Control method and apparatus for movable platform, movable platform and medium

Abstract

A control method and apparatus for a movable platform, the movable platform, and a medium. The method comprises: acquiring trajectory information of a target object, the target object being associated with a motion task of the movable platform; and on the basis of the trajectory information, determining a path of the movable platform moving through the target object, wherein the path successively comprises a first path segment and a second path segment, the first path segment has a first following sensitivity, the second path segment has a second following sensitivity, and the first following sensitivity is greater than the second following sensitivity.

Description

Control method and device for movable platform, movable platform and medium Technical Field

[0001] The present application relates to the technical field of mobile platforms, and in particular to a control method, device, mobile platform, and medium for a mobile platform. Background Art

[0002] With the development of mobile platform technology, mobile platforms, represented by aircraft, have gradually been applied in various operational scenarios. Some operational scenarios often have complex environmental factors that affect the efficient execution of flight missions, such as rugged terrain, diverse crop growth, and numerous buildings. Especially in the execution of endurance or return missions, the existing execution strategy usually first flies to the take-off altitude or return altitude set by the user. There is no good response measure when encountering complex environmental factors. Emergency braking requires the user to manually take over. Due to frequent interruptions to the flight process, flight efficiency is low, energy consumption is large, and it is impossible to truly free your hands, resulting in a poor user experience.

[0003] Summary of the Invention

[0004] Based on this, embodiments of the present application propose a control method, device, movable platform, and medium for a movable platform.

[0005] In a first aspect, an embodiment of the present application provides a control method for a movable platform, the method comprising: obtaining movement information of a target object, the target object being associated with a motion task of the movable platform; determining a path of the movable platform moving through the target object based on the movement information, wherein the path successively comprises a first path segment and a second path segment, the first path segment having a first following sensitivity, the second path segment having a second following sensitivity, and the first following sensitivity being greater than the second following sensitivity.

[0006] In a second aspect, an embodiment of the present application provides a control method for a movable platform, the method comprising: obtaining movement information of a target object, the target object being associated with a motion task of the movable platform; determining a path of the movable platform moving through the target object based on the movement information; wherein, if the movement information indicates that the target object is moving upward, determining that the path adopts a first following sensitivity; if the movement information indicates that the target object is moving downward or flat, determining that the path segment adopts a second following sensitivity; and the first following sensitivity is greater than the second following sensitivity.

[0007] In a third aspect, an embodiment of the present application provides a control method for a movable platform, the method comprising: determining first height information of the movable platform at a current moving position; obtaining a local elevation map of the movable platform at the current moving position; determining a path of the movable platform moving through a target object based on the local elevation map and the first height information, and comprising: querying the local elevation map for second height information of the target object on one side of the moving direction of the movable platform; if the second height information of the target object is not less than the first height information of the movable platform, controlling the movable platform to move with a first following sensitivity; if the second height information of the target object is less than the first height information of the movable platform, controlling the movable platform to move with a second following sensitivity; wherein, the first following sensitivity is greater than the second following sensitivity.

[0008] In a fourth aspect, an embodiment of the present application provides a control device for a movable platform, the device comprising: at least one processor; and at least one memory comprising computer program code, wherein the at least one memory and the computer program code are configured together with the at least one processor so that the control device can at least execute the method described in the first aspect, the second aspect, or the third aspect.

[0009] In a fifth aspect, an embodiment of the present application provides a movable platform, which includes a device body and a control body, and the control body is used to control the device body to execute the method described in the first aspect, the second aspect, or the third aspect.

[0010] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the control method described in the first aspect, the second aspect, or the third aspect.

[0011] In an embodiment of the present application, when performing a flight mission, the aircraft can automatically plan a following flight plan based on the target object's trend information, and the route of the terrain-simulating flight includes a first route segment and a second route segment in sequence. The first route segment has a first following sensitivity, and the second route segment has a second following sensitivity, and the first following sensitivity is greater than the second following sensitivity. This can not only enable the aircraft to automatically orbit the target object, but also shorten the flight mileage, save energy consumption, and improve user experience and flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG1 is a flow chart of a method for controlling an aircraft provided in an embodiment of the present application;

[0013] FIG2a is a schematic diagram of obtaining mountain trend information provided by an embodiment of the present application;

[0014] FIG2b is another schematic diagram of obtaining mountain trend information provided by an embodiment of the present application.

[0015] FIG3 is a schematic diagram of a method for controlling an aircraft according to an embodiment of the present application;

[0016] FIG4 is a schematic diagram of obtaining a first flight position provided by an embodiment of the present application;

[0017] FIG5 is a schematic diagram of another flight control method for an aircraft provided in an embodiment of the present application;

[0018] FIG6 is a schematic diagram of another flight control method for an aircraft provided in an embodiment of the present application;

[0019] FIG7 is a schematic diagram of another flight control method for an aircraft provided in an embodiment of the present application;

[0020] FIG8 is a schematic diagram of another flight control method for an aircraft provided in an embodiment of the present application;

[0021] FIG9 is a schematic diagram of another aircraft control device provided in an embodiment of the present application; DETAILED DESCRIPTION

[0022] The present application will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0023] Return refers to the process of an aircraft flying from any location to the take-off point. For example, any location includes the location point where the operation ends.

[0024] Endurance refers to the process of an aircraft flying from a take-off point to a first operation point. For example, the first operation point is the location where the previous operation was interrupted, or the location where the communication was disconnected during the previous operation.

