WO2021189215A1 - Control method and apparatus for movable platform, movable platform, and storage medium - Google Patents

Abstract

A control method and apparatus for a movable platform, the movable platform, and a storage medium. According to the embodiments of the present application, the method comprises: when the movable platform enters a predetermined mode, obtaining a movable platform control amount and a gimbal control amount; and controlling, according to the movable platform control amount, the movable platform to move in the predetermined mode, and controlling, according to the gimbal control amount, the gimbal to move in the predetermined mode. In the predetermined mode, not only can the speed of the movable platform be locked, but also higher-order motion parameters of the movable platform can be locked and controlled, for example, the acceleration of the movable platform and the gimbal disposed on the movable platform can be locked and controlled, so that control effects that the movable platform can achieve are diversified. When a user needs to achieve a smooth lens movement effect, by locking and controlling the gimbal, the user does not need to continuously and accurately operate operation elements on a control device, thereby improving user experience.

Description

Control method, device, movable platform and storage medium of movable platform Technical field

The embodiments of the present application relate to the field of movable platforms, and in particular, to a control method, device, movable platform, and storage medium of a movable platform.

Background technique

In the prior art, a user can control a movable platform such as a drone through a control device. In specific operations, the user needs to continuously and stably control the joystick, dial or button on the control device, which will cause user fatigue, or for novice users, it is difficult to continuously and stably control the joystick, dial or button. In order to solve this problem, the prior art adds a cruise control function to the drone. For example, when the drone enters the cruise control state, the drone can fly at a fixed speed.

However, at present, users can only lock the speed of the drone, and cannot perform higher-level lock control on the drone. This will result in a single control effect that the UAV can achieve in a constant-speed cruise state. If the user needs to achieve a smooth mirror movement effect, continuous and accurate manual operation is still required.

Summary of the invention

The embodiment of the application provides a control method, device, movable platform, and storage medium of a movable platform to achieve locking control of higher-order motion parameters of the movable platform, so that the control effect that the movable platform can achieve diversification. When the user needs to achieve a smooth mirror movement effect, by locking the pan-tilt control, the user does not need to continuously and accurately operate the operating elements on the control device, thereby improving the user experience.

The first aspect of the embodiments of the present application is to provide a method for controlling a movable platform, the movable platform is provided with a pan-tilt, and the method includes:

When the movable platform enters a predetermined mode, obtain the movable platform control amount and the PTZ control amount, the movable platform control amount and the PTZ control amount are input by the user through the control device of the movable platform , The movable platform control quantity is used to lock the speed and/or acceleration of the movable platform, and the pan/tilt control quantity is used to lock the speed and/or acceleration of the pan/tilt;

The movable platform is controlled to move in the predetermined mode according to the control amount of the movable platform, and the pan/tilt head is controlled to move in the predetermined mode according to the control amount of the pan/tilt.

The second aspect of the embodiments of the present application is to provide a control device for a movable platform, including: a memory and a processor;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

When the movable platform enters a predetermined mode, obtain the movable platform control amount and the PTZ control amount, the movable platform control amount and the PTZ control amount are input by the user through the control device of the movable platform , The movable platform control quantity is used to lock the speed and/or acceleration of the movable platform, and the pan/tilt control quantity is used to lock the speed and/or acceleration of the pan/tilt;

The movable platform is controlled to move in the predetermined mode according to the control amount of the movable platform, and the pan/tilt is controlled to move in the predetermined mode according to the control amount of the pan/tilt.

The third aspect of the embodiments of the present application is to provide a movable platform, including:

body;

The power system is installed on the fuselage to provide mobile power;

And the control device described in the second aspect.

The fourth aspect of the embodiments of the present application is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.

The control method, device, movable platform, and storage medium of the movable platform provided in this embodiment obtain the control amount of the movable platform and the control amount of the pan/tilt when the movable platform enters a predetermined mode, and according to the movable platform The control amount controls the movable platform to move in the predetermined mode, and controls the pan/tilt to move in the predetermined mode according to the control amount of the pan/tilt, that is, in the predetermined mode, not only can The speed of the mobile platform can be locked, and the higher-order motion parameters of the movable platform can be locked and controlled. For example, the acceleration of the movable platform and the pan/tilt set on the movable platform can be locked and controlled to make it movable The control effects that the platform can achieve are diversified. When the user needs to achieve a smooth mirror movement effect, there is no need to continuously and accurately operate the operating elements on the control device, thereby improving the user experience.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the application;

2 is a flowchart of a method for controlling a movable platform provided by an embodiment of the application;

FIG. 3 is a schematic diagram of the correspondence between the way the user uses the left stick and the right stick and the movement of the drone according to an embodiment of the application;

4 is a flowchart of a method for controlling a movable platform provided by another embodiment of the application;

FIG. 5 is a flowchart of a method for controlling a movable platform according to another embodiment of the application;

FIG. 6 is a flowchart of a method for controlling a movable platform according to another embodiment of the application;

FIG. 7 is a schematic diagram of a predicted trajectory provided by an embodiment of the application;

FIG. 8 is a schematic diagram of a target trajectory provided by an embodiment of this application;

Fig. 9 is a structural diagram of a control device for a movable platform provided by an embodiment of the application.

Reference signs:

10: drone; 101: camera; 102: supporting equipment;

103: Communication module; 104: Flight controller; 11: Control equipment;

30: predicted trajectory; 31: dashed box; 40: obstacle;

41: Obstacle; 42: Obstacle; 43: Obstacle;

44: Obstacle; 45: Obstacle; 46: Target trajectory;

90: control device; 91: memory; 92: processor;

93: Communication interface.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a centered component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiment of the present application provides a method for controlling a movable platform. The movable platform is provided with a pan-tilt. In the embodiment of the present application, the movable platform may specifically be a movable device such as a drone or a movable robot. The following is a schematic description using a drone as an example. As shown in FIG. 1, the drone 10 is equipped with a photographing device 101. Specifically, the photographing device 101 is mounted on the fuselage of the drone 10 through a supporting device 102. The supporting device 102 may specifically be a pan/tilt, and the photographing device 101. Used to capture images or record videos during the movement of the drone. In addition, the user can control the flight of the drone through the control device 11 on the ground. In the embodiment of the present application, the control method of the movable platform may be executed on the movable platform, or may be executed on the control device of the movable platform. The following takes the execution on the movable platform as an example for description.

Fig. 2 is a flowchart of a method for controlling a movable platform provided by an embodiment of the application. As shown in Figure 2, the method in this embodiment may include:

S201. When the movable platform enters a predetermined mode, acquire a control amount of the movable platform and a control amount of the pan/tilt, where the control amount of the movable platform and the control amount of the pan/tilt are the control equipment of the user through the movable platform Input, the movable platform control variable is used to lock the speed and/or acceleration of the movable platform, and the pan/tilt control variable is used to lock the speed and/or acceleration of the pan/tilt.

The control amount of the movable platform and the control amount of the pan/tilt are input by the user through the control device of the movable platform, and the foregoing input methods include but are not limited to the following two forms:

Input the control amount of the movable platform and the control amount of the pan/tilt through the user interaction interface of the control device of the movable platform; or

The control amount of the movable platform and the control amount of the pan/tilt head are input through the operating elements (for example, joystick, dial) of the control device of the movable platform.

Under normal circumstances, the drone can lock the speed (for example, linear speed) of the drone in the constant speed cruise mode, so that the drone can fly straight at a fixed speed (for example, linear speed). Compared with the cruise mode, in the predetermined mode of this embodiment, not only the speed of the drone can be locked, but also the higher-order motion parameters can be locked and controlled. The higher-order motion parameters can not only include The motion parameters of the man-machine, for example, the acceleration of the drone. In addition, the higher-order motion parameters may also include the motion parameters of the pan/tilt, for example, the speed and/or acceleration of the pan/tilt.

Optionally, the speed of the movable platform includes at least one of the following: a linear speed of the movable platform and an angular speed of the movable platform.

For example, the speed of the drone includes at least one of the linear speed and the angular speed of the drone. That is, in the predetermined mode, at least one of the linear velocity and the angular velocity of the drone can be locked.

Optionally, the acceleration of the movable platform includes at least one of the following: linear acceleration of the movable platform, and angular acceleration of the movable platform.

For example, the acceleration of the drone includes at least one of the linear acceleration and the angular acceleration of the drone. That is to say, in the predetermined mode, when the higher-order motion parameters of the drone are locked and controlled, at least one of the linear acceleration and the angular acceleration of the drone can be locked.

Optionally, the speed of the pan/tilt includes the attitude angular velocity of the pan/tilt. Optionally, the acceleration of the pan/tilt includes the attitude angular acceleration of the pan/tilt.

For example, when performing lock control on the gimbal of the drone, the speed and/or acceleration of the gimbal can be locked and controlled. Among them, the speed of the gimbal includes the attitude angular velocity of the gimbal. The acceleration of the gimbal includes the angular acceleration of the gimbal's attitude.

In the embodiment of the present application, the control device 11 shown in FIG. 1 may be a remote controller (for example, a remote controller with a screen), a mobile phone, a tablet computer, a notebook computer, and other devices that communicate with a drone. Here, the remote controller is used as Examples are illustrated schematically. Specifically, the remote controller may be provided with operating elements for the user to operate, for example, a joystick, a dial, or a button. Among them, the joystick can be used to control the drone, and the dial can be used to control the pan/tilt. The remote controller can generate the drone control amount according to the user's operation of the joystick, and generate the PTZ control amount according to the user's operation of the trackwheel. When the drone enters a predetermined mode, the drone can obtain the drone control amount and the PTZ control amount from the remote control. For example, the remote controller sends the drone control amount and the pan/tilt control amount to the drone 10. Among them, the UAV control quantity can be used to control the speed and/or acceleration of the UAV, and the PTZ control quantity can be used to control the speed and/or acceleration of the PTZ.

It is understandable that the operating elements provided on the remote control for the user to operate are not limited to joysticks, dial wheels or buttons, for example, they may also be icons or virtual buttons displayed on the screen of the remote control. In addition, the supporting device 102 can be equipped with not only a camera, but also a distance sensor (for example, a lidar), a searchlight, and other equipment.

S202: Control the movable platform to move in the predetermined mode according to the control amount of the movable platform, and control the pan/tilt to move in the predetermined mode according to the control amount of the pan/tilt.

