Mobile platform control method, mobile platform position determination method, mobile platform control apparatus, and storage medium

Abstract

The embodiment of the invention discloses a movable platform control method, a movable platform position judgment method, movable platform control equipment and a storage medium, and the movable platform control method comprises the steps that a first area and a second area are determined, the first area is a movable area of a movable platform, and the second area is a movable area of the movable platform; the second area is a movement forbidding area of the movable platform, and the first area and the second area are complementary sets in a space complete set; acquiring a first position of the movable platform and a second position in the second area; according to the first position and the second position, the relative position of the movable platform and the first area is determined; and determining a control strategy of the movable platform according to the relative position, and controlling the movable platform based on the control strategy.

Description

Mobile platform control method, mobile platform position determination method, mobile platform control device, and storage medium TECHNICAL FIELD

[0001] The present application relates to control technology, and in particular to a mobile platform control method, a mobile platform position determination method, a mobile platform control device, and a storage medium. BACKGROUND

[0002] A mobile platform (e.g., a drone) moves within a specified area, which can to some extent avoid the occurrence of unsafe incidents. In related technologies, the relative position between a drone and a no-fly zone is determined by using the distance between the position of the drone and the position of the no-fly zone.

[0003] The present application at least makes changes to determine the relative position between a mobile platform and the movable area of the mobile platform.

[0004] SUMMARY

[0005] The present application provides a mobile platform control method, a mobile platform position determination method, a mobile platform control device, and a storage medium.

[0006] In a first aspect, the present application provides a mobile platform control method, which determines a first area and a second area, wherein the first area is a movable area of a mobile platform, the second area is a prohibited movement area of the mobile platform, and the first area and the second area are mutually complementary in a space universal set.

[0007] A first position of the mobile platform and a second position in the second area are obtained.

[0008] According to the first position and the second position, a relative position between the mobile platform and the first area is determined.

[0009] A control strategy of the mobile platform is determined according to the relative position, and the mobile platform is controlled based on the control strategy.

[0010] In a second aspect, the present application provides a mobile platform position determination method, which includes determining a first area and a second area, wherein the first area is a movable area of a mobile platform, the second area is a prohibited movement area of the mobile platform, and the first area and the second area are mutually complementary in a space universal set.

[0011] A first position of the mobile platform and a second position in the second area are obtained.

[0012] According to the first position and the second position, a relative position of the movable platform and the first region is determined.

[0013] In a third aspect, an embodiment of the present application provides a movable platform control device, including a memory and a processor, the memory storing a computer program capable of running on the processor, and the processor implements the steps in the movable platform control method in the first aspect or the steps in the movable platform position determination method in the second aspect when executing the program.

[0014] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps in the movable platform control method in the first aspect or the steps in the movable platform position determination method in the second aspect.

[0015] The embodiments of the present application provide a movable platform control method, a movable platform position determination method, a movable platform control device and a storage medium, a first region and a second region are determined, the first region is a movable region of a movable platform, the second region is a forbidden moving region of the movable platform, the first region and the second region are complementary to each other in a whole set of space; a first position of the movable platform and a second position in the second region are obtained; according to the first position and the second position, a relative position of the movable platform and the first region is determined; according to the relative position, a control strategy of the movable platform is determined, and the movable platform is controlled based on the control strategy; the embodiments of the present application provide a scheme for accurately determining the relative position of the movable platform and the movable region according to the first position of the movable platform and the second position in the forbidden moving region, and then the safe control of the movable platform is realized by calling the control strategy corresponding to the relative position. BRIEF DESCRIPTION OF DRAWINGS

[0016] FIG. 1 is a flowchart of a movable platform control method provided by an embodiment of the present application;

[0017] FIG. 2 is a determination schematic diagram one of a UAV at the edge of a flight permission region provided by an embodiment of the present application;

[0018] FIG. 3 is a determination schematic diagram two of a UAV at the edge of a flight permission region provided by an embodiment of the present application;

[0019] FIG. 4 is a determination schematic diagram one of a UAV in a flight permission region provided by an embodiment of the present application;

[0020] FIG. 5 is a determination schematic diagram three of a UAV at the edge of a flight permission region provided by an embodiment of the present application;

[0021] FIG. 6 is a determination schematic diagram one of a UAV outside a flight permission region provided by an embodiment of the present application;

[0022] FIG. 7 is a second schematic diagram of determining whether a UAV is in a flight permission area according to an embodiment of the present application;

[0023] FIG. 8 is a second schematic diagram of determining whether a UAV is in a flight permission area according to an embodiment of the present application;

[0024] FIG. 9 is a flowchart of a method for determining a position of a movable platform according to an embodiment of the present application;

[0025] FIG. 10 is a schematic diagram of a structure of a movable platform control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described below with reference to the drawings in the embodiments of the present application. The following embodiments are used to explain the present application, but are not used to limit the scope of the present application.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the specification is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.

[0028] In the following description, “some embodiments” are described, which describe a subset of all possible embodiments, but it can be understood that “some embodiments” can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0029] It should be noted that the terms “first”, “second”, “third” involved in the embodiments of the present application are only to distinguish similar objects, and do not represent a specific order of the objects. It can be understood that “first”, “second”, “third” can be interchanged in a specific order or sequence as permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0030] The embodiments of the present application provide a movable platform control method. In actual application, the hardware end implementing the movable platform control method can be a control device. The control device can be arranged in a movable platform, a control device of the movable platform, or a server. Alternatively, a part of the control device of the movable platform is arranged in one of the movable platform, the control device of the movable platform, and the server, and another part of the control device of the movable platform is arranged in the other one of the movable platform, the control device of the movable platform, and the server. The control device is an intelligent device that can be used to control the movable platform to perform related operations. For example, the control device can be a smart remote controller, a mobile terminal device such as a smart phone, etc.

[0031] As shown in FIG. 1, in an embodiment, the movable platform control method comprises:

[0032] Step 101: determining a first region and a second region.

