CN110162081A - Mobile device control method and device, mobile terminal and mobile device - Google Patents
Mobile device control method and device, mobile terminal and mobile device Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of mobile device control methods, comprising: obtains the pending movement routine information of current mobile devices；Obtain obstacle position information；The movement of the mobile device whether is influenced according to the pending movement routine information, the obstacle position information disturbance in judgement object；The barrier do not influence the mobile device it is mobile when, control mobile device do do not detour, not reduction of speed, do not hover in the movement of any one or various ways；The barrier influence the mobile device it is mobile when, control the mobile device and detour and/or hovering.The present invention realizes the safe flight of mobile device on the basis of fully considering the relative position of boundary of land block and barrier, while avoiding the barrier except boundary of land block from influencing mobile device operating efficiency, and then improve the operating efficiency of mobile device.
Description
Technical field
The present invention relates to image recognition, positioning, vehicle technology fields, specifically, the present invention relates to a kind of mobile dresses
Set control method and device, mobile terminal and mobile device.
Background technique
The mainly flight operation in the sky of well-known aircraft, and flying height when aircraft operation is not counting very high,
Therefore when aircraft flight in the sky, barrier can be often encountered, in order to guarantee the normal operation of aircraft and making for aircraft
With the service life, when encountering barrier in aircraft operation flight course, avoidance processing can be all carried out.Currently, aircraft usually makes
Barrier is measured with distance measurement sensor, such as millimetre-wave radar, ultrasonic radar, laser radar or visual sensor device
Hinder object at a distance from aircraft, to carry out the avoidance operation of reduction of speed flight, hovering or detour barrier.But by the technology
Means can encounter certain problem when applying to plant protection operation.Under plant protection operation environment, the general model defined by boundary of land block
Interior flight is enclosed, the barrier outside boundary of land block will not influence the flight of aircraft substantially, but the operation of existing avoidance considers
Barrier except boundary of land block also will do it avoidance operation for the barrier except boundary of land block, it caused to reduce flight
The operating efficiency of device.
Summary of the invention
The purpose of the present invention aims to solve at least the drop of the barrier except one of above-mentioned technological deficiency, especially boundary of land block
The problem of low aircraft operating efficiency.
A kind of mobile device control method, comprising:
Obtain the pending movement routine information of current mobile devices；
Obtain obstacle position information；
Whether influenced according to the pending movement routine information, the obstacle position information disturbance in judgement object described
The movement of mobile device；
The barrier do not influence the mobile device it is mobile when, control mobile device do do not detour, not reduction of speed, no
The movement of any one in hovering or various ways；The barrier influence the mobile device it is mobile when, control institute
Mobile device is stated to detour and/or hover.
Further, specific to wrap among the acquisition current mobile devices pending movement routine information the step of
It includes:
The pending movement routine information of the mobile device is determined by the operation boundary information of operating area.
Further, further includes:
When the barrier is located at outside current work region, and to be greater than first at a distance from operation boundary pre- for the barrier
If when distance threshold, control the mobile device in the operating area do the barrier that do not detour, not reduction of speed, do not hover in appoint
The movement for one or more kinds of modes of anticipating.
Further, further includes:
When the barrier is located at outside current work region, and to be located at second at a distance from operation boundary pre- for the barrier
If when in distance range, control mobile device moves within the scope of the first pre-set velocity or slows down movement.
Further, further includes:
When the barrier is located in current work region, and to be less than third at a distance from mobile device pre- for the barrier
If when distance threshold, the hovering of control mobile device and/or the barrier that detours.
Further, it in the acquisition obstacle position information the step of, specifically includes:
The location information of barrier is determined by the sensor in the mobile device.
Further, further includes: when the mobile device is default less than the 4th at a distance from the operation boundary of operating area
Distance threshold, and the barrier except operation boundary at a distance from the mobile device be greater than the 5th pre-determined distance threshold value when, control
Mobile device processed execute the barrier that do not detour, not reduction of speed, do not hover in any various ways movement.
Preferably, the sensor includes visual sensor, linear array radar sensor, millimetre-wave radar sensor, ultrasound
It is any a variety of in wave sensor, pyroelectric infrared sensor.
Further, the step of the sensor by the mobile device determines the location information of barrier
In, specifically include step:
Obtain the mobile message of the mobile device；
The relative position information of barrier Yu the mobile device is determined by the sensor in the mobile device；
It is true according to the barrier and the relative position information of the mobile device and the mobile message of the mobile device
The location information of the fixed barrier.
Further, the step of the sensor by the mobile device determines the location information of barrier
In, specifically include step:
Continuous several times obtain the mobile message of the mobile device；
The relative position of barrier Yu the mobile device is determined by the sensor continuous several times in the mobile device
Information；
According to the relative position information and continuous several times of the barrier of continuous several times and the mobile device
The mobile message of mobile device determines the location information of the barrier.
Further, it in the acquisition obstacle position information the step of, also specifically includes: being obtained by high definition map
The location information of the barrier；Or the location information of the barrier is obtained by surveying and mapping data.
Further, it after the acquisition obstacle position information the step of, specifically includes:
The first barrier including barrier is established according to the location information of the obstacle position information and the mobile device
Hinder object map.
Further, further includes:
According to the first barrier map, the danger coefficient of barrier described in the first barrier map is identified.
Further, described according to the pending movement routine information, obstacle position information judgement barrier
Hinder whether object influences in the step of the movement of the mobile device, comprising:
When the barrier is located at outside current work region, and to be greater than the 6th at a distance from operation boundary pre- for the barrier
If when distance threshold, deleting the danger coefficient of the barrier；
When the barrier is located at outside current work region, and to be located at the 7th at a distance from operation boundary pre- for the barrier
If when in distance range, reducing the danger coefficient of the barrier；
According to deleting danger coefficient and reducing the barrier of danger coefficient, the second barrier map is obtained.
Further, after the process for obtaining the second barrier map, comprising:
According to the second barrier map, the influence mobile to the mobile device of disturbance in judgement object.
Further, described according to the pending movement routine information, obstacle position information judgement barrier
Hinder whether object influences to specifically include in the step of the movement of the mobile device:
The mobile device and the movement are determined according to the operation boundary information and the mobile device location information
The distance between operation boundary in front of device moving direction；
The barrier and mobile device are determined according to the obstacle position information and the mobile device location information
The distance between；
Compare the distance between the mobile device and operation boundary in front of the mobile device moving direction and described
Whether the distance between barrier and mobile device, disturbance in judgement object influence the movement of the mobile device.
Further, the pending movement of the mobile device is determined in the operation boundary information by operating area
Before the step of routing information, comprising:
The surveying and mapping data set by user for being used to indicate operation borderline region is obtained, according to described in surveying and mapping data determination
Operation boundary information.
Further, the pending movement of the mobile device is determined in the operation boundary information by operating area
Before the step of routing information, comprising:
Realtime graphic is obtained, obtains the operation borderline region information according to default training pattern and the realtime graphic.
Preferably, the default training pattern includes training pattern neural network based.
Further, the pending movement of the mobile device is determined in the operation boundary information by operating area
Before the step of routing information, comprising:
Receive the operation borderline region information that user sends.
Further, the pending movement of the mobile device is determined in the operation boundary information by operating area
Before the step of routing information, specifically include:
Default map is obtained, obtains the operation boundary information according to the default map.
Further, after the determining operation boundary information, further includes: determine operation according to the operation boundary information
Boundary buffer area.
Further, it in the moving process whether the disturbance in judgement object influences the mobile device, specifically includes:
Determine whether barrier influences the movement of mobile device according to mobile device size.
Further, it in the moving process whether the disturbance in judgement object influences the mobile device, specifically includes: logical
It crosses fuselage size and pending path determines mobile cushioning area.
Further, the barrier do not influence the mobile device it is mobile when control the mobile device not around
Row, not reduction of speed, do not hover in any one or the moving process of various ways, specifically include:
Determine that the barrier in mobile device moving direction front preset angular range does not influence the shifting of the mobile device
It is dynamic.
A kind of mobile device control device provided in the embodiment of the present invention, comprising: first movement routing information obtains mould
Block, the first obstacle position information obtain module, first judgment module, the first execution module,
The first movement routing information obtains module, for obtaining the pending movement routine letter of current mobile devices
Breath；
First obstacle position information obtains module, for obtaining obstacle position information；
The first judgment module, for according to the pending movement routine information, the obstacle position information
Whether disturbance in judgement object influences the movement of the mobile device；
First execution module, for the barrier do not influence the mobile device it is mobile when, control movement
Device do do not detour, not reduction of speed, do not hover in the movement of any one or various ways；The shifting is influenced in the barrier
Dynamic device it is mobile when, control the mobile device and detour and/or hovering.
Further, it is obtained among module in the first movement routing information, specifically includes first movement routing information
Acquiring unit,
The first movement route information acquisition unit, for determining the shifting by the operation boundary information of operating area
The pending movement routine information of dynamic device.
It further, further include the second execution module,
Second execution module, when the barrier is located at outside current work region, and the barrier and operation side
When the distance on boundary is greater than the first pre-determined distance threshold value, the mobile device controlled in the operating area does the obstacle that do not detour
Object, not reduction of speed, do not hover in the movement of any one or various ways.
It further, further include third execution module,
The third execution module, for being located at outside current work region when the barrier, and the barrier and work
When the distance on industry boundary is located within the scope of the second pre-determined distance, control mobile device moves or subtracts within the scope of the first pre-set velocity
Speed is mobile.
It further, further include the 4th execution module,
4th execution module, for being located in current work region when the barrier, and the barrier and shifting
When the distance of dynamic device is less than third pre-determined distance threshold value, the hovering of control mobile device and/or the barrier that detours.
Further, it is obtained in module in first obstacle position information, specifically includes the first Obstacle Position letter
Acquiring unit is ceased,
First obstacle position information acquiring unit, for determining barrier by the sensor in the mobile device
Location information.
It further, further include the 5th execution module,
5th execution module, for working as the mobile device at a distance from the operation boundary of operating area less than the 4th
Pre-determined distance threshold value, and the barrier except operation boundary is greater than the 5th pre-determined distance threshold value at a distance from the mobile device
When, control mobile device execute the barrier that do not detour, not reduction of speed, do not hover in any various ways movement.
Preferably, the sensor includes visual sensor, linear array radar sensor, millimetre-wave radar sensor, ultrasound
It is any a variety of in wave sensor, pyroelectric infrared sensor.
Further, it is obtained in form unit in first obstacle position information, specifically include: first movement information obtains
Unit, the first relative position information acquiring unit, the second obstacle position information acquiring unit are taken,
The first movement information acquisition unit, for obtaining the mobile message of the mobile device；
The first relative position information acquiring unit, for determining barrier by the sensor in the mobile device
With the relative position information of the mobile device；
The second obstacle position information acquiring unit, for opposite with the mobile device according to the barrier
Location information and the mobile message of the mobile device determine the location information of the barrier.
Further, it is obtained in form unit in first obstacle position information, specifically includes the second mobile message and obtain
Unit, the second relative position information acquiring unit, third obstacle position information acquiring unit are taken,
The second mobile information acquisition unit, the mobile message of the mobile device is obtained for continuous several times；
The second relative position information acquiring unit, for true by the sensor continuous several times in the mobile device
Determine the relative position information of barrier Yu the mobile device；
The third obstacle position information acquiring unit, for according to the barriers of continuous several times and the movement
The mobile message of the mobile device of the relative position information and continuous several times of device determines the location information of the barrier.
Further, it is obtained in module in first obstacle position information, specifically includes the 4th Obstacle Position letter
Acquiring unit is ceased,
The 4th obstacle position information acquiring unit, for the position for obtaining the barrier by high definition map
Confidence breath；Or the location information of the barrier is obtained by surveying and mapping data.
It further, further include that the first barrier map obtains module,
The first barrier map obtains module, for according to the obstacle position information and the mobile device
Location information establishes the first barrier map including barrier.
It further, further include danger coefficient mark module,
The danger coefficient mark module is used for according to the first barrier map, with identifying first barrier
The danger coefficient of barrier described in figure.
Further, in the first judgment module, comprising: delete unit, danger coefficient reduces unit, the second obstacle
Object map acquiring unit,
The deletion unit, for being located at outside current work region when the barrier, and the barrier and operation side
When the distance on boundary is greater than the 6th pre-determined distance threshold value, the danger coefficient of the barrier is deleted；
The danger coefficient reduces unit, for being located at outside current work region when the barrier, and the barrier
With when being located within the scope of the 7th pre-determined distance at a distance from operation boundary, the danger coefficient of the barrier is reduced；
The second barrier map acquiring unit, for according to the barrier for deleting danger coefficient and reduction danger coefficient
Hinder object, obtains the second barrier map.
Further, further includes: the first judging unit,
First judging unit, for according to the second barrier map, disturbance in judgement object to be to the mobile device
Mobile influence.