[0025] Following flight refers to the flight of an aircraft that follows the trend information of a target object during flight and maintains a certain distance from the ground with the target object. It should be noted that the following flight in the embodiments of the present application is not limited to specific terrain (such as mountains, hills, terraces, etc.), but is also applicable to objects such as growing crops with trend information (such as trees with different growth patterns, etc.), buildings (such as high-rise buildings, power towers, etc.), including both natural landscapes and artificial landscapes. When flying around a specific terrain, it can also be expressed as terrain-simulating flight. For the sake of convenience, the following will only use terrain as an example of the target object for explanation, and the same applies to other targets, which will not be repeated. In addition, it should be noted that when circling up and down around the target object, the ground distance refers to the vertical ground height of the aircraft relative to each point on the target object's envelope line; when circling left and right around the target object, the ground distance refers to the horizontal ground width of the aircraft relative to each point on the target object's envelope line.

[0026] During operations, existing aircraft often need to perform endurance or return missions to ensure continuity and a closed-loop flight loop. During these missions, the current strategy typically involves first reaching the user-set departure or return altitude. However, when encountering complex environmental obstacles, such as rugged terrain, diverse crop varieties, or numerous buildings, there's no effective response plan. The aircraft will brake to a stop and wait for the user to manually take over. On the one hand, manually taking over can be difficult for the user to accurately determine the precise location of the distant aircraft and the overall situation of surrounding obstacles, making the operation dangerous. On the other hand, manual takeover requires increased decision-making time and places high demands on the user's operational skills and experience. Frequent acceleration, deceleration, and sudden changes in course can also exacerbate kinetic energy loss. This is especially true during the return flight, where the aircraft's remaining battery life is limited, making it easy for the battery to run out before reaching the destination.

[0027] For the sake of convenience, the embodiments of the present application all take a mountain as the target object and illustrate it with the up and down ground-simulating orbiting during the endurance process. Other scenarios also follow similar principles and all fall within the scope of protection of the embodiments of the present application.

[0028] 1 , a flow chart of a method for controlling an aircraft according to an embodiment of the present application is shown, which may specifically include:

[0029] Step 101, obtaining movement information of a target object, wherein the target object is associated with a movement task of the movable platform;

[0030] For example, the target's movement information can be determined by onboard sensors of the aircraft, or by information received from an external device. For example, onboard sensors include radar, visual sensors, ultrasonic sensors, infrared sensors, time-of-flight (TOF) ranging sensors, GPS, inertial measurement units, barometers, and the like.

[0031] For example, the trajectory information can be determined by at least one of terrain slope, distance to the ground, terrain flatness, and distance to the ground variance. In some embodiments, the trajectory information can be omnidirectional, including not only trajectory information along the nose of the aircraft but also trajectory information along the sides of the aircraft. This omnidirectional trajectory information enables omnidirectional terrain-simulating flight.

[0032] Ideally, the mountain envelope should be roughly smooth and continuous, as shown in Figure 2. aAs shown, the mountain's trend information can be determined by measuring the height or height change trend of different points on the mountain envelope (e.g., a1, a2, and a3). However, in some practical situations, such as shown in Figure 2b, the mountain envelope is too uneven and the ground flatness is less than a certain set threshold. The height information of representative points (e.g., peak points b1, b2, and b3) can be filtered out on the terrain, and the original noise points can be removed. The ground points can then be fitted, for example using the least squares method, to obtain the mountain's trend information. This can indicate that the mountain's trend information is gradually rising.

[0033] Step 102, determining a path of the movable platform passing through the target object based on the trend information;

[0034] The route includes a first route segment and a second route segment in sequence. The first route segment has a first terrain imitation sensitivity, the second route segment has a second terrain imitation sensitivity, and the first terrain imitation sensitivity is greater than the second terrain imitation sensitivity.

[0035] As shown in Figure 3, the specific execution process is as follows: the aircraft departs from takeoff point P0 and flies directly to point P1, corresponding to the departure altitude. At P1, it assumes a level flight attitude. When it reaches point P2, which is closer to a mountain, it automatically initiates terrain-following flight based on the mountain's trajectory. It then sequentially executes the first route segment P2P3, which has a first terrain-following sensitivity, and the second route segment P3P4, which has a second terrain-following sensitivity. Finally, it arrives at the operating point P5. The executed route is P0→P1→P2→P3→P4→P5. The first terrain-following sensitivity is greater than the second. This means that stricter terrain-following is performed in the first route segment, while more relaxed terrain-following is performed in the second route segment. The primary purpose of executing the first route segment is to climb the slope, circumvent obstacles, and avoid collisions. This requires navigating obstacles while maintaining a safe distance. Once the slope reaches the highest point, the risk of collision is reduced. Therefore, the primary purpose of executing the second route segment is to reduce power consumption and quickly reach the destination.

[0036] In some embodiments, the ground-following sensitivity is characterized by the degree and / or speed at which the aircraft follows the trajectory information. Specifically, the first ground-following sensitivity is characterized by the degree and / or speed at which the first route segment follows the first trajectory information, and the second ground-following sensitivity is characterized by the degree and / or speed at which the second route segment follows the second trajectory information. These values ​​range from 0 to 1. For example, the ground-following sensitivity can be characterized by the rate of change of ground velocity. In the case of vertical ground-following maneuvers, the rate of change of ground velocity refers to the rate of change of vertical velocity.

[0037] In some embodiments, in order to avoid excessive lift of the aircraft and increase in energy consumption, a ground altitude range for the terrain-simulating flight may be set to limit the flight area boundary of the terrain-simulating flight.

[0038] In some embodiments, determining the path of the movable platform moving through the target object based on the trend information includes:

[0039] Based on the trend information of the mountain and / or the status information of the aircraft, it is determined whether the aircraft has reached the first flight position P3; if the aircraft reaches the first flight position P3, the first route segment P2P3 is switched to the second route segment P3P4, where the first flight position P3 corresponds to the first specific position T1 of the mountain.

