CN106970649A - A kind of unmanned plane wireless charging automatic control platform and control method - Google Patents
A kind of unmanned plane wireless charging automatic control platform and control method Download PDFInfo
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- CN106970649A CN106970649A CN201710277001.4A CN201710277001A CN106970649A CN 106970649 A CN106970649 A CN 106970649A CN 201710277001 A CN201710277001 A CN 201710277001A CN 106970649 A CN106970649 A CN 106970649A
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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
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Abstract
The present invention relates to a kind of unmanned plane wireless charging automatic control platform and control method, including continuation of the journey car, unmanned plane box；Car of continuing a journey includes main control module, the GPS module electrically connected respectively with main control module, remote control module, wireless charging module, digital transmission module；Unmanned plane box includes airborne external MCU, onboard antenna, the first digital transmission module, the second digital transmission module, OPENMV modules and camera module.Airborne external MCU, which is collected, flies control, digital transmission module, the data of remote control module, when receiving the instruction for returning to wireless charging module, first flown according to continuation of the journey truck position to above wireless charging module, the data of the station-keeping data, the longitude and latitude that winged control is transmitted and the height that are transmitted by OPENMV modules, control instruction is sent to winged control, wireless charging module is returned.The present invention, reduces dependence of the unmanned plane to reserve battery or charge cable, extension unmanned plane cruising time and ultimate run, is that unmanned plane smoothly completes task and provided safeguard in the presence of a harsh environment.
Description
Technical field
The present invention relates to automated information technical field, specifically a kind of unmanned plane wireless charging automatic control platform and control
Method processed.
Background technology
In the application of current unmanned plane in addition to military strike, logistics, pesticide spraying, major part is for example taken photo by plane, electric power
The application of line walking, cooperation scientific investigation, forest fire protection inspection, military surveillance, police etc is actual to be provided to " obtain from sky
Different data ", these data can be the testing result of image or institute's carrying instrument.But, it cannot be introduced into people
Region, it is difficult to the battery of unmanned plane is carried out or charged, it is also long-term that automatic continuous monitoring, which obtains data, under unmanned state
Perplex a problem of unmanned plane application.
Current unmanned plane is accurately back to wireless charging module, and there is also accurately technical problem of landing not.
The content of the invention
Not enough for above-mentioned prior art, the present invention provides a kind of unmanned plane wireless charging automatic control platform and controlling party
Method, reduces dependence of the unmanned plane to reserve battery or charge cable, extension unmanned plane cruising time and ultimate run, is nobody
Machine smoothly completes task and provided safeguard in the presence of a harsh environment.
Control platform of the present invention is achieved through the following technical solutions：Unmanned plane wireless charging automatic control platform, including
Continuation of the journey car, unmanned plane box；The continuation of the journey car includes main control module, and the GPS module, distant electrically connected respectively with main control module
Control module, barometer module, head, wireless charging module, motor drive module, digital transmission module and power module；It is described nobody
Machine box includes airborne external MCU, camera module, and the onboard antenna, the first number that are connected respectively with airborne external MCU are passed
Module, the second digital transmission module and OPENMV modules, camera module are connected with OPENMV modules, first digital transmission module,
Two digital transmission modules are connected with earth station, wireless charging module respectively, the receiver of the airborne external MCU and unmanned fuselage, are flown
Control connection.
Preferably, the head includes gyro module and steering wheel；The main control module be used for control GPS module, it is distant
Control module, barometer module, gyro module, wireless charging module, motor drive module, the collaborative work of head；The GPS
Module is used for the position for recording current continuation of the journey car, and reference by location is provided for unmanned plane landing；The remote control module is used for by distant
The operation of control control continuation of the journey car；The barometer module is used for the elevation information for recording current continuation of the journey car, is that unmanned plane landing is carried
For elevation references；The head is used for the level for keeping unmanned plane landing platform；The wireless charging module is realized using battery
To the wireless charging of unmanned plane；The digital transmission module is used for and UAV Communication.
Preferably, the main control module receives remote signal by remote control module, and is realized using two-way PWM square-wave signals
Speed governing to motor, by the data read from gyroscope, controls two degree of free tripod heads to keep using two-way PWM square-wave signals
Horizontality.
