CN110531775A - A kind of unmanned apparatus control method, unmanned device navigation control method and its detection system - Google Patents
A kind of unmanned apparatus control method, unmanned device navigation control method and its detection system Download PDFInfo
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- CN110531775A CN110531775A CN201810508862.3A CN201810508862A CN110531775A CN 110531775 A CN110531775 A CN 110531775A CN 201810508862 A CN201810508862 A CN 201810508862A CN 110531775 A CN110531775 A CN 110531775A
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- 238000001514 detection method Methods 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 description 9
- 238000003756 stirring Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of unmanned apparatus control method, unmanned device navigation control method and its detection systems, wherein, this method includes selection observation mode, locking is presently in position, the angle-data for being presently in position and depth data are saved, the angle information and/or velocity information of input are obtained, unmanned device determines that its rotation parameter relative to first axle, unmanned device rotate first axle according to rotation parameter according to the angle information of input and/or velocity information.The embodiment of the present invention is by changing the posture of unmanned device with best angle alignment target, steady photographic subjects, to promote the image quality of underwater photograph technical and photography.
Description
Technical field
The present invention relates to unmanned device control fields, in particular to a kind of unmanned apparatus control method, unmanned device
Navigation control method and its detection system.
Background technique
Currently, oscilaltion and the forward-reverse of the unmanned device horizontal and vertical unmanned device of motor control mounted
Dynamic mode has interference, due to environment shadow in water for motor vertical while deep-controlled and gesture stability between each other
It rings, so that the unsteady attitude of unmanned device, be easy to cause unmanned device head jitter, causes to be stranded for carrying out shooting in water
It disturbs.
Summary of the invention
In view of this, the embodiment of the present invention be designed to provide it is a kind of by remote control device receive user control it is defeated
Enter the rotation to control unmanned device centered on a certain axis.
The embodiment of the present invention also provides a kind of unmanned device navigation control method and its undersea detection system, to change nobody
The posture of device, always with best angle alignment target, steady photographic subjects.
The embodiment of the present application also provides a kind of detection system, definitely to know the specifying information of detected object.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the flow chart of unmanned apparatus control method provided by the embodiment of the present invention.
Fig. 2 shows the flow charts of the unmanned apparatus control method of another kind provided by the embodiment of the present invention.
Fig. 3 shows the flow chart of the unmanned apparatus control method of another kind provided by the embodiment of the present invention.
Fig. 4 shows a kind of unmanned device navigation control method schematic diagram provided by the embodiment of the present invention.
Fig. 5 shows a kind of schematic diagram of detection system provided by the embodiment of the present invention.
Fig. 6 shows the flow chart of the unmanned apparatus control method of another kind provided by the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
It should be clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
The present invention is to control unmanned device centered on a certain axis by the control input of remote control device reception user
Rotation (X- pitching, Y- yaw, Z- rolling), such as user can stir the driving lever of remote control device to correspond to the unmanned device of control
Relative to the pitching of x-axis, in addition, mode can be switched also to realize different movement and oriented approach in remote control device.Such as
Under one mode, unmanned device is controlled relative to a certain axis and is moved to (the change pitching of another rotation angle from a certain rotation angle
Angle)；And under the second mode, unmanned device can maintain irrotationality gyration (no pitch angle, 0 ° of X-axis) with high speed at it in a certain axis
His dimension is mobile,；In a third mode, can control unmanned device with relative to a certain axis fixed rotation angle (have pitch angle,
X-axis is not 0 °) it is mobile in other dimensions, including linear movement or Plane Rotation.
In the present invention, remote control device can be entity remote controler, and operation can be used for controlling the software of unmanned device or answer
With the electronic device of program, such as mobile phone, plate, notebook or desktop computer can be with unmanned device communication links or any
The electronic device connect.The input interface of remote control device can be physical button, and driving lever, idler wheel, switch or virtual key are for example
It is shown in the user interface of Touch Screen, voice input, sensor input, vision inputs such as gesture operation, various available
It is operable to issue the interface of order to provide user.The input interface of remote control device has various input modules, each group
The combination of part and/or multiple components is respectively corresponding to the different operation order of unmanned device.In the present invention, unmanned device can be with
Unmanned vehicle, unmanned underwater units, intelligent robot or other can by remote control device manipulate movable fixtures.