[0040] In some embodiments, the first specific position M1 is the position where the projection of the first flight position P3 on a horizontal reference plane intersects the mountain envelope. The first specific position M1 represents the maximum height of the mountain relative to the same horizontal reference plane. For example, the first specific position may be the highest point in the mountain. It should be noted that there may be one or more maximum heights of the mountain. Considering the environmental complexity of actual scenarios, the maximum height of the mountain can be determined through statistical analysis or fitting analysis of the mountain height in a local area.

[0041] In some embodiments, the first specific position M1 represents the position where the mountain changes from an upward trend to a downward trend. Exemplarily, the first route segment corresponds to the first trend information of the target object, and the second route segment corresponds to the second trend information of the target object; the first trend information represents that the target object is in an upward trend, and / or the second trend information represents that the target object is in a downward trend. The upward trend indicates that the mountain is getting higher and higher, and is prone to collision risk with the aircraft, and the potential safety hazard is relatively high. The downward trend indicates that the mountain is getting lower and lower, which means that the distance between the mountain and the aircraft is getting farther and farther, and the corresponding collision risk is also getting lower and lower.

[0042] In some embodiments, at the first flight position P3, the aircraft's flight altitude is greater than the maximum height of the mountain relative to the same horizontal reference plane. It should be noted that to ensure a certain safety distance, the aircraft's flight altitude must be greater than a certain threshold of the maximum height of the mountain. For example, the aircraft's flight altitude can be determined by onboard sensors (e.g., GPS) or from information received from an external device.

[0043] In some embodiments, at the first flight position P3, the aircraft switches from an oblique flight attitude to a horizontal flight attitude. For example, the aircraft's flight attitude can be determined by onboard sensors (e.g., an inertial measurement unit) or by information received from an external device. It should be noted that in some embodiments, the horizontal flight attitude must be maintained for a certain period of time before the aircraft is considered to be in the horizontal flight attitude, to avoid misjudgment.

[0044] In some embodiments, at the first flight position P3, the proportion of pixels corresponding to the target object in the image captured by the aircraft is less than or equal to a set threshold. Exemplarily, the aircraft's visual sensor or radar detector sends a detection signal in the direction of the aircraft's speed, thereby capturing images including but not limited to visible light images, point cloud images, and the like. Referring to FIG4 , as the aircraft ascends, at position P2, the captured image is almost entirely occupied by mountain images; when it reaches a position between P2 and P3, part of the mountain image in the captured image is gradually occupied by sky images; when it reaches P3, the mountain image in the image is almost entirely occupied by sky pixels, and the proportion of mountain pixels is less than or equal to a set threshold. The set threshold can be 0 in some cases. Determining mountain pixels can employ semantic recognition methods known in the art, which are not limited herein. It should be noted that FIG4 is merely an exemplary illustration; in actual applications, the image may also include pixels of other semantic objects.

[0045] In some embodiments, at the first flight position P3, at the first motion position, the echo signal strength received by the onboard sensors of the movable platform is less than a set threshold. During the aircraft's ascent, at P2, the onboard sensors with the detection FOV facing the heading direction receive stronger echo signals due to reflection from the mountain. At P3, the onboard sensors with the detection FOV facing the heading direction receive weaker echo signals due to almost no reflection from the mountain. Therefore, the echo signal strength received by the onboard sensors can be used to determine whether the aircraft has reached the first flight position P3.

[0046] In some embodiments, the mountain is not an isolated mountain but may be a group of mountains, and the number of mountains included in the group of mountains is not limited. In this scenario, the route further includes a third route segment, wherein the third route segment has a third terrain simulation sensitivity.

[0047] As shown in Figure 5, the aircraft departs from takeoff point R0 and flies directly to point R1, corresponding to the departure altitude. At R1, it assumes a level flight attitude. When it reaches point R2, which is closer to a mountain, it automatically initiates terrain-following flight based on the mountain's trajectory. It then executes a first route segment R2R3 with a first terrain-following sensitivity, followed by a second route segment R3R4 with a second terrain-following sensitivity. Upon reaching R4, it detects the trajectory of another mountain, automatically initiating terrain-following flight based on that information. It then executes a third route segment R4R5 with a third terrain-following sensitivity, and finally reaches the operating point R7. The executed route is R0 → R1 → R2 → R3 → R4 → R5 → R6 → R7. The first terrain-following sensitivity is greater than the second, and the third is greater than the second.

[0048] In some embodiments, determining the route of the aircraft passing through the target object based on the trend information and / or the status information of the aircraft further includes:

[0049] If the aircraft reaches the second flight position R4, the second route segment R3R4 is switched to the third route segment R4R5, wherein the second flight position R4 corresponds to the second specific position M3 of the target object.

[0050] In some embodiments, compared to the same horizontal reference plane, the height of the mountain at the position M3 is not less than the height of the mountain at the position M2.

[0051] In some embodiments, compared to the same horizontal reference plane, the height of the mountain at position M2 is less than the height of the mountain at position M4, where M4 is the maximum altitude of the mountain.

[0052] In some embodiments, the mountain is in an upward trend at position M3.

[0053] By contrast, as shown in Figure 6, an aircraft departs from takeoff point Q0 and flies directly to point Q1, corresponding to the departure altitude. At Q1, it assumes a level flight attitude and, upon reaching point Q2, closer to a mountain, automatically initiates terrain-following flight based on the mountain's trajectory. It then sequentially executes the first route segment Q2Q3, with the first terrain-following sensitivity, and the second route segment Q3Q5, with the second terrain-following sensitivity, before finally arriving at the operating point Q6. The executed route is Q0→Q1→Q2→Q3→Q4→Q5→Q6. Although both depict mountainous scenes, in Figure 5 and Figure 6, the mountain at position M6 is lower than at position M5. This means that the rear mountain's maximum altitude is lower than the front mountain's. Therefore, the rear mountain's trajectory poses little collision risk to the aircraft. Therefore, the aircraft can continue flight at the relatively low second terrain-following sensitivity until reaching the operating point Q6, without switching to the higher third terrain-following sensitivity.

