Movable platform and control method and device thereof
阅读说明：本技术 可移动平台及其控制方法和装置 (Movable platform and control method and device thereof ) 是由 龚鼎 王凯 于 2020-04-27 设计创作，主要内容包括：一种可移动平台及其控制方法和装置,所述方法包括：获取可移动平台的当前速度以及所述可移动平台周围的障碍物相对所述可移动平台的第一距离和方位信息；根据所述第一距离和所述方位信息,在所述当前速度的方向上对所述当前速度的大小进行限制,以防止所述可移动平台碰撞所述障碍物。本申请通过可移动平台周围的障碍物相对可移动平台的第一距离和方位信息共同对可移动平台的当前速度进行限制,确保了当前速度的负方向的障碍物不会对当前速度造成影响；同时,仅在当前速度的方向上对当前速度的大小进行限制,不会因为速度限制而影响可移动平台的原始运行方向,提升了速度限制的可操作性和可移动平台的安全性。(A movable platform and a control method and device thereof, wherein the method comprises the following steps: acquiring the current speed of a movable platform and first distance and orientation information of obstacles around the movable platform relative to the movable platform; and limiting the current speed in the direction of the current speed according to the first distance and the azimuth information so as to prevent the movable platform from colliding with the obstacle. The method and the device limit the current speed of the movable platform through the first distance and the azimuth information of the obstacles around the movable platform relative to the movable platform, and ensure that the obstacles in the negative direction of the current speed cannot influence the current speed; meanwhile, the current speed is limited only in the direction of the current speed, the original running direction of the movable platform cannot be influenced due to speed limitation, and the operability of speed limitation and the safety of the movable platform are improved.)
A method of controlling a movable platform, the method comprising:
acquiring the current speed of a movable platform and first distance and orientation information of obstacles around the movable platform relative to the movable platform;
and limiting the current speed in the direction of the current speed according to the first distance and the azimuth information so as to prevent the movable platform from colliding with the obstacle.
The method of claim 1, wherein limiting the magnitude of the current speed in the direction of the current speed based on the first distance and the bearing information comprises:
determining a velocity component of the current velocity projected to a first direction according to the orientation information, wherein the first direction is a direction of the obstacle relative to the movable platform;
when the velocity component is greater than 0, determining the maximum velocity component allowed by the movable platform in the first direction according to the first distance;
and limiting the magnitude of the current speed in the direction of the current speed according to the maximum speed component.
The method of claim 2, wherein said determining a maximum velocity component allowed by the movable platform in the first direction based on the first distance comprises:
determining the maximum speed component allowed by the movable platform in the first direction according to the first distance and a first speed model calibrated in advance;
wherein the first velocity model is used to characterize a mapping between the first distance and the maximum velocity component.
The method of claim 3, wherein the maximum velocity component is less than a maximum brake-off velocity permitted by the movable platform in the first direction;
the maximum braking speed is determined according to the first distance and a pre-calibrated second speed model;
the second speed model is used for representing a mapping relation between the first distance and the maximum brake-stopping speed.
The method according to claim 4, characterized in that when the first distance is greater than a preset safety distance, the maximum speed component, the maximum brake-off speed and the first distance are respectively positively correlated;
the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
The method of claim 2, wherein said limiting a magnitude of said current velocity in a direction of said current velocity based on said maximum velocity component comprises:
back projecting the maximum speed component to the direction of the current speed to obtain a limit speed;
and limiting the current speed according to the limiting speed.
The method of claim 6, wherein limiting the magnitude of the current speed based on the limiting speed comprises:
limiting the current speed magnitude to a minimum of the limit speeds.
The method of claim 1, further comprising:
and if the first distance is smaller than the minimum braking distance corresponding to the current speed, controlling the movable platform to be in a braking state.
The method of claim 1, further comprising:
when the movable platform is in a brake-off state, acquiring at least one of state information and instruction information of the movable platform;
and if the movable platform meets a preset brake-stopping exit strategy according to at least one of the state information and the instruction information, controlling the movable platform to exit the brake-stopping state according to the brake-stopping exit strategy.
