JP2018013337A - Device and method for guiding and positioning flying object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and device for accurately determining and controlling a three-dimensional position of a flying object, such as a drone, directly from the ground.SOLUTION: A method comprises: installing, on the ground, a pan-tilt actuator which has two or more axes of freedom and allows for controlling pan angle and tilt angle, and mounting a laser distance meter thereon; and simultaneously measuring pan angle, tilt angle, and distance to a flying object while the flying object is irradiated with a laser beam, and moving irradiation direction of the laser light using the pan-tilt actuator while keeping a spot position of the laser light at the center of a receiver device using movement means built in the flying object, thereby guiding the flying object to three-dimensional coordinates of a guiding destination.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an apparatus and method for guiding and positioning a flying object, and more specifically, the distance to a flying object is measured by a laser distance measuring device mounted on a pan / tilt actuator capable of controlling a pan angle and a tilt angle installed on the ground. The current three-dimensional position coordinate value of the flying object is obtained from the pan angle and the tilt angle at that time, based on the installation position of the pan / tilt actuator, and the separately set flying object guidance target three-dimensional position coordinate value and the current The amount of movement from the current position of the flying object from the position is obtained as the pan angle and tilt angle of the pan / tilt actuator and the amount of vertical movement of the flying object, and the pan angle and tilt angle of the pan / tilt actuator are operated simultaneously. The amount of vertical movement of the flying object is sent to the flying object operation unit built in the flying object, While moving the irradiation direction of the laser beam applied to the object, an apparatus and a method for inducing positioning the flying object at a predetermined three-dimensional position by causing track the laser beam to the flying object.

  In order to accurately control the three-dimensional position of a flying object such as a drone from the ground, first, it is necessary to accurately measure the three-dimensional spatial coordinates of the object representative point. Although GPS is widely used as a conventional three-dimensional position measurement method, the measurement accuracy is about several meters at most and cannot be applied to a high-accuracy positioning device.

As a conventional technique for measuring the three-dimensional position of a flying object with high accuracy, the flight object is tracked and its direction angle is measured, and the distance to the flying object is measured with a laser distance meter. There is a report on a device for measuring the three-dimensional position of a flying object, but it does not have a function for guiding and controlling the three-dimensional position of a flying object. (Patent Document 1)

There is a report on a guidance control device for a small unmanned helicopter equipped with a combined navigation system using an acceleration sensor and GPS as a prior art related to a guidance and positioning device for a flying object, but its three-dimensional positioning accuracy is only a few meters. . (Non-Patent Document 1)

In addition, there is a report on a guidance control device that mounts a camera on a flying object and performs three-dimensional positioning of the flying object based on visual information obtained from the mounted camera, but its three-dimensional positioning accuracy is only a few meters. ing. (Non-Patent Document 2)

JP-A-10-132935

Satoshi Suzuki, Daisuke Nakazawa, Makoto Tahara, Kenzo Nonami, “Guided control of small electric helicopter using low-cost GPS”, Proceedings of the 11th Symposium on “Control of Motion and Vibration”, pp.175-180 (2009) Ken Iimura, Hiroshi Otake, Kazuo Tanaka, Yasushi Atoji, “Self-position and attitude estimation and flight control of a small indoor helicopter using only onboard cameras”, Proceedings of Robotics and Mechatronics Lecture Meeting 2009 (2009)

  An object of the present invention is to solve the problem of “difficult high-precision three-dimensional positioning” in the conventional method, and to control a three-dimensional position of a flying object with high accuracy by guidance control from the ground. Is to provide.

In order to achieve such an object, the flying object guiding and positioning device of the present invention includes:
A pan / tilt actuator having two or more degrees of freedom, a laser distance measuring device mounted on the pan / tilt actuator for measuring a relative distance from a flying object, and the laser distance measuring device attached to a lower part of the flying object The receiver device capable of measuring the spot position of the laser beam irradiated from the above, the pan angle and tilt angle of the pan / tilt actuator, and the measured value by the laser distance measuring instrument, with the installation position of the pan / tilt actuator as a reference A flying object three-dimensional position calculation unit for obtaining a three-dimensional position coordinate value of the object; a three-dimensional coordinate value of the flying object obtained by the flying object three-dimensional position calculation unit; The amount of movement of the flying object from the current position based on the position coordinate value is the pan angle, tilt angle, and And a flying object movement amount calculation unit that calculates the amount of movement of the flying object in the vertical line direction, and a calculation result in the flying object movement amount calculation unit. It comprises a control unit for controlling the pan angle and tilt angle of the pan / tilt actuator simultaneously with sending to the operation unit.