[0054] Determining that the target object is in an upward trend in the vertical direction according to position information of different positions of the target object obtained by the movable platform when the movable platform moves to different positions successively;

[0055] Determining that the target object is in an upward trend in a horizontal direction based on position information of different positions of the target object detected by the movable platform at multiple time points or within a time period;

[0056] determining, based on position information of different positions of the target object determined along the heading of the movable platform, that the target object is in an upward trend in the vertical direction;

[0057] According to the position information of different position points of the target object determined on the heading of the movable platform, it is determined that the target object has an upward trend in the horizontal direction.

[0058] It should be noted that in the aforementioned embodiment, the route includes several route segments in sequence. This includes both continuous sequence and discrete sequence, i.e., there are other route segments interspersed in between. As long as the later route segments are executed after the earlier route segments in terms of timing, the route segment is composed of multiple waypoints.

[0059] In the aforementioned embodiments, the aircraft supports the user's manual intervention of the stick amount during the flight of each route segment to achieve the flight control desired by the user.

[0060] In the aforementioned embodiment, the aircraft also supports the superposition of terrain-simulating detours around multiple obstacles during terrain-simulating flight. For example, if there is an electric tower on a mountain, the aircraft supports the superposition of detours around the mountain and around the electric tower.

[0061] In the aforementioned embodiment, the aircraft also includes a work tool. While the flight mission is being executed, the work tool is in an idle operating state. Exemplary work tools include spraying tools, sowing tools, and detection tools. This configuration is intended to prevent simultaneous execution of a flight mission and a work mission, where the flight mission's terrain-simulating flight strategy fails to meet the terrain-simulating requirements of the work mission, resulting in incomplete and inefficient operations.

[0062] Another embodiment of the present application further provides a method for controlling a movable platform, as shown in FIG7 , the method comprising:

[0063] Step 201: Acquire movement information of a target object, wherein the target object is associated with a motion task of the movable platform;

[0064] Step 202: determining a path of the movable platform moving through the target object based on the trend information, wherein the path includes a first path segment and a second path segment;

[0065] Step 203: In response to the trend information indicating that the target object is moving upward, controlling the first path segment to adopt a first following sensitivity;

[0066] Step 204: In response to the trend information indicating that the target object is in a downward trend or a flat trend, controlling the second path segment to adopt a second following sensitivity;

[0067] The first following sensitivity is greater than the second following sensitivity.

[0068] In some embodiments, obtaining the movement information of the target object includes: determining the movement information of the target object according to a plurality of specific position information of the target object corresponding to the movable platform moving to different movement positions successively.

[0069] In some embodiments, obtaining the target object's trend information includes:

[0070] The movement information of the target object is determined according to a plurality of specific position information of the target object determined along the moving direction of the movable platform.

[0071] Exemplarily, if a plurality of the characteristic position information changes incrementally over time compared to the same reference plane, the target object's trend information is determined to be an upward trend, and / or, if a plurality of the characteristic position information changes incrementally over time compared to the same reference plane, the target object's trend information is determined to be a downward trend; and / or, if the difference between a plurality of the characteristic position information compared to the same reference plane is less than a preset difference, the target object's trend information is determined to be a flat trend. If a plurality of the characteristic position information changes incrementally along the movement direction compared to the same reference plane, the target object's trend information is determined to be an upward trend, and / or, if a plurality of the characteristic position information changes incrementally along the movement direction compared to the same reference plane, the target object's trend information is determined to be a downward trend.

[0072] Another embodiment of the present application further provides a method for controlling a movable platform, as shown in FIG8 , the method comprising:

[0073] Step 301: Determine first height information of the movable platform at the current moving position;

[0074] Step 302: Obtain a local elevation map of the movable platform at the current moving position;

[0075] Step 303: Determine a path for the movable platform to move through the target object based on the local elevation map and the first height information, and includes:

[0076] querying the local elevation map for second height information of the target object on one side of the moving direction of the movable platform;

[0077] If the second height information of the target object is not less than the first height information of the movable platform, controlling the movable platform to move with a first following sensitivity;

[0078] If the second height information of the target object is less than the first height information of the movable platform, controlling the movable platform to move with a second following sensitivity;

[0079] The first following sensitivity is greater than the second following sensitivity.

[0080] In some embodiments, querying the second height information of the target object along the movement direction of the movable platform in the local elevation map includes: determining a first movement speed of the movable platform at the current movement position; determining a target query range that matches the first movement speed; and querying the second height information of the obstacle within the target query range along the movement direction of the movable platform in the local elevation map.

[0081] In some embodiments, the local map has a target query range, and the target query range is positively correlated with the absolute value of the first motion speed. For example, the target query distance is proportional to the flight speed, i.e., the greater the flight speed, the larger the target query range, and the smaller the flight speed, the larger the target query range. High-speed forward queries have a longer distance, while low-speed forward queries have a shorter distance. This embodiment adaptively adjusts the aircraft's query range in the real-time local elevation map based on the aircraft's flight speed. This ensures that the aircraft has sufficient time to avoid obstacles when encountering them, further improving the aircraft's flight safety.

[0082] In some embodiments, obtaining a local elevation map of the movable platform at the current moving position includes: obtaining a data source of an onboard sensor of the movable platform; and constructing the local elevation map according to the data source.

[0083] Exemplarily, the airborne sensor may be a distance detector, a visual sensor, etc., and may be a data source of a single type of sensor or a fusion of data sources of different types of sensors.

[0084] In the aforementioned embodiment, the second terrain-simulating sensitivity may be 0, that is, no terrain-simulating following response is performed.

