WO2020177112A1 - Procédé de commande de frein pour plate-forme mobile, dispositif de navigation et plate-forme mobile - Google Patents

Procédé de commande de frein pour plate-forme mobile, dispositif de navigation et plate-forme mobile Download PDF

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Publication number
WO2020177112A1
WO2020177112A1 PCT/CN2019/077273 CN2019077273W WO2020177112A1 WO 2020177112 A1 WO2020177112 A1 WO 2020177112A1 CN 2019077273 W CN2019077273 W CN 2019077273W WO 2020177112 A1 WO2020177112 A1 WO 2020177112A1
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WO
WIPO (PCT)
Prior art keywords
movable platform
braking
control device
target speed
preset
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/077273
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English (en)
Chinese (zh)
Inventor
张立天
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2019/077273 priority Critical patent/WO2020177112A1/fr
Priority to CN201980004954.0A priority patent/CN111212773A/zh
Publication of WO2020177112A1 publication Critical patent/WO2020177112A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement

Definitions

  • the present invention relates to the field of control technology, in particular to a brake control method of a movable platform, navigation equipment and a movable platform.
  • Mobile platforms such as unmanned vehicles, drones, wheeled robots, etc. are more and more widely used.
  • the mobile platform may encounter obstacles during the movement.
  • the movable platform needs emergency braking and deceleration, to prevent hitting the obstacle. Therefore, how to more effectively improve the security of the movable platform is of great significance.
  • the embodiment of the present invention provides a brake control method of a movable platform, navigation equipment and a movable platform, which can realize automation and intelligence of the brake control of the movable platform and improve the safety of the movable platform.
  • an embodiment of the present invention provides a brake control method of a movable platform, the method including:
  • the braking enablement identifier and/or target speed sent to the control device are updated, so that the control device is based on the updated braking enablement identifier and/or The target speed controls the movable platform to perform a braking operation.
  • an embodiment of the present invention provides a navigation device, the navigation device including a memory and a processor;
  • the memory is used to store program instructions
  • the processor is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
  • the braking enablement identifier and/or target speed sent to the control device are updated, so that the control device is based on the updated braking enablement identifier and/or The target speed controls the movable platform to perform a braking operation.
  • an embodiment of the present invention provides a movable platform, the movable platform including a sensing device, a navigation device, and a control device;
  • the sensing device is used to obtain the current distance between the movable platform and the obstacle, and send the current distance to the navigation device;
  • the navigation device is configured to obtain the current distance between the movable platform and the obstacle sent by the sensing device, and determine whether the movable platform meets the braking condition according to the current distance; When the mobile platform meets the braking conditions, it updates the braking enable flag and/or target speed sent to the control device;
  • the control device is configured to receive the brake enable flag and/or the target speed sent by the navigation device, and control the movable according to the brake enable flag and/or the target speed
  • the platform performs a braking operation.
  • an embodiment of the present invention provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the method described in the first aspect.
  • the navigation device obtains the current distance between the movable platform and the obstacle sent by the sensing device, and determines whether the movable platform meets the braking condition according to the current distance, and when the movable platform
  • the brake enable flag and/or target speed sent to the control device can be updated, so that the control device can be based on the updated brake enable flag and/or the target speed.
  • the movable platform is controlled to perform a braking operation, thereby realizing the automation and intelligence of the braking control of the movable platform, and improving the safety of the movable platform.
  • Figure 1 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of a brake control method for a movable platform according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of another brake control method for a movable platform provided by an embodiment of the present invention.
  • Fig. 4 is a schematic structural diagram of a navigation device provided by an embodiment of the present invention.
  • the embodiment of the present invention provides a movable platform, the movable platform includes: a sensing device, a navigation device, and a control device, the sensing device is connected to the navigation device, the control device, the sensing device, the navigation device,
  • the three control devices can communicate with each other in two ways.
  • the sensing device, navigation device, and control device can be installed on a movable platform such as unmanned aerial vehicles, unmanned vehicles, unmanned ships, and wheeled robots.
  • the control device may be spatially independent of the movable platform.
  • the sensing device includes but is not limited to at least one of sensors such as a vision sensor, a radar sensor, and an attitude sensor.
  • the vision sensor may include any one or more of a monocular vision sensor, a binocular vision sensor, and a multi-eye vision sensor.