In addition, the receiver device includes a screen for projecting a spot of the laser beam emitted from the laser distance measuring device in the previous period, and a camera that is installed behind the screen and images the spot position of the laser beam on the screen It is comprised by these.

Furthermore, a zoomable flying object imaging camera is installed on the pan / tilt actuator in parallel with the laser distance measuring device.

In order to achieve such an object, a method for guiding and positioning a flying object according to the present invention includes:
A pan / tilt actuator with two or more degrees of freedom at a predetermined position on the ground and a laser distance measuring device mounted on the pan / tilt actuator were installed, and the pan / tilt angle of the pan / tilt actuator was controlled to stop in the air. The receiver mounted on the lower part of the flying object is irradiated with laser light from the laser distance measuring device, and the flying object three-dimensional position calculation unit measures the value measured by the laser distance measuring device and the pan tilt actuator at that time. The three-dimensional position coordinate value of the flying object is obtained from the angle and the tilt angle on the basis of the installation position of the pan / tilt actuator, and the flying object movement amount calculation unit calculates the three-dimensional position coordinate value and the preset flight. The amount of movement of the flying object from the current position is determined from the three-dimensional position coordinate value of the guidance target of the object by the pan / tilt actuator. Pan angle, tilt angle, and vertical movement amount of the flying object, and the controller controls the pan angle and tilt angle of the pan / tilt actuator, and simultaneously moves the flying object in the vertical direction. The amount is sent to a flying object operation unit built in the flying object, and the flying object is moved by the amount of movement.

In the flying object guiding and positioning method of the present invention, the spot position of the laser beam irradiated on the receiver device is located at the center of the screen of the receiver device in a state where the laser beam is irradiated on the receiver device. As described above, the flying object operation unit performs feedback control on the flying object in a horizontal plane, and at the same time, the flying object operation unit built in the flying object moves the flying object by the vertical movement amount indicated by the flying object movement amount calculation unit. Features.

In addition, the control unit receives a signal as to whether or not the spot of the laser beam from the receiver device exists on the screen of the receiver device, and when it is on the screen, guides positioning control of the flying object And when the spot of the laser beam does not exist on the screen, the flying object guidance positioning control is stopped and the flying object is controlled to remain on the spot.

In addition, the control unit may set the flying object to be a screen center position of the flying object imaging camera based on position information of the flying object on the screen captured by the flying object imaging camera mounted on the pan / tilt actuator. Further, the pan angle and tilt angle of the pan / tilt actuator are controlled.

As described above, according to the guided object positioning apparatus and method of the present invention,
A pan / tilt actuator with two or more degrees of freedom on the ground and a laser distance measuring instrument mounted on the pan / tilt actuator are installed, and the pan / tilt angle of the pan / tilt actuator is controlled to control the flying object stopped in the air. The receiver mounted on the lower part is irradiated with laser light from the laser distance measuring instrument, and the installation position of the pan / tilt actuator is determined from the measured value of the laser distance measuring instrument and the pan angle / tilt angle of the pan / tilt actuator at that time. A three-dimensional position coordinate value of the flying object is obtained as a reference, and the current three-dimensional position coordinate value of the flying object and a predetermined target three-dimensional position coordinate value of the flying object are determined from the current position of the flying object. The movement amount of the panning / tilting angle of the pan / tilt actuator and the vertical movement of the flying object While calculating the amount and operating the pan angle and tilt angle of the pan / tilt actuator, the flying object is placed on the flying object so that the spot position of the laser beam irradiated on the receiver apparatus is located at the center on the screen of the receiver apparatus. Since the flying object is feedback-controlled in a horizontal plane by the built-in flying object operation unit, the flying object can be moved in the vertical line direction by the vertical movement amount, so that the flying object has high-precision three-dimensional Guided positioning control becomes possible.

Whether the control unit has a spot of the laser beam emitted from the laser distance measuring device to the flying object from the receiver device on the screen of the receiver device attached to the lower part of the flying object. When the laser beam spot is present on the screen, the flying object guidance positioning control is continued.When the laser beam spot is not present on the screen, the flying object guidance positioning control is stopped and the flying object is By controlling so that the laser distance measurement device loses sight of the flying object, the flying object guiding and positioning control device can be stably operated without causing the system to run out of control.