As shown in Figure 1, the UAV 10 is provided with a communication module 103 and a flight controller 104. After the flight controller 104 receives the UAV control quantity and the PTZ control quantity from the remote controller through the communication module 103, it will The man-machine control quantity generates an unmanned aerial vehicle control instruction for controlling the unmanned aerial vehicle, and the pan/tilt control instruction for controlling the gimbal is generated according to the pan/tilt control quantity. Further, the flight controller 104 controls the speed and/or acceleration of the drone flying in the predetermined mode according to the drone control instruction, and controls the speed and/or acceleration of the pan/tilt in the predetermined mode according to the pan/tilt control instruction.

In some scenarios, the remote controller can also generate a drone control instruction for controlling the drone according to the drone control amount, and generate a pan/tilt control instruction for controlling the pan/tilt based on the drone control amount. Further, the remote controller sends the drone control command and the pan/tilt control command to the drone 10, so that the flight controller 104 can control the speed and/or speed of the drone flying in the predetermined mode according to the drone control command. Acceleration: Control the speed and/or acceleration of the pan/tilt in the predetermined mode according to the pan/tilt control command.

For example, the remote controller is provided with a left joystick and a right joystick, and the corresponding relationship between the way the user uses the left joystick and the right joystick and the movement mode of the drone can be as shown in FIG. 3. For example, when the user pushes the left stick up, the drone rises. When the user pushes the left stick down, the drone descends. When the user pushes the left stick to the left, the drone rotates to the left. When the user pushes the left stick to the right, the drone rotates to the right. When the user pushes the right joystick up, the drone flies forward. When the user pushes the right joystick down, the drone flies backward. When the user pushes the right stick to the left, the drone pans to the left. When the user pushes the right stick to the right, the drone pans to the right.

Because in the predetermined mode, not only the speed of the drone can be locked, but also the acceleration of the drone and/or the drone's gimbal can be locked. In this way, the UAV can move at a uniform acceleration and deceleration, and the PTZ of the UAV can move at a uniform speed, move at a uniform acceleration, and move at a uniform deceleration. In addition, the motion parameters that are locked at the same time can have multiple combinations. For example, the linear acceleration of the UAV and the attitude angular velocity of the gimbal can be locked at the same time, and the linear velocity of the UAV and the attitude angular acceleration of the gimbal can be locked at the same time.

In the following, a schematic description will be given by taking the simultaneous locking of the linear velocity and the angular velocity of the UAV as an example. As shown in Figure 3, the user pushes the right joystick up, and the remote controller generates a first control amount for controlling the drone to fly forward according to the user's operation of pushing the right joystick up, and locks the first control amount. The amount can control the linear speed of the drone flying forward. Further, the user pushes the left joystick to the right, and the remote controller generates a second control amount for controlling the drone to rotate to the right according to the operation of the user pushing the left joystick to the right, and locks the second control amount. It can control the angular velocity of the drone turning to the right. According to the locked first control quantity and the second control quantity, the drone controls the drone to rotate to the right on the basis of forward flight, so that the flight trajectory of the drone is an arc.

In this embodiment, when the movable platform enters the predetermined mode, the control amount of the movable platform and the control amount of the pan/tilt are acquired, and the movable platform is controlled to move in the predetermined mode according to the control amount of the movable platform, and according to The control amount of the pan/tilt controls the movement of the pan/tilt in the predetermined mode, that is, in the predetermined mode, not only the speed of the movable platform can be locked, but also the higher order of the movable platform can be locked. The motion parameters are locked and controlled, for example, the acceleration of the movable platform and the pan/tilt set on the movable platform can be locked and controlled, so that the control effect that the movable platform can achieve is diversified. When the user needs to achieve a smooth mirror movement effect, there is no need to continuously and accurately operate the operating elements on the control device, thereby improving the user experience.

The embodiment of the present application provides a method for controlling a movable platform. FIG. 4 is a flowchart of a method for controlling a movable platform according to another embodiment of the application. As shown in Figure 4, on the basis of the foregoing embodiment, the method in this embodiment may further include:

S401. Obtain a predetermined instruction, where the predetermined instruction is generated according to a user's first operation on the control device of the movable platform.

For example, when the user performs a first operation on the control device, the control device may generate a predetermined instruction according to the first operation, and the predetermined instruction may be used to control the drone to enter a predetermined mode.

Optionally, the first operation includes an operation on a predetermined key of the control device.

For example, the control device is a remote control. The remote control can be a remote control with a screen. A user interaction interface is displayed on the screen of the remote control with a screen. Pilot Assistant System (APAS) function. Alternatively, the user controls the drone to enter the free mode in the smart eye mode through the user interaction interface, and the smart eye mode may specifically be a unified entrance of the free mode, the follow mode, and the surround mode.

Further, in the APAS function or in the free mode, the user can operate a predetermined button on the remote control, and this operation is recorded as the first operation. The predetermined button can control the drone to enter a predetermined mode. The predetermined key may be a physical key or a virtual key displayed on the screen of the remote control. For example, the predetermined key includes a C1 key and a C2 key. The C1 key can be used to lock the drone control volume, and the C2 key can be used to lock the PTZ control volume. Alternatively, the C1 key can be used to lock the speed of the drone and/or gimbal, and the C2 key can be used to lock the acceleration of the drone and/or gimbal.

S402: According to the predetermined instruction, control the movable platform to enter the predetermined mode.

After the flight controller 104 receives the predetermined instruction, it controls the drone to enter a predetermined mode according to the predetermined instruction.

In addition, before the acquisition of the predetermined instruction, the method further includes: when the second operation of the control device by the user satisfies a preset condition, generating first prompt information, where the first prompt information is used to prompt the The user performs the first operation on the control device.

For example, before the user performs the first operation on the remote control, the user can also perform a second operation on the remote control. When the user’s second operation on the remote control meets a preset condition, the remote control can generate the first prompt message. A prompt message is used to prompt the user to perform the above-mentioned first operation on the remote controller, so as to control the drone to enter a predetermined mode.

Optionally, the second operation includes an operation on a first component or a second component of the control device, the first component is used to control the movable platform, and the second component is used to control the Yuntai. Optionally, the second operation meeting a preset condition includes: the operation time of the second operation is greater than or equal to a first preset time. Optionally, the first component includes a rocker, and the second component includes a pan/tilt dial.

For example, before the user operates a predetermined button on the remote control, the user can operate the joystick or pan/tilt dial on the remote control. For example, the user controls the drone by operating the joystick, and operates the pan/tilt. Use the dial to control the pan/tilt. When the remote control detects that the user's continuous operation of the joystick or pan/tilt wheel is greater than or equal to the first preset time, for example, 2 seconds, the remote control can generate the first prompt message, and the specific prompt method can be omitted. Limited, for example, the remote control can display the first prompt information on its screen. The first prompt message may prompt the user to click a predetermined button to control the drone to enter a predetermined mode. Further, the user operates the C1 key or the C2 key according to the first prompt information, and the remote controller or the drone can lock the drone control amount and/or the pan/tilt control amount according to the operation.

In this embodiment, the user controls the movable platform to enter the predetermined mode through the operation of the predetermined button of the control device, which improves the convenience for the user to control the movable platform to enter the predetermined mode. In addition, when the user continues to operate the joystick or pan/tilt dial on the control device for a time greater than or equal to the first preset time, the first prompt message generated by the control device can prompt the user to operate the predetermined button to control the movable The platform enters a predetermined mode, so that the user does not need to continuously and accurately operate the operating elements on the control device, which further improves the user experience.

Optionally, the user can also control the movable platform to enter a predetermined mode in other ways, for example, control the movable platform to enter the predetermined mode through a virtual button on the user interaction interface, and input that the movable platform is in the predetermined mode through the user interaction interface. The movable platform control amount and the PTZ control amount.

Optionally, when the movable platform enters a predetermined mode, acquiring the control amount of the movable platform and the control amount of the pan/tilt includes: when the movable platform enters the predetermined mode, acquiring that the movable platform enters the predetermined mode The control amount of the movable platform and the control amount of the pan/tilt at the time of the mode.

For example, when the user performs the above-mentioned first operation on the remote control, that is, operates a predetermined button on the remote control, the drone control amount locked by the remote control is the control amount of the drone at the moment of the operation. The PTZ control amount locked by the remote controller is the PTZ control amount at the moment of the operation.

Optionally, when the movable platform enters a predetermined mode, acquiring the control amount of the movable platform and the control amount of the pan/tilt includes: when the movable platform enters the predetermined mode, acquiring that the movable platform enters the predetermined mode The control amount of the movable platform and the control amount of the pan/tilt head within the second preset time before the mode.

For example, the locked drone control amount and pan/tilt control amount when the drone enters the predetermined mode can be the drone control amount within the second preset time before the drone enters the predetermined mode, for example, within 5 seconds And PTZ control volume. For example, within 5 seconds before the drone enters the predetermined mode, the drone control quantity is used to control the uniform acceleration of the drone. For example, within the 5 seconds, the linear velocity of the drone is 1m/s and 2m in turn /s, 3m/s. In addition, within the 5 seconds, the pan/tilt control amount controls the pan/tilt to raise its head at a constant speed from the top view state to the front view state. When the drone enters the predetermined mode, lock the drone control amount and the gimbal control amount within the 5 seconds, so that after the drone enters the predetermined mode, the drone and the gimbal can repeat the 5 seconds sports. That is to say, when the drone enters the predetermined mode, the drone control amount and the PTZ control amount within 5 seconds can be played back, so that the user does not need to continuously and accurately operate the operating elements on the control device. Further improve the user experience.

Optionally, when the movable platform enters a predetermined mode, acquiring the control amount of the movable platform and the control amount of the pan/tilt includes the following steps as shown in FIG. 5:

S501: When the movable platform enters a predetermined mode, lock a first control quantity for controlling the movable platform and a second control quantity for controlling the pan/tilt.

For example, when the drone enters a predetermined mode, the first control amount for controlling the drone and the second control amount for controlling the pan/tilt are locked.

S502. When the movable platform is controlled to move in the predetermined mode according to the first control amount, and the pan/tilt is controlled to move in the predetermined mode according to the second control amount, obtain the information used for controlling The third control quantity of the movable platform and the fourth control quantity for controlling the pan-tilt.

In the process of performing lock control according to the first control amount and the second control amount, the user may re-operate the joystick and/or the pan/tilt dial to make the drone control amount and/or the pan/tilt control amount Changes. For example, in the process of lock control, a third control quantity for controlling the drone and a fourth control quantity for controlling the pan/tilt are acquired. The third control quantity may be a change in the control quantity of the drone. The fourth control amount may be a change amount of the pan/tilt control amount.