Preferably, the airborne external MCU collects the data for flying control, receives and the first digital transmission module of forwarding, the second number are passed
The transmission data of module or remote control module；Continuation of the journey truck position is sent to airborne external MCU by the GPS module；Returned receiving
When returning the instruction of wireless charging module, airborne external MCU first flies to wireless charging module position according to continuation of the journey truck position
Side, restarts OPENMV modules, the station-keeping data that is transmitted by OPENMV modules, flies longitude and latitude that control transmits and height
Data, airborne external MCU designs return action, and sends control instruction to winged control, auto-returned wireless charging module.
Control method of the present invention is based on above-mentioned control platform, is achieved through the following technical solutions：Unmanned plane wireless charging
Autocontrol method, comprises the following steps：
The airborne external MCU forwards the packet from earth station or remote control module to winged control；Simultaneously by the number of winged control
Earth station or remote control module are forwarded to according to bag；The airborne external MCU and the camera module are carried out to wireless charging module
Identification, tracking and positioning, and control is flown by control, allow unmanned plane accurately to drop on wireless charging module；It is described airborne external
MCU is when the instruction or battery electric quantity for receiving earth station's return wireless charging module are less than and specify electricity, and control flies control and returned
Return wireless charging module.
Preferably, the unmanned plane accurately drop to comprising the following steps that for wireless charging module：
S1, airborne external MCU read the GPS and elevation information of wireless charging module, and preserved；
S2, airborne external MCU read unmanned plane way point information, and preserved；
S3, beginning first stage aerial mission, the destination that airborne external MCU returns to wireless charging module to winged control write-in are believed
Breath, and monitor whether to reach above target at specified altitude assignment；
S4, unmanned plane are flown to behind target location, start second stage aerial mission, and airborne external MCU opens image recognition,
Find and lock onto target；
After S5, airborne external MCU lock onto targets, start to track target, calculate the relative position with target, pass through PWM
Signal control flies control, target is appeared in a certain fixed position of camera lens；
When S6, unmanned plane are drop in one meter, airborne external MCU calculates the direction parameter of adjustment needed for unmanned plane, with
Ensure that unmanned plane forms specific direction after landing with wireless charging module mark, be easy to wireless charging module to lock unmanned plane；
The former unmanned plane way point information of preservation is re-write unmanned plane and flies control by S7, airborne external MCU；
During described in above-mentioned steps S1-S7, control instruction is sent to unmanned plane if any earth station or remote control module, it is airborne
External MCU returns to the process of wireless charging module by suspending, and the write-in of former unmanned plane way point information is flown into control, is fixed by pattern switching
Height mode；Lost as descent runs into target, airborne external MCU will control unmanned plane hoisting depth, return to previous action.
Preferably, in the first stage aerial mission, earth station or remote control module send to unmanned plane and return to wireless charging
The instruction of electric module, airborne external MCU starts monitoring wireless charging module GPS location, unmanned plane after this signal is truncated to
The return instruction of target GPS location is being flown in GPS location and winged control, and unmanned plane voluntarily flies to the GPS of Target Wireless charging module
Position；In the second stage, airborne external MCU calls image recognition algorithm to identify target, and is exported according to relative position
Analog telecommand signal makes unmanned plane accurately drop to wireless charging module to control is flown.
Preferably, described image recognizer is used for profile, the color for recognizing wireless charging module mark, including image
Identification positioning and image recognition are followed the trail of；Described image identification positioning calculates wireless charging according to the location of pixels of target in the picture
The relative position of electric module and unmanned plane；Described image identification is followed the trail of calculates unmanned plane according to the variation of target pixel location
Relative displacement.
Compared with prior art, the beneficial effects of the invention are as follows：
1. the present invention can reduce unmanned plane to the development and popularization of wireless charging technology to reserve battery or charge cable
Rely on, extension unmanned plane cruising time and ultimate run, be that unmanned plane smoothly completes task and provided safeguard.Further, since no longer
Regular replacing battery is needed, external charging interface is also no longer necessary structure design, the present invention can promote the small-sized nothing in future
Man-machine design contributes to its operation in adverse circumstances for system is fully sealed.