Further, from the position information in the screen of the flying object imaged by the flying object imaging camera mounted on the pan / tilt actuator, the pan / tilt actuator of the pan / tilt actuator is adjusted so that the flying object is positioned at the center of the screen of the flying object imaging camera. By controlling the pan angle and the tilt angle, even when the laser distance measuring device loses sight of the flying object, the recovery can be facilitated, and the flying object guiding and positioning control device can be easily operated.

の時系列データを示す図である。
「図１２」図１１のデータをXY平面にプロットした、平面移動ロボットの移動軌跡を示す図である。
「図１３」レシーバ装置のスクリーン上でのレーザスポット位置の時系列データを示す図である。 FIG. 1 is a diagram showing a device configuration and a coordinate system of a flying object guidance positioning control device according to the present invention.
FIG. 2 is a diagram showing a configuration of a laser beam receiver apparatus and a coordinate system thereof according to an embodiment of the present invention.
FIG. 3 is a block diagram showing a system configuration according to an embodiment of the present invention.
“FIG. 4” is a diagram showing an outline of an operation / measurement / data processing procedure according to the embodiment of the present invention.
FIG. 5 is a block diagram showing a configuration of a flying object guidance control system using laser light according to an embodiment of the present invention.
FIG. 6 is a block diagram showing a configuration of a control system related to a search for a flying object by a flying object imaging camera according to an embodiment of the present invention.
“FIG. 7” is a diagram showing a device configuration of a ground experiment for confirming the principle validity of the present invention.
“FIG. 8A” is an imaging screen of a laser beam spot irradiated to the receiver device from the laser distance measuring instrument.
“FIG. 8B” is an image obtained by binarizing the imaging screen of the laser light spot emitted from the laser distance measuring device to the receiver device.
FIG. 9A is a diagram showing time-series data of the pan angle of the pan / tilt actuator in the ground experiment.
FIG. 9B is a diagram showing time-series data of the tilt angle of the pan / tilt actuator in the ground experiment.
FIG. 9C is a diagram showing time-series data of the laser distance measuring instrument in the ground experiment.
[FIG. 10 (a)] FIG. 10 is a diagram showing the X coordinate of the spot position of the laser beam on the screen calculated from FIG. 9 (a), FIG. 9 (b), and FIG. 9 (c).
FIG. 10B is a diagram showing the Y coordinate of the spot position of the laser beam on the screen, calculated from FIG. 9A, FIG. 9B, and FIG. 9C.
[FIG. 11] Self-position estimation value calculated from wheel rotation speed of planar mobile robot moved following laser beam.

It is a figure which shows the time series data.
“FIG. 12” is a diagram showing a movement trajectory of the planar mobile robot in which the data of FIG. 11 is plotted on the XY plane.
FIG. 13 is a diagram showing time-series data of laser spot positions on the screen of the receiver device.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In each figure, the same component is shown with the same number, and the description thereof may be omitted for simplification.

は飛行物体に固定された座標系である。
２は地上に設置されたパン角、チルト角の２軸自由度を持ったパンチルトアクチュエータであり、パンチルトアクチュエータ２上には飛行物体１との距離を測定するレーザ距離計測器３とズーミング可能な飛行物体撮像用カメラ４が搭載されている。パンチルトアクチュエータ２は、水平面を基準面とし、パンチルト回転位置を中心点とする球面極座標系

を有している。
図２において、５は飛行物体１の下部に搭載され、レーザ距離計測器３から飛行物体１に向けて照射されたレーザ光のスポット位置を検出するためのレシーバ装置であり、レシーバ装置５は、レーザ光が照射される半透明のスクリーン６とスクリーン６上のレーザ光のスポット位置を撮影するためのカメラ７とで構成されている。
レシーバ装置５の座標系は前記飛行物体の座標系と一致している。 FIG. 1 is a diagram showing a device configuration of a flying object guiding and positioning control device according to the present invention, and FIG. 2 is a diagram showing a configuration of a laser beam receiver device attached to the lower part of the flying object and its coordinate system.
In FIG. 1, reference numeral 1 denotes a flying object capable of hovering and subject to position control.