Optionally, the acquiring the third control quantity for controlling the movable platform and the fourth control quantity for controlling the pan-tilt includes: acquiring according to a third operation of the user on the first component A third control value for controlling the movable platform; and a fourth control value for controlling the pan/tilt head according to the fourth operation of the user on the second component.

For example, in the process of locking control, the operation of the joystick by the user is recorded as the third operation, and the control amount generated by the remote controller according to the third operation is recorded as the third control amount. During the lock control process, the user's operation on the pan/tilt dial is recorded as the fourth operation, and the control amount generated by the remote controller according to the fourth operation is recorded as the fourth control amount.

S503: Determine the control amount of the movable platform according to the first control amount and the third control amount.

For example, the third control value is superimposed on the first control value to obtain the drone control value.

S504. Determine the pan/tilt control amount according to the second control amount and the fourth control amount.

For example, the fourth control amount is superimposed on the second control amount to obtain the pan/tilt control amount.

That is to say, during the lock control process, if the user's operation of the joystick and/or the pan/tilt dial changes the drone control amount and/or the pan/tilt control amount, the drone can enter the predetermined mode The control amount of the drone locked at the time is superimposed on the control amount generated by the user's operation of the joystick, and/or the control amount of the pan/tilt locked when the drone enters a predetermined mode is superimposed on the user's control of the pan/tilt wheel The amount of control generated by the operation. Thus, after the drone enters the lock control, the user can also change the original control intention, which increases the flexibility of the drone control.

Optionally, the method further includes: generating second prompt information, the second prompt information being used to prompt the user whether to relock the control amount of the movable platform and the control amount of the pan/tilt; The control amount of the mobile platform controls the movable platform to move in the predetermined mode, and the control of the pan/tilt to move in the predetermined mode according to the control amount of the pan/tilt includes: controlling the movable platform according to the locked The amount controls the movable platform to move in the predetermined mode, and controls the pan/tilt to move in the predetermined mode according to the locked pan/tilt control amount.

For example, when the drone control amount and/or the pan/tilt control amount changes, the remote control can also generate a second prompt message, which is used to prompt the user whether to relock the changed drone control amount and / Or PTZ control amount. If the user determines to lock the changed drone control amount and/or PTZ control amount, the drone can control the drone to fly in a predetermined mode according to the changed drone control amount, and according to the changed cloud The platform control quantity controls the pan/tilt to move in the predetermined mode. When the drone control amount and/or the pan/tilt control amount changes, a second prompt message is generated to prompt the user whether to re-lock the changed drone control amount and/or the pan/tilt control amount, so that the user changes The control intention can still be smoothly locked, which improves the flexibility of the locked UAV control amount and/or PTZ control amount.

In addition, when the user clicks a predetermined button again, such as the C1 button or the C2 button, the drone can be controlled to exit the predetermined mode.

The embodiment of the present application provides a method for controlling a movable platform. FIG. 6 is a flowchart of a method for controlling a movable platform according to another embodiment of the application. As shown in FIG. 6, on the basis of the foregoing embodiment, the controlling the movable platform to move in the predetermined mode according to the control amount of the movable platform may include:

S601. Determine the predicted trajectory information of the movable platform according to the control amount of the movable platform.

For example, after the drone receives the drone control amount sent by the remote control, it will generate an initial instruction sequence based on the drone control amount, and predict the drone's trajectory according to the initial instruction sequence to obtain the predicted trajectory. , Determine the predicted trajectory information according to the predicted trajectory.

Optionally, the determining the predicted trajectory information of the movable platform according to the control amount of the movable platform includes: generating an initial instruction sequence according to the control amount of the movable platform; The predicted trajectory of the movable platform; determining the position and/or speed of the movable platform corresponding to at least one trajectory point of the predicted trajectory as the predicted trajectory information.

Specifically, when the drone receives the drone control quantity generated by the remote controller, it obtains an instruction sequence according to the drone control quantity, and uses the instruction sequence as the initial instruction sequence. Optionally, the initial instruction sequence includes: an initial speed instruction sequence and an initial acceleration instruction sequence.

When the UAV control quantity is the UAV control quantity corresponding to the linear trajectory, the initial instruction sequence may include: an initial linear velocity instruction sequence and an initial linear acceleration instruction sequence. In one example, the UAV control quantity can be mapped to a linear speed command, and the current linear speed command can be filtered according to the linear speed command filtered at the previous time, and the initial linear speed command sequence can be obtained according to the uniform acceleration model , And according to the air resistance model, find the linear acceleration corresponding to the linear velocity in the initial linear velocity command sequence to obtain the initial linear acceleration command sequence. In other examples, the UAV control quantity can also be mapped to linear acceleration commands, and the linear velocity corresponding to the linear acceleration in the initial linear acceleration command sequence can be searched to obtain the initial linear velocity command sequence; alternatively, no The man-machine control variables are simultaneously mapped into the linear velocity command sequence and the linear acceleration command sequence.

When the UAV control quantity is the UAV control quantity corresponding to the curved trajectory, the initial instruction sequence includes: an initial position instruction sequence and an initial attitude instruction sequence. The initial position command sequence includes the initial linear velocity command sequence and the initial linear acceleration command sequence as described above. The initial attitude command sequence may include: an initial heading and angular velocity command sequence.

After the initial instruction sequence is generated, the predicted trajectory of the drone is determined according to the initial instruction sequence, and further, the position and/or speed of the drone corresponding to at least one trajectory point of the predicted trajectory is determined as the predicted trajectory information. Among them, the position of the drone corresponding to the trajectory point can be understood as the position of the drone when the drone is located at the trajectory point, that is, the position of the trajectory point, and the speed of the drone corresponding to the trajectory point can be understood as The speed of the drone when the drone is at the track point.

Optionally, the determining the predicted trajectory of the movable platform according to the initial instruction sequence includes: obtaining a kinematics model of the movable platform, and the kinematics model includes a uniform acceleration model, a uniform velocity model, or a nonlinear At least one of the models; performing trajectory prediction according to the kinematic model and the initial instruction sequence to obtain the predicted trajectory.

When the UAV control quantity is the UAV control quantity corresponding to the linear trajectory, in the process of determining the predicted trajectory, the kinematics model of the UAV is first obtained. The kinematics model includes uniform acceleration model, uniform velocity model or non-uniform acceleration model. At least one of the linear models. Then use the kinematics model to predict the trajectory of the initial instruction sequence to obtain the predicted trajectory, and the predicted trajectory points in the predicted trajectory are characterized by the predicted position parameters. The predicted position parameters include: predicted position; or, predicted position and predicted linear velocity. The following takes a uniform acceleration model as an example for description, but this embodiment is not limited to this, and any other type of kinematic model may also be used, such as, but not limited to: a uniform velocity model, a nonlinear model, etc.

The uniform acceleration model is as follows:

p _k+1 = p _k +v _k ·Δt+0.5·a _k ·Δt ² (1)

v _k+1 = v _k +a _k ·Δt (2)

Among them, Δt represents the time interval between adjacent moments; p _k represents the position at time k, v _k represents the linear velocity at time k, a _k represents the linear acceleration at time k, and v _k+1 represents the linear velocity at time k+1 , A _k+1 represents the linear acceleration at time k+1.

In this embodiment, first obtain the position parameters of the UAV at the current moment, and then input the current position parameters, the initial linear velocity command sequence and the initial linear acceleration command sequence into formulas (1) and (2) to obtain the prediction The predicted position parameter of the predicted trajectory point of the trajectory. _{Specifically, the position p 0} , linear velocity v ₀ and linear acceleration a _{0 of the} UAV at the current moment can be obtained through the sensors of the UAV. Then the position p ₀ , linear velocity v ₀ and linear acceleration a _{0 are} used as the initial values of formulas (1) and (2), and the initial values and each linear velocity command and initial linear acceleration in the _{initial linear velocity command sequence v_cmd k} Each linear acceleration command in the instruction sequence a_cmd _k is substituted into formulas (1) and (2) iterative operations, and each predicted trajectory point P ₁ , P ₂ ,..., P _n of the predicted trajectory can be obtained, and the prediction of the predicted trajectory point The position parameter includes two parameters: predicted position and predicted linear velocity.

When the UAV control quantity is the UAV control quantity corresponding to the curve trajectory, in the process of determining the predicted trajectory, first obtain the kinematics model of the UAV, and then use the kinematics model to predict the trajectory of the initial instruction sequence. The predicted trajectory is obtained, and the predicted trajectory points in the predicted trajectory are characterized by predicted position parameters and predicted attitude parameters. Among them, the predicted attitude parameters include: predicted heading angle and predicted heading angular velocity.

The following is a schematic illustration by taking the UAV control quantity corresponding to the linear trajectory as an example. Correspondingly, the predicted trajectory can also be a linear trajectory. After obtaining the predicted trajectory, determine the position and/or linear velocity of the drone corresponding to at least one trajectory point of the predicted trajectory as the predicted trajectory information.

Optionally, the determining the position and/or speed of the movable platform corresponding to at least one trajectory point of the predicted trajectory is the predicted trajectory information, including: determining the movable platform corresponding to the end trajectory point of the predicted trajectory The position and/or velocity of is the predicted trajectory information.

As shown in Fig. 7, 30 represents the predicted trajectory of a straight line, P ₁ , P ₂ ,..., P _n represent the n predicted trajectory points of the _{predicted trajectory 30, and P n} represents the end trajectory point of the predicted trajectory 30. Here, The position and/or linear velocity of the drone corresponding to the end trajectory point P _{n is used as the predicted trajectory information.}

S602: Establish an objective function based at least in part on the predicted trajectory information and obstacle information in the environment where the movable platform is located.

The drone can also query the obstacle information in the environment where the drone is located from the Euclidean Signed Distance Fields (ESDF) map, for example, the position and distance of the obstacle relative to the drone. Further, the objective function is established at least partly based on the predicted trajectory information and the obstacle information in the environment where the drone is located.

Here, the objective function is established to optimize the objective function, that is, to minimize the objective function, and in the process of minimizing the objective function to determine the target trajectory that the UAV can avoid obstacles. Specifically, minimizing the objective function can make the end trajectory point of the target trajectory converge to the end trajectory point of the predicted trajectory. For example, minimizing the objective function can make the linear velocity of the UAV corresponding to the end trajectory point of the target trajectory converge to the predicted trajectory The end trajectory point corresponding to the linear velocity of the UAV, and/or minimizing the objective function can make the position of the UAV corresponding to the end trajectory point of the target trajectory converge to the position of the UAV corresponding to the end trajectory point of the predicted trajectory . Therefore, the objective function is at least related to the predicted trajectory information. In addition, the target trajectory enables the UAV to bypass obstacles, that is, the distance between the target trajectory point on the target trajectory and the obstacle must meet certain conditions. Therefore, the objective function is at least the same as the environment in which the UAV is located. The obstacle information is relevant.