Embodiment one
Fig. 1 is that unmanned device is arranged in step S101 in one embodiment of the unmanned apparatus control method of the present invention first
Set angle, set angle can be preset value, and via produced by initialization process, user is specified or other modes obtain
.In step S102, current operation mode is judged, such as in the flrst mode, unmanned device can be with first axle at a high speed
Center rotates and/or is fixed on a certain rotation angle, such as does high speed pitching relative to X-axis；And under the second mode, unmanned dress
Set can low speed a certain rotation angle is rotated and/or is fixed on centered on first axle, such as do low speed pitching relative to X-axis.In
In step S103, unmanned device receives the control input from remote controler or other control systems, and control input may include rotation
Measure information and/or temporal information.For example, user can issue control input by stirring the driving lever of remote controler, driving lever is dialled
Dynamic speed, angle can be included in control input with information such as time spans.In step S104, unmanned device
Motion control unit can select the rotation parameter of axis according to operation mode and control input to determine it relative to some, in Fig. 3
Embodiment in, motion control unit is the speed that is struck according to operation mode and driving lever to determine the rotation relative to X-axis
Angular speed.Specifically, the speed that driving lever is struck in step S103 and angle can be converted into an input magnitude, it is normalized
For the numerical value between 0~1, in step S104, unmanned device is according to input magnitude and angle speed preset under current mode
Degree ratio obtains corresponding angular velocity of rotation, such as angular speed ratio can be the second mode of low speed in the first mode of high speed
Two times.In other embodiments, input magnitude can by other modes or in the form of determine, such as the angle that driving lever is struck is straight
Switch through and turn to input magnitude, unmanned device is converted into corresponding angular velocity of rotation for magnitude is inputted with some fixed proportion, also
It is to say, the angular velocity of rotation of unmanned device is directly proportional to the angle that driving lever is struck.A fixed angular speed is either preset,
The time span to determine rotation is set according to input quantity.Then in step S105, unmanned device is according to rotation parameter to selected
Axis, which is done, to be rotated, and in the actual operation process, user may be persistently to stir a certain short time of driving lever, then unmanned device can be right
It during this period of time calculates angular velocity of rotation and makes rotation with answering.When user stops operation remote controler, in step S106,
It is new set angle that unmanned device, which updates and notes down the rotation angular deviation for currently corresponding to select axis,.It is transported in unmanned device
When row, the offset of unmanned device posture may be caused there are many external factor, is thought to keep unmanned device to be fixed on user
The rotation angle wanted, in step S107, unmanned device determines to rotate according to the difference of current rotation angle and set angle
Parameter allows unmanned device to return to set angle, such as deviation angle is bigger, then angular velocity of rotation is bigger, in being to revert to step
S105, unmanned device, which does selected axis according to angular velocity of rotation, to be rotated, and connecting can then come according to whether receiving user's input
Judgement executes step S103 to S105 or step S107 and S105.
Embodiment two
Fig. 2 is that the present invention does and rotates for an axis or multiaxis to control unmanned device, such as yaws relative to Y-axis.
In step S201, current operation mode is judged, such as in the flrst mode, unmanned device can be at a high speed centered on first axle
It rotates and/or is fixed on a certain rotation angle, such as do high-speed aircraft relative to Y-axis；And under the second mode, unmanned device can be low
Speed rotates centered on first axle and/or is fixed on a certain rotation angle, such as does low speed boat relative to Y-axis.In step S202
In, unmanned device receives the control input for carrying out self-control device, and control input may include rotation amount information and/or temporal information,
Control device can be remote controler, be implemented in mobile device application software or other with user's input interface, and
The electronic device that can be communicated to connect with unmanned device.For example, the touch-control that user can be shown in mobile device by operation is aobvious
User interface on display screen curtain inputs to issue control, when user makes operation in the virtual key for corresponding to a certain axis
When, mobile device can generate corresponding control according to the gesture of user and input, such as long-pressing, towing, short punch, sliding etc..In
In step S203, the motion control unit of unmanned device can be determined according to current operation mode and control input its relative to
The rotation parameter of selected axis, in the embodiment of fig. 2, motion control unit be determined according to the gesture of virtual key relative to
The angular velocity of rotation of Y-axis.Specifically, the direction of gesture trigger and speed can be converted into an input magnitude in step S202,
Normalized is the numerical value between 0~1, and in step S203, unmanned device is corresponding according to input magnitude and angular speed ratio
Angular velocity of rotation.In other embodiments, input magnitude can by other modes or in the form of determine, such as by gesture slide speed
Degree is converted into input magnitude, and unmanned device is converted into corresponding angular velocity of rotation for magnitude is inputted with some fixed proportion,
That is, the angular velocity of rotation of unmanned device is directly proportional to gesture amount of movement.Then in step S204, unmanned device according to
Angular velocity of rotation, which does selected axis, to be rotated, and in the actual operation process, user may be lasting towing or to slide certain a bit of
Time, then unmanned device accordingly can during this period of time calculate angular velocity of rotation and make rotation.