The method of claim 9, further comprising:
if the movable platform is determined not to meet the brake-off exit strategy according to at least one of the instruction information and the state information, the movable platform is kept in the brake-off state.
The method of claim 9, wherein the brake exit strategy includes at least one of a manual exit strategy and an automatic exit strategy;
the controlling the movable platform to exit the brake-off state according to the brake-off exit strategy comprises:
when the movable platform meets the manual quitting strategy, if a stop quitting signal input from the outside is received, controlling the movable platform to quit the stop state;
and when the movable platform meets the automatic quitting strategy, generating a stopping quitting signal so as to enable the movable platform to quit the stopping state.
The method of claim 11, wherein the status information comprises at least one of:
a second distance of the nearest obstacle in the direction of the current speed to the movable platform;
course information of the movable platform;
the state of an obstacle avoidance system of the movable platform;
height information of the movable platform;
the current speed.
The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:
when the second distance is smaller than a preset safety distance, determining that the movable platform meets the manual exit strategy;
the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:
and if the course information of the movable platform indicates that the course of the movable platform is not changed and the difference value between the currently obtained second distance and the second distance obtained last time is greater than a preset threshold value, determining that the movable platform meets the manual exit strategy.
The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:
and when the state of the obstacle avoidance system is a failure state, determining that the movable platform meets the manual exit strategy.
The method of claim 15, wherein the failure of the obstacle avoidance system comprises a handshake failure of the obstacle avoidance system with a master of the movable platform.
The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:
when the second distance is greater than a preset safety distance and the second distance is greater than a minimum braking distance corresponding to the current speed, determining that the movable platform meets the automatic quitting strategy;
the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:
when the height information indicates that the current height of the movable platform changes relative to the height of the movable platform when the movable platform enters the brake-off state and the movable platform meets a first preset condition, determining that the movable platform meets the automatic exit strategy;
wherein the first predetermined condition comprises one of:
no obstacle is present at the current height;
when the obstacle exists at the current height, a third distance from the nearest obstacle in the direction of the current speed to the movable platform in the obstacles at the current height is greater than a minimum brake-stop distance corresponding to the current speed.
The method of claim 12, wherein determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:
when the current speed is less than a preset speed threshold value, determining that the movable platform meets the automatic exit strategy.
The method of claim 19, wherein determining that the movable platform satisfies the auto-exit strategy when the current speed is less than a preset speed threshold comprises:
when the duration that the current speed is smaller than the preset speed threshold is larger than or equal to a first duration threshold, determining that the movable platform meets the automatic exit strategy.
The method of claim 11, wherein the command information comprises a velocity command for the movable platform.
The method of claim 21, wherein said determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the command information comprises:
when a second distance from the nearest barrier to the movable platform in the direction of the current speed is greater than a minimum braking distance corresponding to the current speed and the movable platform meets a second preset condition, determining that the movable platform meets the automatic quitting strategy;
wherein the second predetermined condition comprises at least one of:
the speed command input by the control device of the movable platform is 0;
the velocity command has a velocity component of 0 in a direction of an obstacle relative to the movable platform that causes the movable platform to enter the braked state.
The method of claim 22, wherein said determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the command information and the status information comprises:
and when an included angle between the speed direction corresponding to the speed command and the direction of the obstacle which enables the movable platform to enter the brake-stopping state relative to the movable platform is larger than or equal to a preset angle, determining that the movable platform meets the manual quitting strategy.
The method of claim 23, wherein determining that the movable platform satisfies the manual exit strategy when an angle between a speed direction corresponding to the speed command and a direction of an obstacle relative to the movable platform that causes the movable platform to enter the deactivated state is greater than or equal to a preset angle comprises:
and when the duration of the included angle is greater than or equal to the preset angle and is greater than a second duration threshold, determining that the movable platform meets the manual exit strategy.
The method of claim 23, wherein the predetermined angle is greater than or equal to 90 degrees and less than or equal to 180 degrees.