In addition, the objective function can not only be related to the predicted trajectory information and obstacle information in the environment where the drone is located, but also related to other information. Therefore, it can be based at least in part on the predicted trajectory information and the environment where the drone is located. The obstacle information in establishes the objective function.

S603. Minimize the objective function to determine a target trajectory for the movable platform to bypass the obstacle.

S604: Control the movable platform to move according to the target track.

After the objective function is established, the objective function is minimized to determine the target trajectory of the UAV to avoid obstacles. Further, control the drone to fly according to the target trajectory.

In order to save the computational effort to minimize the objective function, multiple predicted trajectory points can be sampled from the predicted trajectory 30, and the motion parameters of the drone corresponding to the multiple predicted trajectory points after sampling are used as initial values to minimize the target function.

In the process of sampling the predicted trajectory 30, the method further includes: sampling the predicted trajectory at intervals to obtain predicted trajectory points after the interval sampling.

可以理解的是，本申请实施例并不限定采样间隔，例如，还可以每隔5个预测轨迹点采样一个预测轨迹点，也就是说，该采样间隔可以是固定的。在一些实施例中，该采样间隔还可以是变化的，例如，

和

之间有1个预测轨迹点，

和

之间有2个预测轨迹点。此外，本申请实施例也不限定采样后的预测轨迹点的个数，8个采样后的预测轨迹点只是一个示意性说明。 As shown in FIG. 7, the predicted trajectory 30 includes a plurality of predicted trajectory points, for example, P ₁ represents the first predicted trajectory point, and P _n represents the nth predicted trajectory point, that is, the end trajectory point. When the predicted trajectory 30 is sampled at intervals, the n predicted trajectory points included in the predicted trajectory 30 can be sampled at intervals. For example, one predicted trajectory point is sampled every other predicted trajectory point, and finally 8 sampled predicted trajectory points are obtained. For example, the predicted trajectory points after 8 samples are recorded as

It is understandable that the embodiment of the present application does not limit the sampling interval. For example, one predicted trajectory point may also be sampled every 5 predicted trajectory points, that is, the sampling interval may be fixed. In some embodiments, the sampling interval may also be variable, for example,

with

There is 1 predicted trajectory point in between,

with

There are 2 predicted trajectory points in between. In addition, the embodiment of the present application does not limit the number of predicted trajectory points after sampling, and the predicted trajectory points after 8 sampling are only a schematic illustration.

可以是预测轨迹30的 末端轨迹点。或者

可以是预测轨迹30的末尾5个预测轨迹点中的任意一个，例如，从图7所示的虚线框31中的5个预测轨迹点中选一个预测轨迹点作为

此处只是一个示意性说明，虚线框31中的预测轨迹点不限于5个。

可以从采样后的预测轨迹点中随意选取。 The embodiments of the present application take a fixed sampling interval as an example for schematic illustration. In some embodiments, if the number of predicted trajectory points after sampling is greater than 8, then

It may be the end trajectory point of the predicted trajectory 30. or

It can be any one of the five predicted trajectory points at the end of the predicted trajectory 30. For example, one predicted trajectory point is selected from the five predicted trajectory points in the dashed box 31 shown in FIG.

This is only a schematic illustration, and the predicted trajectory points in the dashed box 31 are not limited to five.

It can be freely selected from the predicted trajectory points after sampling.

In other embodiments, if the number of predicted trajectory points after sampling is less than 8, _{the linear velocity of the UAV corresponding to the end trajectory point P n} of the predicted trajectory 30 is used to continue to extend the predicted trajectory 30 forward until it can Obtain 8 sampled predicted trajectory points.

分别对应的无人机的位置记为

k＝1，2，3，4，5，6，7，8。也就是说，在本申请实施例中，大写字母和小写字母的含义是不同的，例如，

表示采样后的预测轨迹点，

表示

对应的无人机的位置。另外，

分别对应的无人机的线速度记为

k＝1，2，3，4，5，6，7，8。

分别对应的无人机的线加速度记为

k＝1，2，3，4，5，6，7，8。 In the embodiments of this application,

The positions of the corresponding drones are recorded as

k=1, 2, 3, 4, 5, 6, 7, 8. That is to say, in the embodiments of this application, the meanings of uppercase letters and lowercase letters are different, for example,

Indicates the predicted trajectory point after sampling,

Express

The location of the corresponding drone. in addition,

The linear velocity of the corresponding UAV is recorded as

k=1, 2, 3, 4, 5, 6, 7, 8.

The linear acceleration of the corresponding UAV is recorded as

k=1, 2, 3, 4, 5, 6, 7, 8.

对应的无人机的运动参数为初值来最小化该目标函数。 In the embodiment of this application, 8 sampled predicted trajectory points can be used

The motion parameters of the corresponding UAV are initial values to minimize the objective function.

Specifically, the objective function can be denoted as f(X), where X represents a decision variable. By optimizing the objective function f(X), that is, calculating the minimum function value of the objective function f(X), the target trajectory of the UAV to avoid obstacles can be determined.

Optionally, the minimizing the objective function to determine a target trajectory for the movable platform to bypass the obstacle includes: minimizing the objective function to determine the movable corresponding to a plurality of target trajectory points The motion parameters of the platform, and the motion parameters of the movable platform corresponding to the multiple target track points minimize the function value of the target function.

For example, the objective of minimizing the objective function f(X) is to find the motion parameters of the drone corresponding to multiple target trajectory points, and the motion parameters of the drone corresponding to the multiple target trajectory points make the objective function The function value of f(X) is the smallest. Optionally, the motion parameter includes at least one of position, velocity, and acceleration.

For example, X may be a vector formed by the motion parameters of the drone corresponding to the eight candidate trajectory points on the candidate trajectory. The 8 candidate trajectory points that can minimize the function value of f(X) are the final 8 target trajectory points. In the process of determining the 8 target trajectory points, the 8 candidate trajectory points can be continuously adjusted until the function value of f(X) is the smallest.

该8个目标轨迹点分别对应的无人机的位置记为

k＝1，2，3，4，5，6，7，8。该8个目标轨迹点分别对应的无人机的线速度记为

k＝1，2，3，4，5，6，7，8。该8个目标轨迹点分别对应的无人机的线加速度记为

k＝1，2，3，4，5，6，7，8。 Optionally, the 8 target trajectory points are sequentially recorded as

The positions of the drones corresponding to the 8 target trajectory points are recorded as

k=1, 2, 3, 4, 5, 6, 7, 8. The linear velocity of the UAV corresponding to the 8 target trajectory points is recorded as

k=1, 2, 3, 4, 5, 6, 7, 8. The linear acceleration of the UAV corresponding to the 8 target trajectory points is recorded as

k=1, 2, 3, 4, 5, 6, 7, 8.

Optionally, the minimizing the objective function includes: minimizing the objective function by using the motion parameter of the predicted trajectory point after sampling as an initial value.

For example, the initial value X0 of X can be the vector composed of the motion parameters of the drone corresponding to the 8 sampled predicted trajectory points as described above. When the motion parameters include three parameters: position, linear velocity and linear acceleration , X is a 24-dimensional vector. Substitute the initial value into the objective function to obtain a function value, which is denoted as f1. Further, the motion parameters of the drone corresponding to at least one of the 8 sampled predicted trajectory points are adjusted to obtain the motion parameters of the drone corresponding to the 8 candidate trajectory points, respectively. The motion parameters of the UAV corresponding to the eight candidate trajectory points can constitute the first updated value X1 of X, and the updated value X1 can be substituted into the objective function to obtain the function value f2. Further, the motion parameters of the drone corresponding to at least one of the 8 candidate trajectory points are adjusted to obtain the motion parameters of the drone corresponding to the updated 8 candidate trajectory points, so that Obtain the second updated value X2 of X, and substitute the updated value X2 into the objective function to obtain the function value f3, and so on, step by step iteration can make the function value of the objective function gradually converge, and determine the minimum function value of the objective function, The 8 candidate trajectory points that can minimize the function value of f(X) are the 8 target trajectory points sought. According to the 8 target trajectory points, the target trajectory of the UAV to bypass the obstacle can be determined. The flight controller in the drone controls the drone to fly and avoid obstacles according to the target trajectory.

It is understandable that the 8 candidate trajectory points after each adjustment can constitute one candidate trajectory, and therefore, in the process of continuously adjusting the 8 candidate trajectory points, multiple candidate trajectories can be obtained. Therefore, the target trajectory is a candidate trajectory that can minimize the function value of f(X) among multiple candidate trajectories.

It is understandable that the execution subject of S201-S204 can also be the remote controller corresponding to the drone. When the remote controller determines the target trajectory to bypass the obstacle, the target trajectory is sent to the drone, so that The flight controller in the drone controls the drone to fly and avoid obstacles according to the target trajectory.

In this embodiment, the predicted trajectory information of the movable platform is determined by the control amount of the movable platform, and the objective function is established at least partially based on the predicted trajectory information and obstacle information in the environment where the movable platform is located, and the objective function is minimized by minimizing the objective function. Determine the target trajectory of the movable platform to bypass the obstacle. Since there is more solution space for minimizing the objective function, it is possible to select the trajectory that bypasses the obstacle from an infinite number of candidate trajectories, that is, the target trajectory. The method based on motion primitives can only choose a detour trajectory that bypasses obstacles from a limited number of candidate trajectories. When the movable platform is in an environment with dense obstacles, the movable platform can be improved to plan the detour trajectory In addition, the detour trajectory selected from an infinite number of alternative trajectories can better avoid obstacles, thereby avoiding frequent braking of the movable platform in the process of avoiding obstacles, improving user experience .

The embodiment of the present application provides a method for controlling a movable platform. On the basis of the foregoing embodiment, the objective function is used to optimize: the speed difference and/or position difference of the movable platform corresponding to the end trajectory point of the target trajectory and the end trajectory point of the predicted trajectory; and the target trajectory The distance between each target track point in the target and the target obstacle.