Is a coordinate system fixed to the flying object.
Reference numeral 2 denotes a pan / tilt actuator installed on the ground and having a two-axis freedom of pan angle and tilt angle. On the pan / tilt actuator 2, a laser distance measuring device 3 for measuring a distance from the flying object 1 and a zoomable flight. An object imaging camera 4 is mounted. The pan / tilt actuator 2 is a spherical polar coordinate system having a horizontal plane as a reference plane and a pan / tilt rotation position as a center point.

have.
In FIG. 2, reference numeral 5 denotes a receiver device that is mounted on the lower part of the flying object 1 and detects the spot position of the laser light emitted from the laser distance measuring device 3 toward the flying object 1. A translucent screen 6 irradiated with laser light and a camera 7 for photographing the spot position of the laser light on the screen 6 are configured.
The coordinate system of the receiver device 5 coincides with the coordinate system of the flying object.

、チルト角

と、レーザ距離計測器３での測定値

とから、飛行物体１の現在位置を求める飛行物体３次元位置演算部であり、９は飛行物体移動量演算部であり、前記飛行物体３次元位置演算部で求めた飛行物体１の現在の３次元位置座標値と予め設定されている前記飛行物体１の誘導目標３次元位置座標値とから前記飛行物体１の現在位置からの移動量を前記パンチルトアクチュエータのパン角、チルト角、および、前記飛行物体の鉛直線方向移動量として算出して制御部１０に出力する。制御部１０は前記飛行物体移動量演算部９からの前記移動量を受けて、パンチルトアクチュエータ２のパン角及びチルト角を操作し、同時に、前記鉛直線方向移動量を前記飛行物体１に内蔵された飛行物体操作部に送出して、前記鉛直線方向移動量だけ前記飛行物体１を移動させる。
なお、制御部によるパン角およびチルト角の操作速度、鉛直線方向移動量の送出方法は、飛行物体１に内蔵された飛行物体操作部の応答性を考慮して決定する必要があることはもちろんである。
制御部１０はまた、前記飛行物体１の下部に搭載されたレシーバ装置５からのレーザ光の逸脱の有無に関する信号（以下、レーザビームキャプチャフラグと表記することがある。）を受けて、トラッキングモードとロストモードを弁別し、本発明の飛行物体の誘導位置決め装置の全体動作を制御する。
図３では飛行物体３次元位置演算部８、飛行物体移動量演算部９、制御部１０を別々の要素として記したが、これらを一つの演算処理装置内で構成することはもちろん可能である。 FIG. 3 is a diagram showing a system configuration according to an embodiment of the present invention. In the following explanation, the state where the laser beam spot is irradiated to the receiver device mounted under the flying object is called “tracking mode”, and the state where the laser beam spot deviates from the receiver device is called “lost mode”. The operation state for returning the laser beam spot to the receiver device is called “seeking mode”.
In FIG. 3, 8 is the pan angle of the pan / tilt actuator 2 in the tracking mode.

, Tilt angle

And measured value with laser distance measuring instrument 3

Is a flying object three-dimensional position calculation unit that obtains the current position of the flying object 1, and 9 is a flying object movement amount calculation unit that calculates the current three-dimensional position of the flying object 1 obtained by the flying object three-dimensional position calculation unit. The amount of movement of the flying object 1 from the current position based on the three-dimensional position coordinate value and the predetermined target three-dimensional position coordinate value of the flying object 1 is determined as the pan angle, tilt angle, and the flight of the pan / tilt actuator. The amount of movement of the object in the vertical direction is calculated and output to the control unit 10. The control unit 10 receives the movement amount from the flying object movement amount calculation unit 9 and operates the pan angle and the tilt angle of the pan / tilt actuator 2, and at the same time, the movement amount in the vertical direction is built in the flying object 1. The flying object 1 is sent to the flying object operation unit, and the flying object 1 is moved by the vertical movement amount.
It should be noted that the operation speed of the pan angle and tilt angle by the control unit and the method of sending the amount of movement in the vertical direction need to be determined in consideration of the responsiveness of the flying object operation unit built in the flying object 1. It is.
The control unit 10 also receives a signal (hereinafter sometimes referred to as a laser beam capture flag) relating to the presence or absence of a laser beam from the receiver device 5 mounted below the flying object 1, and receives the tracking mode. And the lost mode are discriminated, and the overall operation of the flying object guidance positioning apparatus of the present invention is controlled.
In FIG. 3, the flying object three-dimensional position calculation unit 8, the flying object movement amount calculation unit 9, and the control unit 10 are described as separate elements, but it is of course possible to configure them in one calculation processing device.

