WO2019134148A1

WO2019134148A1 - Method and device for controlling unmanned aerial vehicle, and movable platform

Info

Publication number: WO2019134148A1
Application number: PCT/CN2018/071676
Authority: WO
Inventors: 高翔; 王军; 张彬
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-01-05
Filing date: 2018-01-05
Publication date: 2019-07-11
Also published as: CN110612496A

Abstract

A method and device for controlling an unmanned aerial vehicle, and a movable platform. The method comprises: acquiring a distance between an unmanned aerial vehicle and an obstacle (S201); if the distance is less than a first preset distance, controlling the unmanned aerial vehicle to fly away from the obstacle in a first direction, and then controlling the unmanned aerial vehicle to fly toward the obstacle in a second direction; and controlling the unmanned aerial vehicle to stop flying toward the obstacle, wherein when the unmanned aerial vehicle stops flying in the second direction, the distance between the unmanned aerial vehicle and the obstacle is greater than or equal to the first preset distance, thereby enabling the unmanned aerial vehicle to keep a certain distance from the obstacle to realize obstacle avoidance, and ensuring flight safety. In the obstacle avoidance process, the unmanned aerial vehicle is controlled so as to fly in a rebounding manner, such that a user has more fun when controlling the unmanned aerial vehicle, thereby improving user experience, and increasing the enjoyment of young players with respect to unmanned aerial vehicles.

Description

Unmanned aerial vehicle control method, control device and movable platform

Technical field

The embodiment of the invention relates to the technical field of drones, and in particular to a control method, a control device and a movable platform of an unmanned aerial vehicle.

Background technique

With the increasing use of drones, the number of drone players has increased. There are both professional and amateur players who can control the flight path of the drone through the remote control. The mobile phone, tablet computer, etc. control the flight path of the drone, and even the track can be preset, and the drone can fly according to these preset trajectories. However, due to the complicated flight environment of the drone, there may be uncontrollable factors, such as sudden obstacles, which may affect the flight safety of the drone.

Summary of the invention

Embodiments of the present invention provide a control method, a control device, and a movable platform for an unmanned aerial vehicle, which are used to implement obstacle avoidance and ensure flight safety.

In a first aspect, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, including:

Obtaining the distance between the UAV and the obstacle surface;

When the distance is less than the first preset distance, controlling the UAV to fly in a first direction and then fly in a second direction; the first direction is a direction away from the obstacle surface, and the second direction is a proximity obstacle Direction of the face;

Controlling that the UAV stops flying in the second direction, the UAV stops flying toward the second direction, and the distance between the UAV and the obstacle surface is greater than or equal to the first preset distance .

In a second aspect, an embodiment of the present invention provides a control device for an unmanned aerial vehicle, including: a distance sensor and a processor;

The distance sensor is configured to acquire a distance between the UAV and the obstacle surface;

The processor is configured to control the UAV to fly in a first direction and then fly in a second direction when the distance acquired by the distance sensor is less than a first preset distance; the first direction is away a direction of the obstacle surface, the second direction being a direction close to the obstacle surface;

Controlling the UAV to stop flying in the second direction; when the UAV stops flying in the second direction, the distance between the UAV and the obstacle surface acquired by the distance sensor is greater than or Equal to the first preset distance.

In a third aspect, an embodiment of the present invention provides a readable storage medium, where the readable storage medium stores a computer program; when the computer program is executed, the first aspect of the present invention is implemented as described in the embodiment of the present invention. The control method of the human aircraft.

In a fourth aspect, an embodiment of the present invention provides a mobile platform, including: a power device, and a control device according to the second aspect of the present invention;

The power unit is for outputting power.