[0033] The first region is a movable region of the movable platform, and the second region is a non-movable region of the movable platform. The first region and the second region are mutually complementary in a space universal set.

[0034] In actual application, the first region and the second region can be irregular polygonal regions (for example, regions composed of multiple straight lines and / or curved lines) or regular polygonal regions (for example, circular regions, rectangular regions, etc.).

[0035] In actual application, the movable platform can be an unmanned aerial vehicle (UAV), an unmanned vehicle (or a movable trolley), an unmanned ship, a mobile robot, or the like. A communication connection is established between the control device and the movable platform.

[0036] In the embodiments of the present application, the movable platform is taken as an example of an unmanned aerial vehicle, and the control device is taken as an example of an intelligent remote controller, to illustrate the movable platform control method provided by the present application.

[0037] In an implementable scenario, a space is regarded as a universal set, and a movable region of an unmanned aerial vehicle is referred to as a flight-allowed region. The flight-allowed region and a flight-prohibited region are mutually complementary, and the sum of the two is a space universal set.

[0038] Step 102: obtaining a first position of the movable platform and a second position in the second region.

[0039] In actual application, any point O1 in the second region is taken, and the position of O1 is the second position. The movable platform is regarded as a point O2, and the position of O2 is the first position.

[0040] In actual application, the movable platform can be configured with a positioning device, which can be a satellite positioning device, a global positioning system (GPS) module, a visual inertial odometer (VIO), or the like, and the present application does not make specific limitation. The movable platform can determine its own position through the positioning device.

[0041] In some embodiments, the control device can provide a human-computer interaction interface for a user, display a map on the human-computer interaction interface, and receive a user's range demarcation operation on the map to determine the first region and the second region; and also receive a user's position designation operation on the map to determine the second position. The map can also realize loading and display of the first position.

[0042] Step 103: determining the relative position of the movable platform and the first region according to the first position and the second position.

[0043] In actual application, the relative position of the movable platform and the movable region is determined according to the first position of the movable platform and the second position in the prohibited moving region, so as to accurately determine the position of the movable platform relative to the movable region, for example, to determine that the movable platform is in the non-edge region of the movable region, to determine that the movable platform is at the edge of the movable region, or to determine that the movable platform is not in the movable region, i.e., in the prohibited moving region.

[0044] Step 104: determining the control strategy of the movable platform according to the relative position, and controlling the movable platform based on the control strategy.

[0045] In actual application, after the relative position of the movable platform and the movable region is determined, the control strategy corresponding to the relative position is called to control the movable platform, so as to ensure the flight safety of the movable platform and the equipment safety of the movable platform itself.

[0046] The movable platform control method provided by the embodiments of the present application determines the first region and the second region, wherein the first region is a movable region of the movable platform, the second region is a prohibited moving region of the movable platform, and the first region and the second region are mutually complementary in a space universal set; acquires the first position of the movable platform and the second position in the second region; determines the relative position of the movable platform and the first region according to the first position and the second position; determines the control strategy of the movable platform according to the relative position, and controls the movable platform based on the control strategy. The present application provides a scheme for accurately determining the relative position of the movable platform and the movable region according to the first position of the movable platform and the second position in the prohibited moving region, and then realizing safe control of the movable platform by calling the control strategy corresponding to the relative position.

[0047] In some embodiments, the control strategy includes one of the following strategies:

[0048] When the movable platform is in the non-edge region of the movable region, the movable platform is allowed to move according to the configured moving parameters;

[0049] When the movable platform is in the edge region of the movable region, the movable platform is prohibited from moving out of the movable region.

[0050] When the movable platform is outside the movable area, the movable platform is prohibited from moving or is controlled to stop moving.

[0051] In actual application, when the movable platform is a UAV, in the non-edge area of the movable area, the UAV is allowed to fly according to the configured flight parameters; in the edge area of the movable area, the UAV is prohibited from flying out of the movable area (at this time, the UAV can also be controlled to turn or U-turn); and outside the movable area, the UAV is prohibited from taking off or is controlled to land. By calling the control strategy corresponding to the relative position, the present application reasonably controls the UAV in the non-edge area of the movable area, the edge area and outside the movable area, which not only ensures the flight safety of the UAV and the safety of the equipment of the UAV itself, but also ensures the UAV to normally perform related tasks.

[0052] In some embodiments, step 103 determines the relative position of the movable platform and the first area according to the first position and the second position, including:

[0053] Firstly, a first area expression of a third area where the movable platform is located is determined according to the first position and the first radius, wherein the first radius is set according to the braking distance of the movable platform;

[0054] In actual application, the first area expression (for example, a first area equation) of the third area where the UAV is located is determined according to the first position and the first radius of the UAV.

[0055] Secondly, a second area expression of a second area associated with the second position is obtained;

[0056] In actual application, the area expression of the prohibited moving area can be generated in advance, and in the stage of determining the relative position, the corresponding second area expression is found from the pre-generated area expression according to the second position.

[0057] In actual application, when the second area, i.e. the prohibited moving area, is a regular area (for example, a circular area), the second position can be the center position of the circular area, and the second area expression (for example, a second area equation) of the prohibited moving area is determined according to the second position and the second radius (the second radius can be obtained after the second area is delineated). That is, whether the prohibited moving area is a regular area or an irregular area, the present application can obtain the second area expression of the prohibited moving area associated with the second position.

[0058] Finally, a first analytical solution of the second area expression and the first area expression is calculated, and the relative position is determined according to the first analytical solution.

[0059] In actual application, after obtaining the first area expression and the second area expression, the first analytical solution of the second area expression and the first area expression is calculated by solving the analytical solution, the relative position of the unmanned aerial vehicle and the movable area is determined according to the first analytical solution, and the accurate determination of the position of the unmanned aerial vehicle relative to the movable area is realized.

[0060] In some embodiments, the relative position is determined according to the first analytical solution, including:

[0061] If the number of the first analytical solution is one or two, it is determined that the movable platform is at the edge of the movable area.