の形で得られる。予め設定されている前記飛行物体の誘導目標３次元位置座標値が球面極座標系で与えられている場合は対応する座標パラメータの差分として、パンチルトアクチュエータ２のパン角及びチルト角の操作量、前記飛行物体１の鉛直線方向移動量を求めることができるが、誘導目標３次元位置座標値がＸＹＺ直交座標系で与えられている場合は、よく知られた以下の変換式を用いることで、本発明の飛行物体の誘導位置決め装置および方法は、球面極座標系

、ＸＹＺ直交座標系

のいずれにも対応することができる。

From the above description, the current position of the flying object 1 measured by the pan / tilt actuator 2 and the laser distance measuring device 3 is spherical polar coordinates.

Is obtained in the form of When the preset guidance target three-dimensional position coordinate values of the flying object are given in the spherical polar coordinate system, the pan angle and tilt angle manipulated variable of the pan / tilt actuator 2 are used as the difference of the corresponding coordinate parameters. The amount of movement of the object 1 in the vertical line direction can be obtained. However, when the guidance target three-dimensional position coordinate value is given in the XYZ orthogonal coordinate system, the present invention can be obtained by using the following well-known conversion formula. Apparatus and method for guiding and positioning a flying object in a spherical polar coordinate system

XYZ Cartesian coordinate system

Any of these can be supported.

を求めることができる。 In the receiver device 5 shown in FIG. 2, the image captured by the camera 7 is binarized with white as a high brightness area and black as a low brightness area according to an appropriate threshold value, and a centroid calculation process for a white area, that is, a laser spot portion By applying the laser spot position

Can be requested.

を求めることができる。 In a similar manner, the image captured by the flying object imaging camera 4 mounted on the pan / tilt actuator 2 is binarized with a suitable threshold value so that the high brightness area is white and the low area is black. Only the body part is converted to white, and the body position of the flying object 1 is obtained by performing the center of gravity calculation processing of the white area.

Can be requested.

を測定する。
ステップ４：
飛行物体移動量演算部９で、飛行物体３次元位置演算部８で測定された前記飛行物体１の現在の３次元位置座標値と予め設定されている飛行物体の誘導目標３次元位置座標値とから、パンチルトアクチュエータ２のパン角及びチルト角設定値

と前記飛行物体１の鉛直線方向移動量誤差

を求める。
ステップ５：
ステップ４で求められたパン角およびチルト角によってパンチルトアクチエータ２を操作しながら、レシーバ装置５に照射されたレーザ光のスポット位置がレシーバ装置５のスクリーン上の中心部に位置するように前記飛行物体１に内蔵された飛行物体操作部によって前記飛行物体１を水平面内でフィードバック制御すると同時に、鉛直線方向移動量だけ前記飛行物体１を鉛直方向に移動させる。
ステップ６：
ステップ５の操作による飛行物体１の移動後の３次元座標位置を、パンチルトアクチュエータ２のパン角、チルト角、レーサ距離計測器３での測定値として確認する。
ステップ７：
飛行物体１が所定の誤差範囲内で誘導目標３次元位置に誘導されたか否かを判定し、誘導完了の場合は、その状態を保持して飛行物体１を目標３次元空間位置にフィックスする。
飛行物体１を目標３次元空間位置にフィックスする方法としては、例えば、パン角、チルト角設定値

を固定し、鉛直線方向移動量誤差

をゼロとする方法が可能である。
実際には、ステップ５、ステップ６は、後述する制御方式によって同時並行的に実施され、飛行物体１は誘導目標３次元位置に誘導される。
また、誘導位置決め制御中に何らかの原因でロストモードになった場合は、ステップ２に戻ってシーキングモードから再実施する。 The outline of the operation / measurement / data processing procedure according to the present invention will be described with reference to FIG.
Step 1:
The flying object 1 that is the target of guidance control is moved to an arbitrary three-dimensional space position (of course, the vicinity of the guidance target three-dimensional position coordinate value is desirable) by using the moving means built in the flying object 1, and the hovering state To. At this time, it is still in lost mode.
Step 2:
The receiver 5 is irradiated with the laser light from the laser distance measuring device 3 by using the zoomable flying object imaging camera 4 mounted on the pan / tilt actuator 2 (or by visual observation or the like) in the seek mode. To enter tracking mode.
Step 3:
The current three-dimensional position of the flying object 1 as the measured values of the pan / tilt angle of the pan / tilt actuator 2 and the laser distance measuring device 3 when the flying object three-dimensional position calculation unit 8 enters the tracking mode.