Embodiment three
Fig. 3 is the present invention to control the unmanned device rotation angle fixed for an axis or multiaxis maintenance.In step
In S301, unmanned device receives the control input to lock rotation angle, and control input can be simple lock command
Or comprising locking specific axis in the specific control command for rotating angle.In step S301, unmanned device is set for a certain
The set angle of axis, set angle can be preset value, via produced by initialization process, the rotation angle that user specifies,
Or it is arranged according to previous rotation angle.Such as user can be set by user's input interface Z axis maintaining certain
One rotation angle.In the operation of unmanned device, the offset of unmanned device posture may be caused, there are many external factor in order to keep
Unmanned device is fixed on the rotation angle that user wants, and in step S302, unmanned device is obtained currently relative to the rotation of Z axis
Gyration, in step S303, unmanned device according to the difference decision rotation parameter of current rotation angle and set angle come
Unmanned device is allowed to return to set angle.One of embodiment is whether unmanned device can be more than preset door according to difference
Threshold value rotates angle to decide whether to correct.It, can be given according to the size of difference when difference is more than preset threshold value
Corresponding angular velocity of rotation, such as difference give the first angular velocity of rotation in the first range, and difference is given in the second range
Fixed second angular velocity of rotation.Then in step S304, unmanned device, which does first axle according to rotation parameter, to be rotated, and is connected and is repeated to hold
Row step S302 to S304 guarantees that unmanned device maintains set angle.Unmanned device can be real in an embodiment of the present invention
When transmit the rotation angle information of each axis to remote control device, and the user's input interface for being shown in remote control device allows user can
To learn, to carry out the various rotations control to unmanned device.
The following are rotation angle control methods according to the present invention to apply multiple embodiments in unmanned device.
Example IV
Referring to fig. 4, a kind of unmanned device navigation control method is present embodiments provided, comprising the following steps:
S401, selects observation mode, and locking is presently in position.
Specifically, remote controller key, operating stick can also be passed through by selecting observation mode in end-user interface
Or selection observation mode is carried out on screen, it can also select to enable observation mode by VR operation interface.What observation mode referred to
It is that can be taken pictures, recorded a video or being searched equipped with camera or sonar equipment class is looked for.Under observation mode, using this hair
Bright rotation angle control method controls unmanned device relative to observed objects or the posture of scene, makes observed objects or scene
The efficient working range for maintaining camera or sonar equipment reaches more stable shooting effect
S402 saves the angle-data for being presently in position and depth data.
It include memory, the angle-data collected by step 401, speed data, depth number inside unmanned device
In memory according to preservation.Due in the underwater working environment of sensor, due to the influence of underground magnetic field exception, angle-data
It might have exception, for this purpose, needing to verify angle-data and speed data before saving data, perfect condition is excellent
Choosing, first axle angle corresponding to angle-data herein is zero.
First axle angle variable rate=0 °/s, first axle angle=0 °
It should be noted that first axle angle herein is to rotate to be in three-dimensional space right-handed Cartesian coordinate around X-axis
Example, also referred to as pitch angle.If it is other axis are selected, yaw angle is rotated to be around Y-axis, rotates to be roll angle around Z axis.
S403 obtains the angle information and/or velocity information of input.
Affiliated angle information is obtained by the way that the first input module is direct/indirect, the pitch angle is controlled, to obtain
Take the angle information and/velocity information of an input.
First input module is an operation rocking bar, but is not limited to this, can also include on terminal operation interface
Display module or the virtual display module of VR.It is set forth below to be come with rocking bar for example, being controlled when operation rocking bar dials up
The received pitching angle value of device processed is to be embodied by range that rocking bar is stirred, specifically, receiving rocking bar input in controller
Value, Input ∈ (0,1) rotate upwardly and downwardly to guarantee unmanned device front image acquisition unit by controlling unmanned device head
The change at visual angle, the image acquisition units can be high-definition camera, the intelligence filming apparatus such as 4K camera.