  • the radar sensor may include any one or more of laser radar, ultrasonic radar, millimeter wave radar, and the like.
  • the attitude sensor may include an inertial measurement unit (IMU).
  • FIG. 1 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • the movable platform includes a sensing device 11, a navigation device 12 and a control device 13.
  • the sensing device 11, the navigation device 12, and the control device 13 establish a communication connection with each other.
  • the sensing device 11 may be used to obtain the movement state of the movable platform, such as the position information of the movable platform, the posture information of the movable platform, and other information.
  • the sensing device 11 may be used to obtain physical quantities related to the state of the surrounding environment, such as the distance between a movable platform and an obstacle.
  • the navigation device may be used for path planning of a movable platform.
  • the control device may be used to control the speed, posture, position, etc. of the movable platform.
  • the sensing device 11 when the sensing device 11 detects an obstacle, it can acquire the current distance between the movable platform and the obstacle, and send the current distance To the navigation device 12; after the navigation device 12 obtains the current distance between the movable platform and the obstacle sent by the sensing device, it can determine whether the movable platform meets the braking condition according to the current distance
  • the navigation device 12 may update the braking enablement identifier and/or the target speed sent to the control device 13; the control device 13 receives the navigation device 13 12
  • the movable platform may be controlled to perform a braking operation according to the brake enable flag and/or the target speed.
  • FIG. 2 is a schematic flowchart of a brake control method for a movable platform provided by an embodiment of the present invention.
  • the method may be executed by a navigation device, and the navigation device may be set on the movable platform.
  • the explanation of the movable platform is as described above, and will not be repeated here.
  • the method of the embodiment of the present invention includes the following steps.
  • S201 Acquire the current distance between the movable platform and the obstacle sent by the sensing device.
  • the navigation device can obtain the current distance between the movable platform and the obstacle sent by the sensing device, and the explanation of the sensing device is as described above.
  • the sensing device on the movable platform can detect in real time whether there are obstacles in the moving direction of the movable platform, and obtain the movable platform and the obstacles. The current distance between objects.
  • the sensing device includes a radar sensor.
  • the radar sensor can detect the obstacle by measuring the signal propagation time between the radar sensor and the obstacle, that is, Time-of-Flight (TOF).
  • TOF Time-of-Flight
  • the radar sensor may include any one or more of laser radar, ultrasonic radar, millimeter wave radar and the like.
  • the sensing device includes a binocular vision sensor, and the binocular vision sensor can detect the distance from the obstacle to the movable platform by calculating the parallax of the two images.
  • the sensing device may obtain the current position information of the movable platform through the GPS module, and obtain the position information of the obstacle through preset map data, so as to obtain the current position information of the movable platform and The location information of the obstacle determines the current distance between the movable platform and the obstacle.
  • a drone can be used as an example to illustrate.
  • the sensing device on the drone detects that there is an obstacle in the flying direction of the drone, it can obtain the movable platform and According to the current distance between obstacles, the navigation device can determine whether the movable platform meets the braking condition according to the current distance.
  • S202 Determine whether the movable platform meets a braking condition according to the current distance.
  • the navigation device may determine whether the movable platform satisfies the braking condition according to the current distance.
  • the navigation device when it determines whether the movable platform satisfies the braking condition according to the current distance, it can obtain the current moving speed of the movable platform, and according to the preset moving speed and control system.
  • the corresponding relationship of the moving distance determines the braking distance corresponding to the current moving speed.
  • the navigation device may determine whether the current distance between the movable platform and the obstacle is less than or equal to the sum of the braking distance corresponding to the current moving speed and a preset safety distance, when the movable platform When the current distance between the mobile platform and the obstacle is less than or equal to the sum of the braking distance corresponding to the current moving speed and the preset safety distance, the navigation device may determine that the movable platform satisfies Braking conditions.
  • the navigation device when the navigation device determines that the movable platform satisfies the braking condition according to the current distance between the movable platform and the obstacle, it may update the braking enable sent to the control device Identification and/or target speed, so that the control device controls the movable platform to perform a braking operation according to the updated braking enable identification and/or the target speed.
  • the braking enable flag is used to instruct the control device to control the movable platform to perform a braking operation.