Measure.
Step 4:
In the flying object movement amount calculation unit 9, the current three-dimensional position coordinate value of the flying object 1 measured by the flying object three-dimensional position calculation unit 8 and a preset flying object guidance target three-dimensional position coordinate value To the pan / tilt angle setting values of the pan / tilt actuator 2

And the vertical movement error of the flying object 1

Ask for.
Step 5:
The flight is performed so that the spot position of the laser beam irradiated on the receiver device 5 is positioned at the center of the receiver device 5 while operating the pan / tilt actuator 2 according to the pan angle and the tilt angle obtained in step 4. The flying object operation unit incorporated in the object 1 performs feedback control of the flying object 1 in the horizontal plane, and simultaneously moves the flying object 1 in the vertical direction by the amount of movement in the vertical direction.
Step 6:
The three-dimensional coordinate position after the movement of the flying object 1 by the operation of step 5 is confirmed as a pan angle, a tilt angle of the pan / tilt actuator 2, and a measurement value by the racer distance measuring device 3.
Step 7:
It is determined whether or not the flying object 1 has been guided to the guidance target three-dimensional position within a predetermined error range. When the guidance is completed, the flying object 1 is maintained and the flying object 1 is fixed to the target three-dimensional space position.
As a method of fixing the flying object 1 to the target three-dimensional space position, for example, pan angle and tilt angle setting values

Is fixed, vertical line direction movement error

It is possible to set the value to zero.
Actually, Step 5 and Step 6 are performed simultaneously by a control method described later, and the flying object 1 is guided to the guidance target three-dimensional position.
If the lost mode is caused for some reason during the guidance positioning control, the process returns to step 2 and re-executes from the seeking mode.

を、目標位置

に追従させることである。前提として、飛行物体１はホバリング可能、すなわち位置と姿勢は飛行物体１のローカルな位置姿勢制御系により安定化され、飛行物体１のパンチルトアクチュエータ２から見たＸＹＺ方向の位置制御が可能であるとする。このローカルな制御系の操作量が

である。またここでは説明の簡略化のため、飛行物体１の姿勢はパンチルトアクチュエータ２の座標系からみて変化が無い、すなわち以下を満たしていることを前提とする。

ただし、パンチルトアクチュエータから見た飛行物体１の位置と姿勢を表す同次変換行列は

である。
この時、パンチルトアクチュエータ２に内蔵されたエンコーダより

が得られ、レーザ距離計測器３によりレーザビーム長

が得られるので、

と算出される。
一方、飛行物体１の筐体下部には、スクリーン６とカメラ７から構成されるレーザ光のレシーバ装置５が設置され、スクリーン６上のレーザ光スポットを背面からカメラ７で撮像し、画像処理によりその２次元座標値

を測定する。ただし、この座標系原点は前記スクリーン６の中心に位置する。
この

が常に０となるように、

を操作量とするＸＹ方向変位に関するＰＩＤフィードバック制御が構成される。
このようなローカル制御系の存在を前提として、パンチルトアクチュエータ２では、

が以下のように球面極座標系に座標変換される。

これを目標値として、パンチルト角度

，

が制御される。一方、Ｚ方向目標値

と現在値

との誤差

に対して、ＰＩＤ補償を施したのち

にフィードバックされる。この差分信号誤差

は、制御部１０から飛行物体１に内蔵された飛行物体操作部へ無線通信により伝送される。以上のＸＹＺ位置制御系により、飛行物体１は直交座標目標位置

に追従する。 Details of the control method will be described with reference to FIGS. 5 and 6.
The purpose of the control is the 3D current value of the flying object 1 as seen from the pan / tilt actuator 2

The target position

To follow. As a premise, the flying object 1 can be hovered, that is, the position and orientation are stabilized by the local position and orientation control system of the flying object 1, and the position control of the flying object 1 in the XYZ directions as viewed from the pan / tilt actuator 2 is possible. To do. The amount of operation of this local control system is

It is. For the sake of simplification of description, it is assumed that the attitude of the flying object 1 does not change as viewed from the coordinate system of the pan / tilt actuator 2, that is, the following is satisfied.