S404, unmanned device determine its rotation relative to first axle according to the angle information of input and/or velocity information
Turn parameter.
Specifically, in the fig. 4 embodiment, first input module can direct/indirect feedback go out can control
The amount that unmanned device is deflected, that is to say, the angle information and/velocity information that the controller rocking bar of unmanned device is struck can
To be converted into input value, the amount that power unit is struck according to rocking bar determines unmanned device relative to first axle, in this reality
Apply the angular velocity of rotation of example i.e. X-axis.Input value is converted into corresponding rotation angle speed with some fixed proportion by unmanned device
Degree, the angular velocity of rotation of unmanned device is directly proportional to the angle that rocking bar is struck, meanwhile, in some cases, rocking bar is stirred
Speed speed can influence the speed that unmanned device is deflected, on the other hand, angle information that rocking bar is stirred and
Velocity information can be integrated into a factor, to determine speed and angle that unmanned device is deflected,
S405, unmanned device rotate first axle according to rotation parameter.
Specifically, in Fig. 4 embodiment, unmanned device, which does X-axis according to the parameter of rotation, to be rotated, in practical operation,
When persistently persistently being stirred to rocking bar, unmanned device is corresponding to be calculated the angular speed for needing to rotate in the time and makes rotation
Turn, herein it should be noted that due to being influenced by unmanned device gravity-buoyancy/power device thrust, when rocking bar toggles it to
When maximum position, the protected mode of unmanned device in house software code can limit the angular speed of maximum rotation.It is dialled when stopping operation
When shaking bar, unmanned device completes rotation.At this point, rocking bar returns to original state, unmanned device locks corresponding in rotation angle
Position.
Embodiment five
Referring to Fig. 5, on the other hand the embodiment of the present invention provides a kind of detection system, comprising: unmanned device 50 and remote control
Device 51.The unmanned device 50 can be visible light phase equipped with image collecting device 53, the image collecting device 53
Machine, SD, high-definition camera, 4K camera, the first-class filming apparatus of standard, wide-angle, flake, panoramic shooting, image collecting device 53
Can also be sonar unit or laser cell, can undersea detection object, such as the shoal of fish.Image collecting device 53 can also be infrared
Acquisition unit can be used for detecting aquatic organism etc..Specifically, image collecting device 53 is by unmanned device 50 captured in real-time under water
Picture transmission and be shown in terminal display interface, manipulator by shooting picture want locking clearly shoots or records certain
When one specific objective, by selecting observation mode on remote control device 51.It should be noted that when manipulator is from depthkeeping mode
When being switched to observation mode, depthkeeping mode is from observation mode the difference is that the mode of power configuration starting is different.Herein
Illustrate so that unmanned device 50 is three power configurations, wherein power is two horizontal arrangements, and one is arranged perpendicular, specific next
Say, depthkeeping mode can be done straight up and down for unmanned device 50, forward-reverse under power configuration mode, yaw angle or
The movements such as person's rolling, when being shot, unmanned device 50 can shake, and cause shooting picture bad.The control of observation mode
Molding formula is different, when being observed to specific object, carries out the rotation around first axle 52 to unmanned device by placement algorithm
To reach the target that unmanned device 50 is shot towards needs.It is understood that the pitching rotated around first axle 52 herein
Angle rotation is realized by the power of arranged perpendicular, and manipulator controls unmanned device 50 by remote control device 51 and carries out towards target
It moves forward or back, the horizontal power device of unmanned device 50 is to have deflection angle 54 relative to horizontal line, and horizontal power device can
To achieve the purpose that percentage regulation, the partial function of motor vertical is compensated for.
In conjunction with above-described embodiment, the embodiment of the invention provides the first possible embodiments, wherein image collector
Setting can directly connect firmly on unmanned device, can also be mounted on unmanned device by holder, the image installed by holder
Acquisition device when shooting underwater a certain target, can rotary platform and deflected without the posture of unmanned device, can be with
When cloud platform rotation is to a certain position, then rotated to compensate the detection to target by unmanned device posture.Or first make unmanned dress
It sets posture and rotates to a certain position, be rotated further by holder and carry out run-home.