[0085] In the aforementioned embodiments, the movable platform may be an unmanned aerial vehicle, a manned aerial vehicle, an unmanned vehicle, a manned vehicle, a sweeping robot, or other vehicles.

[0086] The solution in the embodiment of the present application is difficult to obtain the global environmental information of the mountain when facing an unknown mountain environment. By adopting the solution in the embodiment of the present application, it is possible to explore local trend information while flying in an imitation of the terrain without the need for user control, and the flight efficiency is high.

[0087] Unlike existing technologies, which typically require terrain-simulating operations to ensure operational coverage by following terrain trends, maintaining a constant altitude and employing a uniform terrain-simulating sensitivity, the terrain-simulating flight of the present invention, primarily for obstacle avoidance, can adaptively employ different terrain-simulating sensitivities. This ensures that the aircraft responds to upward terrain trends with a higher sensitivity for smooth ascent, achieving safe collision avoidance, while also responding to downward terrain trends with a lower sensitivity, saving energy and avoiding unnecessary ups and downs and unnecessary detours.

[0088] In some embodiments, the aircraft does not need to know the global information of the mountain, but only needs to obtain a local map of the environment in which the aircraft is located, explore in the direction of the operation point in a circumventing and obstacle-avoiding manner, and automatically search for a route trajectory until it reaches the target point. For example, the aircraft obtains a local elevation map of the environment in which it is located in real time, and determines the trend information of the local mountain corresponding to the current position of the aircraft from the local elevation map; in other embodiments, the aircraft can perform real-time query measurements along the current speed direction of the aircraft, perform multi-point elevation information measurements at different positions within a certain query radius, and determine the local trend information of the mountain corresponding to the current position of the aircraft through the change trend of the elevation information of the multiple points. It should be noted that the speed direction of the aircraft has nothing to do with the physical nose direction of the aircraft, and the speed direction can be any direction of the front, back, left, right, top and bottom of the aircraft. The above method of determining local trend information is only an illustrative example, and other methods that can determine local trend information are also within the scope of the embodiments of this application. When it is determined that the mountain corresponding to the current position of the aircraft is in an upward trend, a terrain imitation strategy with a relatively high first terrain imitation sensitivity is executed. When it is determined that the mountain corresponding to the current position of the aircraft is in a downward trend, a terrain imitation strategy with a relatively low second terrain imitation sensitivity is executed.

[0089] 9 , an embodiment of the present application further provides a control device 400 , which may include a processor 410 and a memory 420 . The processor 410 and the memory 420 are connected via a bus, such as an I2C (Inter-integrated Circuit) bus.

[0090] Specifically, the processor 410 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0091] Specifically, the memory 420 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk, etc. The memory 420 stores various computer programs for execution by the processor 410 .

[0092] The processor 410 is configured to run a computer program stored in the memory and implement the following steps when executing the computer program:

[0093] At least one processor 410; and at least one memory 420 including computer program code, wherein the at least one memory and the computer program code are configured together with the at least one processor to enable the control device to at least execute the control method of the movable platform as described above.

[0094] An embodiment of the present application further provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer, the computer executes the control method of the movable platform as described above.

[0095] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0096] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A control method for a movable platform, It is characterized in that The method comprises: Acquiring movement information of a target object, wherein the target object is associated with a movement task of the movable platform; Determine the path of the movable platform passing through the target object according to the trend information, The path includes a first path segment and a second path segment in sequence, the first path segment has a first following sensitivity, the second path segment has a second following sensitivity, and the first following sensitivity is greater than the second following sensitivity.

2. The method according to claim 1, It is characterized in that The step of determining a path of the movable platform passing through the target object according to the trend information includes: determining whether the movable platform reaches a first movement position, wherein the first movement position corresponds to a first specific position of the target object; If the movable platform reaches the first movement position, the movable platform is controlled to adopt the second following sensitivity.

3. The method according to claim 2, It is characterized in that The first specific location represents at least one of the following situations: Case A1: the first specific position represents the maximum height of the target object compared to the same horizontal reference plane; Case A2: the first specific position represents the maximum width of the target object compared to the same vertical reference plane; or Case A3: The first specific position indicates that the target object changes from an upward trend to a downward trend or a flat trend.

4. The method according to claim 2, It is characterized in that The first motion position represents at least one of the following situations: Case B1: at the first movement position, the movement height of the movable platform is greater than the maximum height of the target object compared to the same horizontal reference plane; Case B2: At the first movement position, compared to the same vertical reference plane, the movable The movement width of the moving platform is greater than the maximum width of the target object; Case B3: At the first motion position, the movable platform switches from an oblique motion posture to a horizontal motion posture; Case B4: at the first moving position, the pixel ratio of the pixels corresponding to the target object in the image captured by the movable platform is less than a set threshold; or Case B5: At the first moving position, the echo signal strength received by the onboard sensor of the movable platform is less than a set threshold.

5. The method according to claim 2, It is characterized in that The first specific position is a position formed by projecting the first movement position onto the envelope of the target object along a preset direction.

6. The method according to claim 5, It is characterized in that The preset direction is parallel to the direction of the distance of the movable platform from the ground.

7. The method according to claim 6, It is characterized in that The distance to the ground includes at least one of a height to the ground or a width to the ground.

8. The method according to claim 2, It is characterized in that The path further includes a third path segment, wherein the third path segment has a third following sensitivity.

9. The method according to claim 7, It is characterized in that The path includes the first path segment, the second path segment and the third path segment in sequence.

10. The method according to claim 7, It is characterized in that The third following sensitivity is greater than the second following sensitivity.