[0062] In actual application, the first analytical solution of the second area expression and the first area expression is calculated by solving the analytical solution, which can be solved by simultaneous equations. If the equation set has at least one solution given by a finite number of common operations, it is called that the equation set has an analytical solution. Here, if the number of the first analytical solution is one or two, it is determined that the unmanned aerial vehicle is at the edge of the movable area.

[0063] In actual application, the first analytical solution of the second area expression and the first area expression is calculated by solving the analytical solution, which can be solved by simultaneous equations. If the equation set has at least one solution given by a finite number of common operations, it is called that the equation set has an analytical solution. Here, if the number of the first analytical solution is one or two, it is determined that the unmanned aerial vehicle is at the edge of the movable area.

[0064] First, the sixth position in the second area is obtained.

[0065] In actual application, a point Q is taken in the prohibited moving area.

[0066] Secondly, the seventh position where the line connecting the sixth position and the first position intersects with the first area is obtained.

[0067] In actual application, the seventh position M where the line connecting Q and the first position O2, i.e. the current position of the unmanned aerial vehicle, intersects with the edge of the flight-allowed area is obtained.

[0068] Finally, the third dot product of the vector from the sixth position to the seventh position and the vector from the first position to the seventh position is calculated, and the relative position is determined according to the third dot product.

[0069] In actual application, the third dot product is According to the relative position of the unmanned aerial vehicle and the flight-allowed area is determined.

[0070] In actual application, if the third dot product is greater than zero, it is determined that the movable platform is in the movable area; if the third dot product is less than zero, it is determined that the movable platform is outside the movable area.

[0071] Referring to FIG. 2, the UAV virtually draws an outer circle based on the current position O2 and the radius, and obtains an expression f(x, y) of the outer circle. The radius of the outer circle of the UAV can be dynamically set according to the braking distance of the UAV. When the outer circle f(x, y) of the UAV intersects with the boundary g(x, y) of the flight-allowed area, the UAV is at the edge of the flight-allowed area.

[0072] In some embodiments, the step 103 of determining the relative position of the movable platform and the first area according to the first position and the second position comprises:

[0073] First, a third position of the movable platform after moving along a movement direction at the first position is obtained.

[0074] In actual application, the UAV continues to move along the movement direction at the first position at the current time, and the position at the next time is the third position. The movement direction of the UAV when moving along the movement trajectory in the movement process can be pre-set. Of course, the user can flexibly adjust the movement direction of the UAV in the movement process, which is not limited in the present application.

[0075] Second, a route expression of the movement route of the movable platform is determined according to the first position and the third position.

[0076] In actual application, a straight line expression (for example, a straight line equation) in the movement process of the UAV is established according to the first position and the third position.

[0077] Third, a second area expression of a second area associated with the second position is obtained.

[0078] In actual application, the area expression of the prohibited movement area can be pre-generated, and the corresponding second area expression is searched from the pre-generated area expression according to the second position in the stage of determining the relative position.

[0079] In actual application, when the second area, i.e., the prohibited movement area, is a regular area (for example, a circular area), the second position can be the center position of the circular area, and the second area expression (for example, a second area equation) of the prohibited movement area is determined according to the second position and the second radius (the radius can be obtained after the second area is drawn). That is, whether the prohibited movement area is a regular area or an irregular area, the second area expression of the prohibited movement area associated with the second position can be obtained.

[0080] Finally, a second analytical solution of the route expression and the second area expression is calculated, and the relative position is determined according to the second analytical solution.

[0081] In actual application, in the case of obtaining the route expression and the second area expression, the second analytical solution of the second area expression and the route expression is calculated by solving the analytical solution, and the relative position of the unmanned aerial vehicle and the movable area is determined according to the second analytical solution, so as to realize accurate determination of the position of the unmanned aerial vehicle relative to the movable area.

[0082] In some embodiments, the relative position is determined according to the second analytical solution, including:

[0083] If the number of the second analytical solution is one, it is determined that the movable platform is at the edge of the movable area.

[0084] In actual application, the second analytical solution of the second area expression and the route expression is calculated by solving the analytical solution, which can be solved by simultaneous equations. If the equation set has a solution given by a finite number of common operations, it is called an analytical solution. Here, if the number of the second analytical solution is one, it is determined that the unmanned aerial vehicle is at the edge of the movable area. If there is no second analytical solution, it is determined that the movable platform is in the movable area.

[0085] Referring to FIG. 3, the unmanned aerial vehicle calculates the position B of the unmanned aerial vehicle at the next time based on the current position O2 and the moving direction, and obtains the straight line equation f(x, y) based on the current position O2 and the position B at the next time. When the straight line equation f(x, y) has an analytical solution with the boundary g(x, y) of the flight-allowed area (at this time, as shown in FIG. 2, the straight line segment O2B intersects the flight-prohibited area at A), the unmanned aerial vehicle is at the edge of the flight-allowed area.

[0086] In some embodiments, step 103 determines the relative position of the movable platform and the first area according to the first position and the second position, including:

[0087] First, the fourth position intersected by the line connecting the first position and the second position and the third area, and the fifth position intersected by the second area are obtained.

[0088] In actual application, the first position and the second position in the movable platform are connected to obtain the line connecting the first position and the second position, and then the fourth position intersected by the line and the third area where the movable platform is located, and the fifth position intersected by the flight-prohibited area are obtained.

[0089] Secondly, the first dot product of the vector from the fifth position to the second position and the vector from the fourth position to the fifth position is calculated, and the relative position is determined according to the first dot product.

[0090] In actual application, a point O1 in the flight-prohibited area is connected with the unmanned aerial vehicle position O2, and the line intersects the outer circle of the unmanned aerial vehicle at point B (corresponding to the fourth position) and the edge of the flight-allowed area at point A (corresponding to the fifth position), and the first dot product is According to determining the relative position of the UAV and the flight-allowed area.

[0091] In some embodiments, the relative position is determined according to the first dot product, including:

[0092] If the first dot product is greater than zero, it is determined that the movable platform is in the movable area.