The control method, the control device and the movable platform of the unmanned aerial vehicle provided by the embodiment of the invention obtain the distance between the unmanned aerial vehicle and the obstacle surface; and when the distance is less than the first preset distance, the unmanned person is controlled Flying the aircraft away from the obstacle surface, and then controlling the unmanned aerial vehicle to fly toward the obstacle surface; then controlling the unmanned aerial vehicle to stop flying toward the obstacle surface, the unmanned aerial vehicle stopping toward the second The distance between the UAV and the obstacle surface is greater than or equal to the first preset distance when flying in the direction, thereby ensuring a certain distance between the UAV and the obstacle surface, thereby realizing obstacle avoidance and ensuring The flight is safe, and the present embodiment controls the UAV to achieve a bounce-like flight trajectory during the obstacle avoidance process, so that the player's control of the UAV is more interesting, and the user experience is improved to increase the low-level player to the UAV. interest of.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is a schematic architectural diagram of an unmanned flight system in accordance with an embodiment of the present invention;

2 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;

3 is a schematic diagram of an unmanned aerial vehicle flying in a first direction and then flying in a second direction according to an embodiment of the present invention;

4 is a schematic diagram of an unmanned aerial vehicle flying in a first direction according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an unmanned aerial vehicle flying in a second direction according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic structural diagram of a control device according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a control device according to another embodiment of the present invention; FIG.

FIG. 8 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts are within the scope of the protection of the present invention. In the case of no conflict, the following embodiments and implementations Features in the manner can be combined with each other.

Embodiments of the present invention provide a control method, a control device, and a movable platform of an unmanned aerial vehicle. The unmanned aerial vehicle involved therein may be a rotorcraft, for example, a multi-rotor aircraft driven by air by a plurality of urging means, and embodiments of the present invention are not limited thereto.

1 is a schematic architectural diagram of an unmanned flight system in accordance with an embodiment of the present invention. This embodiment is described by taking a rotorcraft unmanned aerial vehicle as an example.

The unmanned aerial vehicle system 100 can include an unmanned aerial vehicle 110, a pan/tilt head 120, a display device 130, and a control device 140. Among them, the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, and a rack. The UAV 110 can be in wireless communication with the control device 140 and the display device 130.

The rack can include a fuselage and a tripod (also known as a landing gear). The fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame. The stand is coupled to the fuselage for supporting when the UAV 110 is landing.

Power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more electric machines 152 corresponding to one or more propellers 153, wherein motor 152 is coupled Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are disposed on the arm of the unmanned aerial vehicle 110; the electronic governor 151 is configured to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal. Current is supplied to the motor 152 to control the rotational speed of the motor 152. Motor 152 is used to drive propeller rotation to power the flight of unmanned aerial vehicle 110, which enables unmanned aerial vehicle 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the UAV 110 can be rotated about one or more axes of rotation. For example, the above-described rotating shaft may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 152 can be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

Flight control system 160 may include flight controller 161 and sensing system 162. The sensing system 162 is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the UAV 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, and three-dimensional angular velocity. Sensing system 162 can include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system can be a Global Positioning System (GPS). The flight controller 161 is used to control the flight of the unmanned aerial vehicle 110, for example, the flight of the unmanned aerial vehicle 110 can be controlled based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the UAV 110 in accordance with pre-programmed program instructions, or may control the UAV 110 in response to one or more control commands from the control device 140.

The pan/tilt 120 can include a motor 122. The pan/tilt is used to carry the imaging device 123. The flight controller 161 can control the motion of the platform 120 via the motor 122. Optionally, as another embodiment, the platform 120 may further include a controller for controlling the motion of the platform 120 by controlling the motor 122. It should be understood that the platform 120 can be independent of the UAV 110 or a portion of the UAV 110. It should be understood that the motor 122 can be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan/tilt can be located at the top of the UAV or at the bottom of the UAV.

The imaging device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the imaging device 123 may communicate with the flight controller and perform shooting under the control of the flight controller. The imaging device 123 of the present embodiment includes at least a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor.

The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 wirelessly, and can be used to display attitude information of the unmanned aerial vehicle 110. In addition, an image taken by the imaging device can also be displayed on the display device 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated in the control device 140.