11. The method according to claim 7, It is characterized in that The determining, according to the trend information, a path of the movable platform passing through the target object further includes: determining whether the movable platform reaches a second movement position, wherein the second movement position corresponds to a second specific position of the target object; If the movable platform reaches the second movement position, the movable platform is controlled to adopt the third following sensitivity.

12. The method according to claim 11, It is characterized in that in, The second specific location and the first specific location meet at least one of the following conditions: Case C1: Compared to the same horizontal reference plane, the target object is at the second specific position The height of the target object is not less than the height of the target object at the first specific position; or Case C2: compared to the same vertical reference plane, the width of the target object at the second specific position is not less than the width of the target object at the first specific position.

13. The method according to claim 1, It is characterized in that The step of obtaining the trend information of the target object includes: Acquire a local map of the movable platform at the current moving position; The movement information of the target object on one side of the moving direction of the movable platform is queried in the local map.

14. The method according to claim 13, It is characterized in that The local map has a target query range, and the target query range is positively correlated with an absolute value of a current movement speed of the movable platform at the current movement position.

15. The method according to claim 1, It is characterized in that in, The first path segment corresponds to first trend information of the target object, and the second path segment corresponds to second trend information of the target object.

16. The method according to claim 15, It is characterized in that The first trend information indicates that the target object is in an upward trend, and / or the second trend information indicates that the target object is in a downward trend or a flat trend.

17. The method according to claim 15, It is characterized in that The first following sensitivity is characterized by a following amplitude and / or a following speed of the first path segment following the first movement information, and / or the second following sensitivity is characterized by a following amplitude and / or a following speed of the second path segment following the second movement information.

18. The method according to claim 17, It is characterized in that The first following sensitivity and / or the second following sensitivity is characterized by a rate of change of ground speed.

19. The method according to claim 18, It is characterized in that The ground speed change rate includes a vertical speed change rate or a horizontal speed change rate.

20. The method according to claim 1, It is characterized in that The motion mission includes at least one of a return mission or a flight endurance mission of the movable platform.

21. The method according to claim 1, It is characterized in that The target object includes an obstacle encountered during the execution of the motion task.

22. The method according to claim 1, It is characterized in that The target object includes at least one of terrain, growing crops, and buildings.

23. The method according to claim 1, It is characterized in that The second following sensitivity is greater than or equal to 0.

24. A control method for a movable platform, It is characterized in that The method comprises: Acquiring movement information of a target object, wherein the target object is associated with a movement task of the movable platform; Determine the path of the movable platform moving through the target object according to the trend information; wherein, If the trend information indicates that the target object is in an upward trend, determining that the path adopts a first following sensitivity; If the trend information indicates that the target object is in a downward trend or a flat trend, determining that the path segment adopts a second following sensitivity; And the first following sensitivity is greater than the second following sensitivity.

25. The method according to claim 24, It is characterized in that The step of obtaining the trend information of the target object includes: Acquire a local map of the movable platform at the current moving position; The trend information of the target object on one side of the moving direction of the movable platform is determined according to the local map.

26. The method according to claim 25, It is characterized in that The local map has a target query range, and the target query range is positively correlated with an absolute value of a current movement speed of the movable platform at the current movement position.

27. The method according to claim 24 or 25, It is characterized in that Determining trend information of the target object on one side of the moving direction of the movable platform according to the local map includes: Determining a plurality of specific position information of the target object on one side of the moving direction of the movable platform according to the local map; According to the changing trends of the multiple specific position information, the trend information of the target object on one side of the moving direction of the movable platform is determined.

28. The method according to claim 27, It is characterized in that If multiple characteristic position information changes increasing over time compared to the same reference plane, then the trend information of the target object is determined to be an upward trend; if multiple characteristic position information changes decreasing over time compared to the same reference plane, then the trend information of the target object is determined to be a downward trend; and / or, if the difference between multiple characteristic position information compared to the same reference plane is less than a preset difference, then the trend information of the target object is determined to be a flat trend.

29. The method according to claim 24, It is characterized in that The path corresponding to the first following sensitivity is recorded as adopting a first path segment, and the first following sensitivity is characterized by a following amplitude and / or a following speed of the first path segment following the first trend information; And / or, the path corresponding to the second following sensitivity is recorded as adopting a second path segment, and the second following sensitivity is characterized by a following amplitude and / or a following speed of the second path segment following the second trend information.

30. The method according to claim 24, It is characterized in that The first following sensitivity and / or the second following sensitivity is characterized by a rate of change of ground speed.

31. The method according to claim 30, It is characterized in that The ground speed change rate includes a vertical speed change rate or a horizontal speed change rate.

32. The method according to claim 24, It is characterized in that The motion mission includes at least one of a return mission or a flight endurance mission of the movable platform.

33. The method according to claim 24, It is characterized in that The target object includes an obstacle encountered during the execution of the motion task.

34. The method according to claim 24, It is characterized in that The target object includes at least one of terrain, growing crops, and buildings.

35. The method according to claim 1, It is characterized in that The second following sensitivity is greater than or equal to 0.

36. A control method for a movable platform, It is characterized in that The method comprises: Determining first height information of the movable platform at a current moving position; Acquire a local elevation map of the movable platform at a current moving position; Determine the movement of the movable platform according to the local elevation map and the first height information A path through an object, including: querying the local elevation map for second height information of the target object on one side of the moving direction of the movable platform; If the second height information of the target object is not less than the first height information of the movable platform, controlling the movable platform to move with a first following sensitivity; If the second height information of the target object is less than the first height information of the movable platform, controlling the movable platform to move with a second following sensitivity; The first following sensitivity is greater than the second following sensitivity.

37. The method according to claim 36, It is characterized in that The querying the second height information of the target object on one side of the moving direction of the movable platform in the local elevation map includes: The local map has a target query range, and the target query range is positively correlated with an absolute value of a current movement speed of the movable platform at the current movement position.