[0093] If the first dot product is less than or equal to zero, it is determined that the movable platform is at the edge of the movable area.

[0094] In practical applications, the first dot product is calculated when the specific position is obtained. According to The relative position of the UAV and the movable area is determined, and the accurate position of the UAV relative to the movable area is achieved.

[0095] Referring to FIG. 4, if The two circles are separated, i.e., the UAV is in the flight-allowed area.

[0096] Referring to FIG. 5, if The two circles intersect or are tangent, i.e., the UAV is at the edge of the flight-allowed area.

[0097] In some embodiments, the relative position of the movable platform and the first area is determined according to the first position and the second position, including:

[0098] First, the fourth position where the line connecting the first position and the second position intersects the third area where the movable platform is located, and the fifth position where the line intersects the second area are obtained.

[0099] In practical applications, the line connecting the first position of the movable platform and the second position in the prohibited movement area is obtained, and then the fourth position where the line intersects the third area where the movable platform is located, and the fifth position where the line intersects the prohibited movement area are obtained.

[0100] Second, the second dot product of the vector from the fifth position to the second position and the vector from the fifth position to the first position is calculated, and the relative position is determined according to the second dot product.

[0101] In practical applications, a point O1 in the prohibited movement area is connected with the UAV position O2, and the line intersects the UAV outer circle at point B (corresponding to the fourth position) and intersects the flight-allowed area edge at point A (corresponding to the fifth position), and the second dot product is According to The relative position of the UAV and the flight-allowed area is determined.

[0102] In some embodiments, the relative position is determined according to the second dot product, including:

[0103] If the second dot product is greater than zero, it is determined that the movable platform is outside the movable region.

[0104] In actual application, when the specific position is obtained, the second dot product is calculated According to The relative position of the unmanned aerial vehicle and the movable region is determined, and the accurate determination of the position of the unmanned aerial vehicle relative to the movable region is realized.

[0105] Referring to FIG. 6, if there are The unmanned aerial vehicle is outside the flight-allowed region, that is, in the flight-prohibited region.

[0106] In some embodiments of the present application, a ray can also be emitted in any direction from the current position P of the unmanned aerial vehicle, the number of intersection points of the ray and the boundary of the flight-allowed region is counted, if the number of intersection points is even, the unmanned aerial vehicle is in the flight-allowed region; if the number of intersection points is odd, the unmanned aerial vehicle is outside the flight-allowed region and in the flight-prohibited region.

[0107] Referring to FIG. 7, the number of intersection points of the ray and the boundary of the flight-allowed region is 2 (N1 and N2), it is determined that the unmanned aerial vehicle is in the flight-allowed region. Referring to FIG. 8, the number of intersection points of the ray and the boundary of the flight-allowed region is 1 (N3), it is determined that the unmanned aerial vehicle is outside the flight-allowed region and in the flight-prohibited region.

[0108] From the above, the movable platform control method provided by the present application can accurately determine the relative position of the movable platform and the movable region according to the first position of the movable platform and the second position in the prohibited movement region; in the process of determining the relative position, the simultaneous equations can be solved to obtain the analytical solution, the vector dot product can be calculated, and the number of intersection points of the ray and the region can be counted to obtain the accurate relative position, and finally the control strategy corresponding to the relative position is called to realize the safe control of the movable platform. In this way, not only the flight safety of the unmanned aerial vehicle can be improved, but also the reasonable control strategy can be matched to make a strong guarantee for the safety of the unmanned aerial vehicle itself.

[0109] As shown in FIG. 9, in an embodiment, the movable platform position determination method comprises:

[0110] Step 901: determining a first region and a second region.

[0111] The first region is the movable region of the movable platform, the second region is the prohibited movement region of the movable platform, and the first region and the second region are mutually complementary in a space universal set;

[0112] Step 902: obtaining a first position of the movable platform and a second position in the second region;

[0113] Step 903: determining the relative position of the movable platform and the first region according to the first position and the second position.

[0114] The embodiment of the application provides a movable platform position determination method. In actual application, the hardware end for implementing the movable platform position determination method can be a control device. The control device can be arranged in the movable platform, a control equipment of the movable platform or a server. Alternatively, part of the control device of the movable platform is arranged in one of the movable platform, the control equipment of the movable platform and the server, and the other part of the control device of the movable platform is arranged in another of the movable platform, the control equipment of the movable platform and the server. The control equipment is an intelligent device that can be used to control the movable platform to perform related operations. For example, the control equipment can be a smart remote controller, a mobile terminal device such as a smart phone and the like.

[0115] In an implementable scenario, the movable platform, the control equipment of the movable platform and the server constitute a movable platform control system. The server executes the above-mentioned movable platform position determination method, thereby determining the relative position of the movable platform and the movable region according to the first position of the movable platform and the second position in the prohibited moving region. Further, the server sends the relative position of the movable platform and the movable region to the control equipment of the movable platform, thereby triggering the control equipment of the movable platform to determine a control strategy of the movable platform according to the relative position and to control the movable platform based on the control strategy. In this way, the server side provides the computing power for determining the relative position, reduces the computing power consumption of the control equipment of the movable platform, and can also accelerate the processing efficiency of complex tasks.

[0116] In some embodiments, the step 903 of determining the relative position of the movable platform and the first region according to the first position and the second position comprises: determining a first region expression of a third region where the movable platform is located according to the first position and a first radius, wherein the first radius is set according to the braking distance of the movable platform; obtaining a second region expression of a second region associated with the second position; calculating a first analytical solution of the second region expression and the first region expression, and determining the relative position according to the first analytical solution.

[0117] In some embodiments, the above-mentioned determining the relative position according to the first analytical solution comprises:

[0118] If the number of the first analytical solutions is one or two, it is determined that the movable platform is at the edge of the movable region.

[0119] In some embodiments, the above-mentioned determining the relative position according to the first analytical solution comprises:

[0120] If there is no first analytical solution, a sixth position in the second region is obtained.