The control device 140 is located at the ground end of the unmanned aerial vehicle system 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remote manipulation of the unmanned aerial vehicle 110.

It should be understood that the above-mentioned nomenclature of the components of the unmanned flight system is for the purpose of identification only and is not to be construed as limiting the embodiments of the invention. It should be noted that the UAV may include all or part of the above components.

2 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:

S201. Obtain a distance between the UAV and the obstacle surface.

S202. When the distance is less than the first preset distance, control the UAV to fly in a first direction and then fly in a second direction.

S203. Control the UAV to stop flying in the second direction.

In this embodiment, the distance between the unmanned aerial vehicle and the obstacle surface is obtained, wherein the embodiment can obtain the unmanned aerial vehicle and the obstacle by means of laser ranging, ultrasonic ranging, infrared ranging, visual ranging, and the like. The distance between the faces. The obstacle surface may be, for example, a floor, a wall surface, a ceiling surface, a hand, etc., which is not limited in this embodiment. In some embodiments, the distance between the UAV and the obstacle surface may be acquired at a preset time interval, or the distance between the UAV and the obstacle surface may be acquired in real time.

After obtaining the distance between the UAV and the obstacle surface, determining whether the distance is less than the first preset distance, and if the distance is greater than or equal to the first preset distance, continuing to determine whether the acquired distance is less than the first preset The distance between the determinations may be a preset interval of the system, such as 0.01, 0.05, 0.1, 0.2, 0.5, 1, 2 seconds, etc., or may be a time interval set by the user; if the distance is less than the first preset distance, It indicates that the UAV is about to touch the obstacle surface, and then the embodiment controls the UAV to fly in the first direction, and then controls the UAV to fly in the second direction, as shown in FIG. Wherein, the first direction is a direction away from the obstacle surface, and the second direction is a direction close to the obstacle surface, that is, the embodiment controls the unmanned aerial vehicle to fly away from the obstacle surface, and then controls the unmanned aerial vehicle to fly toward the obstacle surface. To achieve a similar bounce process. In this embodiment, after controlling the unmanned aerial vehicle to fly in the second direction, the unmanned aerial vehicle is controlled to stop flying in the second direction, and when the unmanned aerial vehicle stops flying in the second direction, between the unmanned aerial vehicle and the obstacle surface The distance is greater than or equal to the first preset distance, thereby ensuring a certain distance between the UAV and the obstacle surface.

In this embodiment, the distance between the unmanned aerial vehicle and the obstacle surface is obtained; when the distance is less than the first preset distance, the unmanned aerial vehicle is controlled to fly away from the obstacle surface, and then the unmanned aerial vehicle is controlled to Flying in a direction close to the obstacle surface; then controlling the unmanned aerial vehicle to stop flying in a direction approaching the obstacle surface, between the unmanned aerial vehicle and the obstacle surface when the unmanned aerial vehicle stops flying in the second direction The distance is greater than or equal to the first preset distance, thereby ensuring a certain distance between the UAV and the obstacle surface, achieving obstacle avoidance and ensuring flight safety, and the present embodiment controls the UAV to avoid obstacles. In the process, a similar bounce flight trajectory is realized, which makes the player's control of the UAV more interesting and improves the user experience, so as to increase the interest of the younger players in the UAV.

In some embodiments, if the obstacle surface is below the UAV, the first direction is above the UAV and the second direction is below the UAV.

If the obstacle surface is above the UAV, the first direction is below the UAV and the second direction is above the UAV.

If the obstacle surface is located in front of the unmanned aerial vehicle, the first direction is the rear of the unmanned aerial vehicle, and the second direction is the front of the unmanned aerial vehicle.

If the obstacle surface is located behind the UAV, the first direction is the front of the UAV and the second direction is the rear of the UAV.

If the obstacle surface is located to the left of the UAV, the first direction is the right side of the UAV, and the second direction is the left side of the UAV.

If the obstacle surface is located to the right of the unmanned aerial vehicle, the first direction is the left side of the unmanned aerial vehicle, and the second direction is the right side of the unmanned aerial vehicle.