For example, the minimized objective function f(X) can be expressed as the following formula (3):

minf(X)=f _ep (X)+f _c (X) (3)

Among them, f _ep (X) represents the end point cost function, which is used to make the end trajectory point of the target trajectory converge to the end trajectory point of the predicted trajectory, for example, make the linear velocity of the UAV corresponding to the end trajectory point of the target trajectory converge to the prediction The linear velocity of the UAV corresponding to the end trajectory point of the trajectory, and/or the position of the UAV corresponding to the end trajectory point of the target trajectory converges to the position of the UAV corresponding to the end trajectory point of the predicted trajectory. In the process of calculating the minimum value of the objective function f(X), f _ep (X) can optimize the line speed of the UAV corresponding to the end trajectory point of the target trajectory and the line of the UAV corresponding to the end trajectory point of the predicted trajectory The difference between the speeds, and/or f _ep (X) can optimize the difference between the position of the drone corresponding to the end trajectory point of the target trajectory and the position of the drone corresponding to the end trajectory point of the predicted trajectory. When the difference as described above is smaller, the function value of the objective function f(X) is smaller. f _c (X) represents the collision cost function, and the function is to make the target trajectory to avoid obstacles. In the process of calculating the minimum value of the objective function f(X), f _c (X) can optimize the distance between each target trajectory point in the target trajectory and the target obstacle. When the distance is larger, the objective function f(X) The smaller the function value.

Optionally, the objective function is also used to optimize: the velocity, acceleration, or rate of change of acceleration at each track point of the target trajectory.

For example, minimizing the objective function f(X) can also be expressed as the following formula (4):

minf(X)=f _ep (X)+f _c (X)+f _q (X) (4)

Among them, _{the meanings of f ep} (X) and f _c (X) are as described above, and will not be repeated here. f _q (X) represents the differential cost function of each order of the candidate trajectory, and its function is to punish the more aggressive candidate trajectory, so that the final target trajectory is smoother. In the process of calculating the minimum value of the objective function f(X), f _q (X) can optimize the velocity, acceleration, or rate of change of acceleration at each trajectory point of the target trajectory.

Optionally, the objective function is also used to optimize: the degree of matching of the position, velocity, and acceleration of each track point of the target trajectory with the kinematics model and the dynamics model.

For example, the minimized objective function f(X) can also be expressed as the following formula (5) or (6):

minf(X)=f _ep (X)+f _c (X)+f _q (X)+f _soft (X) (5)

minf(X)=f _ep (X)+f _c (X)+f _soft (X) (6)

Among them, _{the meanings of f ep} (X), f _c (X), and f _q (X) are as described above, and will not be repeated here. f _soft (X) represents the soft constraints that the target trajectory point needs to meet, for example, the kinematic constraints and the boundary constraints of each order differential. The function is to make the target trajectory point conform to the kinematic model while its differentials satisfy the dynamic model. In the process of calculating the minimum value of the objective function f(X), f _soft (X) can optimize the matching degree of the position, velocity and acceleration of each track point of the target trajectory with the kinematics model and the dynamics model.

This embodiment uses the objective function to optimize the speed difference and/or position difference of the movable platform corresponding to the end trajectory point of the target trajectory and the end trajectory point of the predicted trajectory, so that the end trajectory point of the target trajectory converges to the end trajectory point of the predicted trajectory , So that after flying along the target trajectory, the UAV can return to the predicted trajectory and continue to fly, or continue to fly along the linear velocity of the end trajectory point of the predicted trajectory. By optimizing the distance between each target trajectory point in the target trajectory and the target obstacle through the objective function, each target trajectory point in the target trajectory can be as far away from the target obstacle as possible, thereby improving the safety of the drone flying along the target trajectory sex. In addition, by optimizing the velocity, acceleration, or rate of change of acceleration at each trajectory point of the target trajectory through the objective function, the target trajectory can be prevented from being too aggressive, and the target trajectory can be made smoother. In addition, by optimizing the matching degree of the position, speed and acceleration of each track point of the target trajectory with the kinematic model and dynamic model through the objective function, each track point of the target trajectory can satisfy the kinematic model and dynamic model as much as possible. Improve the flight stability of the UAV.

The embodiment of the present application provides a method for controlling a movable platform. On the basis of the foregoing embodiment, the objective function includes a first cost function, and the velocity of the movable platform corresponding to the end trajectory point of the target trajectory is equal to the velocity of the movable platform corresponding to the end trajectory point of the predicted trajectory. The greater the difference, the greater the value of the first cost function.

For example, the f _ep (X) described in the above embodiment can be recorded as the first cost function, and f _ep (X) can be expressed as the following formula (7):

表示目标轨迹的末端轨迹点对应的无人机的线速度，

表示预测轨迹的末端轨迹点对应的无人机的线速度，当

与

的差异越大时，f _ep(X)的取值越大。为了能够计算出目标函数的最小值，

与

的差异越小越好，也就是说，

与

的差异越小，目标函数的函数值越小。因此，f _ep(X)可以使得目标轨迹的末端轨迹点对应的无人机的线速度收敛到预测轨迹的末端轨迹点对应的无人机的线速度。 Among them, λ _v represents the weight coefficient,

Indicates the linear velocity of the UAV corresponding to the end trajectory point of the target trajectory,

Indicates the linear velocity of the UAV corresponding to the end trajectory point of the predicted trajectory, when

and

The larger the difference between f _ep (X), the larger the value of f ep (X). In order to be able to calculate the minimum value of the objective function,

and

The smaller the difference, the better, that is,

and

The smaller the difference, the smaller the function value of the objective function. Therefore, f _ep (X) can make the linear velocity of the UAV corresponding to the end trajectory point of the target trajectory converge to the linear velocity of the UAV corresponding to the end trajectory point of the predicted trajectory.

Optionally, the greater the difference between the position of the movable platform corresponding to the end trajectory point of the target trajectory and the position of the movable platform corresponding to the end trajectory point of the predicted trajectory, the greater the value of the first cost function Big.

For example, in some embodiments, f _ep (X) can also be expressed as the following formula (8):

表示目标轨迹的末端轨迹点对应的无人机的位置，

表示预测轨迹的末端轨迹点对应的无人机的位置，当

与

的差异越大时，f _ep(X)的取值越大。为了能够计算出目标函数的最小值，

与

的差异越小越好，也就是说，

与

的差异越小，目标函数的函数值越小。因此，f _ep(X)可以使得目标轨迹的末端轨迹点对应的无人机的位置收敛到预测轨迹的末端轨迹点对应的无人机的位置。 Among them, λ _p represents the weight coefficient,

Indicates the position of the drone corresponding to the end trajectory point of the target trajectory,

Indicates the position of the drone corresponding to the end trajectory point of the predicted trajectory, when

and

The larger the difference between f _ep (X), the larger the value of f ep (X). In order to be able to calculate the minimum value of the objective function,

and

The smaller the difference, the better, that is,

and

The smaller the difference, the smaller the function value of the objective function. Therefore, f _ep (X) can make the position of the UAV corresponding to the end trajectory point of the target trajectory converge to the position of the UAV corresponding to the end trajectory point of the predicted trajectory.

In other embodiments, f _ep (X) can also be expressed as the following formula (9):

In this case, f _ep (X) can not only make the linear velocity of the UAV corresponding to the end trajectory point of the target trajectory converge to the linear velocity of the UAV corresponding to the end trajectory point of the predicted trajectory, but also make the target trajectory The position of the drone corresponding to the end trajectory point of is converged to the position of the drone corresponding to the end trajectory point of the predicted trajectory.

Optionally, the objective function includes a second cost function, and the closer the distance between each target trajectory point in the target trajectory and the target obstacle is, the larger the value of the second cost function is. The higher the speed of the movable platform corresponding to each target trajectory point in the target trajectory, the larger the value of the second cost function.

For example, the f _c (X) described in the above embodiment can be recorded as the second cost function, and f _c (X) can be expressed as the following formula (10):

表示8个目标轨迹点分别对应的无人机的位置，

表示8个目标轨迹点分别对应的无人机的线速度。其中，c(p)为单点碰撞距离代价函数，c(p)可表示为如下公式(11)： Among them, λ _c represents the weight coefficient,

Indicates the location of the drone corresponding to the 8 target trajectory points,

Represents the linear velocity of the UAV corresponding to the 8 target trajectory points. Among them, c(p) is the single-point collision distance cost function, and c(p) can be expressed as the following formula (11):

时，目标轨迹中各个目标轨迹点与目标障碍物的距离越近，f _c(X)的取值越大。为了能够计算出目标函数的最小值，目标轨迹中各个目标轨迹点与目标障碍物的距离越远越好，也就是说，目标轨迹中各个目标轨迹点与目标障碍物的距离越远，目标函数的函数值越小，因此，f _c(X)可以对距离目标障碍物小于安全阈值的目标轨迹点进行惩罚，以免无人机碰撞到障碍物。 Among them, τ represents the safety threshold of the obstacle distance. d(p) represents the distance between the position p and the target obstacle, and the target obstacle can be obtained from the ESDF map. When p in d(p) and c(p) is

When the distance between each target trajectory point in the target trajectory and the target obstacle is closer, _{the value of f c} (X) is larger. In order to be able to calculate the minimum value of the objective function, the farther the distance between each target trajectory point in the target trajectory and the target obstacle, the better, that is, the farther the distance between each target trajectory point in the target trajectory and the target obstacle is, the objective function The smaller the value of the function is, therefore, f _c (X) can punish the target trajectory points that are less than the safety threshold from the target obstacle to prevent the drone from colliding with the obstacle.

Optionally, the target obstacle includes the obstacle closest to the target track point. When the target obstacle is a different type of obstacle, the _{weight coefficient in f c} (X) can be different. For example, when the target obstacle is a human body, the _{weight coefficient in f c} (X) can be relatively large. In addition, since c(p) includes the square of the difference between the distance between the position p and the nearest obstacle and the safety threshold, f _c (X) turns the problem of optimizing the objective function into a non-linear optimization problem, so In the process of calculating the minimum value of the objective function, for example, the NLopt optimization library can be used to solve the problem of nonlinear optimization. In addition, eigen3.3.5 can also be used for ordinary matrix operations, and suitesparse-metis can be used for sparse matrix operations.

In addition, according to formula (10), it can be known that the greater the linear velocity of the UAV corresponding to each target trajectory point in the target trajectory, the greater the value of _{f c (X).} In order to be able to calculate the minimum value of the objective function, the linear velocity of the UAV corresponding to each target trajectory point in the target trajectory is as small as possible, so that the target trajectory can slowly bypass obstacles along the target trajectory to prevent unmanned The speed of the machine is too fast and difficult to control, resulting in a collision with obstacles.

Optionally, the objective function includes a third cost function, and the greater the acceleration of the movable platform or the rate of change of the acceleration corresponding to each target trajectory point of the target trajectory, the greater the value of the third cost function. Big.