  • the target speed may be generated by the user through control device settings. In other embodiments, the target speed may also be automatically generated by the navigation device according to a preset rule, and the preset rule may include but is not limited to a preset speed. Take the UAV as an example. During the flight of the UAV, the navigation equipment can automatically generate a target speed of 5m/s, so that the UAV can accelerate to 5m/s and then fly at a constant speed.
  • the brake enable flag may include a first preset value and a second preset value, and the first preset value is used to indicate that the movable platform is braked, or the second preset value The set value is used to indicate the normal movement of the movable platform.
  • the navigation device may set the brake enable flag to a second preset value for indicating the normal movement of the movable platform, and set the target speed.
  • the navigation device may send the second preset value and the target speed to the control device, so that the control device controls the movable platform to move normally and adjusts the speed to the target speed.
  • the navigation device can set the brake enable flag to 0 and set the target speed V1.
  • the navigation device may send the brake enable flag 0 and the target speed V1 to the control device, so that the control device controls the drone to fly normally and adjusts the speed to the target speed V1.
  • the navigation device when the navigation device updates the brake enable flag and/or the target speed sent to the control device, it can update the brake enable flag to a preset enable flag, and change the The target speed is updated to a random value, so that the control device can control the movable platform to perform a braking operation according to the updated preset enable flag and random value.
  • the control device controls the drone to perform a braking operation according to the updated preset enable flag.
  • the brake enable flag is 0, and the target speed is V1.
  • the navigation device can update the current brake enable flag 0 to the preset enable flag 1, and update the target speed V1 to a random value.
  • the navigation device sends the updated brake enable identifier 1 and the random value to the control device, so that the control device can control the drone to perform a braking operation.
  • the navigation device when the navigation device updates the brake enable flag and/or the target speed sent to the control device, it can update the brake enable flag to a preset enable flag, and change the The target speed is updated to the preset parameters.
  • the preset parameters include but are not limited to the current distance between the movable platform and the obstacle, the attitude angle threshold of the movable platform, the braking time threshold of the movable platform, and the movable platform Any one or more of the braking distance threshold and the stopping time range after braking.
  • the preset parameters include the current distance between the movable platform and the obstacle
  • the navigation device updates the brake enable flag and/or the target speed sent to the control device
  • it may The brake enable flag is updated to a preset enable flag
  • the target speed is updated to the current distance between the movable platform and the obstacle.
  • the preset parameters include the current distance between the movable platform and the obstacle. If the current distance is 5m, the current brake enable flag is 0, and the preset enable flag Is 1, when the navigation device updates the brake enable flag and/or target speed sent to the control device, it can update the brake enable flag 0 to the preset enable flag 1, and set the target speed V1 is updated to the current distance of 5m between the movable platform and the obstacle.
  • the preset parameters include the attitude angle threshold of the movable platform
  • the navigation device may change the control device when updating the brake enable flag and/or target speed sent to the control device.
  • the dynamic enable flag is updated to a preset enable flag
  • the target speed is updated to the attitude angle threshold of the movable platform.
  • the navigation device can send the attitude angle threshold to the control device, so that the control device can control the movable platform to perform the control within the attitude angle threshold. Action operation.
  • the attitude angle of the movable platform can be the attitude angle of the UAV in any direction of pitch, roll, and translation.
  • the attitude angle threshold may be 20 degrees in the pitch direction.
  • the preset parameters include the attitude angle threshold of the movable platform
  • the navigation device is updating the brake device sent to the control device.
  • the brake enable flag 0 can be updated to the preset enable flag 1
  • the target speed V1 can be updated to the attitude angle threshold of the movable platform of 20 degrees.
  • the preset parameters include the braking time threshold of the movable platform, and when the navigation device updates the braking enable flag and/or target speed sent to the control device, the The braking enable flag is updated to a preset enable flag, and the target speed is updated to a braking time threshold of the movable platform.
  • the navigation device can send the braking time threshold to the control device so that the control device can control the movable platform to complete braking within the braking time threshold operating.
  • the navigation device is updating the braking operation sent to the control device.
  • the braking enable flag 0 can be updated to the preset enable flag 1
  • the target speed V1 can be updated to the braking time threshold value 20s.