The method of claim 1, wherein the movable platform comprises a drone, an unmanned vehicle, or a ground mobile robot.
A control device for a movable platform, the device comprising:
storage means for storing program instructions; and
one or more processors that invoke program instructions stored in the storage device, the one or more processors individually or collectively configured to, when the program instructions are executed, perform operations comprising:
acquiring the current speed of a movable platform and first distance and orientation information of obstacles around the movable platform relative to the movable platform;
and limiting the current speed in the direction of the current speed according to the first distance and the azimuth information so as to prevent the movable platform from colliding with the obstacle.
The apparatus of claim 27, wherein the one or more processors, when limiting the magnitude of the current speed in the direction of the current speed based on the first distance and the bearing information, are further configured, individually or collectively, to:
determining a velocity component of the current velocity projected to a first direction according to the orientation information, wherein the first direction is a direction of the obstacle relative to the movable platform;
when the velocity component is greater than 0, determining the maximum velocity component allowed by the movable platform in the first direction according to the first distance;
and limiting the magnitude of the current speed in the direction of the current speed according to the maximum speed component.
The apparatus of claim 28, wherein the one or more processors, when determining the maximum component of velocity allowed by the movable platform in the first direction from the first distance, are further configured, individually or collectively, to:
determining the maximum speed component allowed by the movable platform in the first direction according to the first distance and a first speed model calibrated in advance;
wherein the first velocity model is used to characterize a mapping between the first distance and the maximum velocity component.
The device of claim 29, wherein the maximum velocity component is less than a maximum brake-off velocity permitted by the movable platform in the first direction;
the maximum braking speed is determined according to the first distance and a pre-calibrated second speed model;
the second speed model is used for representing a mapping relation between the first distance and the maximum brake-stopping speed.
The device of claim 30, wherein the maximum speed component, the maximum brake-off speed, and the first distance are positively correlated, respectively, when the first distance is greater than a preset safety distance;
the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
The apparatus of claim 28, wherein the one or more processors, when limiting the magnitude of the current speed in the direction of the current speed according to the maximum speed component, are further configured, individually or collectively, to:
back projecting the maximum speed component to the direction of the current speed to obtain a limit speed;
and limiting the current speed according to the limiting speed.
The apparatus of claim 32, wherein the one or more processors, when limiting the magnitude of the current speed according to the limiting speed, are further configured, individually or collectively, to:
limiting the current speed magnitude to a minimum of the limit speeds.
The apparatus of claim 27, wherein the one or more processors are further configured, individually or collectively, to:
and if the first distance is smaller than the minimum braking distance corresponding to the current speed, controlling the movable platform to be in a braking state.
The apparatus of claim 27, wherein the one or more processors are further configured, individually or collectively, to:
when the movable platform is in a brake-off state, acquiring at least one of state information and instruction information of the movable platform;
and if the movable platform meets a preset brake-stopping exit strategy according to at least one of the state information and the instruction information, controlling the movable platform to exit the brake-stopping state according to the brake-stopping exit strategy.
The apparatus of claim 35, wherein the one or more processors are further configured, individually or collectively, to:
if the movable platform is determined not to meet the brake-off exit strategy according to at least one of the instruction information and the state information, the movable platform is kept in the brake-off state.
The apparatus of claim 35, wherein the brake-off exit strategy includes at least one of a manual exit strategy and an automatic exit strategy;
the one or more processors, when controlling the movable platform to exit the brake-off state according to the brake-off exit strategy, are further configured, individually or collectively, to:
when the movable platform meets the manual quitting strategy, if a stop quitting signal input from the outside is received, controlling the movable platform to quit the stop state;
and when the movable platform meets the automatic quitting strategy, generating a stopping quitting signal so as to enable the movable platform to quit the stopping state.
The apparatus of claim 37, wherein the status information comprises at least one of:
a second distance of the nearest obstacle in the direction of the current speed to the movable platform;
course information of the movable platform;
the state of an obstacle avoidance system of the movable platform;
height information of the movable platform;
the current speed.