Further, it in the first judgment module, specifically includes: the first frontier distance determination unit, the first obstacle
Object distance determining unit, comparison unit,
The first frontier distance determination unit, for believing according to the operation boundary information and the mobile device position
Breath determines the distance between the operation boundary in front of the mobile device and the mobile device moving direction；
The first obstacle distance determination unit, for according to the obstacle position information and the mobile device position
Confidence breath determines the distance between the barrier and mobile device；
The comparison unit, for comparing the operation boundary in front of the mobile device and the mobile device moving direction
The distance between and the distance between the barrier and mobile device, disturbance in judgement object whether influence the shifting of the mobile device
It is dynamic.
It further, further include that the first boundary information obtains module,
First boundary information obtains module, for obtaining the mapping set by user for being used to indicate operation borderline region
Data determine the operation boundary information according to the surveying and mapping data.
It further, further include the second boundary data obtaining module,
The second boundary data obtaining module, for obtaining realtime graphic, according to preset training pattern and it is described in real time
Image obtains the operation borderline region information.
Preferably, the default training pattern includes training pattern neural network based.
It further, further include that third boundary information obtains module,
The third boundary information obtains module, for receiving the operation borderline region information of user's transmission.
It further, further include that the 4th boundary information obtains module,
4th boundary information obtains module, for obtaining default map, obtains the work according to the default map
Industry boundary information.
Further, further includes: operation boundary buffer area obtains module,
Operation boundary buffer area obtains module, for determining that operation boundary buffers according to the operation boundary information
Area.
It further, further include second judgment unit in the first judgment module,
The second judgment unit, for whether influencing mobile device according to the length of mobile device, height, wide determining barrier
Movement.
Further, in the first judgment module, mobile cushioning area determination unit is specifically included,
Mobile cushioning area determination unit is moved for being determined by the length of mobile device, height, width and pending path
Dynamic buffer area.
Further, in first judgment module, including third judging unit,
The third judging unit, for determining the barrier in mobile device moving direction front preset angular range not
Influence the movement of the mobile device.
A kind of computer readable storage medium is additionally provided in the embodiment of the present invention, is stored thereon with computer program, it should
The step of computer program realizes mobile device control method described in any technical solution when executing.
A kind of mobile device controlling terminal, including processor, memory, the storage are additionally provided in the embodiment of the present invention
For device for storing computer program, the computer program realizes shifting described in any technical solution when being executed by the processor
The step of dynamic apparatus control method.
A kind of mobile device is additionally provided in the embodiment of the present invention characterized by comprising the computer-readable storage
Medium or the mobile device controlling terminal, communication module, alignment sensor；
The communication module, for being communicated with ground control unit；
The alignment sensor, for determining current flight position, the obstacle position information of mobile device.
Further, further includes: alignment sensor, the alignment sensor include imaging sensor and/or radar sensing
Device, described image sensor are used to obtain the realtime graphic in front of mobile device, and the radar sensor is for obtaining barrier
Location information.
Further, further includes: the alignment sensor is range sensor, and the range sensor is for obtaining movement
Device heading front obstacle is at a distance from mobile device.
It include mobile device control method and device, mobile terminal and movement above-mentioned in embodiment provided by the invention
Device, embodiment provided by the invention pass through: obtaining the pending movement routine information of current mobile devices；Obtain obstacle level
Confidence breath；Whether influenced according to the pending movement routine information, the obstacle position information disturbance in judgement object described
The movement of mobile device；The barrier do not influence the mobile device it is mobile when, control mobile device is done and is not detoured, no
Reduction of speed, do not hover in the movement of any one or various ways；The barrier influence the mobile device it is mobile when,
The mobile device is controlled to detour and/or hover.Mobile device is avoided to do the moving obstacle outside current work boundary of land block
Invalid avoidance operation, not will cause dysgenic barrier outside boundary of land block and to mobile device operation.
Therefore the present invention realizes that the safety of mobile device flies on the basis of fully considering the relative position of boundary of land block and barrier
Row, while the barrier except boundary of land block being avoided to influence mobile device operating efficiency.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Fig. 2 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Fig. 3 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Fig. 4 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Fig. 5 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Fig. 6 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Fig. 7 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Fig. 8 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Fig. 9 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Figure 10 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Figure 11 is a kind of a kind of flow chart of embodiment of the exemplary embodiments of mobile device control method of the present invention；
Figure 12 is a kind of a kind of structural representation of embodiment of the exemplary embodiments of mobile device control device of the present invention
Figure；
Figure 13 is a kind of a kind of structural representation of embodiment of the exemplary embodiments of mobile device control device of the present invention
Figure；
Figure 14 is a kind of a kind of structural representation of embodiment of the exemplary embodiments of mobile device control device of the present invention
Figure；
Figure 15 is a kind of a kind of structural representation of embodiment of the exemplary embodiments of mobile device control device of the present invention
Figure；
Figure 16 is a kind of a kind of structural representation of embodiment of the exemplary embodiments of mobile device control device of the present invention
Figure；
Figure 17 is a kind of structural schematic diagram of mobile device of one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange
Diction "and/or" includes one or more associated wholes for listing item or any cell and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
The flying height of aircraft flight operation in the sky when leading to its flight in the sky, can often encounter barrier not counting very high
Hinder object, in order to guarantee the normal operation of aircraft and the service life of aircraft, is encountered in aircraft operation flight course
When barrier, avoidance processing can be all carried out.Currently, aircraft is usually using distance measurement sensor, such as millimetre-wave radar, ultrasound
The devices such as wave radar, laser radar or visual sensor measure barrier at a distance from aircraft, fly to carry out reduction of speed
The avoidance operation of row, hovering or detour barrier.For the existing avoidance behaviour for considering the barrier except boundary of land block
Make, the present invention proposes a kind of barrier for except boundary of land block and it will not to aircraft operation at a distance from boundary of land block
The mobile device control method having an impact, the method increase the operating efficiencies of aircraft, and aircraft is avoided to do invalid keep away
Barrier operation.
Specifically, the present general inventive concept is, aircraft obtains location information, the current work of aircraft current work
The boundary of land block in plot is relative to the location information of aircraft flight current location, barrier relative to aircraft current location
Location information is determined between the distance between each boundary of land block and aircraft, barrier and aircraft based on information above-mentioned
Distance, and the relationship for the distance between comparing each boundary of land block and aircraft between the distance between barrier and aircraft,
Determine barrier whether within current boundary of land block.When barrier is not in current plot, but obstacle distance plot side
Farther out, when will not influence the operation of aircraft, avoidance processing is not done to the barrier in boundary；When barrier is not in current plot,
But obstacle distance boundary of land block is closer, affects the operation of aircraft, carries out avoidance operation to the barrier；When barrier exists
When in current plot, and the distance affects the operation of aircraft, carries out avoidance operation to the barrier；And then improve aircraft
The efficiency of operation avoids aircraft from making invalid avoidance to the barrier of no influence and operates.Specifically, avoidance operation can be
Avoidance operation of reduction of speed flight, hovering or detour barrier etc..
Certainly, the mobile device control method provided in the embodiment of the present invention is not solely used for the plot operation (spray of plant protection
Spill seed, liquid, fertilising, to monitoring of plant etc.), mapping of taking photo by plane can also be incorporated in, monitoring, air-drop substance, detecting etc. are answered
With field, the mobile device provided in the embodiment of the present invention can be ground robot and aircraft, preferably aircraft, flight
Device can be plant protection drone, the plant protection aircraft of manned operation etc..
A kind of mobile device control method provided in the embodiment of the present invention, in a kind of wherein embodiment, such as Fig. 1 institute
Show, comprising: S100, S200, S300, S400.
S100: the pending movement routine information of current mobile devices is obtained；
S200: obstacle position information is obtained；
S300: according to the pending movement routine information, the obstacle position information disturbance in judgement object whether shadow
Ring the movement of the mobile device；
S400: the barrier do not influence the mobile device it is mobile when, control mobile device is done and is not detoured, does not drop
Speed, do not hover in the movement of any one or various ways；The barrier influence the mobile device it is mobile when, control
The mobile device is made to detour and/or hover.
It can be pre-seted before mobile device operation in order to avoid mobile device repeats operation and operation uniform high-efficiency
Mobile device according to route and be not in repetition operation course line, user is mainly provided that the boat of mobile device operation
Line information (the pending movement routine information of mobile device as of the present invention), the pending movement routine information can also
It, can be according to the movement road when mobile device gets movement routine information to determine operation course line by remote manual control information
Diameter information generates mobile device work route, in order to which mobile device can carry out regular high efficiency according to the work route
Operation.Specifically, movement routine information can generate in advance, mobile device when setting is only accounted for when the information is arranged will
Want the barrier in operating area.However, after pending routing information is provided with and before mobile device operation,
It is also possible that the barrier of new influence mobile device operation, therefore in mobile device operation process, it is also necessary to know in real time
With the presence or absence of the new barrier for influencing its operation in other current work plot.During mobile device operation, obtain in real time
The obstacle position information for taking mobile device current work direction front or periphery, is getting specific obstacle information
When, whether mobile mobile device is influenced according to the location information of barrier and pending movement routine information disturbance in judgement object
Movement.Pending movement routine information is that mobile device is moved along the boundary of land block straight line that starting point is parallel to certain one side
It is dynamic, if the barrier is located exactly at the centre of pending movement routine, illustrate that the barrier affects the movement of mobile device,
Control mobile device detours the barrier at this time, avoids that barrier influences the movement of mobile device and mobile device hits the obstacle
Object damages mobile device；If the barrier is located at the side of pending movement routine, illustrate that the barrier is likely to affect
The movement of mobile device controls mobile device hovering at this time, and the movement of barrier influence mobile device and mobile device is avoided to hit
Mobile device is damaged to the barrier；If getting barrier in boundary of land block and/or outside boundary of land block, however the barrier
The linear distance pending apart from mobile device farther out (a for example, preset threshold) when, illustrate the barrier not and influence mobile dress
The movement set.The Obstacle Position coordinate can be latitude and longitude coordinates, but not limiting is latitude and longitude coordinates.
Further, specific to wrap among the acquisition current mobile devices pending movement routine information the step of
It includes:
The pending movement routine information of the mobile device is determined by the operation boundary information of operating area.
As it was noted above, pending movement routine information is mainly the shifting of mobile device operation in current work region
Dynamic routing information.The boundary information in current work region is known that the geographical location information in current work region, operating area
Size, the shape in plot of (plot) area etc., according in the information setting mobile device moving process in current work region
Initial position, turning position, rest position etc..For example, marking the central point of a certain narrow side when it is rectangle that plot, which is shape,
For the starting point of mobile device, while being parallel to two long sides and being moved to one end far from the narrow side with long side.It is specific such as rectangular
The parallel narrow side of the two of shape is AB and CD, two long sides are AD and BD, and mobile device is mobile dress with the geographical location of AB intermediate point
The initial position set, rest position are the geographical location of CD intermediate point, and path is to be parallel to AD and BD movement, therefore, mobile dress
The geographical location that AD and BD is moved to CD intermediate point is parallel to when setting mobile since the geographical location of AB intermediate point.
Further, in a kind of wherein embodiment, as shown in Figure 2, further includes:
S500: when the barrier is located at outside current work region, and the barrier is greater than at a distance from operation boundary
When the first pre-determined distance threshold value, control mobile device in the operating area do the barrier that do not detour, not reduction of speed, do not hang
The movement of any one in stopping or various ways.
When determining barrier outside current work region except (boundary of land block), and barrier is big at a distance from operation boundary
When the first pre-determined distance threshold value, controls mobile device in the operating area and do the barrier that do not detour, not reduction of speed, no
The movement of any one in hovering or various ways.Illustrate position that barrier is currently located to the current work of mobile device
It will not have an impact, it is meant that, which will not generate danger to the operation of mobile device, then mobile device is to the obstacle
Object does accessible processing, the movement speed for keeping mobile device current, and the barrier that do not detour.Specifically, as it was noted above, working as
Judge that barrier will not influence the movement of mobile device by pending movement routine information, the obstacle position information
When, and in barrier outside current work boundary of land block, and when being greater than at a distance from boundary fixed value (such as 12 meters), say
The bright barrier will not influence the movement of mobile device completely.At this point, mobile device of the control in the operating area do not around
The row barrier, not reduction of speed, do not hover in the movement of any one or various ways, i.e., in control current work region
Mobile device does the processing of not avoidance to the barrier, and control mobile device is moved according to pending movement routine information
It is dynamic.Therefore mobile device when operation, does not have to implement avoidance operation to the barrier, since mobile device is not to the barrier in plot
Hinder object to do invalid avoidance operation, and then improves the operating efficiency of mobile device.
Further, in a kind of wherein embodiment, as shown in figure 3, further including S600.
S600: when the barrier is located at outside current work region, and the barrier is located at a distance from operation boundary
When within the scope of second pre-determined distance, control mobile device moves within the scope of the first pre-set velocity or slows down movement.