38. The method according to claim 37, It is characterized in that The step of obtaining a local elevation map of the movable platform at the current moving position includes: Acquire the data source of the onboard sensor of the movable platform; The local elevation map is constructed according to the data source.

39. The method according to claim 38, It is characterized in that The airborne sensor includes at least one of a distance sensor and a visual sensor.

40. The method according to claim 36, It is characterized in that The path corresponding to the first following sensitivity is recorded as adopting a first path segment, and the first following sensitivity is characterized by a following amplitude and / or a following speed of the first path segment following the trend information of the target object; And / or, the path corresponding to the second following sensitivity is recorded as adopting a second path segment, and the second following sensitivity is characterized by a following amplitude and / or a following speed of the second path segment following the target object.

41. The method according to claim 40, It is characterized in that The first following sensitivity and / or the second following sensitivity is characterized by a rate of change of ground speed.

42. The method according to claim 41, It is characterized in that The ground speed change rate includes a vertical speed change rate or a horizontal speed change rate.

43. The method according to claim 36, It is characterized in that The target object includes at least one of terrain, growing crops, and buildings.

44. The method according to claim 1, It is characterized in that The second following sensitivity is greater than or equal to 0.

45. A control device for a movable platform, include: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured together with at least one processor to enable the control device to at least perform the following steps: Acquiring movement information of a target object, wherein the target object is associated with a movement task of the movable platform; Determine the path of the movable platform passing through the target object according to the trend information, The path includes a first path segment and a second path segment in sequence, the first path segment has a first following sensitivity, the second path segment has a second following sensitivity, and the first following sensitivity is greater than the second following sensitivity.

46. ​​The device according to claim 45, It is characterized in that The step of determining a path of the movable platform passing through the target object according to the trend information includes: determining whether the movable platform reaches a first movement position, wherein the first movement position corresponds to a first specific position of the target object; If the movable platform reaches the first movement position, the movable platform is controlled to switch from the first path segment to the second path segment.

47. The device according to claim 46, It is characterized in that The first specific location represents at least one of the following situations: Case A1: the first specific position represents the maximum height of the target object compared to the same horizontal reference plane; Case A2: the first specific position represents the maximum width of the target object compared to the same vertical reference plane; or Case A3: The first specific position indicates that the target object changes from an upward trend to a downward trend or a flat trend.

48. The device according to claim 46, It is characterized in that The first motion position represents at least one of the following situations: Case B1: at the first movement position, the movement height of the movable platform is greater than the maximum height of the target object compared to the same horizontal reference plane; Case B2: at the first movement position, the movement width of the movable platform is greater than the maximum width of the target object compared to the same vertical reference plane; Case B3: At the first motion position, the movable platform switches from an oblique motion posture to a horizontal motion posture; Case B4: at the first moving position, the pixel ratio of the pixels corresponding to the target object in the image captured by the movable platform is less than a set threshold; or Case B5: At the first moving position, the echo signal strength received by the onboard sensor of the movable platform is less than a set threshold.

49. The device according to claim 46, It is characterized in that The first specific position is a position formed by projecting the first movement position onto the envelope line of the target object along a preset direction.

50. The device according to claim 49, It is characterized in that The preset direction is parallel to the direction of the distance of the movable platform from the ground.

51. The device according to claim 50, It is characterized in that The distance to the ground includes at least one of a height to the ground or a width to the ground.

52. The device according to claim 46, It is characterized in that The path further includes a third path segment, wherein the third path segment has a third following sensitivity.

53. The device according to claim 52, It is characterized in that The path includes the first path segment, the second path segment and the third path segment in sequence.

54. The device according to claim 52, It is characterized in that The third following sensitivity is greater than the second following sensitivity.

55. The device according to claim 46, It is characterized in that The determining, according to the trend information, a path of the movable platform passing through the target object further includes: determining whether the movable platform reaches a second movement position, wherein the second movement position corresponds to a second specific position of the target object; If the movable platform reaches the second movement position, the movable platform is controlled to adopt the third following sensitivity.

56. The device according to claim 55, It is characterized in that in, The second specific location and the first specific location meet at least one of the following conditions: Case C1: compared to the same horizontal reference plane, the height of the target at the second specific position is not less than the height of the target at the first specific position; or Case C2: compared to the same vertical reference plane, the width of the target object at the second specific position is not less than the width of the target object at the first specific position.

57. The device according to claim 45, It is characterized in that The step of obtaining the trend information of the target object includes: Acquire a local map of the movable platform at the current moving position; The movement information of the target object on one side of the moving direction of the movable platform is queried in the local map.

58. The device according to claim 57, It is characterized in that The local map has a target query range, and the target query range is positively correlated with an absolute value of a current movement speed of the movable platform at the current movement position.

59. The device according to claim 45, It is characterized in that in, The first path segment corresponds to first trend information of the target object, and the second path segment corresponds to second trend information of the target object.

60. The device according to claim 59, It is characterized in that The first trend information indicates that the target object is in an upward trend, and / or the second trend information indicates that the target object is in a downward trend or a flat trend.

61. The device according to claim 59, It is characterized in that The first following sensitivity is characterized by a following amplitude and / or a following speed of the first path segment following the first movement information, and / or the second following sensitivity is characterized by a following amplitude and / or a following speed of the second path segment following the second movement information.

62. The device according to claim 61, It is characterized in that The first following sensitivity and / or the second following sensitivity is characterized by a rate of change of ground speed.

63. The device according to claim 62, It is characterized in that The ground speed change rate includes a vertical speed change rate.

64. The device according to claim 45, It is characterized in that The motion mission includes at least one of a return mission or a flight endurance mission of the movable platform.

65. The device according to claim 45, It is characterized in that The target object includes an obstacle encountered during the execution of the motion task.