  • the preset parameters include the braking distance threshold of the movable platform, and when the navigation device updates the braking enable flag and/or the target speed sent to the control device, the The braking enable flag is updated to a preset enable flag, and the target speed is updated to a braking distance threshold of the movable platform.
  • the navigation device can send the braking distance threshold to the control device, so that the control device can control the movable platform to complete braking within the braking distance threshold operating.
  • the navigation device is updating the braking operation sent to the control device.
  • the braking enable flag 0 can be updated to the preset enable flag 1
  • the target speed V1 can be updated to the braking distance threshold value of 5 m.
  • the preset parameters include the stop time range after the braking ends
  • the navigation device can set the braking time when updating the braking enable flag and/or target speed sent to the control device
  • the enable flag is updated to a preset enable flag
  • the target speed is updated to the stop time range after the braking ends.
  • the navigation device can send the stop time range to the control device so that the control device can control the movable platform to stop in the stop time range after the braking operation is completed. Hover inside.
  • the navigation device is updating and sending to the control device
  • the brake enable flag 0 can be updated to the preset enable flag 1
  • the target speed V1 can be updated to the stop time range 10s.
  • the navigation device when the navigation device updates the brake enable flag and/or the target speed sent to the control device, it may update the brake enable flag to a preset enable flag, and the preset enable flag
  • the identifier is used to instruct the control device to control the movable platform to perform a braking operation.
  • the navigation device only sends the updated preset enable flag to the control device without sending the target speed to the control device, so that the control device can perform a braking operation according to the preset enable flag.
  • the navigation device can update the brake enable flag to 1, and send the updated brake enable flag 1 to the control device. So that the control device can perform braking according to the brake enable flag 1.
  • the target speed when the navigation device updates the brake enable flag and/or the target speed sent to the control device, the target speed may be updated to any value outside the preset speed range, so that the control device controls the movable platform to perform a braking operation.
  • the navigation device can send the target speed to the control device, where the target speed is within the preset speed range, and the control device can respond normally to make the drone Reach the target speed.
  • the navigation device can update the target speed to any value outside the preset speed range, and send any value outside the updated preset speed range to the control device so that the control device can determine When the target speed is not within the preset speed range, control the drone to perform braking operations.
  • the navigation device when the navigation device determines that the movable platform satisfies the braking condition, it may update the braking enable flag and/or the target attitude sent to the control device; or, the navigation device determines When the movable platform satisfies the braking conditions, it can update other motion parameters such as the braking enable identification and/or target position sent to the control device.
  • the embodiment of the present invention does not specifically limit it, and only needs to satisfy the control device according to the update The following braking enable flag and/or other motion parameters can be controlled to perform a braking operation on the movable platform.
  • the navigation device obtains the current distance between the movable platform and the obstacle sent by the sensing device, and determines whether the movable platform meets the braking condition according to the current distance, and when the braking condition is satisfied ,
  • the brake enable flag and/or the target speed sent to the control device can be updated, so that the control device can control the movable vehicle according to the updated brake enable flag and/or the target speed.
  • the platform performs the braking operation, thereby realizing the automation and intelligence of the braking control of the movable platform, and improving the safety of the movable platform.
  • FIG. 3 is a schematic flowchart of another brake control method for a movable platform according to an embodiment of the present invention.
  • the method may be executed by a navigation device, and the navigation device may be set on the movable platform.
  • the explanation of the movable platform is as described above.
  • the embodiment of the present invention is a schematic description of an embodiment of how to specifically realize the braking of the movable platform by updating the preset parameters.
  • the method of the embodiment of the present invention includes the following steps.
  • S301 Acquire the current distance between the movable platform and the obstacle sent by the sensing device.
  • the navigation device can obtain the current distance between the movable platform and the obstacle sent by the sensing device.
  • the specific embodiments and examples are described above and will not be repeated here.
  • S302 Determine whether the movable platform meets a braking condition according to the current distance.
  • the navigation device may determine whether the movable platform satisfies the braking condition according to the current distance.
  • the specific embodiments and examples are as described above and will not be repeated here.
  • the navigation device when the navigation device determines that the movable platform satisfies the braking condition, it may update the brake enable flag to a preset enable flag, and update the target speed to a preset parameter , So that the control device controls the movable platform to perform a braking operation according to the preset parameters.