In some embodiments, one implementation of controlling the UAV to fly in a first direction is to control the UAV to first accelerate the flight and then decelerate the flight toward the first direction. In this embodiment, the unmanned aerial vehicle is first controlled to accelerate in the first direction, and after the acceleration flight is completed, the unmanned aerial vehicle is controlled to decelerate in the first direction.

In some embodiments, a possible implementation of controlling the unmanned aerial vehicle to accelerate the flight and then decelerate the flight in the first direction is to control the unmanned aerial vehicle to accelerate the flight in the first direction until Controlling the UAV to decelerate in the first direction when the distance between the UAV and the obstacle surface is greater than or equal to the second preset distance; the second preset distance is greater than the first preset distance. Firstly controlling the unmanned aerial vehicle to accelerate the flight in the first direction, detecting the distance between the unmanned aerial vehicle and the obstacle surface during the accelerated flight, and determining whether the distance is smaller than the second preset distance, if the distance is smaller than the second preset The distance continues to control the unmanned aerial vehicle to accelerate in the first direction. If the distance is greater than or equal to the second predetermined distance, the control of the unmanned aerial vehicle is accelerated to the first direction, and the unmanned aerial vehicle is controlled to the first Slow down the direction.

In some embodiments, the flying speed is defined when the UAV is flying in the first direction, that is, the defined speed is the first preset speed, and after the unmanned aerial vehicle is controlled to accelerate in the first direction, if the unmanned aerial vehicle is facing the first When the flight speed in one direction is accelerated to be greater than or equal to the first preset speed, the unmanned aerial vehicle is controlled to fly at a constant speed in the first direction; if the flight speed of the unmanned aerial vehicle in the first direction is less than the first preset speed, then the control is continued. The unmanned aerial vehicle accelerates in the first direction. Wherein, if the flying speed of the UAV in the first direction is greater than or equal to the first preset speed, and the distance between the UAV and the obstacle surface is greater than or equal to the second preset distance, then no one is controlled. The aircraft flies at a constant speed in the first direction, but directly controls the unmanned aerial vehicle to decelerate in the first direction; if the flying speed of the unmanned aerial vehicle in the first direction is greater than or equal to the first preset speed, and the unmanned aerial vehicle and the obstacle When the distance between the faces is less than the second preset distance, the UAV is controlled to fly at a constant speed in the first direction until the distance between the UAV and the obstacle surface is greater than or equal to the second preset distance. The aircraft decelerated in the first direction.

Wherein, the schematic diagram of controlling the unmanned aerial vehicle to fly in the first direction can be, for example, as shown in FIG.

In some embodiments, one implementation of controlling the UAV to fly in a second direction is to control the UAV to first accelerate the flight and then decelerate the flight toward the second direction. In this embodiment, the unmanned aerial vehicle is first controlled to accelerate in the second direction, and after the acceleration flight is completed, the unmanned aerial vehicle is controlled to decelerate in the second direction.

In some embodiments, a possible implementation of controlling the unmanned aerial vehicle to accelerate the flight and then decelerate the flight in the second direction is: controlling the unmanned aerial vehicle to accelerate the flight in the second direction until Controlling the UAV to decelerate in the second direction when the distance between the UAV and the obstacle surface is less than or equal to a third preset distance; the third preset distance is greater than the first preset distance. Firstly controlling the unmanned aerial vehicle to accelerate the flight in the second direction, detecting the distance between the unmanned aerial vehicle and the obstacle surface during the accelerated flight, and determining whether the distance is greater than the third preset distance, if the distance is greater than the third preset The distance continues to control the unmanned aerial vehicle to accelerate in the second direction. If the distance is less than or equal to the third predetermined distance, the control of the unmanned aerial vehicle is accelerated to the second direction, and the unmanned aerial vehicle is controlled to the second Slow down the direction. In some embodiments, the third preset distance described above may be equal to the second preset distance described above.