In conjunction with above-described embodiment, the embodiment of the invention provides second of possible embodiments, wherein unmanned device
Power configuration can be multiple, be not limited in three motors, wherein Vertical Dynamic configuration can be two or more.
Embodiment six
The present embodiment is that unmanned device is assisted to be tracked or clap object and/or scene using the control method of Fig. 6
It takes the photograph, such as by object identification or when receiving shooting order, changes the posture of unmanned device automatically, make unmanned device and object
And/or scene keeps certain relative position.Unmanned device is configurable in this embodiment or carry image capture device to
Shoot object and/or scene.In step S601, judge whether current operation mode needs to change posture, such as first
Under mode, unmanned device can automatic tracing object；And under the second mode, unmanned device can be inputted according to the control of user,
The object and/or scene that tracking and/or shooting user specify.In step S602, unmanned device judgment object and its between
Relative position, such as by subject image captured by image capture device, image processing is done with analysis to image to learn
The relative position of object and unmanned device and/or image capture device.Unmanned device can also carry out judgment object by other means
Relative position, such as utilize sonar, ultrasonic wave or laser etc..In step S603, the motion control unit of unmanned device can
Determine the rotation parameter of selected axis depending on the relative position.For example, when the relative position of object is being selected beyond image capture device
When the opereating specification of dead axle, unmanned device can correspond to the magnitude size of selected axis depending on the relative position, determine the rotation of selected axis
Turn parameter.Such as according to object and corner dimension of the unmanned device relative to selected axis, determine unmanned device relative to selected axis
Rotation angle.Then in step S604, unmanned device, which does selected axis according to rotation parameter, to be rotated, in actual mechanical process
In, unmanned device can change posture as the change of object space is corresponding in real time.
In conjunction with above-described embodiment, the embodiment of the invention provides the first possible embodiments, wherein image collector
Setting can directly connect firmly on unmanned device, can also be mounted on unmanned device by holder, the image installed by holder
Acquisition device when shooting underwater a certain target, can rotary platform and deflected without the posture of unmanned device, can be with
When cloud platform rotation is to a certain position, then rotated to compensate the detection to target by unmanned device posture.Or first make unmanned dress
It sets posture and rotates to a certain position, be rotated further by holder and carry out run-home.
In conjunction with above-described embodiment, the embodiment of the invention provides second of possible embodiments, wherein unmanned device
Power configuration can be multiple, be not limited in three motors, wherein Vertical Dynamic configuration can be two or more.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Claims (7)
1. a kind of unmanned apparatus control method, characterized by comprising:
The set angle of the unmanned device is set；
Judge the current operation mode of the unmanned device；
Receive the control input for carrying out self-control device；
The rotation parameter that axis is selected relative to some is determined according to the operation mode and control input；
Is selected by axis and is done for this according to the rotation parameter and is rotated；And
It updates and the rotation angle for noting down the current selected axis is new set angle.
2. unmanned apparatus control method as described in claim 1, it is characterised in that further include:
The rotation parameter is updated according to the difference of current rotation angle and set angle；And
Is selected by axis and is done for this according to the updated rotation parameter and is rotated.
3. unmanned apparatus control method as described in claim 1, which is characterized in that wherein according to the operation mode and the control
Input determines the step of rotation parameter of axis is selected relative to some further include:
Corresponding rotation angle speed is obtained according to preset angular speed ratio under the input magnitude and the operation mode of control input
Degree.
4. a kind of unmanned device navigation control method, characterized by comprising:
Observation mode is selected, locking is presently in position；
The angle-data for being presently in position and depth data are saved；
Obtain the angle information and/or velocity information of input；
Unmanned device determines its rotation parameter relative to first axle according to the angle information of input and/or velocity information；With
And
Unmanned device rotates first axle according to rotation parameter.
5. a kind of unmanned device navigation control method according to claim 4, the observation mode is by the first operation
Module selection.
6. a kind of unmanned device navigation control method according to claim 5, first operation module can it is direct/
The parameter that ground connection input needs the unmanned device to be rotated.
7. a kind of detection system, it is characterised in that including unmanned device and remote control device, the unmanned device observation mode into
The deflection of row special angle.
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| CN112817531A (en) * | 2021-01-25 | 2021-05-18 | 惠州Tcl移动通信有限公司 | Magnetic field anti-interference method, terminal and computer readable storage medium |
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