  • the preset parameters include the current distance between the movable platform and the obstacle, and the current distance between the movable platform and the obstacle is used to instruct the control device to The current distance controls the attitude angle of the movable platform, so that the movable platform completes a braking operation within the current distance.
  • the restrictions on the attitude angle can be relaxed while the safety of the drone is ensured, and the movable platform can be increased during braking. Attitude angle to achieve rapid braking within the current distance.
  • the control of the attitude angle can be reduced to achieve stable braking within the current distance.
  • the brake enable flag is 0, and the target speed is V1.
  • the navigation device can brake The enabling flag is updated from 0 to 1, and the target speed V1 is updated to the current distance from the drone to the obstacle according to the received current distance between the drone and the obstacle sent by the sensing device.
  • the navigation device sends the updated brake enable flag 1 and the current distance from the drone to the obstacle to the control device, so that the control device controls the drone to brake when it detects the brake enable flag 1, and according to
  • the current distance from the UAV to the obstacle controls the attitude angle of the UAV to ensure that the UAV completes the braking operation within the current distance from the UAV to the obstacle to ensure the safety of the UAV. For example, when the distance from the drone to the obstacle is less than the distance threshold, relax the restrictions on the attitude angle of the drone to achieve rapid braking.
  • the preset parameters include the attitude angle threshold of the movable platform; the attitude angle threshold is used to instruct the control device to control the movable platform to perform a braking operation.
  • the attitude angle of the movable platform is less than or equal to the attitude angle threshold.
  • the attitude angle of the movable platform may be obtained by a sensing device.
  • the sensing device may include an attitude sensor, and the attitude sensor is used to measure the Attitude angle.
  • the movable platform may obtain the current attitude angle of the movable platform through an attitude sensor, and the attitude sensor may send the output attitude angle data to a navigation device.
  • the navigation device may obtain the attitude angle of the movable platform through attitude angle data output by the attitude sensor.
  • the movable platform may also use other sensors for detecting the attitude angle to obtain the attitude angle, which is not specifically limited in the embodiment of the present invention.
  • the brake enable flag is 0, and the target speed is V1.
  • the navigation device can brake The enable flag is updated to 1, and the target speed V1 is updated to the attitude angle threshold.
  • the navigation device can send the updated brake enable flag 1 and the attitude angle threshold to the control device, so that the control device can control the UAV's attitude angle to perform the braking operation without exceeding the attitude angle threshold. Prevent the drone from turning over or crashing during braking.
  • the preset parameter includes a braking time threshold of the movable platform, and the braking time threshold is used to instruct the control device to control the movable platform within the braking time threshold Complete the braking operation.
  • the movable platform can be controlled to complete braking within the braking time threshold, which realizes the flexibility of the braking operation of the movable platform and improves the user experience.
  • the navigation device can update the braking enable flag to 1, and the target speed V1 to The braking time threshold is 20s.
  • the navigation device may send the updated braking enable flag 1 and the braking time threshold 20s to the control device, so that the control device can control the drone to perform a braking operation and control the drone to stop within 20s.
  • the preset parameter includes a braking distance threshold of the movable platform; the braking distance threshold is used to instruct the control device to control the movable platform within the braking distance threshold Complete the braking operation.
  • the movable platform can be controlled to complete braking within the braking distance threshold, which realizes the flexibility of the braking operation of the movable platform and improves the user experience.
  • the navigation device can update the braking enable flag to 1, and the target speed V1 to The braking distance threshold is 5m.
  • the navigation device may send the updated braking enable flag 1 and the braking distance threshold value of 5m to the control device, so that the control device can control the drone to perform a braking operation and control the drone to stop within 5m.
  • the preset parameters include a stopping time range after braking; the stopping time range is used to instruct the control device to control the movable platform after the movable platform completes the braking operation
  • the platform keeps hovering within the stopping time range.
  • the navigation device can update the braking enable flag to 1, and set the target speed V1 is updated to stop time range 10s.
  • the navigation device may send the updated brake enable flag 1 and the stopping time range 10s to the control device, so that the control device can control the drone to hover for 10s after the braking operation is completed.
  • the navigation device can obtain the current distance between the movable platform and the obstacle sent by the sensing device, and determine whether the movable platform meets the braking condition according to the current distance, When the movable platform satisfies the braking condition, the braking enable flag can be updated to the preset enable flag, and the target speed can be updated to the preset parameters, so that the control device can be updated according to the preset parameters.