2. no matter automated to realize that unmanned plane is really unmanned, the autonomous four rotor wing unmanned aerial vehicles system that the present invention is designed
It is outdoor indoors, can automatic detection level point, and drop on the unmanned ground carrier self-balancing landing stages of the UGA specified.
3. wireless charging system mainly uses magnetic resonance principle, the transmission that energy coupling realizes energy is carried out by coil,
Coil is integrated with electromagnetic energy transmitting coil, greatly reduces the addition of sensor in systems, reduces cost and power consumption, also real
Existing energy-saving and emission-reduction.
4. the present invention is equipped with the wireless charging landing platform with head, when continuation of the journey car is parked in hillside or out-of-flatness
It is that unmanned plane has built good landing environment when on road surface, it is also ensured that the level of wireless charging landing platform.
5. the wireless charging module being equipped with, the characteristics of with water proof and dust proof, is adapted to use under conditions of bad environments.
6. the modules such as integrated GPS, barometer, number biography, can realize from guiding unmanned plane and drop to wireless charging completion
Full-automatic process, for realizing that unmanned plane automatic management is significant.
7. the functions such as integrated wireless charging, remote control, automatic guiding unmanned plane landing, greatly extend the continuation of the journey of unmanned plane
Time, expand the flight range of unmanned plane.
Brief description of the drawings
Fig. 1 is the circuit block diagram of present invention continuation of the journey car；
Fig. 2 is the circuit block diagram of unmanned plane box of the present invention；
Fig. 3 is unmanned plane MCU and its periphery and continuation of the journey car MCU and its peripheral circuit block diagram；
Fig. 4 is unmanned plane MCU operational flow diagrams；
Fig. 5 is the flow chart that unmanned plane is back to wireless charging module.
Embodiment
Technical scheme is clearly and completely described below in conjunction with embodiment and Figure of description, shown
So, described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the reality in the present invention
Example is applied, the every other embodiment that those skilled in the art are obtained under the premise of creative work is not made belongs to this
Invent the scope of protection.
Embodiment
As shown in Figure 1 to Figure 3, unmanned plane wireless charging automatic control platform of the present invention, including continuation of the journey car, unmanned plane box
Son.The continuation of the journey car includes main control module (also referred to as continue a journey car MCU), the GPS module electrically connected respectively with main control module, remote control mould
Block (being also remote control receiver), barometer module, head, wireless charging module, motor drive module, digital transmission module, power supply
Module and indicator light circuit.The unmanned plane box includes onboard antenna, airborne external MCU (also referred to as unmanned plane MCU), first
Fly control interface pin row, the second winged control interface pin row, AccessPort port, USB debugging port, the first digital transmission module, second
Digital transmission module, first expand interface pin row, the second expansion interface pin row, OPENMV modules and camera module, and first flies
Control interface pin row, second fly control interface pin row and are available for flying control connection, first digital transmission module, the second digital transmission module difference
It is connected with earth station and wireless charging module, AccessPort port, USB debugging ports are debugged for professional, and the first expansion connects
Mouth lead column, second expand interface pin and arrange external other equipment, with expanding function.Wherein, the airborne external MCU and its outer
Circuit is enclosed there is provided digital transmission module, camera module, receiver module and the interface for flying control module, to be connect with unmanned fuselage
Receipts machine, digital transmission module and winged control connection.
The main control module, can mainly initialize each hardware module parameter, control GPS module, remote control module, barometer mould
Block, gyro module, wireless charging module, motor drive module, head, the collaborative work of power module.Wherein, GPS module,
Major function is the position of the current continuation of the journey car of record, and reference by location is provided for unmanned plane landing；Remote control module, major function is logical
Cross the operation of remote control continuation of the journey car；Barometer module, major function is the elevation information of the current continuation of the journey car of record, is unmanned plane
Landing provides elevation references；Head, including gyro module and steering wheel, major function is holding unmanned plane landing platform
Level；Wireless charging module, major function is that the wireless charging to unmanned plane is realized using battery；Motor drive module, it is main
It is to realize the control of motor start and stop to want function；Digital transmission module, major function is and UAV Communication；Power module, including battery
And Voltage stabilizing module, major function is that continuation of the journey car is powered.