In some embodiments, the flight speed is defined when the UAV is flying in the second direction, that is, the defined speed is the second preset speed, and after the UAV is controlled to accelerate in the second direction, if the UAV is facing the first When the flight speed in the two directions is accelerated to be greater than or equal to the second preset speed, the unmanned aerial vehicle is controlled to fly at a constant speed in the second direction; if the flight speed of the unmanned aerial vehicle in the second direction is less than the second preset speed, then the control is continued. The unmanned aerial vehicle accelerates in the second direction. Wherein, if the flying speed of the UAV in the second direction is greater than or equal to the second preset speed, and the distance between the UAV and the obstacle surface is less than or equal to the third preset distance, then no one is controlled. The aircraft flies at a constant speed in the second direction, but directly controls the unmanned aerial vehicle to decelerate in the second direction; if the flying speed of the unmanned aerial vehicle in the second direction is greater than or equal to the second preset speed, and the unmanned aerial vehicle and the obstacle When the distance between the faces is greater than the third preset distance, the UAV is controlled to fly at a constant speed in the first direction until the distance between the UAV and the obstacle surface is less than or equal to the third preset distance. The aircraft decelerated in the second direction.

In some embodiments, the above-described one possible implementation of controlling the UAV to stop flying in the second direction comprises: controlling the flying speed of the UAV to the second direction to be reduced to 0, Controlling the UAV to stop flying in the second direction. In this embodiment, the unmanned aerial vehicle is controlled to decelerate in the second direction, and the flight speed decreases as the flight time increases. When the flight speed decreases to zero, the unmanned aerial vehicle no longer has a flight speed in the second direction. The unmanned aerial vehicle stops.

The schematic diagram of controlling the unmanned aerial vehicle to fly in the second direction can be, for example, as shown in FIG. 5.

In some embodiments, the one possible implementation of controlling the UAV to fly in a first direction and then in a second direction is to control the UAV to fly in the first direction until The UAV is controlled to fly in the second direction when the flying speed of the UAV in the second direction is the third preset speed. In some embodiments, the third preset speed is 0, that is, the unmanned aerial vehicle is controlled to accelerate in the first direction and then decelerate in the first direction, and when the flying speed of the unmanned aerial vehicle in the first direction is 0, the control is performed. The unmanned aerial vehicle flies in the second direction.

It should be noted that the above-mentioned obstacle surfaces may not be the same obstacle surface. In the process of controlling the unmanned aerial vehicle to fly in the first direction and then fly in the second direction, if the previous obstacle surface is the ground, when the hand reaches the ground, Below the aircraft, the obstacle surface detected by the UAV is changed to the hand.

In summary, the embodiments of the present invention ensure that a certain distance between the UAV and the obstacle surface is maintained by the above solutions, thereby avoiding obstacles and ensuring flight safety, and the present embodiment controls the process of the UAV in obstacle avoidance. The realization of a similar bounce flight trajectory makes the player's control of the UAV more interesting and enhances the user experience to increase the interest of the younger players in the UAV.

FIG. 6 is a schematic structural diagram of a control apparatus according to an embodiment of the present invention. As shown in FIG. 6, the control apparatus 600 of this embodiment may include a distance sensor 601 and a processor 602.

The distance sensor 601 is configured to acquire a distance between the UAV and the obstacle surface;

The processor 602 is configured to control the UAV to fly in a first direction and then fly in a second direction when the distance acquired by the distance sensor 601 is less than a first preset distance; the first direction In a direction away from the obstacle surface, the second direction is a direction close to the obstacle surface

Controlling that the UAV stops flying toward the second direction; when the UAV stops flying toward the second direction, the distance between the UAV and the obstacle surface acquired by the distance sensor 601 is greater than Or equal to the first preset distance.

In some embodiments, the processor 602 is specifically configured to: control the unmanned aerial vehicle to accelerate the flight and then decelerate the flight toward the first direction.