When mobile device is in current work region, if barrier is located at outside current work region, there is also other one
Kind situation, i.e. barrier are too near to boundary of land block, cause the barrier that may will affect movement (barrier and the work of mobile device
The distance on industry boundary is located within the scope of second pre-determined distance, and such as the second pre-determined distance range is 0~4 meter, and obstacle
Object is 2 meters at a distance from operation boundary), at this point, control mobile device moves within the scope of the first pre-set velocity, this is first default
Threshold speed can be less than the current movement speed of mobile device, i.e. mobile device is at the uniform velocity moved with lower speed, Huo Zheyi
Dynamic device gradually decreases the speed of its movement.For example, the movement speed in mobile device is too fast, perhaps hovering not in time or
When mobile device part breaks down, when causing mobile device that may collide barrier, mobile device is damaged, is mentioned
Preceding reduction mobile device speed, so that mobile device can hover in time when soon close to the barrier, avoid mobile device
Barrier is collided, mobile device is caused to be damaged.Barrier may will affect the case where mobile device operation, such as in mobile device
When flying speed is too fast, hovering distance is longer, causes it that may strike the barrier, damage movement during hovering
Device；Particularly, when mobile device is aircraft, in its operation process, corresponding wing or tail may be touched
Encounter barrier, and then influences aircraft operation.Therefore, in aforementioned process, need to control mobile device deceleration movement, so as to
It can be hovered in time with mobile device, avoid the barrier from damaging the latter to mobile device and mobile device operation is caused not
The avoidance processing of mobile device is realized in good influence.
Further, in a kind of wherein embodiment, as shown in figure 4, further including S700.
S700: when the barrier is located in current work region, and the barrier is less than at a distance from mobile device
When third pre-determined distance threshold value, the hovering of control mobile device and/or the barrier that detours.
On the basis of above, by the location information of pending movement routine information and barrier, barrier is determined
It is less than third pre-determined distance threshold value (such as 5 meters) at a distance from mobile device, illustrates that the barrier will be to the operation of mobile device
Deleterious effect is generated, for example aircraft is caused to fall, is easy to lead close to the barrier in operation process in mobile device
It causes mobile device to knock the barrier, damages mobile device.At current work region larger (block area is larger), and obstacle
Object apart from mobile device farther out when, first reduce mobile device speed so that mobile device is soon close to the mobile device
When, it can hover in time, mobile device is avoided to knock the barrier；At current work region larger (block area is larger),
And obstacle distance mobile device it is closer when, i.e., barrier at a distance from mobile device be less than third pre-determined distance threshold value when, then
The movement speed of mobile device is adjusted immediately, so that mobile device hovers in time before knocking barrier or can get around this
Barrier.When current work region is smaller, when barrier is less than third pre-determined distance threshold value at a distance from mobile device, then stand
The movement speed for adjusting mobile device, so that mobile device is hovered in time before knocking barrier；In situation above-mentioned,
The movement speed for adjusting mobile device, so that mobile device adjusts the speed of mobile device in time before knocking barrier.?
In one of embodiment, determine barrier or influence mobile device operation when, and between barrier and mobile device away from
When from being greater than third pre-determined distance threshold value, mobile device reduction of speed can also be controlled and the barrier that detours, mobile device is avoided to hit
The upper barrier, while will not influence the operating efficiency of mobile device.
It should be noted that in aforementioned process, it is right when determining that whether barrier falls in inside and outside current work boundary of land block
In the boundary of land block for polygon, it can be used and calculate the method for geometry that point arrives line, easily calculate the obstacle of some position
Whether object falls in boundary.Similarly, can also be calculated according to method of geometry the point of barrier to pending movement routine away from
From so that it is determined that whether barrier influences the movement of mobile device, such as the barrier inside operating area, positioned at current
The side of mobile device, does not influence the movement of mobile device, then does not need to execute the barrier avoidance operation.
Further, in a kind of wherein embodiment, as shown in figure 5, further including S800.
S800: when the mobile device at a distance from the operation boundary of operating area less than the 4th pre-determined distance threshold value, and
When barrier except operation boundary is greater than the 5th pre-determined distance threshold value at a distance from the mobile device, control mobile device is held
The capable barrier that do not detour, not reduction of speed, do not hover in any one mode movement.
Mobile device apart from current work region job frontier distance it is closer apart from when, while obstacle distance make
When the distance on industry boundary is greater than five threshold values, and barrier illustrates to be moved to distance even if mobile device except boundary of land block
Operation boundary it is closer apart from when, which equally will not influence the movement of mobile device.At this point, control mobile device executes
Do not detour the barrier, not reduction of speed, do not hover in any various ways movement, i.e. mobile device executes not the barrier
The treatment measures of avoidance, mobile device can persistently pre-set in pending movement routine or current speed is moved
It is dynamic.Specifically, for example in mobile device apart from current work region job frontier distance in 10 meters, and outside current work region
Obstacle distance operation boundary distance be greater than 15 meters, it is ensured that mobile device in pending movement routine continue with
It pre-sets or the movement of present speed safety.Mobile device opposite side is avoided to do invalid keep away out-of-bounds and apart from farther away barrier
Hinder treatment measures.
Further, it in the acquisition obstacle position information the step of, specifically includes:
The location information of barrier is determined by the sensor in the mobile device.
It, can be by being configured in mobile device when on the mobile device configured with the sensor that can obtain object location information
Sensor obtain barrier location information.Preferably, implement body such as visual sensor, linear array radar sensor, milli are sensed
It is metre wave radar sensor, ultrasonic sensor, any a variety of in pyroelectric infrared sensor.
Further, in a kind of wherein embodiment, as shown in fig. 6, in the biography by the mobile device
Sensor determined in the step of location information of barrier, specifically included step S211, S212, S213.
S211: the mobile message of the mobile device is obtained；
S212: determine that the relative position of barrier and the mobile device is believed by the sensor in the mobile device
Breath；
S213: according to the barrier and the relative position information of the mobile device and the mobile letter of the mobile device
Breath determines the location information of the barrier.
In the process, mobile device obtains the mobile message of itself by self-contained sensor, or obtains and use
The mobile message of the mobile device of family setting, specifically, mobile message includes: including location information, moving direction, mobile speed
Degree, translational acceleration.For example, being hindered when sensor is binocular camera shooting device by the principle of parallax based on binocular camera shooting device
Hinder the relative position information of object and mobile device, relative position information includes barrier at a distance from mobile device and obstacle
Direction of the object relative to mobile device, in the process, by two cameras separated by a distance of binocular camera shooting device come
The two images for obtaining same tested scene obtain field according to the pixel deviations between triangle principle calculating two images corresponding points
The three-dimensional information (including camera at a distance from obstructing objects, the distance between barrier and barrier object etc.) in scape space.
Wherein, when obtaining the relative position information of barrier and mobile device, moreover it is possible to based on Pixel Information in image and camera shooting dress
It sets inner parameter and external parameter is applied in relationship between world coordinate system, photographic device coordinate system, image coordinate system, really
Determine the specific location information of barrier (coordinate value in photographic device coordinate system or world coordinate system).This and human eye perceive
The principle of object dimensional information is similar.This will not be repeated here.
Further, in a kind of wherein embodiment, as shown in fig. 7, in the biography by the mobile device
Sensor determined in the step of location information of barrier, specifically included step S214, S215, S216.
S214: continuous several times obtain the mobile message of the mobile device；
S215: determine that barrier is opposite with the mobile device by the sensor continuous several times in the mobile device
Location information；
S216: according to the relative position information and continuous several times of the barrier of continuous several times and the mobile device
The mobile message of the mobile device determines the location information of the barrier.
As it was noted above, mobile device obtains the mobile message of itself by self-contained sensor, or obtains and use
The mobile message of the mobile device of family setting, specifically, mobile message includes: including location information, moving direction, mobile speed
Degree, translational acceleration.For example, mobile device can not lead to when being configured with the distance measuring sensors such as millimetre-wave radar on the mobile device
The specific direction that the distance measuring sensors such as millimetre-wave radar obtain barrier is crossed, for example, millimeter wave range radar is merely able to know
There is a barrier at 10 meters in front of road, but can not know which direction the barrier is particularly located at, however, in some cases
Under, barrier is located at the side of mobile device, does not interfere with the movement of mobile device.Therefore, for being located at mobile dress
It sets side and does not interfere with the barrier of mobile device, mobile device can not take avoidance measure.And it is dynamic in mobile device
During state is mobile, if mobile device turns in moving process, mobile device may detect the obstacle positioned at its side at this time
Distance of the object relative to mobile device, in conjunction with the location information and mobile device itself of the barrier got in aforementioned process
Mobile message, determine relative position information of the barrier relative to mobile device, i.e. side of the barrier relative to mobile device
To, distance etc., and then in the process, by repeatedly obtaining the data of millimetre-wave radar, and then the side of barrier can be determined
To and distance, so that it is determined that the barrier whether should mobile device movement.In one embodiment of the invention, work as use
When millimetre-wave radar, the obstacle distance information of the position of mobile device and millimetre-wave radar was carried out respectively at interval of 0.1 second
Sampling can estimate barrier relative position by Pythagorean theorem and normalization algorithm according to 10 groups of data, specific predictable barrier
Hinder object currently at a distance from mobile device, while predictable barrier may thereby determine that barrier currently with the angle of mobile device
Hinder whether object influences the movement of the mobile device.In an embodiment of the present invention, the continuous several times can be continuous several
Secondary radar data is also possible to be sampled so that it is determined that barrier the data of acquisition according to certain frequency or certain rule
Location information.
Further, it in the acquisition obstacle position information the step of, specifically includes:
The location information of the barrier is obtained by high definition map；Or the barrier is obtained by surveying and mapping data
Location information.
In embodiment provided by the invention, mapping worker can be in advance using hand-held mapping instrument, at practical obstacle object
Record the point accurately latitude and longitude coordinates；Can also be in advance using the mapping aircraft of profession, operation maps out the height in plot
Precision map marks and draws barrier, and then in mobile device moving process on high-precision map, can be according to record obstacle
The location information of barrier is got on the longitude and latitude and high definition map of object.
Further, in a kind of wherein embodiment, as shown in figure 8, in the step for obtaining obstacle position information
It further include S201 and S202 after rapid.
S201: establishing according to the location information of the obstacle position information and the mobile device includes the of barrier
One barrier map；
S202: according to the first barrier map, the danger of barrier described in the first barrier map is identified
Coefficient.
On the basis of above-mentioned, it is opposite can to obtain in real time barrier by self-contained sensing device for mobile device
In the distance and bearing of mobile device, can specifically be determined according to the content for including in aforementioned location information, the characterization side of map
Formula can be one of grating map, the map of tree structure, topological diagram etc..Specifically when establishing map, with mobile dress
The initial transfer point set is origin, establishes current locale coordinate system (it is horizontal coordinates or three-dimensional system of coordinate), is passing through
The laser sensor of mobile device itself carrying or visual sensor etc., determine position of the barrier on the coordinate system, together
When also by sensor above-mentioned determine that mobile device is currently located coordinate value of the geographical location in the coordinate system of current locale, into
And according to obstacle position information and mobile device location information establish grating map as the aforementioned, tree structure map, open up
One of figure etc. is flutterred, and identifies or show barrier in the map.It further, include in plot in the map
Barrier, while further including the barrier outside plot, during pre-processing, first to described in the first barrier map
Barrier identifies danger coefficient, and its danger coefficient is marked with the danger coefficient that barrier is located at barrier in boundary of land block
Know.For example, the danger coefficient of barrier is 3 in boundary of land block, then it is to the dangerous of barrier in entire first barrier map
Number is identified as 3, and then updates map for the later period, excludes not generate danger to mobile device operation in the first barrier map
Barrier.
Further, in a kind of wherein embodiment, as shown in figure 9, described according to the pending mobile road
In the step for the movement whether diameter information, the obstacle position information disturbance in judgement object influence the mobile device, comprising:
S310、S320、S330。
S310: when the barrier is located at outside current work region, and the barrier is greater than at a distance from operation boundary
When the 6th pre-determined distance threshold value, the danger coefficient of the barrier is deleted；
S320: when the barrier is located at outside current work region, and the barrier is located at a distance from operation boundary
When within the scope of the 7th pre-determined distance, the danger coefficient of the barrier is reduced；
S330: according to deleting danger coefficient and reducing the barrier of danger coefficient, the second barrier map is obtained.
Further, in a kind of wherein embodiment, as shown in Figure 10, in the mistake for obtaining the second barrier map
After journey S330, comprising:
S340: according to the second barrier map, the influence mobile to the mobile device of disturbance in judgement object.