Main control module controls GPS module, remote control module, barometer module, gyroscope to initialize each hardware module parameter
Module, wireless charging module, motor drive module, the collaborative work of power module and indicator light circuit.Main control module can be adopted
With STM32F103 as main control chip, remote signal is received by remote control module, and utilize the realization pair of two-way PWM square-wave signals
The speed governing of motor；Main control chip controls two degree certainly by the data read from three-axis gyroscope using two-way PWM square-wave signals
Horizontality is kept by head.
The wireless charging landing platform for being diameter 0.5m at the top of mobile unmanned vehicle, possesses wireless charging function, and pass through
The head of its bottom makes it keep horizontality, and wireless charging can be achieved in unmanned plane landing thereon.
In unmanned plane MCU (i.e. airborne external MCU) and its peripheral circuit, unmanned plane MCU, which is collected, flies control (i.e. Fig. 3 nothing
Man-machine APM) data, receive and forwarding digital transmission module or remote control module (i.e. Fig. 3 remote control receiver) transmission data.
When receiving special instruction, such as returning to the instruction of wireless charging module, unmanned plane MCU first flies to wireless according to continuation of the journey truck position
Above charging module position, restart the OPENMV modules being connected with camera module.Transmitted by OPENMV modules
The data of station-keeping data, the longitude and latitude that winged control is transmitted and height, unmanned plane MCU designs return action, and passes through reception
Machine PWM swash road sends control instruction to winged control, realizes the function of auto-returned wireless charging module.
In continuation of the journey car MCU and its peripheral circuit, by remote control receiver, continuation of the journey car MCU control continuation of the journey cars travel to
Specified location.Continuation of the journey truck position can be sent to unmanned plane MCU in real time through digital transmission module by vehicle GPS.In order to adapt to intricately
Shape, continuation of the journey car MCU quickly adjusts vehicle-mounted charge platform with respect to the angle on ground, makes it according to the data of barometer and gyroscope
Unmanned plane on holding level, protection car.
As shown in Figure 4,5, unmanned plane wireless charging autocontrol method of the present invention, is mainly included the following steps that：It is airborne outer
Putting MCU (also referred to as aircraft MCU), packet of the forwarding from earth station or remote control module is to winged control, while the packet of winged control is turned
It is sent to earth station or remote control module；Airborne external MCU and camera module can be identified to ground wireless charging module, track
And positioning, and control is flown by control, allow unmanned plane accurately to drop on wireless charging module；Airborne external MCU can received
When the instruction of earth station's return wireless charging module or battery electric quantity are less than specified electricity, control, which flies to control, returns to wireless charging mould
Block.Airborne external MCU and its peripheral circuit, digital transmission module and camera module are integrated on same circuit board.
When unmanned plane accurately drop to wireless charging module, comprise the following steps that：S1, airborne external MCU read wireless charging
The GPS and elevation information of electric module, and preserve；S2, airborne external MCU read unmanned plane way point information, and preserved；S3, beginning
First stage aerial mission, airborne external MCU returns to the way point information of wireless charging module to winged control write-in, and monitors whether
Above up to target at specified altitude assignment；S4, unmanned plane are flown to behind target location, start second stage aerial mission, airborne external MCU
Image recognition is opened, is found and lock onto target；After S5, airborne external MCU lock onto targets, start to track target, calculate and mesh
Target relative position, flies control by pwm signal control, target is appeared in a certain fixed position of camera lens；S6, unmanned plane landing
When in one meter, airborne external MCU calculates the direction parameter of adjustment needed for unmanned plane, after unmanned plane landing and wireless to ensure
Charging module mark formation specific direction, is easy to wireless charging module to lock unmanned plane；S7, airborne external MCU are by preservation
Former unmanned plane way point information re-writes unmanned plane and flies control.In said process, send control if any earth station or remote control module and refer to
Make to unmanned plane, airborne external MCU returns to the process of wireless charging module by suspending, former unmanned plane way point information is write and flown
Control, is to determine height mode by pattern switching；Lost as descent runs into target, airborne external MCU will control unmanned plane lifting high
Degree, returns to previous action.
In the first stage aerial mission, earth station or remote control module send to unmanned plane and return to wireless charging module
Instruction, airborne external MCU starts to monitor GPS location, the GPS positions of unmanned plane of wireless charging module after this signal is truncated to
Put and fly control and flying to the return instruction of target GPS location, unmanned plane voluntarily flies to the GPS location of Target Wireless charging module.