For example, the f _q (X) described in the above embodiment can be recorded as the third cost function, and f _q (X) can be expressed as the following formula (12):

表示8个目标轨迹点分别对应的无人机的线加速度。目标轨迹的各个目标轨迹点对应的无人机的线加速度或线加速度的变化率越大，f _q(X)的取值越大，为了能够计算出目标函数的最小值，目标轨迹的各个目标轨迹点对应的无人机的线加速度或线加速度的变化率越小越好，也就是说，f _q(X)可以对目标轨迹的各个目标轨迹点对应的无人机的线加速度或线加速度的变化率进行惩罚，从而使得目标轨迹不要太激进，而是平滑一些。 Among them, λ _a and λ _j respectively represent the weight coefficients,

Represents the linear acceleration of the UAV corresponding to the 8 target trajectory points. The greater the linear acceleration or the rate of change of linear acceleration of the UAV corresponding to each target trajectory point of the target trajectory, the greater _{the value of f q} (X). In order to calculate the minimum value of the objective function, each target of the target trajectory The linear acceleration or linear acceleration change rate of the UAV corresponding to the trajectory point is as small as possible. In other words, f _q (X) can be used for the linear acceleration or linear acceleration of the UAV corresponding to each target trajectory point of the target trajectory. Penalizes the rate of change, so that the target trajectory is not too aggressive, but smoother.

Optionally, the objective function includes a fourth cost function, and when the position, velocity, and acceleration of each target trajectory point of the target trajectory deviate from the kinematic model constraint boundary and/or the dynamic model constraint boundary, the fourth cost function The larger the value of the cost function.

For example, the f _soft (X) described in the above embodiment can be recorded as the fourth cost function, and f _soft (X) can make the target trajectory point conform to the kinematics model while its differentials satisfy the dynamics model.

For example, the kinematic model that each target trajectory point of the target trajectory needs to meet can be expressed as the following formulas (13) and (14)

Further, the kinematics model can also be described as the soft constraint described in the following formulas (15) and (16):

Among them, ε _p and ε _v denote relaxation factors, respectively, and ε _p and ε _v can also be referred to as the constraint boundary of the kinematics model. If both ε _p and ε _v are 0, the target trajectory point is required to strictly meet the kinematics model.

For example, the dynamic model that each target trajectory point of the target trajectory needs to meet can be expressed as the following formulas (17) and (18):

Among them, v _max and a _max respectively represent the constraint boundary of the dynamic model. For example, v _max can be the maximum linear velocity that the _{drone can reach, and a max} can be the maximum linear acceleration that the drone can reach.

f _soft (X) can be expressed as the following formula (19):

可表示为如下公式(20)，

可表示为如下公式(21)，

可以是

可以是

Among them, λ _kin represents the weight coefficient of the kinematic model constraint, λ _lim represents the weight coefficient of the dynamic model constraint,

It can be expressed as the following formula (20),

It can be expressed as the following formula (21),

Can be

Can be

The constraint function l(x) can be expressed as the following formula (22):

时，x _max＝ε _p。当

时，x _max＝ε _v。当

时，x _max＝v _max。当

时，x _max＝a _max。 Among them, x _max represents boundary constraints, when

, X _max =ε _p . when

, X _max =ε _v . when

, X _max =v _max . when

, X _max =a _max .

According to formula (19), it can be seen that the position, velocity and acceleration of each target trajectory point of the target trajectory deviate from the kinematic model constraint boundary and/or the dynamic model constraint boundary, and the greater _{the value of f soft} (X), In order to be able to calculate the minimum value of the objective function, the position, velocity and acceleration of each target trajectory point of the target trajectory deviate from the kinematic model constraint boundary and/or the dynamic model constraint boundary as small as possible, that is, f _soft (X) It can make the target trajectory point conform to the kinematics model, and at the same time its various order differentials satisfy the dynamics model.

It is understandable that the _{weight coefficients in the four functions of f ep} (X), f _c (X), f _q (X), and f _soft (X) can be set before the drone leaves the factory. In some embodiments _{, the weight coefficients in the four functions f ep} (X), f _c (X), f _q (X), and f _soft (X) may also be adjustable. For example, when the user prefers the target When the end trajectory point of the trajectory can converge to the end trajectory point of the predicted trajectory, and the UAV can safely circumvent obstacles, the weight coefficients in _{f ep} (X) and f _{c (X) can be increased.} If the user preferentially wants the target trajectory to be smooth enough, the weight coefficient in _{f q (X) can be increased.} Generally _{, the weight coefficients in f ep} (X), f _c (X), and f _soft (X) can be set larger, _{and the weight coefficients in f q} (X) can be set smaller.

收敛到预测轨迹30的末端轨迹点

因此，可以使得无人 机沿着目标轨迹46绕开障碍物之后又回到了预测轨迹30。 As shown in Fig. 8, there are dense obstacles 40-obstacles 45 around the predicted trajectory 30. In order to avoid collision between the drone and the obstacle, the target trajectory to bypass the obstacle can be determined according to the method described above. 46. Among them, f _ep (X) can choose formula (9), so that the end trajectory point of the target trajectory

Converges to the end trajectory point of the predicted trajectory 30

Therefore, the drone can return to the predicted trajectory 30 after bypassing the obstacle along the target trajectory 46.

The embodiment of the present application provides a control device for a movable platform. The control device may be a control device in a movable platform, for example, a flight controller. Alternatively, the control device may be the above-mentioned control device or a component in the control device. Fig. 9 is a structural diagram of a control device for a movable platform provided by an embodiment of the application. As shown in Fig. 9, the control device 90 includes: a memory 91 and a processor 92; wherein the memory 91 is used to store program codes; The processor 92 calls the program code, and when the program code is executed, it is used to perform the following operations: when the movable platform enters a predetermined mode, obtain the movable platform control amount and the pan/tilt control amount, and the movable platform The platform control quantity and the PTZ control quantity are input by the user through the control device of the movable platform, and the movable platform control quantity is used to lock the speed and/or acceleration of the movable platform. The control amount is used to lock the speed and/or acceleration of the platform; control the movable platform to move in the predetermined mode according to the control amount of the movable platform, and control the cloud according to the control amount of the platform The station moves in the predetermined pattern.

Optionally, the speed of the movable platform includes at least one of the following: a linear speed of the movable platform and an angular speed of the movable platform.

Optionally, the acceleration of the movable platform includes at least one of the following: linear acceleration of the movable platform, and angular acceleration of the movable platform.

Optionally, the speed of the pan/tilt includes the attitude angular velocity of the pan/tilt.

Optionally, the acceleration of the pan/tilt includes the attitude angular acceleration of the pan/tilt.

Optionally, the processor 92 is further configured to: obtain a predetermined instruction, the predetermined instruction is generated according to a user's first operation on the control device of the movable platform; according to the predetermined instruction, control the movable platform Enter the predetermined mode.

Optionally, the first operation includes an operation on a predetermined key of the control device.

Optionally, before acquiring the predetermined instruction, the processor 92 is further configured to: when the second operation of the control device by the user satisfies a preset condition, generate first prompt information, where the first prompt information is used for The user is prompted to perform the first operation on the control device.

Optionally, the second operation includes an operation on a first component or a second component of the control device, the first component is used to control the movable platform, and the second component is used to control the Yuntai.

Optionally, the first component includes a rocker, and the second component includes a pan/tilt dial.

Optionally, the second operation meeting a preset condition includes: the operation time of the second operation is greater than or equal to a first preset time.

Optionally, the control amount of the movable platform is a control amount that is locked when the user performs the first operation on the control device for controlling the movable platform, and the control amount of the pan/tilt is the The control amount for controlling the pan/tilt that is locked when the user performs the first operation on the control device.

Optionally, when the movable platform enters a predetermined mode, when the processor 92 acquires the movable platform control amount and the pan/tilt control amount, it is specifically used for: when the movable platform enters the predetermined mode, lock for control The first control quantity of the movable platform and the second control quantity for controlling the pan/tilt; when the movable platform is controlled to move in the predetermined mode according to the first control quantity, and according to the When the second control amount controls the pan/tilt head to move in the predetermined mode, a third control amount for controlling the movable platform and a fourth control amount for controlling the pan/tilt head are acquired; according to the first A control quantity and the third control quantity determine the movable platform control quantity; according to the second control quantity and the fourth control quantity, the pan/tilt control quantity is determined.

Optionally, when the processor 92 acquires the third control quantity used to control the movable platform and the fourth control quantity used to control the pan/tilt head, it is specifically configured to: The third operation is to obtain a third control value for controlling the movable platform; and according to a fourth operation of the user on the second component, a fourth control value for controlling the pan/tilt head is obtained.

Optionally, the processor 92 is further configured to: generate second prompt information, where the second prompt information is used to prompt the user whether to relock the movable platform control amount and the pan/tilt control amount; When the control amount of the movable platform controls the movable platform to move in the predetermined mode, and when the control amount of the pan/tilt controls the platform to move in the predetermined mode, it is specifically used to: The control amount of the movable platform controls the movable platform to move in the predetermined mode, and controls the movement of the pan/tilt in the predetermined mode according to the locked control amount of the pan/tilt.

Optionally, when the processor 92 acquires the control amount of the movable platform and the control amount of the pan/tilt when the movable platform enters the predetermined mode, it is specifically configured to: when the movable platform enters the predetermined mode, obtain all the parameters. The control amount of the movable platform and the control amount of the PTZ in the second preset time before the movable platform enters the predetermined mode.

Optionally, when the processor 92 controls the movable platform to move in the predetermined mode according to the control amount of the movable platform, it is specifically configured to: determine the control value of the movable platform according to the control amount of the movable platform. Predicted trajectory information; establish an objective function based at least in part on the predicted trajectory information and obstacle information in the environment where the movable platform is located; minimize the objective function to determine that the movable platform bypasses the obstacle The target trajectory; controlling the movable platform to move in accordance with the target trajectory.

Optionally, when the processor 92 determines the predicted trajectory information of the movable platform according to the control amount of the movable platform, it is specifically configured to: generate an initial instruction sequence according to the control amount of the movable platform; The instruction sequence determines the predicted trajectory of the movable platform; and determines the position and/or speed of the movable platform corresponding to at least one trajectory point of the predicted trajectory as the predicted trajectory information.

Optionally, the initial instruction sequence includes: an initial speed instruction sequence and an initial acceleration instruction sequence.

Optionally, when the processor 92 determines the predicted trajectory of the movable platform according to the initial instruction sequence, it is specifically configured to: obtain a kinematics model of the movable platform, and the kinematics model includes a uniform acceleration model and a uniform velocity model. At least one of a model or a non-linear model; performing trajectory prediction according to the kinematics model and the initial instruction sequence to obtain the predicted trajectory.