  • FIG. 4 is a schematic structural diagram of a navigation device provided by an embodiment of the present invention.
  • the device includes a memory 401 and a processor 402.
  • the processor 402 is configured with a proxy component and a set of functional components.
  • the functional component set includes multiple functional components, and each functional component is configured with an application interface;
  • the memory 401 may include a volatile memory (volatile memory); the memory 401 may also include a non-volatile memory (non-volatile memory); the memory 401 may also include a combination of the foregoing types of memories.
  • the processor 402 may be a central processing unit (CPU).
  • the processor 402 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the processor 402 is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
  • the braking enablement identifier and/or target speed sent to the control device are updated, so that the control device is based on the updated braking enablement identifier and/or The target speed controls the movable platform to perform a braking operation.
  • the processor 402 updates the brake enable identifier and/or the target speed sent to the control device, it is specifically configured to:
  • the target speed is updated to a random value.
  • the processor 402 updates the brake enable identifier and/or the target speed sent to the control device, it is specifically configured to:
  • the target speed is updated to a preset parameter.
  • the preset parameters include the current distance between the movable platform and the obstacle;
  • the current distance between the movable platform and the obstacle is used to instruct the control device to control the attitude angle of the movable platform according to the current distance, so that the movable platform can complete the control within the current distance. Action operation.
  • the preset parameters include the attitude angle threshold of the movable platform
  • the attitude angle threshold is used to instruct the control device to control the attitude angle of the movable platform to be less than or equal to the attitude angle threshold during the process of controlling the movable platform to perform a braking operation.
  • the preset parameter includes a braking time threshold of the movable platform
  • the braking time threshold is used to instruct the control device to control the movable platform to complete a braking operation within the braking time threshold.
  • the preset parameter includes a braking distance threshold of the movable platform
  • the braking distance threshold is used to instruct the control device to control the movable platform to complete a braking operation within the braking distance threshold.
  • the preset parameters include a stop time range after the braking ends; the stop time range is used to instruct the control device to control the movable platform to stop at the movable platform after the movable platform completes the braking operation. Keep hovering within the stop time range.
  • the processor 402 updates the brake enable identifier and/or the target speed sent to the control device, it is specifically configured to:
  • the brake enable flag is updated to a preset enable flag, and the preset enable flag is used to instruct the control device to control the movable platform to perform a braking operation.
  • the processor 402 updates the brake enable identifier and/or the target speed sent to the control device, it is specifically configured to:
  • the target speed is updated to any value outside the preset speed range, so that the control device controls the movable platform to perform a braking operation when determining that the target speed is outside the preset speed range.
  • the processor 402 determines whether the movable platform satisfies the braking condition according to the current distance, it is specifically configured to:
  • the navigation device obtains the current distance between the movable platform and the obstacle sent by the sensing device, and determines whether the movable platform meets the braking condition according to the current distance, and when the braking condition is satisfied ,
  • the brake enable flag and/or the target speed sent to the control device can be updated, so that the control device can control the movable vehicle according to the updated brake enable flag and/or the target speed.
  • the platform performs the braking operation, thereby realizing the automation and intelligence of the braking control of the movable platform, and improving the safety of the movable platform.
  • the embodiment of the present invention also provides a movable platform, the movable platform includes: a sensing device, a navigation device, and a control device;
  • the sensing device is used to obtain the current distance between the movable platform and the obstacle, and send the current distance to the navigation device;
  • the navigation device is used to obtain the current distance between the movable platform and the obstacle sent by the sensing device, and determine whether the movable platform meets the braking condition according to the current distance; When the mobile platform meets the braking conditions, it updates the braking enable flag and/or target speed sent to the control device;
  • the control device is configured to receive the brake enable flag and/or the target speed sent by the navigation device, and control the movable according to the brake enable flag and/or the target speed
  • the platform performs a braking operation.
  • the navigation device updates the brake enable flag and/or target speed sent to the control device, it is specifically used to:
  • the target speed is updated to a random value.
  • the navigation device updates the brake enable flag and/or target speed sent to the control device, it is specifically used to:
  • the target speed is updated to a preset parameter.