The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:
when the second distance is smaller than a preset safety distance, determining that the movable platform meets the manual exit strategy;
the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:
and if the course information of the movable platform indicates that the course of the movable platform is not changed and the difference value between the currently obtained second distance and the second distance obtained last time is greater than a preset threshold value, determining that the movable platform meets the manual exit strategy.
The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:
and when the state of the obstacle avoidance system is a failure state, determining that the movable platform meets the manual exit strategy.
The apparatus of claim 41, wherein the failure of the obstacle avoidance system comprises a handshake failure of the obstacle avoidance system with a master of the movable platform.
The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:
when the second distance is greater than a preset safety distance and the second distance is greater than a minimum braking distance corresponding to the current speed, determining that the movable platform meets the automatic quitting strategy;
the preset safety distance is the minimum distance from the movable platform to the obstacle when the movable platform is in a brake-off state.
The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:
when the height information indicates that the current height of the movable platform changes relative to the height of the movable platform when the movable platform enters the brake-off state and the movable platform meets a first preset condition, determining that the movable platform meets the automatic exit strategy;
wherein the first predetermined condition comprises one of:
no obstacle is present at the current height;
when the obstacle exists at the current height, a third distance from the nearest obstacle in the direction of the current speed to the movable platform in the obstacles at the current height is greater than a minimum brake-stop distance corresponding to the current speed.
The apparatus according to claim 38, wherein the one or more processors, when determining from the at least one of the state information and command information that the movable platform satisfies a preset stop-and-go strategy, are further configured, individually or collectively, to:
when the current speed is less than a preset speed threshold value, determining that the movable platform meets the automatic exit strategy.
The apparatus of claim 45, wherein the one or more processors, individually or collectively, are further configured to, when the current speed is less than a preset speed threshold, determine that the movable platform satisfies the automatic exit policy:
when the duration that the current speed is smaller than the preset speed threshold is larger than or equal to a first duration threshold, determining that the movable platform meets the automatic exit strategy.
The apparatus of claim 37, wherein the command information comprises a speed command for the movable platform.
The apparatus according to claim 47, wherein the one or more processors, individually or collectively, when determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the status information and the instructional information, are further configured to:
when a second distance from the nearest barrier to the movable platform in the direction of the current speed is greater than a minimum braking distance corresponding to the current speed and the movable platform meets a second preset condition, determining that the movable platform meets the automatic quitting strategy;
wherein the second predetermined condition comprises at least one of:
the speed command input by the control device of the movable platform is 0;
the velocity command has a velocity component of 0 in a direction of an obstacle relative to the movable platform that causes the movable platform to enter the braked state.
The apparatus according to claim 48, wherein the one or more processors, individually or collectively, when determining that the movable platform satisfies a preset stop-and-go strategy based on at least one of the instruction information and the status information, are further configured to:
and when an included angle between the speed direction corresponding to the speed command and the direction of the obstacle which enables the movable platform to enter the brake-stopping state relative to the movable platform is larger than or equal to a preset angle, determining that the movable platform meets the manual quitting strategy.
The apparatus according to claim 49, wherein the one or more processors are further configured, individually or collectively, to perform the following operations when determining that the movable platform satisfies the manual exit maneuver when an angle between a speed direction corresponding to the speed command and a direction of an obstacle relative to the movable platform that causes the movable platform to enter the deactivated state is greater than or equal to a preset angle:
and when the duration of the included angle is greater than or equal to the preset angle and is greater than a second duration threshold, determining that the movable platform meets the manual exit strategy.
The device of claim 49, wherein the predetermined angle is greater than or equal to 90 degrees and less than or equal to 180 degrees.
The apparatus of claim 27, wherein the movable platform comprises a drone, an unmanned vehicle, or a ground mobile robot.
A movable platform, comprising:
a body;
the power system is connected with the machine body and used for providing power for the movement of the machine body;
a control apparatus for a moveable platform as claimed in any one of claims 27 to 52, supported by the body.
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