Further, on the basis of aforementioned process, after the positional relationship for determining barrier and operation boundary, in conjunction with
Whether method above-mentioned just can determine barrier in current work plot and barrier and current work boundary of land block
Between distance, and then convenient for filtering out barrier except boundary of land block and on mobile device operation without influence.Specifically, herein
In the process, when the barrier is located at outside current work region, and the barrier is greater than described the at a distance from operation boundary
When six pre-determined distance threshold values (such as 10 meters), as it was noted above, illustrate the barrier to mobile device the plot operation invariably
Good influence, it is meant that, the barrier to mobile device operation not enough at danger, at this point, delete the danger coefficient of the barrier,
In mobile device operation process, can direct basis barrier danger coefficient determine whether carry out avoidance operation, selection
Or the safer more effective path of planning carries out operation.When the barrier is located at outside current work region, and the obstacle
When object is located at (such as 0 meter~4 meters) within the scope of the 7th pre-determined distance at a distance from operation boundary, illustrate in the 7th pre-determined distance range
Interior barrier may cause deleterious effect to the operation of mobile device, but since it is located at current work boundary of land block
Outside, relatively low with respect to the barrier in boundary of land block to the adverse effect of mobile device.Therefore, the danger of the barrier is reduced
Dangerous coefficient (being such as reduced to 1 from 3) indicates that barrier is located at the 7th pre-determined distance range at a distance from operation boundary, at this point, moving
Dynamic device can take measure corresponding with the danger coefficient, such as the danger coefficient to correspond to according to the danger coefficient of barrier
To be mobile device mobile by the near pre-set velocity threshold value of speed, and the current speed of mobile device is greater than pre-set velocity threshold value,
When the current speed of mobile device is less than the pre-set velocity threshold value, then mobile device takes no action to or mobile device
Slow down and moves.In process above-mentioned, the danger coefficient of barrier in the first barrier map is deleted and reduced, is based on the mistake
After journey, the second barrier map is obtained, the second barrier map is used to indicate danger of the mobile device according to obstacle in the map
Dangerous coefficient carries out corresponding avoidance operation, so avoid mobile device to current work boundary of land block outside and to mobile device operation without
Dysgenic barrier makes invalid avoidance operation, improves the operating efficiency of mobile device.During based on above-mentioned,
Just the relationship between barrier and operation boundary has been determined, particular content repeats no more.
Further, in a kind of wherein embodiment, as shown in figure 11, described according to the pending mobile road
It is specific to wrap in the step for the movement whether diameter information, the obstacle position information disturbance in judgement object influence the mobile device
It includes: S350, S360, S370.
S350: according to the operation boundary information and the mobile device location information determine the mobile device with it is described
The distance between operation boundary in front of mobile device moving direction；
S360: the barrier and movement are determined according to the obstacle position information and the mobile device location information
The distance between device；
S370: compare the distance between operation boundary in front of the mobile device and the mobile device moving direction and
Whether the distance between the barrier and mobile device, disturbance in judgement object influence the movement of the mobile device.
In moving part device, assembly sensor is only capable of obtaining the distance of barrier thereon, such as such as millimetre-wave radar
Sensor, ultrasonic sensor or tof sensor etc..Since under routine, distance measuring sensor is preceding dress in mobile device, that is, install
In the front of mobile device, and then the available barrier on heading, in the feelings that mobile device heading determines
Under condition, distance of the mobile device front obstacle apart from mobile device just can determine, in boundary of land block location information and movement
In the case that device location information determines, in conjunction with process above-mentioned, the distance between boundary of land block and mobile device are obtained (as led to
It crosses and is a little determined to the linear distance of straight line by geometry calculation method)；Specifically, comparing the mobile device and the mobile dress
The distance between operation boundary in front of moving direction and the distance between the barrier and mobile device are set, according to comparison
As a result whether the movement of corresponding intrument has an impact disturbance in judgement object, can be taken according to judging result above-mentioned pair so as to subsequent
Answer measure.
Further, the pending movement of the mobile device is determined in the operation boundary information by operating area
Before the step of routing information, comprising:
The surveying and mapping data set by user for being used to indicate operation borderline region is obtained, according to described in surveying and mapping data determination
Operation boundary information.
Further, the pending movement of the mobile device is determined in the operation boundary information by operating area
Before the step of routing information, comprising:
Realtime graphic is obtained, obtains the operation borderline region information according to default training pattern and the realtime graphic.
Preferably, the default training pattern includes training pattern neural network based.
Further, the pending movement of the mobile device is determined in the operation boundary information by operating area
Before the step of routing information, comprising:
Receive the operation borderline region information that user sends.
Further, the pending movement of the mobile device is determined in the operation boundary information by operating area
Before the step of routing information, specifically include:
Default map is obtained, obtains the operation boundary information according to the default map.
In embodiment provided by the invention, hand-held mapping instrument is can be used in mapping worker, in turning for practical boundary of land block
The point accurately latitude and longitude coordinates are recorded at angle, these latitude and longitude coordinates are connected one by one, and plot is characterized in the form of polygon
Boundary；Also the mapping aircraft of profession can be used, operation maps out the high-precision map in plot, on high-precision map, mark
Draw the boundary in plot；Also it can be used and manually control unmanned plane, got ready in the course line starting point to be flown and clearing end, recorded
The position of lower boundary, this mode become AB dot pattern in plant protection field.In addition, being moved in embodiment provided by the invention
When being configured with visual sensor on dynamic device, by visual sensor captured in real-time picture, which is identified, really
The boundary of settled preceding operating area (operation plot).A kind of embodiment wherein simultaneously, the visual sensor can also simultaneously according to
Determine that mobile device carries out processing acquisition depth at a distance from boundary of land block, such as to realtime graphic according to the image of captured in real-time
Figure, the inside and outside parameter of the depth map combination visual sensor, definitely block boundary locations information and boundary of land block and movement fill
The distance between set.It certainly, can also be by implementing image acquired disturbance object when being configured with visual sensor on the mobile device
The distance between mobile device and the distance between mobile device and barrier.Specifically, can also pass through when image recognition
Machine training pattern carries out image recognition, such as the training pattern of neural network.
Further, after the determining operation boundary information, further includes:
Determine operation boundary buffer area according to the operation boundary information, for example, can by outward plus wide-bound method,
So that the barrier of the buffer area can be taken into account, be avoided when being moved to boundary edge and needing to turn by mobile device
In this process, friction or collision occur for the part-structure in mobile device and barrier.
Further, it in the moving process whether the disturbance in judgement object influences the mobile device, specifically includes:
Determine whether barrier influences the movement of mobile device according to fuselage size.
Further, it in the moving process whether the disturbance in judgement object influences the mobile device, specifically includes:
Mobile cushioning area is determined by mobile device size and pending path.
Due to mobile device itself size will affect barrier and its distance between, when mobile device is bigger, need
Want obstacle distance mobile device farther, and then by the wide setting mobile cushioning area that grows tall of mobile device itself, therefore, wait hold
After capable path determines, plus the height of mobile device, the width and length of the widest part on pending path.For example,
Unmanned plane with wing, the both ends lie farthest away of two wings, therefore, when measuring barrier, in pending movement routine
It is upper to add the distance between two wing distalmost end, and be mobile cushioning area；If pending movement routine is located at mobile device axis
When on line, in the two sides of pending movement routine plus the half of the distance between two wing distalmost end, then pending shifting
Whether two wing distalmost end of dynamic path two sides are the mobile cushioning area of mobile device apart from half, influence to move in disturbance in judgement object
Dynamic device it is mobile when, while considering the width in mobile cushioning area.The barrier being located in mobile cushioning area is avoided to influence movement
Device is mobile.
Further, the barrier do not influence the mobile device it is mobile when control the mobile device not around
Row, not reduction of speed, do not hover in any one or the moving process of various ways, specifically include:
Determine that the barrier in mobile device moving direction front preset angular range does not influence the shifting of the mobile device
It is dynamic.
Since sensor can only determine the location information of the interior barrier of certain angle on its detection direction,
When the sensor configured in mobile device determines the location information of barrier, according to the range of the detection angle of sensor, setting
Mobile device moving direction front preset angular range (such as 60 ° to 120 °), size and biography of the predetermined angle according to mobile device
The detection angle range of sensor determines.Barrier within the scope of the predetermined angle does not influence the movement of the mobile device, i.e.,
There are when barrier within the scope of 60 ° to 120 ° in front of the moving direction of mobile device, and analysis above-mentioned is combined, it can be true
The fixed barrier does not influence the movement of mobile device, and specific pending movement routine is located on angular bisector.
A kind of mobile device control method provided in the embodiment of the present invention, in a kind of wherein embodiment, such as Figure 12
It is shown, comprising: first movement routing information obtains module 100, the first obstacle position information obtains module 200, first and judges
Module 300, the first execution module 400.
First movement routing information obtains module 100, for obtaining the pending movement routine information of current mobile devices；
First obstacle position information obtains module 200, for obtaining obstacle position information；
First judgment module 300, for sentencing according to the pending movement routine information, the obstacle position information
Whether disconnected barrier influences the movement of the mobile device；
First execution module 400, for the barrier do not influence the mobile device it is mobile when, control mobile dress
Set do do not detour, not reduction of speed, do not hover in the movement of any one or various ways；The movement is influenced in the barrier
Device it is mobile when, control the mobile device and detour and/or hovering.
It can be pre-seted before mobile device operation in order to avoid mobile device repeats operation and operation uniform high-efficiency
Mobile device according to route and be not in repetition operation course line, user is mainly provided that the boat of mobile device operation
Line information (the pending movement routine information of mobile device as of the present invention), the pending movement routine information can also
It, can be according to the movement road when mobile device gets movement routine information to determine operation course line by remote manual control information
Diameter information (movement routine information) generates mobile device work route, in order to which mobile device can be carried out according to the work route
Regular high-efficiency homework.Specifically, only being considered when the information is arranged due to what is generated in advance when movement routine information
Mobile device will barrier in operating area when setting.However, after pending routing information is provided with and
Before mobile device operation, it is also possible to the barrier of new influence mobile device operation occur, therefore in mobile device operation
In the process, it is also necessary in real time with the presence or absence of the new barrier for influencing its operation in identification current work plot.In mobile device
During operation, the obstacle position information on mobile device current work direction front or periphery is obtained in real time, is being obtained
When to specific obstacle information, it is according to the location information of barrier and pending movement routine information disturbance in judgement object
The no movement for influencing mobile mobile device.Pending movement routine information is parallel to certain on one side along starting point for mobile device
Boundary of land block linear movement, if the barrier is located exactly at the centre of pending movement routine, illustrate the barrier influence
The movement of mobile device controls mobile device at this time and detours the barrier, avoid barrier influence mobile device movement and
Mobile device hits barrier damage mobile device；If the barrier is located at the side of pending movement routine, illustrate this
Barrier is likely to affect the movement of mobile device, controls mobile device hovering at this time, barrier is avoided to influence mobile device
Movement and mobile device hit the barrier damage mobile device；If getting barrier in boundary of land block and/or plot
Outside boundary, however the pending linear distance of the obstacle distance mobile device farther out (a for example, preset threshold) when, explanation
The barrier does not influence the movement of mobile device.The Obstacle Position coordinate can be latitude and longitude coordinates, but does not limit and be
Latitude and longitude coordinates.
Further, it is obtained among module in the first movement routing information, specifically includes first movement routing information
Acquiring unit.
First movement route information acquisition unit determines the mobile dress for the operation boundary information by operating area
Set pending movement routine information.
As it was noted above, pending movement routine information is mainly the shifting of mobile device operation in current work region
Dynamic routing information.The boundary information in current work region is known that the geographical location information in current work region, operating area
Size, the shape in plot of (plot) area etc., according in the information setting mobile device moving process in current work region
Initial position, turning position, rest position etc..For example, marking the central point of a certain narrow side when it is rectangle that plot, which is shape,
For the starting point of mobile device, while being parallel to two long sides and being moved to one end far from the narrow side with long side.It is specific such as rectangular
The parallel narrow side of the two of shape is AB and CD, two long sides are AD and BD, and mobile device is mobile dress with the geographical location of AB intermediate point
The initial position set, rest position are the geographical location of CD intermediate point, and path is to be parallel to AD and BD movement, therefore, mobile dress
The geographical location that AD and BD is moved to CD intermediate point is parallel to when setting mobile since the geographical location of AB intermediate point.
It further, further include the second execution module.
Second execution module, for being located at outside current work region when the barrier, and the barrier and operation side
When the distance on boundary is greater than the first pre-determined distance threshold value, the mobile device controlled in the operating area does the obstacle that do not detour
Object, not reduction of speed, do not hover in the movement of any one or various ways.
When determining barrier outside current work region except (boundary of land block), and barrier is big at a distance from operation boundary
When the first pre-determined distance threshold value, controls mobile device in the operating area and do the barrier that do not detour, not reduction of speed, no
The movement of any one in hovering or various ways.Illustrate position that barrier is currently located to the current work of mobile device
It will not have an impact, it is meant that, which will not generate danger to the operation of mobile device, then mobile device is to the obstacle
Object does accessible processing, the movement speed for keeping mobile device current, and the barrier that do not detour.Specifically, as it was noted above, working as
Judge that barrier will not influence the movement of mobile device by pending movement routine information, the obstacle position information
When, and in barrier outside current work boundary of land block, and when being greater than at a distance from boundary fixed value (such as 12 meters), say
The bright barrier will not influence the movement of mobile device completely.At this point, mobile device of the control in the operating area do not around
The row barrier, not reduction of speed, do not hover in the movement of any one or various ways, i.e., in control current work region
Mobile device does the processing of not avoidance to the barrier, and control mobile device is moved according to pending movement routine information
It is dynamic.Therefore mobile device when operation, does not have to implement avoidance operation to the barrier, since mobile device is not to the barrier in plot
Hinder object to do invalid avoidance operation, and then improves the operating efficiency of mobile device.