[0121] A seventh position where a line connecting the sixth position and the first position intersects with the first region is obtained.

[0122] computing a third dot product of a vector from the sixth position to the seventh position and a vector from the first position to the seventh position, determining the relative position according to the third dot product.

[0123] In some embodiments, determining the relative position according to the third dot product comprises:

[0124] if the third dot product is greater than zero, determining that the movable platform is in the movable region;

[0125] if the third dot product is less than zero, determining that the movable platform is outside the movable region.

[0126] In some embodiments, the step 903 of determining the relative position of the movable platform and the first region according to the first position and the second position comprises: obtaining a third position of the movable platform after moving along the movement direction from the first position; determining a route expression of the movement route of the movable platform according to the first position and the third position; obtaining a second region expression of a second region associated with the second position; and computing a second analytical solution of the route expression and the second region expression, and determining the relative position according to the second analytical solution.

[0127] In some embodiments, the step of determining the relative position according to the second analytical solution comprises:

[0128] if the number of the second analytical solution is one, determining that the movable platform is at the edge of the movable region.

[0129] if there is no second analytical solution, determining that the movable platform is in the movable region.

[0130] In some embodiments, the step 903 of determining the relative position of the movable platform and the first region according to the first position and the second position comprises: obtaining a fourth position at which a line connecting the first position and the second position intersects the third region and a fifth position at which the line intersects the second region; computing a first dot product of a vector from the fifth position to the second position and a vector from the fourth position to the fifth position, and determining the relative position according to the first dot product.

[0131] In some embodiments, the step of determining the relative position according to the first dot product comprises:

[0132] if the first dot product is greater than zero, determining that the movable platform is in the movable region;

[0133] if the first dot product is less than or equal to zero, determining that the movable platform is at the edge of the movable region.

[0134] In some embodiments, the determining the relative position of the movable platform and the first region according to the first position and the second position in step 903 comprises: obtaining a fourth position where a line connecting the first position and the second position intersects a third region where the movable platform is located and a fifth position where the line intersects the second region; calculating a second dot product of a vector from the fifth position to the second position and a vector from the fifth position to the first position; and determining the relative position according to the second dot product.

[0135] In some embodiments, the determining the relative position according to the second dot product comprises:

[0136] If the second dot product is greater than zero, it is determined that the movable platform is outside the movable region.

[0137] It should be noted that the above description of the movable platform position determination method is similar to the description of the same step of the above-mentioned movable platform control method embodiment. For technical details not disclosed in the movable platform position determination method embodiment of the present application, please refer to the description of the above-mentioned movable platform control method embodiment of the present application.

[0138] Embodiments of the present application provide a movable platform control device which can be applied to the movable platform control method provided by the embodiment corresponding to FIG. 1. Referring to FIG. 10, the movable platform control device 10 comprises a processor 1001, a memory 1002 and a communication bus 1003, wherein:

[0139] The communication bus 1003 is configured to realize the communication connection between the processor 1001 and the memory 1002.

[0140] The memory 1002 stores a computer program, and when the computer program is executed by the processor 1001, the processor 1001 is configured to: determine a first region and a second region, wherein the first region is a movable region of the movable platform, the second region is a prohibited movement region of the movable platform, and the first region and the second region are mutually complementary in a space universal set; obtain a first position of the movable platform and a second position in the second region; determine a relative position of the movable platform and the first region according to the first position and the second position; determine a control strategy of the movable platform according to the relative position; and control the movable platform based on the control strategy.

[0141] In some embodiments, the processor 1001 is configured to: allow the movable platform to move according to the configured movement parameters when the movable platform is in a non-edge region of the movable region; prohibit the movable platform from moving outside the movable region when the movable platform is in an edge region of the movable region; and prohibit the movable platform from moving or control the movable platform to stop moving when the movable platform is outside the movable region.

[0142] In some embodiments, the processor 1001 is configured to determine a first area expression of a third area where the movable platform is located according to the first position and the first radius, wherein the first radius is set according to a braking distance of the movable platform; obtain a second area expression of a second area associated with the second position; calculate a first analytical solution of the second area expression and the first area expression, and determine the relative position according to the first analytical solution.

[0143] In some embodiments, the processor 1001 is configured to determine that the movable platform is at an edge of the movable area if the number of the first analytical solution is one or two.

[0144] In some embodiments, the processor 1001 is configured to obtain a sixth position in the second area if there is no first analytical solution; the processor is configured to obtain a seventh position where a line connecting the sixth position and the first position intersects the first area; the processor is configured to calculate a third dot product of a vector from the sixth position to the seventh position and a vector from the first position to the seventh position, and determine the relative position according to the third dot product.

[0145] In some embodiments, the processor 1001 is configured to determine that the movable platform is in the movable area if the third dot product is greater than zero, and determine that the movable platform is outside the movable area if the third dot product is less than zero.

[0146] In some embodiments, the processor 1001 is configured to obtain a third position of the movable platform after moving in a movement direction from the first position; determine a route expression of a movement route of the movable platform according to the first position and the third position; obtain a second area expression of a second area associated with the second position; calculate a second analytical solution of the route expression and the second area expression, and determine the relative position according to the second analytical solution.

[0147] In some embodiments, the processor 1001 is configured to determine that the movable platform is at an edge of the movable area if the number of the second analytical solution is one, and determine that the movable platform is in the movable area if there is no second analytical solution.

[0148] In some embodiments, the processor 1001 is configured to obtain a fourth position where a line connecting the first position and the second position intersects the third area, and a fifth position where the line intersects the second area; calculate a first dot product of a vector from the fifth position to the second position and a vector from the fourth position to the fifth position, and determine the relative position according to the first dot product.

[0149] In some embodiments, the processor 1001 is configured to determine that the movable platform is in the movable area if the first dot product is greater than zero, and determine that the movable platform is at an edge of the movable area if the first dot product is less than or equal to zero.