In the second stage, airborne external MCU calls image recognition algorithm to identify target, and distant according to relative position output simulation
Signal is controlled to control is flown, unmanned plane is accurately drop to target platform.
The airborne external MCU can be switched to winged control transmission offline mode by MAVLINK agreements, read and write destination etc.
Instruction, control parameter is flown to realize modification or read.
Described image recognizer can recognize that the profile of wireless charging module mark, colouring information, including image
Identification positioning and image recognition are followed the trail of；Described image identification positioning is calculated wirelessly according to the location of pixels of target in the picture
The relative position of charging module and unmanned plane；It is to calculate nobody according to the variation of target pixel location that described image identification, which is followed the trail of,
The relative displacement of machine；Described image identification carries out classifier training using the Haar features or LBP features of sample, obtains
Cascade Classification, and Haar Cascade are stored stand-by, the grader is used to each two field picture
Identify target.
Unmanned plane will be landed in two stages after order is received, and include the GPS navigation and second-order of first stage
The vision guided navigation of section.To realize unmanned plane really unmanned automation, the autonomous four rotor wing unmanned aerial vehicles system that the present invention is designed, nothing
By outdoor indoors, can automatic detection level point, and drop to the unmanned ground carrier self-balancing landing stages of the UGA specified
On.We placed visual indicia in UGV roofs.The tracing system of unmanned plane can track the position of automobile by these marks
Put and synchronously flown with same speed.Whole descent is the computer control by operation complicated algorithm.Its landing mission is all
It is full automatic, without artificial interference, is controlled by airborne micro embedded computer.We are detected using vision sensor
Landing platform, and by algorithm, by the inertial navigation system of Data Fusion of Sensor, to realize the precision to vision measurement data
Enhancing.
Embodiment described above only represents embodiments of the present invention, and it describes more specific and detailed, but can not manage
Solve as limitation of the scope of the invention.It should be pointed out that for those skilled in the art, not departing from structure of the present invention
On the premise of think of, various modifications and improvements can be made, these belong to the scope of the present invention.
Claims (10)
1. a kind of unmanned plane wireless charging automatic control platform, it is characterised in that including continuation of the journey car, unmanned plane box；
It is described continuation of the journey car include main control module, and electrically connected respectively with main control module GPS module, remote control module, barometer
Module, head, wireless charging module, motor drive module, digital transmission module and power module；
The unmanned plane box include airborne external MCU, camera module, and be connected respectively with airborne external MCU it is onboard
Antenna, the first digital transmission module, the second digital transmission module and OPENMV modules, camera module are connected with OPENMV modules, and described
One digital transmission module, the second digital transmission module are connected with earth station, wireless charging module respectively, the airborne external MCU and unmanned plane
The receiver of body, winged control connection.
2. unmanned plane wireless charging automatic control platform according to claim 1, it is characterised in that the head includes top
Spiral shell instrument module and steering wheel；The main control module be used for control GPS module, remote control module, barometer module, gyro module,
Wireless charging module, motor drive module, the collaborative work of head；The GPS module is used for the position for recording current continuation of the journey car,
Reference by location is provided for unmanned plane landing；The remote control module is used for the operation by remote control continuation of the journey car；The barometer
Module is used for the elevation information for recording current continuation of the journey car, and elevation references are provided for unmanned plane landing；The head is used to keep nothing
The level of man-machine landing platform；The wireless charging module realizes the wireless charging to unmanned plane using battery；The number passes mould
Block is used for and UAV Communication.
3. unmanned plane wireless charging automatic control platform according to claim 2, it is characterised in that the main control module leads to
Cross remote control module and receive remote signal, and the speed governing to motor is realized using two-way PWM square-wave signals, by being read from gyroscope
The data arrived, control two degree of free tripod heads to keep horizontality using two-way PWM square-wave signals.