It further, further include third execution module.
Third execution module, for being located at outside current work region when the barrier, and the barrier and operation side
When the distance on boundary is located within the scope of second pre-determined distance, control mobile device moves or subtracts within the scope of the first pre-set velocity
Speed is mobile.
When mobile device is in current work region, if barrier is located at outside current work region, there is also other one
Kind situation, i.e. barrier are too near to boundary of land block, cause the barrier that may will affect movement (barrier and the work of mobile device
The distance on industry boundary is located within the scope of second pre-determined distance, and such as the second pre-determined distance range is 1~4 meter, and obstacle
Object is 2 meters at a distance from operation boundary), at this point, control mobile device threshold value within the scope of the first pre-set velocity is mobile, and this
One pre-set velocity threshold value can be less than the current movement speed of mobile device, i.e. mobile device is at the uniform velocity moved with lower speed,
Or mobile device gradually decreases the speed of its movement.For example, the movement speed in mobile device is too fast, or hovering is too late
When or mobile device part break down when, when causing mobile device that may collide barrier, mobile device is caused
Damage reduces mobile device speed, so that mobile device can hover in time, avoid when soon close to the barrier in advance
Mobile device collides barrier, and mobile device is caused to be damaged.Barrier may will affect the case where mobile device operation, such as exist
When mobile device flying speed is too fast, hovering distance is longer, causes it that may strike the barrier during hovering,
Damage mobile device；Particularly, when mobile device is aircraft, in its operation process, corresponding wing or tail
Barrier may be touched, and then influences aircraft operation.Therefore, in aforementioned process, need to control mobile device deceleration
It is mobile, to hover in time with mobile device, the barrier is avoided to damage the latter to mobile device to mobile device
Operation causes undesirable influence, realizes the avoidance processing of mobile device.
It further, further include the 4th execution module.
4th execution module, for being located in current work region when the barrier, and the barrier and mobile dress
When the distance set is less than third pre-determined distance threshold value, the hovering of control mobile device and/or the barrier that detours.
On the basis of above, by the location information of pending movement routine information and barrier, barrier is determined
It is less than third pre-determined distance threshold value (such as 5 meters) at a distance from mobile device, illustrates that the barrier will be to the operation of mobile device
Deleterious effect is generated, is easy to cause mobile device to knock the barrier close to the barrier in operation process in mobile device
Hinder object, damages mobile device.At current work region larger (block area is larger), and obstacle distance mobile device is farther out
When, the speed of mobile device is reduced first, so that mobile device can hover in time, keep away when soon close to the mobile device
Exempt from mobile device and knocks the barrier；At current work region larger (block area is larger), and the mobile dress of obstacle distance
When setting closer, i.e., when barrier is less than third pre-determined distance threshold value at a distance from mobile device, then mobile device is adjusted immediately
Movement speed, so that mobile device hovers in time before knocking barrier or can get around the barrier.In current work
When region is smaller, when barrier is less than third pre-determined distance threshold value at a distance from mobile device, then mobile device is adjusted immediately
Movement speed, so that mobile device is hovered in time before knocking barrier；In situation above-mentioned, the shifting of mobile device is adjusted
Dynamic speed, so that mobile device adjusts the speed of mobile device in time before knocking barrier.A kind of embodiment wherein
In, when determining barrier or influencing mobile device operation, and the distance between barrier and mobile device be greater than third it is default away from
When from threshold value, mobile device reduction of speed can also be controlled and the barrier that detours, avoid mobile device from knocking the barrier, while not
It will affect the operating efficiency of mobile device.
It should be noted that in aforementioned process, it is right when determining that whether barrier falls in inside and outside current work boundary of land block
In the boundary of land block for polygon, it can be used and calculate the method for geometry that point arrives line, easily calculate the obstacle of some position
Whether object falls in boundary.
It further, further include the 5th execution module.
5th execution module, for being preset at a distance from the operation boundary of operating area less than the 4th when the mobile device
Distance threshold, and the barrier except operation boundary at a distance from the mobile device be greater than the 5th pre-determined distance threshold value when, control
Mobile device processed execute the barrier that do not detour, not reduction of speed, do not hover in any one mode movement.
Mobile device apart from current work region job frontier distance it is closer apart from when, while obstacle distance make
When the distance on industry boundary is greater than five threshold values, and barrier illustrates to be moved to distance even if mobile device except boundary of land block
Operation boundary it is closer apart from when, which equally will not influence the movement of mobile device.At this point, control mobile device executes
Do not detour the barrier, not reduction of speed, do not hover in any one mode movement, i.e., mobile device to the barrier execute not
The treatment measures of avoidance, mobile device can persistently pre-set in pending movement routine or current speed is moved
It is dynamic.Specifically, for example in mobile device apart from current work region job frontier distance in 10 meters, and outside current work region
Obstacle distance operation boundary distance be greater than 15 meters, it is ensured that mobile device in pending movement routine continue with
It pre-sets or the movement of present speed safety.Mobile device opposite side is avoided to do invalid keep away out-of-bounds and apart from farther away barrier
Hinder treatment measures.
Further, it is obtained in module in first obstacle position information, specifically includes the first Obstacle Position letter
Cease acquiring unit.
First obstacle position information acquiring unit, for determining barrier by the sensor in the mobile device
Location information.
It, can be by being configured in mobile device when on the mobile device configured with the sensor that can obtain object location information
Sensor obtain barrier location information.Preferably, implement body such as visual sensor, linear array radar sensor, milli are sensed
It is metre wave radar sensor, ultrasonic sensor, any a variety of in pyroelectric infrared sensor.
Further, it in a kind of wherein embodiment, as shown in figure 13, is obtained in first obstacle position information
It in form unit, specifically includes: first movement information acquisition unit 211, the first relative position information acquiring unit 212, second barrier
Hinder object location information acquisition unit 213.
First movement information acquisition unit 211, for obtaining the mobile message of the mobile device；
First relative position information acquiring unit 212, for determining barrier by the sensor in the mobile device
With the relative position information of the mobile device；
Second obstacle position information acquiring unit 213, for opposite with the mobile device according to the barrier
Location information and the mobile message of the mobile device determine the location information of the barrier.
In the process, mobile device obtains the mobile message of itself by self-contained sensor, or obtains and use
The mobile message of the mobile device of family setting, specifically, mobile message includes: including location information, moving direction, mobile speed
Degree, translational acceleration.For example, being hindered when sensor is binocular camera shooting device by the principle of parallax based on binocular camera shooting device
Hinder the relative position information of object and mobile device, relative position information includes barrier at a distance from mobile device and obstacle
Direction of the object relative to mobile device, in the process, by two cameras separated by a distance of binocular camera shooting device come
The two images for obtaining same tested scene obtain field according to the pixel deviations between triangle principle calculating two images corresponding points
The three-dimensional information (including camera at a distance from obstructing objects, the distance between barrier and barrier object etc.) in scape space.
Wherein, when obtaining the relative position information of barrier and mobile device, moreover it is possible to based on Pixel Information in image and camera shooting dress
It sets inner parameter and external parameter is applied in relationship between world coordinate system, photographic device coordinate system, image coordinate system, really
Determine the specific location information of barrier (coordinate value in photographic device coordinate system or world coordinate system).This and human eye perceive
The principle of object dimensional information is similar.This will not be repeated here.
Further, it in a kind of wherein embodiment, as shown in figure 14, is obtained in first obstacle position information
In form unit, the second mobile information acquisition unit 214, the second relative position information acquiring unit 215, third obstacle are specifically included
Object location information acquisition unit 216.
Second mobile information acquisition unit 214, the mobile message of the mobile device is obtained for continuous several times；
Second relative position information acquiring unit 215, for true by the sensor continuous several times in the mobile device
Determine the relative position information of barrier Yu the mobile device；
Third obstacle position information acquiring unit 216, for according to the barriers of continuous several times and the movement
The mobile message of the mobile device of the relative position information and continuous several times of device determines the location information of the barrier.
As it was noted above, mobile device obtains the mobile message of itself by self-contained sensor, or obtains and use
The mobile message of the mobile device of family setting, specifically, mobile message includes: including location information, moving direction, mobile speed
Degree, translational acceleration.For example, mobile device can not lead to when being configured with the distance measuring sensors such as millimetre-wave radar on the mobile device
The specific direction that the distance measuring sensors such as millimetre-wave radar obtain barrier is crossed, for example, range radar is merely able to know front
There is a barrier at 10 meters, but can not know which direction the barrier is particularly located at, however, in some cases, barrier
Hinder level in the side of mobile device, it is made not interfere with the movement of mobile device.Therefore, for being located at mobile device side
Side and the barrier for not interfering with mobile device, mobile device can not take avoidance measure.And it is moved in mobile device dynamic
In dynamic process, if mobile device turns in moving process, mobile device may detect the barrier phase positioned at its side at this time
For the distance of mobile device, in conjunction with the location information of the barrier got in aforementioned process and the shifting of mobile device itself
Dynamic information, determines relative position information of the barrier relative to mobile device, i.e., barrier relative to mobile device direction, away from
From etc., and then in the process, by repeatedly obtaining the data of millimetre-wave radar, and then can determine barrier direction and away from
From, so that it is determined that the barrier whether should mobile device movement.
Further, it is obtained in module in first obstacle position information, specifically includes the 4th Obstacle Position letter
Cease acquiring unit.
4th obstacle position information acquiring unit, for obtaining the location information of the barrier by high definition map；
Or the location information of the barrier is obtained by surveying and mapping data.
In embodiment provided by the invention, mapping worker can be in advance using hand-held mapping instrument, at practical obstacle object
Record the point accurately latitude and longitude coordinates；Can also be in advance using the mapping aircraft of profession, operation maps out the height in plot
Precision map marks and draws barrier, and then in mobile device moving process on high-precision map, can be according to record obstacle
The location information of barrier is got on the longitude and latitude and high definition map of object.
It further, further include that the first barrier map obtains module,
It further, further include danger coefficient mark module.
First barrier map obtains module, for the position according to the obstacle position information and the mobile device
Information establishes the first barrier map including barrier；
Danger coefficient mark module, for identifying in the first barrier map according to the first barrier map
The danger coefficient of the barrier.
On the basis of above-mentioned, it is opposite can to obtain in real time barrier by self-contained sensing device for mobile device
In the distance and bearing of mobile device, can specifically be determined according to the content for including in aforementioned location information, the characterization side of map
Formula can be one of grating map, the map of tree structure, topological diagram etc..Specifically when establishing map, with mobile dress
The initial transfer point set is origin, establishes current locale coordinate system (it is horizontal coordinates or three-dimensional system of coordinate), is passing through
The laser sensor of mobile device itself carrying or visual sensor etc., determine position of the barrier on the coordinate system, together
When also by sensor above-mentioned determine that mobile device is currently located coordinate value of the geographical location in the coordinate system of current locale, into
And according to obstacle position information and mobile device location information establish grating map as the aforementioned, tree structure map, open up
One of figure etc. is flutterred, and identifies or show barrier in the map.It further, include in plot in the map
Barrier, while further including the barrier outside plot, during pre-processing, first to described in the first barrier map
Barrier identifies danger coefficient, and its danger coefficient is marked with the danger coefficient that barrier is located at barrier in boundary of land block
Know.For example, the danger coefficient of barrier is 3 in boundary of land block, then it is to the dangerous of barrier in entire first barrier map
Number is identified as 3, and then updates map for the later period, excludes not generate danger to mobile device operation in the first barrier map
Barrier.
Further, in a kind of wherein embodiment, as shown in figure 15, in the first judgment module, comprising: delete
Except unit 310, danger coefficient reduce unit 320, the second barrier map acquiring unit 330.
Unit 310 is deleted, for being located at outside current work region when the barrier, and the barrier and operation boundary
Distance be greater than the 6th pre-determined distance threshold value when, delete the danger coefficient of the barrier；
Danger coefficient reduces unit 320, for being located at outside current work region when the barrier, and the barrier and
When the distance on operation boundary is located within the scope of the 7th pre-determined distance, the danger coefficient of the barrier is reduced；
Second barrier map acquiring unit 330, for according to the barrier for deleting danger coefficient and reduction danger coefficient
Hinder object, obtains the second barrier map.
It further, further include the first judging unit.
First judging unit, for according to the second barrier map, disturbance in judgement object to be mobile to the mobile device
Influence.