[0150] In some embodiments, the processor 1001 is configured to: obtain a fourth position at which a line connecting the first position and the second position intersects a third region in which the movable platform is located, and a fifth position at which the second region intersects; calculate a second dot product of a vector from the fifth position to the second position and a vector from the fifth position to the first position, and determine the relative position according to the second dot product.

[0151] In some embodiments, the processor 1001 is configured to: if the second dot product is greater than zero, determine that the movable platform is outside the movable region.

[0152] Embodiments of the present application provide a movable platform control device, which can be applied to the movable platform position determination provided by the embodiment corresponding to FIG. 9. Referring to FIG. 10, the movable platform control device 10 includes a processor 1001, a memory 1002, and a communication bus 1003, wherein:

[0153] The communication bus 1003 is configured to realize the communication connection between the processor 1001 and the memory 1002.

[0154] The memory 1002 stores a computer program, and when the computer program is executed by the processor 1001, the processor 1001 is configured to: determine a first region and a second region, wherein the first region is a movable region of the movable platform, the second region is a non-movable region of the movable platform, and the first region and the second region are mutually complementary in a space universal set; obtain a first position of the movable platform and a second position in the second region; and determine a relative position of the movable platform and the first region according to the first position and the second position.

[0155] In some embodiments, the processor 1001 is configured to: determine a first region expression of a third region in which the movable platform is located according to the first position and a first radius, wherein the first radius is set according to a braking distance of the movable platform; obtain a second region expression of the second region associated with the second position; calculate a first analytical solution of the second region expression and the first region expression, and determine the relative position according to the first analytical solution.

[0156] In some embodiments, the processor 1001 is configured to: if the number of the first analytical solution is one or two, determine that the movable platform is at the edge of the movable region.

[0157] In some embodiments, the processor 1001 is configured to: if there is no first analytical solution, obtain a sixth position in the second region; obtain a seventh position at which a line connecting the sixth position and the first position intersects the first region; calculate a third dot product of a vector from the sixth position to the seventh position and a vector from the first position to the seventh position, and determine the relative position according to the third dot product.

[0158] In some embodiments, the processor 1001 is configured to determine that the movable platform is in the movable region if the third dot product is greater than zero, and determine that the movable platform is outside the movable region if the third dot product is less than zero.

[0159] In some embodiments, the processor 1001 is configured to obtain a third position of the movable platform after the movable platform moves from the first position along the movement direction, determine a route expression of the movement route of the movable platform according to the first position and the third position, obtain a second region expression of a second region associated with the second position, and calculate a second analytical solution of the route expression and the second region expression, and determine the relative position according to the second analytical solution.

[0160] In some embodiments, the processor 1001 is configured to determine that the movable platform is at the edge of the movable region if the number of the second analytical solutions is one, and determine that the movable platform is in the movable region if there is no second analytical solution.

[0161] In some embodiments, the processor 1001 is configured to obtain a fourth position where a line connecting the first position and the second position intersects the third region, and a fifth position where the line intersects the second region, calculate a first dot product of a vector from the fifth position to the second position and a vector from the fourth position to the fifth position, and determine the relative position according to the first dot product.

[0162] In some embodiments, the processor 1001 is configured to determine that the movable platform is in the movable region if the first dot product is greater than zero, and determine that the movable platform is at the edge of the movable region if the first dot product is less than or equal to zero.

[0163] In some embodiments, the processor 1001 is configured to obtain a fourth position where a line connecting the first position and the second position intersects the third region, and a fifth position where the line intersects the second region, calculate a second dot product of a vector from the fifth position to the second position and a vector from the fifth position to the first position, and determine the relative position according to the second dot product.

[0164] In some embodiments, the processor 1001 is configured to determine that the movable platform is outside the movable region if the second dot product is greater than zero.

[0165] It should be noted that the specific implementation process of the steps performed by the processor in this embodiment can refer to the implementation process in the method provided in the corresponding embodiments of FIG. 1 or FIG. 9, which will not be described here.

[0166] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the implementation process in the method provided in the above embodiments, which will not be described here.

[0167] Embodiments of the present application provide a computer product including a computer program, which can be executed by one or more processors to implement the implementation process in the method provided by the embodiments corresponding to FIG. 1 or FIG. 9, which will not be repeated here.

[0168] The computer storage medium / memory can be a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Ferromagnetic Random Access Memory (FRAM), a Flash Memory, a magnetic surface memory, an optical disc, a Compact Disc Read-Only Memory (CD-ROM), or the like memory; or can be various terminals including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, and the like.

[0169] It should be understood that the “one embodiment” or “an embodiment” or “the embodiment” or “the foregoing embodiment” or “some embodiments” or “some implementations” mentioned throughout the description means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, “in one embodiment” or “in an embodiment” or “the embodiment” or “the foregoing embodiment” or “some embodiments” or “some implementations” appearing throughout the description do not necessarily mean the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The sequence number of the above embodiments of the present application is only for description, not representing the advantages and disadvantages of the embodiments.

[0170] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other manners. The embodiments described above are merely exemplary, and the unit division is merely logical function division, and there can be other division manners in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling, direct coupling, or communication connection between the components can be indirect coupling or communication connection through some interfaces, and can be electrical, mechanical, or in other forms.

[0171] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; they can be located in one place, or distributed on a plurality of network units; and some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0172] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0173] The methods disclosed in the several method embodiments provided by the present application can be combined arbitrarily without conflict, to obtain new method embodiments.

[0174] The features disclosed in the several product embodiments provided by the present application can be combined arbitrarily without conflict, to obtain new product embodiments.

[0175] The features disclosed in the several method or device embodiments provided by the present application can be combined arbitrarily without conflict, to obtain new method embodiments or device embodiments.

[0176] Those of ordinary skill in the art can understand that all or part of the steps of the above method embodiments can be completed by a program instructing related hardware, and the foregoing program can be stored in a computer readable storage medium, and when the program is executed, the steps of the method embodiments are executed. The foregoing storage medium includes mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and various media that can store program codes.