Optionally, when the processor 92 determines that the position and/or speed of the movable platform corresponding to at least one trajectory point of the predicted trajectory is the predicted trajectory information, it is specifically configured to: determine that the end trajectory point of the predicted trajectory corresponds to The position and/or speed of the movable platform is the predicted trajectory information.

Optionally, the processor 92 is further configured to: perform interval sampling on the predicted trajectory to obtain predicted trajectory points after the interval sampling; when the processor 92 minimizes the objective function, it is specifically configured to: use the sampled predicted trajectory The motion parameter of the point is the initial value, and the objective function is minimized.

Optionally, when the processor 92 minimizes the objective function to determine a target trajectory for the movable platform to bypass the obstacle, it is specifically configured to: minimize the objective function to determine the corresponding target trajectory points The motion parameters of the movable platform, and the motion parameters of the movable platform corresponding to the multiple target trajectory points make the function value of the objective function the smallest.

Optionally, the motion parameter includes at least one of position, velocity, and acceleration.

Optionally, the objective function is used to optimize: the speed difference and/or the position difference of the movable platform corresponding to the end trajectory point of the target trajectory and the end trajectory point of the predicted trajectory; and each target trajectory in the target trajectory The distance between the point and the target obstacle.

Optionally, the objective function is also used to optimize: the velocity, acceleration, or rate of change of acceleration at each track point of the target trajectory.

Optionally, the objective function is also used to optimize: the degree of matching of the position, velocity, and acceleration of each track point of the target trajectory with the kinematics model and the dynamics model.

Optionally, the objective function includes a first cost function, and the greater the difference between the speed of the movable platform corresponding to the end trajectory point of the target trajectory and the speed of the movable platform corresponding to the end trajectory point of the predicted trajectory, The larger the value of the first cost function is.

Optionally, the greater the difference between the position of the movable platform corresponding to the end trajectory point of the target trajectory and the position of the movable platform corresponding to the end trajectory point of the predicted trajectory, the greater the value of the first cost function Big.

Optionally, the objective function includes a second cost function, and the closer the distance between each target trajectory point in the target trajectory and the target obstacle is, the larger the value of the second cost function is.

Optionally, the greater the velocity of the movable platform corresponding to each target trajectory point in the target trajectory, the greater the value of the second cost function.

Optionally, the target obstacle includes the obstacle closest to the target track point.

Optionally, the objective function includes a third cost function, and the greater the acceleration of the movable platform or the rate of change of the acceleration corresponding to each target trajectory point of the target trajectory, the greater the value of the third cost function. Big.

Optionally, the objective function includes a fourth cost function, and when the position, velocity, and acceleration of each target trajectory point of the target trajectory deviate from the kinematic model constraint boundary and/or the dynamic model constraint boundary, the fourth cost function The larger the value of the cost function.

In some embodiments, the control device 90 may further include a communication interface 93. When the control device 90 is a control device in a movable platform, the communication interface 93 is used to communicate with the control device. When the control device 90 is a control device or a component in a control device, the communication interface 93 is used to communicate with a movable platform.

The control device provided in the embodiment of the present application is used to execute the control method of the movable platform as described above. The specific principle and implementation of the method are similar to those in the above embodiment, and will not be repeated here.

The embodiment of the present application provides a movable platform. The movable platform includes: a fuselage, a power system, and the control device as described in the above embodiment. Wherein, the power system is installed on the fuselage to provide moving power. The control device is used to execute the control method of the movable platform as described above, and the specific principle and implementation of the method are similar to the foregoing embodiment, and will not be repeated here.

Optionally, the movable platform includes a drone.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the control method of the movable platform described in the foregoing embodiment.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium, and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute the method described in each embodiment of the present application. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, that is, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. Scope.

Claims (71)