In some embodiments, the processor 602 is specifically configured to: control the unmanned aerial vehicle to accelerate flight in the first direction until a distance between the unmanned aerial vehicle and the obstacle surface acquired by the distance sensor When the second preset distance is greater than or equal to the second preset distance, the unmanned aerial vehicle is controlled to decelerate in the first direction; the second preset distance is greater than the first preset distance.

In some embodiments, the processor 602 is further configured to: after controlling the unmanned aerial vehicle to accelerate the flight in the first direction, if the flying speed of the unmanned aerial vehicle in the first direction is greater than or equal to the first When the speed is preset, the UAV is controlled to fly at a constant speed in the first direction.

In some embodiments, the processor 602 is specifically configured to: control the unmanned aerial vehicle to fly in the second direction and then accelerate the flight.

In some embodiments, the processor 602 is specifically configured to: control the unmanned aerial vehicle to accelerate flight in the second direction until the distance between the unmanned aerial vehicle and the obstacle surface acquired by the distance sensor 601 When the distance is less than or equal to the third preset distance, the UAV is controlled to decelerate in the second direction; the third preset distance is greater than the first preset distance.

In some embodiments, the processor 602 is further configured to: after controlling the UAV to accelerate the flight in the second direction, if the flying speed of the UAV in the second direction is greater than or equal to the second When the speed is preset, the UAV is controlled to fly at a constant speed in the second direction.

In some embodiments, the processor 602 is specifically configured to: control a flight speed of the UAV to the second direction to be reduced to 0 to control the UAV to stop flying in the second direction. .

In some embodiments, the processor 602 is specifically configured to: control the UAV to fly in the first direction until a flight speed of the UAV in the first direction is a third pre- The UAV is controlled to fly in the second direction when the speed is set.

In some embodiments, the third preset speed is zero.

In some embodiments, if the obstacle surface is located below the UAV, the first direction is above the UAV, and the second direction is below the UAV;

If the obstacle surface is above the unmanned aerial vehicle, the first direction is below the unmanned aerial vehicle, and the second direction is above the unmanned aerial vehicle;

If the obstacle surface is located in front of the unmanned aerial vehicle, the first direction is a rear of the unmanned aerial vehicle, and the second direction is a front side of the unmanned aerial vehicle;

If the obstacle surface is located behind the UAV, the first direction is the front of the UAV, and the second direction is the rear of the UAV;

If the obstacle surface is located to the left of the UAV, the first direction is the right side of the UAV, and the second direction is the left side of the UAV;

In some embodiments, the distance sensor 601 includes at least one of a laser ranging sensor, an ultrasonic ranging sensor, an infrared ranging sensor, and a visual ranging sensor.

In some embodiments, as shown in FIG. 7, the control device 600 of the present embodiment may further include: a speed sensor 603; and the speed sensor 603 is configured to acquire a flight speed of the unmanned aerial vehicle.

The control device of this embodiment may be used to implement the technical solutions in the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

FIG. 8 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention. As shown in FIG. 8, the mobile platform 800 of the present embodiment may include: a power device 801 and a control device 802. The power unit 801 is configured to output power. The control device 802 can adopt the structure of the device embodiment shown in FIG. 6 or FIG. 7. Correspondingly, the technical solution of any of the foregoing method embodiments can be executed, and the implementation principle and technical effects are similar, and details are not described herein again.

In some embodiments, the movable platform 800 can be an unmanned aerial vehicle.