4. unmanned plane wireless charging automatic control platform according to claim 1, it is characterised in that described airborne external
MCU collects the data for flying control, receives and forward the transmission data of the first digital transmission module, the second digital transmission module or remote control module；
Continuation of the journey truck position is sent to airborne external MCU by the GPS module；It is airborne when receiving the instruction for returning to wireless charging module
External MCU first flies to above wireless charging module position according to continuation of the journey truck position, restarts OPENMV modules, passes through
The data of station-keeping data, the longitude and latitude that winged control is transmitted and height that OPENMV modules are transmitted, airborne external MCU, which is designed, to be returned
Reverse work, and sends control instruction to winged control, auto-returned wireless charging module.
5. a kind of unmanned plane wireless charging based on unmanned plane wireless charging automatic control platform described in claim 1 is automatically controlled
Method, it is characterised in that comprise the following steps：
The airborne external MCU forwards the packet from earth station or remote control module to winged control；Simultaneously by the packet of winged control
It is forwarded to earth station or remote control module；
The airborne external MCU and the camera module are identified to wireless charging module, track and positioned, and pass through control
System flies control, allows unmanned plane accurately to drop on wireless charging module；
The airborne external MCU is receiving the instruction of earth station's return wireless charging module or battery electric quantity less than specified electricity
During amount, control flies control and returns to wireless charging module.
6. unmanned plane wireless charging autocontrol method according to claim 5, it is characterised in that the unmanned plane is accurate
It drop to comprising the following steps that for wireless charging module：
S1, airborne external MCU read the GPS and elevation information of wireless charging module, and preserved；
S2, airborne external MCU read unmanned plane way point information, and preserved；
S3, beginning first stage aerial mission, airborne external MCU return to the way point information of wireless charging module to winged control write-in,
And monitor whether to reach above target at specified altitude assignment；
S4, unmanned plane are flown to behind target location, start second stage aerial mission, and airborne external MCU opens image recognition, found
And lock onto target；
After S5, airborne external MCU lock onto targets, start to track target, calculate the relative position with target, pass through pwm signal
Control flies control, target is appeared in a certain fixed position of camera lens；
When S6, unmanned plane are drop in one meter, airborne external MCU calculates the direction parameter of adjustment needed for unmanned plane, to ensure
With wireless charging module mark formation specific direction after unmanned plane landing, it is easy to wireless charging module to lock unmanned plane；
The former unmanned plane way point information of preservation is re-write unmanned plane and flies control by S7, airborne external MCU；
During described in above-mentioned steps S1-S7, control instruction is sent to unmanned plane if any earth station or remote control module, it is airborne external
MCU returns to the process of wireless charging module by suspending, and the write-in of former unmanned plane way point information is flown into control, is Ding Gaomo by pattern switching
Formula；Lost as descent runs into target, airborne external MCU will control unmanned plane hoisting depth, return to previous action.
7. unmanned plane wireless charging autocontrol method according to claim 6, it is characterised in that the first stage flies
In row task, earth station or remote control module send the instruction for returning to wireless charging module to unmanned plane, and airborne external MCU is in interception
Start monitoring wireless charging module GPS location, unmanned plane GPS location after to this signal and fly to control flying to target GPS location
Return instruction, unmanned plane voluntarily flies to the GPS location of Target Wireless charging module；In the second stage, airborne external MCU
Call image recognition algorithm to identify target, and analog telecommand signal is exported to control is flown according to relative position, make unmanned plane accurate
It drop to wireless charging module.
8. unmanned plane wireless charging autocontrol method according to claim 7, it is characterised in that described image identification is calculated
Method is used for profile, the color for recognizing wireless charging module mark, including image recognition positioning and image recognition are followed the trail of；The figure
As identification positioning calculates the relative position of wireless charging module and unmanned plane according to the location of pixels of target in the picture；It is described
The relative displacement that unmanned plane is calculated according to the variation of target pixel location is followed the trail of in image recognition.
9. unmanned plane wireless charging autocontrol method according to claim 8, it is characterised in that described image identification makes
Classifier training is carried out with the Haar features or LBP features of sample, Cascade Classification are obtained, and by Haar
Cascade storages are stand-by, the use of the grader are that may recognize that target to each two field picture.
10. unmanned plane wireless charging autocontrol method according to claim 5, it is characterised in that described airborne external
MCU sends offline mode switching, read-write destination to winged control by MAVLINK agreements and instructed, to realize modification or read winged control ginseng
Number.
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