[0177] Alternatively, the above-mentioned integrated units of the present application, if realized in the form of software function modules and sold or used as independent products, can also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes: mobile storage devices, ROM, magnetic disks or optical disks, and various media that can store program codes.

[0178] It is worth noting that the drawings in the embodiments of the present application are only for illustrating the schematic positions of various devices on the terminal device, and do not represent the real positions in the terminal device, and the real positions of various devices or various regions can be changed or offset according to the actual situation (for example, the structure of the terminal device), and the proportions of different parts in the terminal device in the drawings do not represent the real proportions.

[0179] The above is only the implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling a mobile platform, the method comprising: A first region and a second region are determined, wherein the first region is the movable region of the movable platform, and the second region is the prohibited region of the movable platform. The first region and the second region are complementary sets of each other in a spatial set. Obtain the first location of the mobile platform and the second location within the second area; The relative position of the mobile platform to the first area is determined based on the first position and the second position. The control strategy for the mobile platform is determined based on the relative position, and the mobile platform is controlled based on the control strategy.

2. The method according to claim 1, wherein the control strategy includes one of the following strategies: The mobile platform is allowed to move according to configured movement parameters in the non-edge area of ​​the mobile area; The movable platform is prohibited from moving outside the movable area at the edge of the movable area; The mobile platform is outside the movable area, and the movement of the mobile platform is prohibited or controlled to stop.

3. The method according to claim 1 or 2, wherein determining the relative position of the movable platform to the first region based on the first position and the second position comprises: Based on the first position and the first radius, a first region expression is determined for the third region where the mobile platform is located, wherein the first radius is set based on the braking distance of the mobile platform; Obtain the second region expression associated with the second location; Calculate the first analytical solution of the second region expression and the first region expression, and determine the relative position based on the first analytical solution.

4. The method according to claim 3, wherein determining the relative position based on the first analytical solution comprises: If the number of the first analytical solutions is one or two, the edge of the movable platform in the movable area is determined.

5. The method according to claim 3, wherein determining the relative position based on the first analytical solution comprises: If the first analytical solution does not exist, obtain the sixth position within the second region; Obtain the seventh position where the line connecting the sixth position and the first position intersects with the first region; Calculate the third dot product of the vector from the sixth position to the seventh position and the vector from the first position to the seventh position, and determine the relative position based on the third dot product.

6. The method according to claim 5, wherein determining the relative position based on the third dot product comprises: If the third dot product is greater than zero, the movable platform is determined to be in the movable area; If the third dot product is less than zero, it is determined that the movable platform is outside the movable area.

7. The method according to claim 1 or 2, wherein determining the relative position of the movable platform to the first region based on the first position and the second position comprises: Obtain the third position of the movable platform after it has moved along the direction of motion from the first position; Based on the first position and the third position, determine the route expression of the mobile platform's movement route; Obtain the second region expression associated with the second location; Calculate the second analytical solution of the route expression and the second region expression, and determine the relative position based on the second analytical solution.

8. The method according to claim 7, wherein determining the relative position based on the second analytical solution comprises: If the number of the second analytical solutions is one, the edge of the movable platform in the movable area is determined.

9. The method according to claim 7, wherein determining the relative position based on the second analytical solution comprises: If the second analytical solution does not exist, the mobile platform is determined to be within the mobile area.

10. The method according to claim 1 or 2, wherein determining the relative position of the movable platform to the first region based on the first position and the second position comprises: Obtain the line connecting the first position and the second position, the fourth position where it intersects with the third region where the movable platform is located, and the fifth position where it intersects with the second region; Calculate the first dot product of the vector from the fifth position to the second position and the vector from the fourth position to the fifth position, and determine the relative position based on the first dot product.

11. The method according to claim 10, wherein determining the relative position based on the first dot product comprises: If the first dot product is greater than zero, it is determined that the movable platform is in the movable area; If the first dot product is less than or equal to zero, the edge of the movable platform in the movable area is determined.

12. The method according to claim 1 or 2, wherein determining the relative position of the movable platform to the first region based on the first position and the second position comprises: Obtain the line connecting the first position and the second position, the fourth position where it intersects with the third region where the movable platform is located, and the fifth position where it intersects with the second region; Calculate the second dot product of the vector from the fifth position to the second position and the vector from the fifth position to the first position, and determine the relative position based on the second dot product.

13. The method of claim 12, wherein determining the relative position based on the second dot product comprises: If the second dot product is greater than zero, it is determined that the movable platform is outside the movable area.

14. A method for determining the location of a movable platform, the method comprising: A first region and a second region are determined, wherein the first region is the movable region of the movable platform, and the second region is the prohibited region of the movable platform. The first region and the second region are complementary sets of each other in a spatial set. Obtain the first location of the mobile platform and the second location within the second area; The relative position of the mobile platform to the first region is determined based on the first position and the second position.

15. The method according to claim 14, wherein determining the relative position of the movable platform to the first region based on the first position and the second position comprises: Based on the first position and the first radius, a first region expression is determined for the third region where the mobile platform is located, wherein the first radius is set based on the braking distance of the mobile platform; Obtain the second region expression associated with the second location; Calculate the first analytical solution of the second region expression and the first region expression, and determine the relative position based on the first analytical solution.

16. The method according to claim 15, wherein determining the relative position based on the first analytical solution comprises: If the number of the first analytical solutions is one or two, the edge of the movable platform in the movable area is determined.

17. The method according to claim 15, wherein determining the relative position based on the first analytical solution comprises: If the first analytical solution does not exist, obtain the sixth position within the second region; Obtain the seventh position where the line connecting the sixth position and the first position intersects with the first region; Calculate the third dot product of the vector from the sixth position to the seventh position and the vector from the first position to the seventh position, and determine the relative position based on the third dot product.

18. The method of claim 17, wherein determining the relative position based on the third dot product comprises: If the third dot product is greater than zero, the movable platform is determined to be in the movable area; If the third dot product is less than zero, it is determined that the movable platform is outside the movable area.