A person skilled in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by using hardware related to the program instructions. The foregoing program may be stored in a computer readable storage medium, and the program is executed when executed. The foregoing storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and the like, which can store program codes. Medium.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A method for controlling an unmanned aerial vehicle, comprising:

Obtaining the distance between the UAV and the obstacle surface;

When the distance is less than the first preset distance, controlling the UAV to fly in a first direction and then fly in a second direction; the first direction is a direction away from the obstacle surface, and the second direction is a proximity obstacle Direction of the face;

Controlling the UAV to stop flying in the second direction; the distance between the UAV and the obstacle surface when the UAV stops flying in the second direction is greater than or equal to the first preset distance.
The method of claim 1 wherein said controlling said UAV to fly in a first direction comprises:

The UAV is controlled to accelerate the flight and then decelerate the flight toward the first direction.
The method according to claim 2, wherein said controlling said unmanned aerial vehicle to accelerate flight and then decelerate flight toward said first direction comprises:

Controlling the unmanned aerial vehicle to accelerate flight in the first direction until the distance between the unmanned aerial vehicle and the obstacle surface is greater than or equal to a second predetermined distance, controlling the unmanned aerial vehicle to decelerate toward the first direction Flying; the second preset distance is greater than the first preset distance.
The method according to claim 3, wherein after the controlling the unmanned aerial vehicle to accelerate the flight in the first direction, the method further comprises:

And if the flying speed of the UAV in the first direction is greater than or equal to the first preset speed, controlling the UAV to fly at a constant speed in the first direction.
The method according to any one of claims 1 to 4, wherein the controlling the unmanned aerial vehicle to fly in a second direction comprises:

The UAV is controlled to fly in the second direction and then to decelerate the flight.
The method according to claim 5, wherein said controlling said unmanned aerial vehicle to fly in said second direction first acceleration and then decelerating flight comprises:

Controlling the unmanned aerial vehicle to accelerate the flight in the second direction until the distance between the unmanned aerial vehicle and the obstacle surface is less than or equal to a third predetermined distance, and controlling the unmanned aerial vehicle to decelerate toward the second direction Flying; the third preset distance is greater than the first preset distance.
The method according to claim 6, wherein after the controlling the unmanned aerial vehicle to accelerate the flight in the second direction, the method further comprises:

And if the flying speed of the UAV in the second direction is greater than or equal to the second preset speed, controlling the UAV to fly at a constant speed in the second direction.
The method of any of claims 1-7, wherein the controlling the UAV to stop flying in the second direction comprises:

Controlling the flying speed of the UAV toward the second direction is reduced to zero to control the UAV to stop flying in the second direction.
The method according to any one of claims 1-8, wherein the controlling the UAV to fly in a first direction and then fly in a second direction comprises:

Controlling the UAV to fly in the first direction until the UAV is flying toward the second direction when the flight speed of the UAV in the first direction is a third preset speed .
The method of claim 9 wherein said third predetermined speed is zero.
The method according to any one of claims 1 to 10, wherein if the obstacle surface is located below the unmanned aerial vehicle, the first direction is above the unmanned aerial vehicle, and the second direction Underneath the unmanned aerial vehicle;

If the obstacle surface is above the unmanned aerial vehicle, the first direction is below the unmanned aerial vehicle, and the second direction is above the unmanned aerial vehicle;

If the obstacle surface is located in front of the unmanned aerial vehicle, the first direction is a rear of the unmanned aerial vehicle, and the second direction is a front side of the unmanned aerial vehicle;

If the obstacle surface is located behind the UAV, the first direction is the front of the UAV, and the second direction is the rear of the UAV;

If the obstacle surface is located to the left of the UAV, the first direction is the right side of the UAV, and the second direction is the left side of the UAV;

If the obstacle surface is located to the right of the unmanned aerial vehicle, the first direction is the left side of the unmanned aerial vehicle, and the second direction is the right side of the unmanned aerial vehicle.
The method according to any one of claims 1 to 11, wherein the obtaining the distance between the UAV and the obstacle surface comprises:

Obtaining a distance between the UAV and the obstacle surface according to at least one of laser ranging, ultrasonic ranging, infrared ranging, and visual ranging.
A control device for an unmanned aerial vehicle, comprising: a distance sensor and a processor;

The distance sensor is configured to acquire a distance between the UAV and the obstacle surface;

The processor is configured to control the UAV to fly in a first direction and then fly in a second direction when the distance acquired by the distance sensor is less than a first preset distance; the first direction is away a direction of the obstacle surface, the second direction being a direction close to the obstacle surface;