Further, on the basis of aforementioned process, after the positional relationship for determining barrier and operation boundary, in conjunction with
Whether method above-mentioned just can determine barrier in current work plot and barrier and current work boundary of land block
Between distance, and then convenient for filtering out barrier except boundary of land block and on mobile device operation without influence.Specifically, herein
In the process, when the barrier is located at outside current work region, and the barrier is greater than described the at a distance from operation boundary
When six pre-determined distance threshold values (such as 10 meters), as it was noted above, illustrate the barrier to mobile device the plot operation invariably
Good influence, it is meant that, the barrier to mobile device operation not enough at danger, at this point, delete the danger coefficient of the barrier,
In mobile device operation process, can direct basis barrier danger coefficient determine whether carry out avoidance operation, selection
Or the safer more effective path of planning carries out operation.When the barrier is located at outside current work region, and the obstacle
When object is located at (such as 0 meter~4 meters) within the scope of the 7th pre-determined distance at a distance from operation boundary, illustrate in the 7th pre-determined distance
Barrier in range may cause deleterious effect to the operation of mobile device, but since it is located at current work plot
It is relatively low with respect to the barrier in boundary of land block to the adverse effect of mobile device outside boundary.Therefore, the barrier is reduced
Danger coefficient (being such as reduced to 1 from 3), indicate barrier with operation boundary at a distance from positioned at the 7th pre-determined distance range, this
When, mobile device can take measure corresponding with the danger coefficient, such as danger system according to the danger coefficient of barrier
Number is corresponding, and to be mobile device mobile by the near pre-set velocity threshold value of speed, and the current speed of mobile device is greater than pre-set velocity
The maximum value of threshold value, when the current speed of mobile device is less than the pre-set velocity threshold value, then mobile device takes no action to,
Or mobile device deceleration movement.In process above-mentioned, the danger of barrier in the first barrier map is deleted and reduced
Coefficient obtains the second barrier map based on after the process, and the second barrier map is used to indicate mobile device according to the ground
The danger coefficient of obstacle carries out corresponding avoidance operation in figure, so avoid mobile device to current work boundary of land block outside and to shifting
The barrier that dynamic device operation has no adverse effects makes invalid avoidance operation, improves the operating efficiency of mobile device.It is being based on
During above-mentioned, the relationship between barrier and operation boundary is just determined, particular content repeats no more.
Further, as shown in figure 16, specific to wrap in the first judgment module in a kind of wherein embodiment
It includes: the first frontier distance determination unit 350, the first obstacle distance determination unit 360, comparison unit 370.
First frontier distance determination unit 350, for believing according to the operation boundary information and the mobile device position
Breath determines the distance between the operation boundary in front of the mobile device and the mobile device moving direction；
First obstacle distance determination unit 360, for according to the obstacle position information and the mobile device position
Confidence breath determines the distance between the barrier and mobile device；
Comparison unit 370, for comparing the operation boundary in front of the mobile device and the mobile device moving direction
The distance between and the distance between the barrier and mobile device, disturbance in judgement object whether influence the shifting of the mobile device
It is dynamic.
In moving part device, assembly sensor is only capable of obtaining the distance of barrier thereon, such as such as millimetre-wave radar
Sensor, ultrasonic sensor or tof sensor etc..Since under routine, distance measuring sensor is preceding dress in mobile device, that is, install
In the front of mobile device, and then the available barrier on heading, in the feelings that mobile device heading determines
Under condition, distance of the mobile device front obstacle apart from mobile device just can determine, in boundary of land block location information and movement
In the case that device location information determines, in conjunction with process above-mentioned, the distance between boundary of land block and mobile device are obtained (as led to
It crosses and is a little determined to the linear distance of straight line by geometry calculation method)；Specifically, comparing the mobile device and the mobile dress
The distance between operation boundary in front of moving direction and the distance between the barrier and mobile device are set, according to comparison
As a result whether the movement of corresponding intrument has an impact disturbance in judgement object, can be taken according to judging result above-mentioned pair so as to subsequent
Answer measure.
It further, further include that the first boundary information obtains module.
First boundary information obtains module, for obtaining the mapping number set by user for being used to indicate operation borderline region
According to determining the operation boundary information according to the surveying and mapping data.
It further, further include the second boundary data obtaining module.
The second boundary data obtaining module, for obtaining realtime graphic, according to default training pattern and the realtime graphic
Obtain the operation borderline region information.
Preferably, the default training pattern includes training pattern neural network based.
It further, further include that third boundary information obtains module.
Third boundary information obtains module, for receiving the operation borderline region information of user's transmission.
It further, further include that the 4th boundary information obtains module.
4th boundary information obtains module, for obtaining default map, obtains the operation side according to the default map
Boundary's information.
In embodiment provided by the invention, hand-held mapping instrument is can be used in mapping worker, in turning for practical boundary of land block
The point accurately latitude and longitude coordinates are recorded at angle, these latitude and longitude coordinates are connected one by one, and plot is characterized in the form of polygon
Boundary；Also the mapping aircraft of profession can be used, operation maps out the high-precision map in plot, on high-precision map, mark
Draw the boundary in plot；Also it can be used and manually control unmanned plane, got ready in the course line starting point to be flown and clearing end, recorded
The position of lower boundary, this mode become AB dot pattern in plant protection field.In addition, being moved in embodiment provided by the invention
When being configured with visual sensor on dynamic device, by visual sensor captured in real-time picture, which is identified, really
The boundary of settled preceding operating area (operation plot).A kind of embodiment wherein simultaneously, the visual sensor can also simultaneously according to
Determine that mobile device carries out processing acquisition depth at a distance from boundary of land block, such as to realtime graphic according to the image of captured in real-time
Figure, the inside and outside parameter of the depth map combination visual sensor, definitely block boundary locations information and boundary of land block and movement fill
The distance between set.It certainly, can also be by implementing image acquired disturbance object when being configured with visual sensor on the mobile device
The distance between mobile device and the distance between mobile device and barrier.Specifically, can also pass through when image recognition
Machine training pattern carries out image recognition, such as the training pattern of neural network.
It further, further include that operation boundary buffer area obtains module.
Operation boundary buffer area obtains module, for determining operation boundary buffer area according to the operation boundary information.
Since mobile device has certain height, length and width, on operation boundary need that buffer area is arranged,
The operation boundary buffer area is mainly used for the processes such as mobile device turning or movement routine adjustment, so that mobile device can incite somebody to action
The whole region in current work region realizes operation, avoids the Partial Jobs region by proximal border cannot be by mobile device operation
It arrives.Such as can be by outward plus wide-bound method, so that mobile device is when being moved to boundary edge and needing to turn, it can
The barrier of the buffer area is taken into account, is avoided in this process, the part-structure in mobile device rubs with barrier
It wipes or collides.
Further, in the first judgment module, second judgment unit is specifically included.
Second judgment unit, for according to the length of mobile device, height, the wide shifting for determining barrier and whether influencing mobile device
It is dynamic.
Further, in the first judgment module, mobile cushioning area determination unit is specifically included.
Mobile cushioning area determination unit, it is mobile slow for being determined by the length of mobile device, height, width and pending path
Rush area.
Due to mobile device itself size will affect barrier and its distance between, when mobile device is bigger, need
Want obstacle distance mobile device farther, and then by the wide setting mobile cushioning area that grows tall of mobile device itself, therefore, wait hold
After capable path determines, plus the height of mobile device, the width and length of the widest part on pending path.For example,
Unmanned plane with wing, the both ends lie farthest away of two wings, therefore, when measuring barrier, in pending movement routine
It is upper to add the distance between two wing distalmost end, and be mobile cushioning area；If pending movement routine is located at mobile device axis
When on line, in the two sides of pending movement routine plus the half of the distance between two wing distalmost end, then pending shifting
Whether two wing distalmost end of dynamic path two sides are the mobile cushioning area of mobile device apart from half, influence to move in disturbance in judgement object
Dynamic device it is mobile when, while considering the width in mobile cushioning area.The barrier being located in mobile cushioning area is avoided to influence movement
Device is mobile.
Further, in first judgment module, including third judging unit.
Third judging unit, for determining that the barrier in mobile device moving direction front preset angular range does not influence
The movement of the mobile device.
Since sensor can only determine the location information of the interior barrier of certain angle on its detection direction,
When the sensor configured in mobile device determines the location information of barrier, according to the range of the detection angle of sensor, setting
Mobile device moving direction front preset angular range (such as 60 ° to 120 °), size and biography of the predetermined angle according to mobile device
The detection angle range of sensor determines.Barrier within the scope of the predetermined angle does not influence the movement of the mobile device, i.e.,
There are when barrier within the scope of 60 ° to 120 ° in front of the moving direction of mobile device, and analysis above-mentioned is combined, it can be true
The fixed barrier does not influence the movement of mobile device, and specific pending movement routine is located on angular bisector.
A kind of computer readable storage medium provided in an embodiment of the present invention, is stored thereon with computer program, the calculating
The step of machine program realizes mobile device control method described in any technical solution when executing.
A kind of mobile device controlling terminal provided in an embodiment of the present invention, which is characterized in that including processor, memory,
For the memory for storing computer program, the computer program realizes any technical solution when being executed by the processor
The step of described mobile device control method.
A kind of mobile device provided in an embodiment of the present invention, comprising: the computer readable storage medium, the movement
Device controlling terminal, communication module, alignment sensor；
The communication module, for being communicated with ground control unit；
The alignment sensor, for determining current flight position, the obstacle position information of mobile device；
The mobile device controlling terminal is connect with the storage medium, and the storage medium is described for storing program
For the step of executing mobile device control method described in any technical solution when program is run.
Preferably, in a kind of wherein embodiment, the alignment sensor includes imaging sensor and/or radar sensing
Device, described image sensor are used to obtain the realtime graphic in front of mobile device, and the radar sensor is for obtaining barrier
Location information.
Preferably, in a kind of wherein embodiment, the alignment sensor is range sensor, the range sensor
For obtaining mobile device heading front obstacle at a distance from mobile device.
Figure 17 is a kind of structural schematic diagram of mobile device 800 of one embodiment of the invention.Mobile device includes control
Device 810, the controller 810 are connect with one or more sensors or sensing system 801a-c in a wired or wireless fashion.Institute
Stating sensor can be connect by controller LAN (controller area network, CAN) with the controller.Institute
Stating controller 810 can also connect to control the state of the mobile device 800 with one or more actuators 820.
The sensor may include any sensor of this specification description, such as GPS receiver, compass, RTK be fixed
Level sensor, magnetometer, altimeter, range sensor (such as infrared sensor or laser radar sensor), vision or figure
As sensor (such as camera or video camera), photoelectric sensor, motion sensor, touch sensing, pressure sensor, temperature pass
Sensor, Magnetic Sensor etc..
Described image sensor is determined for the obstacle information of mobile device all directions, described image sensor
Including biocular systems, which includes at least two cameras, the three-dimensional of object can be determined by image processing algorithm
Information constructs the threedimensional model of object.
In some embodiments it is possible to by some sensors (such as visual sensor) and field programmable gate array
(field programmable gate array, FPGA, figure on be not shown) connection.It can be by the field-programmable gate array
Column connect with the controller (such as by general purpose memory controller (general purpose memory controller,
GPMC it) connects).In some embodiments it is possible to by some sensors (such as visual sensor) and/or the field-programmable
Gate array is connect with transmission module.The data (such as image data) that the transmission module can be used to obtain the sensor
Send any suitable external equipment or system, such as the terminal or remote equipment of this specification description to.
The controller may include one or more programmable processors (such as central processing unit).The controller can
To be connect with storage medium (such as non-volatile computer-readable medium).The storage medium may include one or more storages
Unit (such as removable medium or external memory, such as SD card or random access memory).In certain embodiments, from described
The data of sensor (such as camera) directly can be transmitted and be stored in the storage unit of the storage medium (such as by straight
Connect internal storage access connection (DMA)).The storage unit of the storage medium can store code and/or program instruction.The control
Device executes the code and/or program instruction, to execute the embodiment of the method for this specification description.For example, the controller can be with
It executes instruction, so that the one or more processors analysis one or more sensors or sensing system of the controller generated
Data, to determine the orientation and/or motion information, the external contact information of detection of the mobile device of this specification description
And/or the external signal information of detection.For another example, the controller can execute instruction, so that one or more of the controller
A processor decides whether that controlling the mobile device independently takes off or land.
The storage unit of the storage medium 830 stores the sensing data from one or more of sensing systems,
The sensing data will be handled by the controller.In certain embodiments, the storage unit can store the mobile device
The external signal information in orientation and/or motion information, the external contact information of detection and/or detection.Alternatively, or in combination with, institute
Stating storage unit can store to control the predetermined of the mobile device or the data prestored (such as scheduled sensing data
Predetermined flight path, speed, acceleration or the direction of threshold value, the parameter to control the actuator, the mobile device).
As previously mentioned, the controller 810 can adjust the shape of the mobile device by one or more actuators 820
State.For example, the controller can control the rotor (such as rotation speed of control rotor) of the mobile device, thus adjust
The mobile device or its component (such as carrier of load, load) are relative to up to six-freedom degree (along the flat of X, Y and Z axis
The rotary motion of shifting movement and roll axis, pitch axis and course axis) space layout.Alternatively, or in combination with, the controller
Speed or acceleration of the adjustable mobile device relative to six-freedom degree.In certain embodiments, the controller
The shifting can be controlled based on position, external contact or the external signal information of scheduled control data or the mobile device
Dynamic device.By handle from one or more sensing systems sensing data, can obtain the mobile device orientation,
External contact or external signal information.For example, the controller may be based on whether to need to take off or land to come for the actuating
Device provides acceleration or deceleration signal.