19. The method according to claim 14, wherein determining the relative position of the movable platform to the first region based on the first position and the second position comprises: Obtain the third position of the movable platform after it has moved along the direction of motion from the first position; Based on the first position and the third position, determine the route expression of the mobile platform's movement route; Obtain the second region expression associated with the second location; Calculate the second analytical solution of the route expression and the second region expression, and determine the relative position based on the second analytical solution.

20. The method according to claim 19, wherein determining the relative position based on the second analytical solution comprises: If the number of the second analytical solutions is one, the edge of the movable platform in the movable area is determined.

21. The method according to claim 19, wherein determining the relative position based on the second analytical solution comprises: If the second analytical solution does not exist, the mobile platform is determined to be within the mobile area.

22. The method according to claim 14, wherein determining the relative position of the movable platform to the first region based on the first position and the second position comprises: Obtain the line connecting the first position and the second position, the fourth position where it intersects with the third region where the movable platform is located, and the fifth position where it intersects with the second region; Calculate the first dot product of the vector from the fifth position to the second position and the vector from the fourth position to the fifth position, and determine the relative position based on the first dot product.

23. The method according to claim 22, wherein determining the relative position based on the first dot product comprises: If the first dot product is greater than zero, it is determined that the movable platform is in the movable area; If the first dot product is less than or equal to zero, the edge of the movable platform in the movable area is determined.

24. The method according to claim 14, wherein determining the relative position of the movable platform to the first region based on the first position and the second position comprises: Obtain the line connecting the first position and the second position, the fourth position where it intersects with the third region where the movable platform is located, and the fifth position where it intersects with the second region; Calculate the second dot product of the vector from the fifth position to the second position and the vector from the fifth position to the first position, and determine the relative position based on the second dot product.

25. The method of claim 24, wherein determining the relative position based on the second dot product comprises: If the second dot product is greater than zero, it is determined that the movable platform is outside the movable area.

26. A mobile platform control device, comprising a memory and a processor; the memory storing a computer program, wherein when the computer program is executed by the processor, the processor is configured to determine a first region and a second region, wherein... The first region is the movable region of the movable platform, and the second region is the prohibited region of the movable platform. The first region and the second region are complementary sets within a spatial set. The processor is configured to acquire a first location of the mobile platform and a second location within the second area; The processor is configured to determine the relative position of the movable platform to the first region based on the first position and the second position.

27. The mobile platform control device according to claim 26, wherein the processor is configured to determine a control strategy for the mobile platform based on the relative position, and to control the mobile platform based on the control strategy.

28. The mobile platform control device according to claim 27, wherein the control strategy includes one of the following strategies: The mobile platform is allowed to move according to configured movement parameters in the non-edge area of ​​the mobile area; The movable platform is prohibited from moving outside the movable area at the edge of the movable area; The mobile platform is outside the movable area, and the movement of the mobile platform is prohibited or controlled to stop.

29. The mobile platform control device according to any one of claims 26-28, wherein the processor is configured to determine a first region expression of the third region where the mobile platform is located based on the first position and the first radius, wherein, The first radius is set based on the braking distance of the movable platform; The processor is configured to obtain a second region expression of the second region associated with the second location; The processor is configured to compute a first analytical solution to the second region expression and the first region expression, and determine the relative position based on the first analytical solution.

30. The mobile platform control device according to claim 29, wherein the processor is configured to determine the edge of the mobile platform in the mobile area if the number of the first analytical solutions is one or two.

31. The mobile platform control device according to claim 29, wherein the processor is configured to obtain a sixth position in the second region if the first parsed solution does not exist; The processor is configured to obtain the seventh position at the intersection of the line connecting the sixth position and the first position with the first region; The processor is configured to calculate a third dot product between the vector from the sixth position to the seventh position and the vector from the first position to the seventh position, and to determine the relative position based on the third dot product.

32. The mobile platform control device according to claim 31, wherein the processor is configured to determine that the mobile platform is in the mobile area if the third dot product is greater than zero; and to determine that the mobile platform is outside the mobile area if the third dot product is less than zero.

33. The mobile platform control device according to any one of claims 26-28, wherein the processor is configured to acquire a third position of the mobile platform after it has moved along the direction of motion from the first position; The processor is configured to determine a route expression for the movement route of the mobile platform based on the first position and the third position; The processor is configured to obtain a second region expression of the second region associated with the second location; The processor is configured to calculate the first of the route expression and the second region expression. The second analytical solution determines the relative position.

34. The mobile platform control device according to claim 33, wherein the processor is configured to determine the edge of the mobile platform in the mobile area if the number of the second analytical solutions is one.

35. The mobile platform control device according to claim 33, wherein the processor is configured to determine that the mobile platform is in the mobile area if the second analytical solution does not exist.

36. The mobile platform control device according to any one of claims 26-28, wherein the processor is configured to acquire the connection between the first position and the second position, a fourth position at the intersection with the third region where the mobile platform is located, and a fifth position at the intersection with the second region; The processor is configured to calculate a first dot product between the vector from the fifth position to the second position and the vector from the fourth position to the fifth position, and to determine the relative position based on the first dot product.

37. The mobile platform control device of claim 36, wherein the processor is configured to determine that the mobile platform is in the mobile region if the first dot product is greater than zero; and to determine that the mobile platform is at the edge of the mobile region if the first dot product is less than or equal to zero.

38. The mobile platform control device according to any one of claims 26-28, wherein the processor is configured to acquire the connection between the first position and the second position, a fourth position at the intersection with the third region where the mobile platform is located, and a fifth position at the intersection with the second region; The processor is configured to calculate a second dot product between the vector from the fifth position to the second position and the vector from the fifth position to the first position, and to determine the relative position based on the second dot product.

39. The mobile platform control device of claim 38, wherein the processor is configured to determine that the mobile platform is outside the mobile area if the second dot product is greater than zero.

40. A computer storage medium storing a computer program that, when executed by a processor, implements the method as claimed in any one of claims 1 to 13 or 14 to 25.

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