66. The device according to claim 45, It is characterized in that The target object includes at least one of terrain, growing crops, and buildings.

67. The device according to claim 45, It is characterized in that The second following sensitivity is greater than or equal to 0.

68. A control device for a movable platform, include: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured together with at least one processor to enable the control device to at least perform the following steps: Acquiring movement information of a target object, wherein the target object is associated with a movement task of the movable platform; Determining a path of the movable platform passing through the target object according to the trend information; In response to the trend information indicating that the target object is in an upward trend, controlling the path to adopt a first following sensitivity; In response to the trend information indicating that the target object is in a downward trend or a flat trend, determining that the path adopts a second following sensitivity; The first following sensitivity is greater than the second following sensitivity.

69. The device according to claim 68, It is characterized in that The step of obtaining the trend information of the target object includes: Acquire a local map of the movable platform at the current moving position; The trend information of the target object on one side of the moving direction of the movable platform is determined according to the local map.

70. The device according to claim 69, It is characterized in that The local map has a target query range, and the target query range is positively correlated with an absolute value of a current movement speed of the movable platform at the current movement position.

71. The device according to claim 69 or 70, It is characterized in that Determining trend information of the target object on one side of the moving direction of the movable platform according to the local map includes: Determining a plurality of specific position information of the target object on one side of the moving direction of the movable platform according to the local map; According to the changing trends of the multiple specific position information, the trend information of the target object on one side of the moving direction of the movable platform is determined.

72. The device according to claim 71, It is characterized in that If the plurality of characteristic position information show an increasing change along the movement direction compared to the same reference plane, then the trend information of the target object is determined to be an upward trend; if the plurality of characteristic position information show a decreasing change along the movement direction compared to the same reference plane, then the trend information of the target object is determined to be a downward trend; and / or, if the difference between the plurality of characteristic position information compared to the same reference plane is less than a preset difference, then the trend information of the target object is determined to be a flat trend.

73. The device according to claim 68, It is characterized in that The path corresponding to the first following sensitivity is recorded as adopting a first path segment, and the first following sensitivity is characterized by a following amplitude and / or a following speed of the first path segment following the first trend information; And / or, the path corresponding to the second following sensitivity is recorded as adopting a second path segment, and the second following sensitivity is characterized by a following amplitude and / or a following speed of the second path segment following the second trend information.

74. The device according to claim 68, It is characterized in that The first following sensitivity and / or the second following sensitivity is characterized by a rate of change of ground speed.

75. The device according to claim 74, It is characterized in that The ground speed change rate includes a vertical speed change rate or a horizontal speed change rate.

76. The device according to claim 68, It is characterized in that The motion mission includes at least one of a return mission or a flight endurance mission of the movable platform.

77. The device according to claim 68, It is characterized in that The target object includes an obstacle encountered during the execution of the motion task.

78. The device according to claim 68, It is characterized in that The target object includes at least one of terrain, growing crops, and buildings.

79. The device according to claim 68, It is characterized in that The second following sensitivity is greater than or equal to 0.

80. A control device for a movable platform, It is characterized in that include: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured together with at least one processor to enable the control device to at least perform the following steps: Determining first height information of the movable platform at a current moving position; Acquire a local elevation map of the movable platform at a current moving position; Determining a path of the movable platform moving through the target object according to the local elevation map and the first height information includes: querying the local elevation map for second height information of the target object on one side of the moving direction of the movable platform; If the second height information of the target object is not less than the first height information of the movable platform, controlling the movable platform to move with a first following sensitivity; If the second height information of the target object is less than the first height information of the movable platform, controlling the movable platform to move with a second following sensitivity; The first following sensitivity is greater than the second following sensitivity.

81. The device according to claim 80, It is characterized in that The querying the second height information of the target object on one side of the moving direction of the movable platform in the local elevation map includes: The local map has a target query range, and the target query range is positively correlated with an absolute value of a current movement speed of the movable platform at the current movement position.

82. The device according to claim 80, It is characterized in that The step of obtaining a local elevation map of the movable platform at the current moving position includes: Acquire the data source of the onboard sensor of the movable platform; The local elevation map is constructed according to the data source.

83. The device according to claim 82, It is characterized in that The airborne sensor includes at least one of a distance sensor and a visual sensor.

84. The device according to claim 80, It is characterized in that The path corresponding to the first following sensitivity is recorded as adopting a first path segment, and the first following sensitivity is characterized by a following amplitude and / or a following speed of the first path segment following the trend information of the target object; And / or, the path corresponding to the second following sensitivity is recorded as adopting a second path segment, and the second following sensitivity is characterized by a following amplitude and / or a following speed of the second path segment following the target object.

85. The device according to claim 84, It is characterized in that The first following sensitivity and / or the second following sensitivity is characterized by a rate of change of ground speed.

86. The device according to claim 85, It is characterized in that The ground speed change rate includes a vertical speed change rate.

87. The device according to claim 80, It is characterized in that The target object includes at least one of terrain, growing crops, and buildings.

88. The device according to claim 80, It is characterized in that The second following sensitivity is greater than or equal to 0.

89. A movable platform, It is characterized in that include: A device body and a control body, wherein the control body is used to control the device body to execute the method described in claims 1 to 44.

90. The movable platform according to claim 89, It is characterized in that The movable platform includes a working tool, and during the execution of the motion task, the working tool is in an idle working state.

91. The movable platform according to claim 89, It is characterized in that It also includes at least one of a distance sensor or a visual sensor disposed on the device body.

92. The movable platform according to claim 89, It is characterized in that The movable platform includes an unmanned aerial vehicle, an unmanned vehicle, and a sweeping robot.

93. A computer readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the control method of the movable platform according to any one of claims 1 to 44.

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