

determining a distance of a target object from the movable platform;

determining control information of the movable platform according to the distance;

and controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0-90 degrees of an included angle between the target object and the direction along the movable platform before the movable platform contacts the target object.

In a second aspect of the invention, there is provided a movable platform comprising: a memory and a processor; the memory for storing program code; the processor to invoke the program code, the processor to perform the following when the program code is executed:

determining a distance of a target object from the movable platform;

determining control information of the movable platform according to the distance;

and controlling the movable platform to move according to the control information, so that the moving direction of the movable platform can be adjusted to be 0-90 degrees of an included angle between the target object and the direction along the movable platform before the movable platform contacts the target object.

In a third aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions that, when executed, implement a method of controlling a movable platform.

Based on the technical scheme, the distance between the target object and the movable platform can be determined, the control information of the movable platform is determined according to the distance, and the movable platform is controlled to move according to the control information, so that before the movable platform contacts the target object, the moving direction of the movable platform can be adjusted to be 0-90 degrees relative to the direction from the target object to the movable platform along the line. Obviously, the surrounding environment is sensed through the movable platform in the mode, the distance between the target object and the movable platform is determined according to the surrounding environment, the moving direction of the unmanned aerial vehicle is controlled based on the distance, user intervention is not needed, the traveling route is planned autonomously, safe flight can be achieved, user operation is simplified, and user experience is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings of the embodiments of the present invention.

FIG. 1 is a flow chart diagram of a method of controlling a movable platform;

FIG. 2 is a schematic flow chart of determining the distance of a target object from a movable platform;

FIG. 3 is a schematic flow chart of determining a distance of a target object from a movable platform based on depth information;

FIGS. 4A-4J are control schematic diagrams of the movable platform;

FIG. 5 is a block diagram of one embodiment of a movable platform.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the features in the embodiments and the examples described below may be combined with each other without conflict.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein and in the claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be understood that the term "and/or" as used herein is meant to encompass any and all possible combinations of one or more of the associated listed items.

Although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. Depending on the context, moreover, the word "if" may be used is interpreted as "at … …," or "at … …," or "in response to a determination.