In various embodiments, the actuator may include motor, it is electron speed regulator, mechanical driving device, hydraulic
Transmission device, pneumatic actuator etc..The motor may include magnetic motor, electrostatic motor or piezoelectric motor.For example,
In some embodiment, the actuator includes brush or brshless DC motor.
The controller 810 can be connect with communication module 840, to transmit and/or receive from one or more
The data of external equipment (such as terminal, display equipment, ground control unit or other remote controlers).The communication module can make
With any suitable communication mode, such as wire communication or wireless communication.For example, the communication module can use one or more
A local area network, wide area network, infrared ray, radio wave, WiFi, point-to-point (point-to-point, P2P) network, telecommunication network,
Cloud communication etc..It is alternatively possible to using relay station, such as launching tower, satellite or movement station.The wireless communication can by away from
From influence can not also be influenced by with a distance from.In some embodiments it is possible to communicate in sight can also sight it
Outer communication.The communication module can transmit and/or receive one or more the sensing data, side from the sensing system
Position and/or motion information, the external contact information by handling the sensing data acquisition and/or external signal information make a reservation for
Control data, from terminal or the user command of remote controler etc..
The component of the mobile device can carry out any suitable configuration.For example, the one or more of the mobile device
Component can be set the mobile device, carrier, load, terminal, sensing system or arbitrarily with said one or multiple equipment
On other remote equipments or system communicated.In addition, although Fig. 8 describes single controller and single storage medium, this field
Technical staff should be known that the description is not limitation to the mobile device, the mobile device may include multiple controls
Device and/or storage medium processed.In certain embodiments, one or more of the multiple controller and/or storage medium can
Be arranged in different location, such as the mobile device, carrier, load, terminal, sensing system or arbitrarily with said one or
Other remote equipments or system that multiple equipment communicates or its appropriate group close, so that the mobile device is convenient for above-mentioned
One or more positions execute processing and/or store function.
The mobile device includes but is not limited to single rotor aircraft, multi-rotor aerocraft and rotor craft.Rotor flies
Row device usually utilizes propeller around rod or axis to rotate and generates lift.The rotor craft include such as helicopter, rolling wing machine, from
Switch rotor machine, gyrodyne etc..The rotor craft can have multiple multiple positions for being mounted on the aircraft
The rotor set.For example, the mobile device may include four-rotor helicopter, six heligyroes, ten heligyroes etc..
In various embodiments, the mobile device can be relative to six-freedom degree (such as three translation freedoms
And three rotary freedoms) free movement.Alternatively, the mobile device may be limited to one or more freedom degree movements, example
Such as it is limited in planned orbit or track.The movement can be driven by any suitable driving mechanism, such as by engine or motor
Driving.In certain embodiments, the mobile device can be driven by propulsion system.Propulsion system may include such as engine,
The combination of motor, wheel, wheel shaft, magnet, rotor, propeller, blade, nozzle or any suitable above-mentioned component.It can be by appointing
The suitable energy of meaning, such as electric energy, magnetic energy, solar energy, wind energy, the group of gravitation energy, chemical energy, nuclear energy or any suitable energy
The movement for being combined into the mobile device provides power.
In various embodiments, the mobile device can use different sizes, size and/or structure.For example,
In one embodiment, the mobile device can be more rotor mobile devices, and the distance between axles of counter-rotational rotor is no more than certain
One threshold value.The threshold value can be about 5m, 4m, 3m, 2m, 1m etc..For example, the distance between axles of the counter-rotational rotor
Numerical value can be 350mm, 450mm, 800mm, 900mm etc..
In certain embodiments, the size of the mobile device and/or size are sufficient to accommodate a people in or on which.
Alternatively, the size and/or undersize of the mobile device are to accommodate a people in or on which.In some cases, institute
State mobile device maximum size (such as length, diameter, diagonal line) be no more than 5m, 4m, 3m, 2m, 1m, 0.5m or
0.1m.For example, the distance between axles of the counter-rotational rotor can be no more than 5m, 4m, 3m, 2m, 1m, 0.5m or 0.1m.At certain
In a little embodiments, the volume of the mobile device can be less than 100cm x 100cm x 100cm.In certain embodiments, institute
The volume for stating mobile device can be less than 50cm x 50cm x30cm.In certain embodiments, the volume of the mobile device can
To be less than 5cm x 5cm x 3cm.In certain embodiments, the occupied area (cross of the mobile device of the mobile device
The area in section) can be less than about 32,000cm2,20,000cm2,10,000cm2,1,000cm2,500cm2,100cm2 or
It is smaller.In some cases, the weight of the mobile device can be no more than 1000kg, 500kg, 100kg, 10kg, 5kg, 1kg
Or 0.5kg.
In various embodiments, the mobile device can carry load.The load may include one or more
Cargo, device, instrument etc..The load can have shell.Optionally, the part or whole of the load can not have shell
Body.The load can be rigidly fixed relative to the mobile device.Alternatively, the load can be relative to the mobile device
Movement (such as translate or rotate relative to the mobile device).
In certain embodiments, the load includes load and the carrier for carrying the load, for example, medicine-chest.The load
Body can be integrally formed with the mobile device.Alternatively, the carrier can be detachably connected to the mobile device.It is described
Carrier can be with the mobile device direct or indirect connection.The carrier can support the load (for example, at least support institute
State the moiety by weight of load).The carrier may include suitable mounting structure (such as holder), can stablize and/or control
The movement of the load.In certain embodiments, the carrier can be adapted for controlling the load relative to the mobile dress
The state (such as position and/or direction) set.For example, the carrier can be moved relative to the mobile device it is (such as opposite
Moved in one, two or three translation freedoms and/or one, two or three rotary freedom) so that the load phase
For suitable reference frame keep its position/and or direction without being influenced by mobile device movement.The reference
Coordinate system can be fixed reference frame (such as ambient enviroment).Alternatively, the reference frame can be motion reference seat
Mark system (such as described mobile device, load).
In certain embodiments, the carrier can make the load transport relative to the carrier and/or mobile device
It is dynamic.The movement can be relative to reach the translation of three degree of freedom (such as along one, two or three axis), relative to reaching
To the rotation or any combination thereof of three degree of freedom (such as along one, two or three axis).For example, the carrier can wrap
Include frame assembly and actuator.The frame assembly can provide structural support for the load.The frame assembly can
To include multiple individual frame parts, some of frame parts can be moved mutually.
The frame assembly and/or individual frame parts can be connect with driving assembly, which drives described
Frame assembly movement.The driving component may include one or more actuators (such as motor), described independent for driving
Frame parts movement.The actuator can make multiple frame parts while movement or only one each frame parts are transported
It is dynamic.The movement of the frame parts can make the load corresponding sports.For example, the driving component can drive one or
Multiple frame parts are rotated around one or more rotary shafts (such as roll axis, pitch axis or course axis).It is one or more of
The rotation of frame parts can make load rotate relative to the mobile device around one or more rotary shafts.Optionally or tie
Ground is closed, the driving component can drive one or more frame parts along one or more translation shaft translations, to make described
Load is relative to the mobile device along one or more corresponding translation shaft translations.
The load can be direct (such as directly contacting the mobile device) with the mobile device by the carrier
Or (such as not contacting the mobile device) connection indirectly.Optionally, the load may not need carrier and be mounted on the movement
On device.The load can form an entirety with the carrier.Alternatively, the load can removably with the carrier
Connection.In certain embodiments, the load may include one or more load elements, as previously mentioned, the load elements
It can be relative to the mobile device and/or carrier movement.The load may include for measuring one or more targets
One or more sensors.The load may include any suitable sensor, such as image acquisition equipment (such as camera), sound
Sound obtains equipment (such as paraboloid microphone), IR imaging device or ultraviolet imaging equipment.The sensor can provide
Static state sensing data (such as photo) or dynamic sensing data (such as video).In certain embodiments, the sensor will be felt
Measured data is supplied to the sensing object of the load.Alternatively, or in combination with, the load may include one or more transmittings
Device, for providing signals to one or more sensing objects.The transmitter can be any suitable transmitter, such as light
Source or sound source.In certain embodiments, the load includes one or more transceivers, such as filling with far from the movement
The mould group communication set.
Each functional unit in various embodiments of the present invention can be integrated in a processing module, can also be with each unit list
It is solely physically present, can also be integrated in two or more units in a module.Above-mentioned integrated module can both use
Formal implementation of hardware can also be realized in the form of software function module.If the integrated module is with software function
The form of module is realized and when sold or used as an independent product, also can store in a computer-readable storage
In medium.The storage medium includes but is not limited to any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic
Disk), ROM (Read-Only Memory, read-only memory), RAM (Random AcceSS Memory, immediately memory),
EPROM (EraSable Programmable Read-Only Memory, Erarable Programmable Read only Memory), EEPROM
(Electrically EraSable Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory),
Flash memory, magnetic card or light card.It is, storage medium includes the form by equipment (for example, computer) can read
Any medium of storage or transmission information.It can be read-only memory, disk or CD etc..
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (55)
1. a kind of mobile device control method characterized by comprising
Obtain the pending movement routine information of current mobile devices；
Obtain obstacle position information；
The movement whether is influenced according to the pending movement routine information, the obstacle position information disturbance in judgement object
The movement of device；
The barrier do not influence the mobile device it is mobile when, control mobile device do do not detour, not reduction of speed, do not hover
In the movement of any one or various ways；The barrier influence the mobile device it is mobile when, control the shifting
Dynamic device detours and/or hovering.
2. mobile device control method according to claim 1, which is characterized in that waited in the acquisition current mobile devices
Among the step of movement routine information of execution, specifically include:
The pending movement routine information of the mobile device is determined by the operation boundary information of operating area.
3. mobile device control method according to claim 2, which is characterized in that further include:
When the barrier is located at outside current work region, and the barrier be greater than at a distance from operation boundary first it is default away from
When from threshold value, control the mobile device in the operating area do the barrier that do not detour, not reduction of speed, do not hover in it is any one
The movement of kind or various ways.
4. mobile device control method according to claim 2, which is characterized in that further include:
When the barrier is located at outside current work region, and the barrier be located at a distance from operation boundary second it is default away from
When from range, control mobile device moves within the scope of the first pre-set velocity or slows down movement.
5. mobile device control method according to claim 2, which is characterized in that further include:
When the barrier is located in current work region, and the barrier be less than at a distance from mobile device third it is default away from
When from threshold value, the hovering of control mobile device and/or the barrier that detours.
6. mobile device control method according to claim 1 or 2, which is characterized in that in the acquisition Obstacle Position
In the step of information, specifically include:
The location information of the barrier is determined by the sensor in the mobile device.
7. mobile device control method according to claim 6, which is characterized in that further include: when the mobile device with
The distance on the operation boundary of operating area is less than the 4th pre-determined distance threshold value, and the barrier except operation boundary and the movement
The distance of device be greater than the 5th pre-determined distance threshold value when, control mobile device execution do not detour the barrier, not reduction of speed, do not hang
The movement of any various ways in stopping.
8. mobile device control method according to claim 6, which is characterized in that the sensor includes visual sensing
It is device, linear array radar sensor, millimetre-wave radar sensor, ultrasonic sensor, any a variety of in pyroelectric infrared sensor.
9. mobile device control method according to claim 6, which is characterized in that described by the mobile device
Sensor the step of determining the location information of barrier in, specifically include step:
Obtain the mobile message of the mobile device；
The relative position information of the barrier Yu the mobile device is determined by the sensor in the mobile device；
Institute is determined according to the mobile message of the relative position information and the mobile device of the barrier and the mobile device
State the location information of barrier.
10. mobile device control method according to claim 6, which is characterized in that pass through the mobile device described
On sensor the step of determining the location information of barrier in, specifically include step:
Continuous several times obtain the mobile message of the mobile device；
The relative position information of barrier Yu the mobile device is determined by the sensor continuous several times in the mobile device；
According to the barrier of continuous several times and the relative position information of the mobile device and the movement of continuous several times
The mobile message of device determines the location information of the barrier.
11. mobile device control method according to claim 1 or 2, which is characterized in that in the acquisition Obstacle Position
It in the step of information, also specifically includes: obtaining the location information of the barrier by high definition map；Or pass through surveying and mapping data
Obtain the location information of the barrier.
12. mobile device control method according to claim 11, which is characterized in that believe in the acquisition Obstacle Position
After the step of breath, specifically include:
The first barrier including barrier is established according to the location information of the obstacle position information and the mobile device
Map.
13. mobile device control method according to claim 12, which is characterized in that further include:
According to the first barrier map, the danger coefficient of barrier described in the first barrier map is identified.
14. mobile device control method according to claim 13, which is characterized in that described according to described pending
In the step for the movement whether movement routine information, the obstacle position information disturbance in judgement object influence the mobile device,
Include:
When the barrier is located at outside current work region, and the barrier be greater than at a distance from operation boundary the 6th it is default away from
When from threshold value, the danger coefficient of the barrier is deleted；
When the barrier is located at outside current work region, and the barrier be located at a distance from operation boundary the 7th it is default away from
When from range, the danger coefficient of the barrier is reduced；
According to deleting danger coefficient and reducing the barrier of danger coefficient, the second barrier map is obtained.