A control method of a movable platform, the movable platform is provided with a pan-tilt, characterized in that the method includes: When the movable platform enters a predetermined mode, obtain the movable platform control amount and the PTZ control amount, the movable platform control amount and the PTZ control amount are input by the user through the control device of the movable platform , The movable platform control quantity is used to lock the speed and/or acceleration of the movable platform, and the pan/tilt control quantity is used to lock the speed and/or acceleration of the pan/tilt; The movable platform is controlled to move in the predetermined mode according to the control amount of the movable platform, and the pan/tilt is controlled to move in the predetermined mode according to the control amount of the pan/tilt. The method according to claim 1, wherein the speed of the movable platform includes at least one of the following: The linear velocity of the movable platform and the angular velocity of the movable platform. The method according to claim 1 or 2, wherein the acceleration of the movable platform includes at least one of the following: The linear acceleration of the movable platform and the angular acceleration of the movable platform. The method according to any one of claims 1 to 3, wherein the speed of the pan/tilt includes the attitude angular velocity of the pan/tilt. The method according to any one of claims 1 to 4, wherein the acceleration of the pan/tilt includes the attitude angular acceleration of the pan/tilt. The method according to claim 1, wherein the method further comprises: Acquiring a predetermined instruction, the predetermined instruction being generated according to a user's first operation on the control device of the movable platform; According to the predetermined instruction, the movable platform is controlled to enter the predetermined mode. The method according to claim 6, wherein the first operation comprises an operation of a predetermined key of the control device. The method according to claim 6 or 7, characterized in that, before the obtaining the predetermined instruction, the method further comprises: When the second operation of the user on the control device meets a preset condition, first prompt information is generated, where the first prompt information is used to prompt the user to perform the first operation on the control device. The method according to claim 8, wherein the second operation comprises an operation on a first component or a second component of the control device, and the first component is used to control the movable platform, so The second component is used to control the pan/tilt. The method according to claim 9, wherein the first component includes a rocker, and the second component includes a pan/tilt wheel. The method according to any one of claims 8-10, wherein the second operation satisfies a preset condition, comprising: The operation time of the second operation is greater than or equal to the first preset time. The method according to any one of claims 6-11, wherein the movable platform control amount is locked when the user performs the first operation on the control device for controlling the movable platform The control amount of the platform, the pan/tilt control amount is the control amount locked for controlling the pan/tilt when the user performs the first operation on the control device. The method according to claim 9 or 10, characterized in that, when the movable platform enters a predetermined mode, acquiring the control amount of the movable platform and the control amount of the pan/tilt includes: When the movable platform enters a predetermined mode, lock the first control quantity for controlling the movable platform and the second control quantity for controlling the pan-tilt; When the movable platform is controlled to move in the predetermined mode according to the first control amount, and the pan-tilt is controlled to move in the predetermined mode according to the second control amount, a method for controlling the A third control quantity of the movable platform and a fourth control quantity for controlling the pan/tilt; Determining the control amount of the movable platform according to the first control amount and the third control amount; The pan/tilt control amount is determined according to the second control amount and the fourth control amount. The method according to claim 13, wherein said acquiring a third control value for controlling the movable platform and a fourth control value for controlling the pan/tilt head comprises: Obtaining a third control amount for controlling the movable platform according to the user's third operation on the first component; According to the fourth operation of the user on the second component, a fourth control amount for controlling the pan/tilt head is acquired. The method according to claim 13 or 14, wherein the method further comprises: Generating second prompt information, the second prompt information being used to prompt the user whether to relock the control amount of the movable platform and the control amount of the pan/tilt; The controlling the movable platform to move in the predetermined mode according to the control amount of the movable platform, and controlling the movement of the pan/tilt in the predetermined mode according to the control amount of the pan/tilt includes: The movable platform is controlled to move in the predetermined mode according to the re-locked control amount of the movable platform, and the pan/tilt is controlled to move in the predetermined mode according to the locked control amount of the pan/tilt. The method according to any one of claims 1-11, wherein when the movable platform enters a predetermined mode, obtaining a control amount of the movable platform and a control amount of the pan/tilt includes: When the movable platform enters a predetermined mode, acquiring the movable platform control amount and the PTZ control amount when the movable platform enters the predetermined mode; or When the movable platform enters the predetermined mode, acquiring the movable platform control amount and the PTZ control amount within the second preset time before the movable platform enters the predetermined mode. The method according to any one of claims 1-16, wherein the controlling the movable platform to move in the predetermined mode according to the control amount of the movable platform comprises: Determine the predicted trajectory information of the movable platform according to the control amount of the movable platform; Establishing an objective function based at least in part on the predicted trajectory information and obstacle information in the environment where the movable platform is located; Minimizing the objective function to determine a target trajectory for the movable platform to bypass the obstacle; Control the movable platform to move according to the target trajectory. The method according to claim 17, wherein the determining the predicted trajectory information of the movable platform according to the control amount of the movable platform comprises: Generating an initial instruction sequence according to the control amount of the movable platform; Determining the predicted trajectory of the movable platform according to the initial instruction sequence; The position and/or speed of the movable platform corresponding to at least one track point of the predicted track is determined as the predicted track information. The method according to claim 18, wherein the initial instruction sequence comprises: an initial speed instruction sequence and an initial acceleration instruction sequence. The method according to claim 18, wherein the determining the predicted trajectory of the movable platform according to the initial instruction sequence comprises: Acquiring a kinematics model of the movable platform, where the kinematics model includes at least one of a uniform acceleration model, a uniform velocity model, or a nonlinear model; Perform trajectory prediction according to the kinematic model and the initial instruction sequence to obtain the predicted trajectory. The method according to claim 18, wherein the determining the position and/or speed of the movable platform corresponding to at least one track point of the predicted trajectory is the predicted trajectory information, comprising: Determine the position and/or speed of the movable platform corresponding to the end track point of the predicted track as the predicted track information. The method according to claim 18, wherein the method further comprises: Perform interval sampling on the predicted trajectory to obtain predicted trajectory points after the interval sampling; The minimizing the objective function includes: The motion parameter of the predicted trajectory point after sampling is taken as the initial value, and the objective function is minimized. The method according to claim 17, wherein the minimizing the objective function to determine the target trajectory of the movable platform to bypass the obstacle comprises: Minimize the objective function to determine the motion parameters of the movable platform corresponding to multiple target trajectory points, and the motion parameters of the movable platform corresponding to the multiple target trajectory points minimize the function value of the objective function . The method according to claim 22 or 23, wherein the motion parameter includes at least one of position, velocity, and acceleration. The method according to claim 17, wherein the objective function is used to optimize: The speed difference and/or position difference of the movable platform corresponding to the end track point of the target track and the end track point of the predicted track; and The distance between each target trajectory point in the target trajectory and the target obstacle. The method according to claim 25, wherein the objective function is also used for optimizing: The velocity, acceleration, or rate of change of acceleration at each track point of the target track. The method according to claim 25 or 26, wherein the objective function is also used for optimizing: The matching degree of the position, velocity and acceleration of each track point of the target track with the kinematic model and the dynamic model. The method according to claim 17, wherein the target function comprises a first cost function, and the speed of the movable platform corresponding to the end trajectory point of the target trajectory corresponds to the speed of the movable platform corresponding to the end trajectory point of the predicted trajectory. The greater the difference in the speed of the mobile platform, the greater the value of the first cost function. The method according to claim 28, wherein the position of the movable platform corresponding to the end track point of the target trajectory and the position of the movable platform corresponding to the end track point of the predicted trajectory are more different, so The value of the first cost function is larger. The method according to claim 17, wherein the objective function comprises a second cost function, and the closer the distance between each target trajectory point in the target trajectory and the target obstacle, the value of the second cost function Bigger. The method according to claim 30, wherein the greater the speed of the movable platform corresponding to each target trajectory point in the target trajectory, the greater the value of the second cost function. The method according to claim 30 or 31, wherein the target obstacle comprises an obstacle closest to the target track point. The method according to claim 17, wherein the target function comprises a third cost function, and the acceleration of the movable platform or the rate of change of the acceleration corresponding to each target trajectory point of the target trajectory is greater, so The value of the third cost function is larger. The method according to claim 17, wherein the objective function comprises a fourth cost function, when the position, velocity, and acceleration of each target trajectory point of the target trajectory deviate from the kinematics model constraint boundary and/or the power The learning model constrains the boundary, the larger the value of the fourth cost function is. A control device for a movable platform, which is characterized by comprising: a memory and a processor; The memory is used to store program code; The processor calls the program code, and when the program code is executed, is used to perform the following operations: When the movable platform enters a predetermined mode, obtain the movable platform control amount and the PTZ control amount, the movable platform control amount and the PTZ control amount are input by the user through the control device of the movable platform , The movable platform control quantity is used to lock the speed and/or acceleration of the movable platform, and the pan/tilt control quantity is used to lock the speed and/or acceleration of the pan/tilt; The movable platform is controlled to move in the predetermined mode according to the control amount of the movable platform, and the pan/tilt is controlled to move in the predetermined mode according to the control amount of the pan/tilt. The control device according to claim 35, wherein the speed of the movable platform comprises at least one of the following: The linear velocity of the movable platform and the angular velocity of the movable platform. The control device according to claim 35 or 36, wherein the acceleration of the movable platform includes at least one of the following: The linear acceleration of the movable platform and the angular acceleration of the movable platform. The control device according to any one of claims 35-37, wherein the speed of the pan/tilt includes the attitude angular velocity of the pan/tilt. The control device according to any one of claims 35-38, wherein the acceleration of the pan/tilt includes the attitude angular acceleration of the pan/tilt. The control device according to claim 35, wherein the processor is further configured to: Acquiring a predetermined instruction, the predetermined instruction being generated according to a user's first operation on the control device of the movable platform; According to the predetermined instruction, the movable platform is controlled to enter the predetermined mode. The control device according to claim 40, wherein the first operation comprises an operation of a predetermined key of the control device. The control device according to claim 40 or 41, wherein, before obtaining a predetermined instruction, the processor is further configured to: When the second operation of the user on the control device meets a preset condition, first prompt information is generated, where the first prompt information is used to prompt the user to perform the first operation on the control device. The control device according to claim 42, wherein the second operation comprises an operation on a first component or a second component of the control device, and the first component is used to control the movable platform, The second component is used to control the pan/tilt. The control device according to claim 43, wherein the first component comprises a rocker, and the second component comprises a pan/tilt dial. The control device according to any one of claims 42-44, wherein the second operation satisfies a preset condition and includes: The operation time of the second operation is greater than or equal to the first preset time. The control device according to any one of claims 40-45, wherein the control amount of the movable platform is locked when the user performs the first operation on the control device for controlling the The control amount of the mobile platform, where the pan/tilt control amount is the control amount locked for controlling the pan/tilt when the user performs the first operation on the control device. The control device according to claim 43 or 44, wherein when the movable platform enters a predetermined mode, when the processor obtains the control amount of the movable platform and the control amount of the pan/tilt, it is specifically used for: When the movable platform enters a predetermined mode, lock the first control quantity for controlling the movable platform and the second control quantity for controlling the pan-tilt; When the movable platform is controlled to move in the predetermined mode according to the first control amount, and the pan-tilt is controlled to move in the predetermined mode according to the second control amount, a method for controlling the A third control quantity of the movable platform and a fourth control quantity for controlling the pan/tilt; Determining the control amount of the movable platform according to the first control amount and the third control amount; The pan/tilt control amount is determined according to the second control amount and the fourth control amount. The control device according to claim 47, wherein when the processor acquires a third control variable for controlling the movable platform and a fourth control variable for controlling the pan/tilt, it is specifically used for : Obtaining a third control amount for controlling the movable platform according to the user's third operation on the first component; According to the fourth operation of the user on the second component, a fourth control amount for controlling the pan/tilt head is acquired. The control device according to claim 47 or 48, wherein the processor is further configured to: Generating second prompt information, the second prompt information being used to prompt the user whether to relock the control amount of the movable platform and the control amount of the pan/tilt; When the processor controls the movable platform to move in the predetermined mode according to the control amount of the movable platform, and controls the movement of the pan/tilt in the predetermined mode according to the control amount of the pan/tilt, it specifically uses At: The movable platform is controlled to move in the predetermined mode according to the re-locked control amount of the movable platform, and the pan/tilt is controlled to move in the predetermined mode according to the locked control amount of the pan/tilt. The control device according to any one of claims 35-45, wherein when the movable platform enters a predetermined mode, the processor obtains the control amount of the movable platform and the control amount of the pan/tilt, specifically Used for: When the movable platform enters a predetermined mode, acquiring the movable platform control amount and the PTZ control amount when the movable platform enters the predetermined mode; or When the movable platform enters the predetermined mode, acquiring the movable platform control amount and the PTZ control amount within the second preset time before the movable platform enters the predetermined mode. The control device according to any one of claims 35-50, wherein when the processor controls the movable platform to move in the predetermined mode according to the control amount of the movable platform, it is specifically configured to: Determine the predicted trajectory information of the movable platform according to the control amount of the movable platform; Establishing an objective function based at least in part on the predicted trajectory information and obstacle information in the environment where the movable platform is located; Minimizing the objective function to determine a target trajectory for the movable platform to bypass the obstacle; Control the movable platform to move according to the target trajectory. The control device according to claim 51, wherein when the processor determines the predicted trajectory information of the movable platform according to the control amount of the movable platform, it is specifically configured to: Generating an initial instruction sequence according to the control amount of the movable platform; Determining the predicted trajectory of the movable platform according to the initial instruction sequence; The position and/or speed of the movable platform corresponding to at least one track point of the predicted track is determined as the predicted track information. The control device according to claim 52, wherein the initial command sequence comprises: an initial speed command sequence and an initial acceleration command sequence. The control device according to claim 52, wherein when the processor determines the predicted trajectory of the movable platform according to the initial instruction sequence, it is specifically configured to: Acquiring a kinematics model of the movable platform, where the kinematics model includes at least one of a uniform acceleration model, a uniform velocity model, or a nonlinear model; Perform trajectory prediction according to the kinematic model and the initial instruction sequence to obtain the predicted trajectory. The control device according to claim 52, wherein when the processor determines that the position and/or speed of the movable platform corresponding to at least one track point of the predicted trajectory is the predicted trajectory information, it is specifically used for : Determine the position and/or speed of the movable platform corresponding to the end track point of the predicted track as the predicted track information. The control device according to claim 52, wherein the processor is further configured to: Perform interval sampling on the predicted trajectory to obtain predicted trajectory points after the interval sampling; When the processor minimizes the objective function, it is specifically used for: The motion parameter of the predicted trajectory point after sampling is taken as the initial value, and the objective function is minimized. The control device according to claim 51, wherein when the processor minimizes the objective function to determine the target trajectory of the movable platform to bypass the obstacle, it is specifically configured to: Minimize the objective function to determine the motion parameters of the movable platform corresponding to multiple target trajectory points, and the motion parameters of the movable platform corresponding to the multiple target trajectory points minimize the function value of the objective function . The control device according to claim 56 or 57, wherein the motion parameter includes at least one of position, speed, and acceleration. The control device according to claim 51, wherein the objective function is used for optimizing: The speed difference and/or position difference of the movable platform corresponding to the end track point of the target track and the end track point of the predicted track; and The distance between each target trajectory point in the target trajectory and the target obstacle. The control device according to claim 59, wherein the objective function is also used for optimizing: The velocity, acceleration, or rate of change of acceleration at each track point of the target track. The control device according to claim 59 or 60, wherein the objective function is also used for optimizing: The matching degree of the position, velocity and acceleration of each track point of the target track with the kinematic model and the dynamic model. The control device according to claim 51, wherein the target function comprises a first cost function, and the speed of the movable platform corresponding to the end trajectory point of the target trajectory corresponds to the end trajectory point of the predicted trajectory The greater the difference in the speed of the movable platform, the greater the value of the first cost function. The control device according to claim 62, wherein the greater the difference between the position of the movable platform corresponding to the end trajectory point of the target trajectory and the position of the movable platform corresponding to the end trajectory point of the predicted trajectory, The larger the value of the first cost function is. The control device according to claim 51, wherein the objective function comprises a second cost function, and the closer the distance between each target trajectory point in the target trajectory and the target obstacle is, the value of the second cost function is The larger the value. The control device according to claim 64, wherein the greater the speed of the movable platform corresponding to each target trajectory point in the target trajectory, the greater the value of the second cost function. The control device according to claim 64 or 65, wherein the target obstacle includes an obstacle closest to the target track point. The control device according to claim 51, wherein the objective function comprises a third cost function, and the greater the acceleration of the movable platform or the rate of change of the acceleration corresponding to each target trajectory point of the target trajectory, The value of the third cost function is larger. The control device according to claim 51, wherein the objective function comprises a fourth cost function, when the position, velocity and acceleration of each target trajectory point of the target trajectory deviate from the kinematics model constraint boundary and/or The dynamic model constrains the boundary, and the value of the fourth cost function is larger. A movable platform, characterized in that it comprises: body; The power system is installed on the fuselage to provide mobile power; And the control device of any one of claims 35-68. The movable platform of claim 69, wherein the movable platform comprises an unmanned aerial vehicle. A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1-34.

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