  • the preset parameters include the current distance between the movable platform and the obstacle;
  • the current distance between the movable platform and the obstacle is used to instruct the control device to control the attitude angle of the movable platform according to the current distance, so that the movable platform can complete the control within the current distance. Action operation.
  • the preset parameters include the attitude angle threshold of the movable platform
  • the attitude angle threshold is used to instruct the control device to control the attitude angle of the movable platform to be less than or equal to the attitude angle threshold during the process of controlling the movable platform to perform a braking operation.
  • the preset parameters include the attitude angle threshold of the movable platform
  • the attitude angle threshold is used to instruct the control device to control the attitude angle of the movable platform to be less than or equal to the attitude angle threshold during the process of controlling the movable platform to perform a braking operation.
  • the preset parameter includes a braking distance threshold of the movable platform
  • the braking distance threshold is used to instruct the control device to control the movable platform to complete a braking operation within the braking distance threshold.
  • the preset parameters include a stop time range after the braking ends; the stop time range is used to instruct the control device to control the movable platform to stop at the movable platform after the movable platform completes the braking operation. Keep hovering within the stop time range.
  • the navigation device updates the brake enable flag and/or target speed sent to the control device, it is specifically used to:
  • the brake enable flag is updated to a preset enable flag, and the preset enable flag is used to instruct the control device to control the movable platform to perform a braking operation.
  • the navigation device updates the brake enable flag and/or target speed sent to the control device, it is specifically used to:
  • the target speed is updated to any value outside the preset speed range, so that the control device controls the movable platform to perform a braking operation when determining that the target speed is outside the preset speed range.
  • the navigation device determines whether the movable platform satisfies the braking condition according to the current distance, it is specifically used for:
  • the sensing device includes any one or more of vision sensors, radar sensors, and attitude sensors.
  • the movable platform includes any one of unmanned aerial vehicles, unmanned vehicles, and mobile robots.
  • the navigation device of the movable platform obtains the current distance between the movable platform and the obstacle sent by the sensing device, and determines whether the movable platform meets the braking condition according to the current distance.
  • the brake enable flag and/or target speed sent to the control device can be updated, so that the control device can control according to the updated brake enable flag and/or the target speed
  • the movable platform performs a braking operation, thereby realizing automation and intelligence of the braking control of the movable platform, and improving the safety of the movable platform.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements what is described in FIG. 2 or FIG. 3 in the embodiment of the present invention.
  • the method can also implement the device in the embodiment corresponding to FIG. 4 of the present invention, which will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card. , Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de commande de frein pour une plate-forme mobile, un dispositif de navigation et une plateforme mobile. Le procédé consiste à : acquérir une distance actuelle, envoyée par un dispositif de détection, entre une plate-forme mobile et un obstacle (S201) ; déterminer, en fonction de la distance actuelle, Si la plateforme mobile satisfait une condition de freinage (S202) ; et lorsque la plate-forme mobile satisfait la condition de freinage, mettre à jour un identifiant activant un frein et/ou la vitesse cible envoyé à un dispositif de commande, de sorte que le dispositif de commande commande, en fonction de l'identifiant activant le frein et/ou de la vitesse cible mis à jour, à la plate-forme mobile d'exécuter une opération de freinage (S203). Une opération de freinage d'une plate-forme mobile est commandée en fonction d'un identifiant activant un frein et/ou d'une vitesse cible, de telle sorte que la commande de freinage de la plate-forme mobile est rendue automatique et intelligente, ce qui permet d'améliorer la sécurité de la plate-forme mobile.
PCT/CN2019/077273 2019-03-07 2019-03-07 Procédé de commande de frein pour plate-forme mobile, dispositif de navigation et plate-forme mobile Ceased WO2020177112A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2019/077273 WO2020177112A1 (fr) 2019-03-07 2019-03-07 Procédé de commande de frein pour plate-forme mobile, dispositif de navigation et plate-forme mobile
CN201980004954.0A CN111212773A (zh) 2019-03-07 2019-03-07 一种可移动平台的制动控制方法、导航设备及可移动平台

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PCT/CN2019/077273 WO2020177112A1 (fr) 2019-03-07 2019-03-07 Procédé de commande de frein pour plate-forme mobile, dispositif de navigation et plate-forme mobile

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