15. mobile device control method according to claim 14, which is characterized in that in the second barrier of the acquisition
After the process of figure, comprising:
According to the second barrier map, the barrier influence mobile to the mobile device is judged.
16. mobile device control method according to claim 2, which is characterized in that described according to described pending
In the step for the movement whether movement routine information, the obstacle position information disturbance in judgement object influence the mobile device,
It specifically includes:
The mobile device and the mobile device are determined according to the operation boundary information and the mobile device location information
The distance between operation boundary in front of moving direction；
It is determined between the barrier and mobile device according to the obstacle position information and the mobile device location information
Distance；
Compare the distance between operation boundary in front of the mobile device and the mobile device moving direction and the obstacle
The distance between object and mobile device, judge whether the barrier influences the movement of the mobile device.
17. mobile device control method according to claim 2, which is characterized in that in the work by operating area
Industry boundary information determined before the step of mobile device pending movement routine information, comprising:
The surveying and mapping data set by user for being used to indicate operation borderline region is obtained, determines the operation according to the surveying and mapping data
Boundary information.
18. mobile device control method according to claim 2, which is characterized in that in the work by operating area
Industry boundary information determined before the step of mobile device pending movement routine information, comprising:
Realtime graphic is obtained, obtains the operation borderline region information according to default training pattern and the realtime graphic.
19. according to right to go 18 described in mobile device control method, which is characterized in that the default training pattern includes base
In the training pattern of neural network.
20. mobile device control method according to claim 2, which is characterized in that in the work by operating area
Industry boundary information determined before the step of mobile device pending movement routine information, comprising:
Receive the operation borderline region information that user sends.
21. according to mobile device control method described in claim 2 any one, which is characterized in that pass through operation described
Before the operation boundary information in region determines the step of mobile device pending movement routine information, specifically include:
Default map is obtained, obtains the operation boundary information according to the default map.
22. mobile device control method described in 7 to 21 any one according to claim 1, which is characterized in that in the determination
After operation boundary information, further includes: determine operation boundary buffer area according to the operation boundary information.
23. mobile device control method according to claim 1, which is characterized in that the disturbance in judgement object whether shadow
In the moving process for ringing the mobile device, specifically include:
The movement for determining barrier and whether influencing mobile device long according to mobile device, high, wide.
24. mobile device control method according to claim 1, which is characterized in that the disturbance in judgement object whether shadow
In the moving process for ringing the mobile device, specifically include: pending path long by mobile device, high, wide and described is true
Determine mobile cushioning area.
25. mobile device control method according to claim 1, which is characterized in that do not influenced in the barrier described
Mobile device it is mobile when control the mobile device do not detour, not reduction of speed, do not hover in any one or various ways
In moving process, specifically include:
Determine that the barrier in mobile device moving direction front preset angular range does not influence the movement of the mobile device.
26. a kind of mobile device control device characterized by comprising first movement routing information obtains module, the first obstacle
Object location data obtaining module, first judgment module, the first execution module,
The first movement routing information obtains module, for obtaining the pending movement routine information of current mobile devices；
First obstacle position information obtains module, for obtaining obstacle position information；
The first judgment module, for according to the pending movement routine information, obstacle position information judgement
Whether barrier influences the movement of the mobile device；
First execution module, for the barrier do not influence the mobile device it is mobile when, control mobile device
Do do not detour, not reduction of speed, do not hover in the movement of any one or various ways；The mobile dress is influenced in the barrier
Set it is mobile when, control the mobile device and detour and/or hovering.
27. mobile device control device according to claim 26, which is characterized in that in the first movement routing information
It obtains among module, specifically includes first movement route information acquisition unit,
The first movement route information acquisition unit determines the mobile dress for the operation boundary information by operating area
Set pending movement routine information.
28. mobile device control device according to claim 27, which is characterized in that it further include the second execution module,
Second execution module, when the barrier is located at outside current work region, and the barrier and operation boundary
When distance is greater than the first pre-determined distance threshold value, controls mobile device in the operating area and do the barrier that do not detour, no
Reduction of speed, do not hover in the movement of any one or various ways.
29. mobile device control device according to claim 27, which is characterized in that it further include third execution module,
The third execution module, for being located at outside current work region when the barrier, and the barrier and operation side
When the distance on boundary is located within the scope of the second pre-determined distance, control mobile device moves within the scope of the first pre-set velocity or slows down shifting
It is dynamic.
30. mobile device control device according to claim 27, which is characterized in that it further include the 4th execution module,
4th execution module, for being located in current work region when the barrier, and the barrier and mobile dress
When the distance set is less than third pre-determined distance threshold value, the hovering of control mobile device and/or the barrier that detours.
31. the mobile device control device according to claim 26 or 27, which is characterized in that in the first obstacle level
It sets in data obtaining module, specifically includes the first obstacle position information acquiring unit,
First obstacle position information acquiring unit, for determining the barrier by the sensor in the mobile device
Location information.
32. mobile device control device according to claim 31, which is characterized in that it further include the 5th execution module,
5th execution module, for being preset at a distance from the operation boundary of operating area less than the 4th when the mobile device
Distance threshold, and the barrier except operation boundary at a distance from the mobile device be greater than the 5th pre-determined distance threshold value when, control
Mobile device processed execute the barrier that do not detour, not reduction of speed, do not hover in any various ways movement.
33. mobile device control device according to claim 31, which is characterized in that the sensor includes visual sensing
It is device, linear array radar sensor, millimetre-wave radar sensor, ultrasonic sensor, any a variety of in pyroelectric infrared sensor.
34. mobile device control device according to claim 31, which is characterized in that believe in first Obstacle Position
Breath obtains in form unit, specifically includes: first movement information acquisition unit, the first relative position information acquiring unit, the second barrier
Hinder object location information acquisition unit,
The first movement information acquisition unit, for obtaining the mobile message of the mobile device；
The first relative position information acquiring unit, for determining the barrier by the sensor in the mobile device
With the relative position information of the mobile device；
The second obstacle position information acquiring unit, for the relative position according to the barrier and the mobile device
The mobile message of information and the mobile device determines the location information of the barrier.
35. mobile device control device according to claim 31, which is characterized in that believe in first Obstacle Position
Breath obtains in form unit, specifically includes the second mobile information acquisition unit, the second relative position information acquiring unit, third obstacle
Object location information acquisition unit,
The second mobile information acquisition unit, the mobile message of the mobile device is obtained for continuous several times；
The second relative position information acquiring unit, for determining barrier by the sensor continuous several times in the mobile device
Hinder the relative position information of object Yu the mobile device；
The third obstacle position information acquiring unit, for according to the barriers of continuous several times and the mobile device
Relative position information and the mobile messages of the mobile device of continuous several times determine the location information of the barrier.
36. the mobile device control device according to claim 26 or 27, which is characterized in that in the first obstacle level
It sets in data obtaining module, specifically includes the 4th obstacle position information acquiring unit,
The 4th obstacle position information acquiring unit is believed for the position for obtaining the barrier by high definition map
Breath；Or the location information of the barrier is obtained by surveying and mapping data.
37. mobile device control device according to claim 36, which is characterized in that further include that the first barrier map obtains
Modulus block,
The first barrier map obtains module, for the position according to the obstacle position information and the mobile device
Information establishes the first barrier map including barrier.
38. the mobile device control device according to claim 37, which is characterized in that further include danger coefficient mark mould
Block,
The danger coefficient mark module, for identifying in the first barrier map according to the first barrier map
The danger coefficient of the barrier.
39. the mobile device control device according to claim 38, which is characterized in that in the first judgment module,
It include: to delete unit, danger coefficient reduction unit, the second barrier map acquiring unit,
The deletion unit, for being located at outside current work region when the barrier, and the barrier and operation boundary
When distance is greater than the 6th pre-determined distance threshold value, the danger coefficient of the barrier is deleted；
The danger coefficient reduces unit, for being located at outside current work region when the barrier, and the barrier and work
When the distance on industry boundary is located within the scope of the 7th pre-determined distance, the danger coefficient of the barrier is reduced；
The second barrier map acquiring unit, for according to the obstacle for deleting danger coefficient and reduction danger coefficient
Object obtains the second barrier map.
40. mobile device control device according to claim 39, which is characterized in that further include: the first judging unit,
First judging unit, for judging the barrier to the mobile device according to the second barrier map
Mobile influence.
41. according to mobile device control device described in claim 27 any one, which is characterized in that in first judgement
In module, specifically include: the first frontier distance determination unit, the first obstacle distance determination unit, comparison unit,
The first frontier distance determination unit, for true according to the operation boundary information and the mobile device location information
The distance between operation boundary in front of the fixed mobile device and the mobile device moving direction；
The first obstacle distance determination unit, for believing according to the obstacle position information and the mobile device position
Breath determines the distance between the barrier and mobile device；
The comparison unit, for comparing between the operation boundary in front of the mobile device and the mobile device moving direction
Distance and the distance between the barrier and mobile device, judge whether the barrier influences the shifting of the mobile device
It is dynamic.
42. mobile device control device according to claim 27, which is characterized in that further include that the first boundary information obtains
Module,
First boundary information obtains module, for obtaining the mapping number set by user for being used to indicate operation borderline region
According to determining the operation boundary information according to the surveying and mapping data.
43. mobile device control device according to claim 27, which is characterized in that further include the second boundary acquisition of information
Module,
The second boundary data obtaining module, for obtaining realtime graphic, according to default training pattern and the realtime graphic
Obtain the operation borderline region information.
44. according to right to go 43 described in mobile device control device, which is characterized in that the default training pattern includes base
In the training pattern of neural network.
45. mobile device control device according to claim 27, which is characterized in that further include that third boundary information obtains
Module,
The third boundary information obtains module, for receiving the operation borderline region information of user's transmission.
46. mobile device control device according to claim 27, which is characterized in that further include that the 4th boundary information obtains
Module,
4th boundary information obtains module, for obtaining default map, obtains the operation side according to the default map
Boundary's information.
47. according to mobile device control device described in claim 42 to 46 any one, which is characterized in that further include: make
Industry boundary buffer area obtains module,
Operation boundary buffer area obtains module, for determining operation boundary buffer area according to the operation boundary information.
48. mobile device control device according to claim 26, which is characterized in that in the first judgment module,
It further include second judgment unit,
The second judgment unit, for according to the length of mobile device, height, the wide shifting for determining barrier and whether influencing mobile device
It is dynamic.
49. mobile device control device according to claim 26, which is characterized in that in the first judgment module,
Mobile cushioning area determination unit is specifically included,
Mobile cushioning area determination unit, for determining and moving by the length of mobile device, height, width and the pending path
Dynamic buffer area.
50. mobile device control device according to claim 26, which is characterized in that in first judgment module, including the
Three judging units,
The third judging unit, for determining that the barrier in mobile device moving direction front preset angular range does not influence
The movement of the mobile device.
51. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, which holds
The step of claim 1 to 25 described in any item mobile device control methods are realized when row.
52. a kind of mobile device controlling terminal, which is characterized in that including processor, memory, the memory is based on storing
Calculation machine program realizes claim 1 to 25 described in any item mobile dresses when the computer program is executed by the processor
The step of setting control method.
53. a kind of mobile device characterized by comprising computer readable storage medium or right described in claim 51 are wanted
Mobile device controlling terminal, communication module, alignment sensor described in asking 52；
The communication module, for being communicated with ground control unit；
The alignment sensor, for determining current flight position, the obstacle position information of mobile device.
54. mobile device according to claim 53, which is characterized in that further include: alignment sensor, the orientation sensing
Device includes imaging sensor and/or radar sensor, and described image sensor is used to obtain the realtime graphic in front of mobile device,
The radar sensor is used to obtain the location information of barrier.
55. mobile device according to claim 53, which is characterized in that further include: the alignment sensor is that distance passes
Sensor, the range sensor is for obtaining mobile device heading front obstacle at a distance from mobile device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810152028.5A CN110162081A (en) | 2018-02-14 | 2018-02-14 | Mobile device control method and device, mobile terminal and mobile device |
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|---|---|---|---|
| CN201810152028.5A CN110162081A (en) | 2018-02-14 | 2018-02-14 | Mobile device control method and device, mobile terminal and mobile device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110626441A (en) * | 2019-08-30 | 2019-12-31 | 南京蹑波物联网科技有限公司 | Vibration reduction type intelligent unmanned transport vehicle and transport method thereof |
| WO2021237535A1 (en) * | 2020-05-27 | 2021-12-02 | 深圳市大疆创新科技有限公司 | Collision processing method and device, and medium |
| CN113819915A (en) * | 2021-03-03 | 2021-12-21 | 京东鲲鹏(江苏)科技有限公司 | Unmanned vehicle path planning method and related equipment |
| CN114115210A (en) * | 2020-08-25 | 2022-03-01 | 莱克电气绿能科技(苏州)有限公司 | Obstacle avoidance method and device for self-moving equipment and obstacle avoidance equipment |
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