Controlling the UAV to stop flying in the second direction; when the UAV stops flying in the second direction, the distance between the UAV and the obstacle surface acquired by the distance sensor is greater than or Equal to the first preset distance.
The control device according to claim 13, wherein the processor is specifically configured to: control the unmanned aerial vehicle to accelerate the flight and then decelerate the flight toward the first direction.
The control device according to claim 14, wherein the processor is specifically configured to: control the unmanned aerial vehicle to accelerate flight in the first direction until the unmanned aerial vehicle acquired by the distance sensor The UAV is controlled to decelerate in the first direction when the distance between the obstacle surface is greater than or equal to the second preset distance; the second preset distance is greater than the first preset distance.
The control device according to claim 15, wherein the processor is further configured to: after controlling the unmanned aerial vehicle to accelerate in the first direction, if the unmanned aerial vehicle is in a first direction When the flying speed is greater than or equal to the first preset speed, the UAV is controlled to fly at a constant speed in the first direction.
The control device according to any one of claims 13-16, wherein the processor is specifically configured to: control the unmanned aerial vehicle to fly in the second direction and then decelerate the flight.
The control device according to claim 17, wherein the processor is specifically configured to: control the unmanned aerial vehicle to accelerate flight in the second direction until the unmanned aerial vehicle acquired by the distance sensor When the distance between the obstacle surface is less than or equal to the third preset distance, the UAV is controlled to decelerate in the second direction; the third preset distance is greater than the first preset distance.
The control device according to claim 18, wherein the processor is further configured to: after controlling the unmanned aerial vehicle to accelerate in the second direction, if the unmanned aerial vehicle is facing in a second direction When the flying speed is greater than or equal to the second preset speed, the UAV is controlled to fly at a constant speed in the second direction.
The control device according to any one of claims 13 to 19, wherein the processor is specifically configured to: control a flight speed of the unmanned aerial vehicle to the second direction to be reduced to 0 to control the The UAV stops flying in the second direction.
The control device according to any one of claims 13 to 20, wherein the processor is specifically configured to: control the unmanned aerial vehicle to fly in the first direction until the unmanned aerial vehicle The UAV is controlled to fly in the second direction when the flight speed in the first direction is the third preset speed.
The control device according to claim 21, wherein said third preset speed is zero.
The control device according to any one of claims 16, 19 to 22, further comprising: a speed sensor;

The speed sensor is configured to acquire a flight speed of the unmanned aerial vehicle.
The control device according to any one of claims 13 to 23, wherein if the obstacle surface is located below the unmanned aerial vehicle, the first direction is above the unmanned aerial vehicle, and the second The direction is below the unmanned aerial vehicle;

If the obstacle surface is above the unmanned aerial vehicle, the first direction is below the unmanned aerial vehicle, and the second direction is above the unmanned aerial vehicle;

If the obstacle surface is located in front of the unmanned aerial vehicle, the first direction is a rear of the unmanned aerial vehicle, and the second direction is a front side of the unmanned aerial vehicle;

If the obstacle surface is located behind the UAV, the first direction is the front of the UAV, and the second direction is the rear of the UAV;

If the obstacle surface is located to the left of the UAV, the first direction is the right side of the UAV, and the second direction is the left side of the UAV;

If the obstacle surface is located to the right of the unmanned aerial vehicle, the first direction is the left side of the unmanned aerial vehicle, and the second direction is the right side of the unmanned aerial vehicle.
The control device according to any one of claims 13 to 24, wherein the distance sensor comprises at least one of a laser ranging sensor, an ultrasonic ranging sensor, an infrared ranging sensor, and a visual ranging sensor.
A readable storage medium, characterized in that the readable storage medium stores a computer program; when the computer program is executed, the control of the unmanned aerial vehicle according to any one of claims 1-12 is implemented method.
A movable platform comprising: a power unit, and the control device according to any one of claims 13-25;

The power unit is for outputting power.