However, the homogeneous transformation matrix representing the position and orientation of the flying object 1 viewed from the pan / tilt actuator is

It is.
At this time, from the encoder built in the pan / tilt actuator 2

Is obtained, and the laser beam length is measured by the laser distance measuring device 3.

So that

Is calculated.
On the other hand, a laser beam receiver device 5 including a screen 6 and a camera 7 is installed at the lower part of the casing of the flying object 1, and a laser beam spot on the screen 6 is imaged by the camera 7 from the back, and image processing is performed. The two-dimensional coordinate value

Measure. However, this coordinate system origin is located at the center of the screen 6.
this

So that is always zero.

PID feedback control related to displacement in the X and Y directions with the manipulated variable as the operation amount is configured.
On the premise of the existence of such a local control system, in the pan / tilt actuator 2,

Is transformed to the spherical polar coordinate system as follows.

Using this as a target value, the pan / tilt angle

,

Is controlled. On the other hand, Z direction target value

And current value

And error

After applying PID compensation

Feedback. This differential signal error

Is transmitted from the control unit 10 to the flying object operation unit built in the flying object 1 by wireless communication. By the above XYZ position control system, the flying object 1 is in the rectangular coordinate target position.

Follow.

、チルト角

に追従するようにパンチルトアクチュエータ２の制御系は働く。一方、OFFの時には、図６に示すようなシーキングモードへ移行し、例えば、パンチルトアクチュエータ２上に、レーザ距離計測器３と平行に設置された飛行物体撮像用カメラ４及びその処理装置により、以下のような処理が行われる。
飛行物体１側:
強制的に

とすることにより、その時点で飛行物体１をホバリング状態とする。
制御部１０およびパンチルトアクチュエータ２側:
飛行物体撮像用カメラ４により,飛行物体１の2次元位置を計測し、カメラ画像中心からの位置誤差が０となるように、制御部１０によって、パン角・チルト角をフィードバック制御する。すなわち、図６における位置誤差

をそれぞれ,

なるPID補償を施し、それぞれ

として与える。こうすることで、飛行物体１を画面中央に捉えることができ、その状態でレーザ光はスクリーン６中央にスポットされるので、トラッキングモードへ復帰する。 Hereinafter, the operation of each unit in the tracking mode, the lost mode, and the seeking mode will be described.
First, when the receiver device 5 can measure the spot position of the laser beam (that is, tracking mode), the laser beam capture flag is turned on, and when it cannot be measured (that is, lost mode), the flag signal is controlled. It is always transmitted to the unit 10. When the laser beam capture flag is ON, the specified pan angle

, Tilt angle

The control system of the pan / tilt actuator 2 works so as to follow. On the other hand, when it is OFF, the mode shifts to a seeking mode as shown in FIG. 6. For example, the flying object imaging camera 4 installed in parallel with the laser distance measuring device 3 on the pan / tilt actuator 2 and its processing device The following processing is performed.
Flying object 1 side:
Forcibly

By doing so, the flying object 1 is brought into a hovering state at that time.
Control unit 10 and pan / tilt actuator 2 side:
The two-dimensional position of the flying object 1 is measured by the flying object imaging camera 4, and the pan angle and the tilt angle are feedback-controlled by the control unit 10 so that the position error from the camera image center becomes zero. That is, the position error in FIG.

Respectively,

Each with PID compensation

Give as. By doing so, the flying object 1 can be caught at the center of the screen, and in this state, the laser beam is spotted at the center of the screen 6 and thus returns to the tracking mode.

に基づきカメラズームインを行う。また、シーキングモードでは、直近の

に基づきカメラズームイン状態を継続する The zoom adjuster of the flying object imaging camera 4 functions as follows.
That is, in the tracking mode, the measured value measured by the laser distance measuring device 3 so that the whole image of the flying object 1 is clearly captured.

Zoom in on the camera. In seek mode, the latest

Continue camera zoom-in based on

の時系列データを、それぞれ、図９（a）、図９（b）に示し、この時のーザ距離計測器３での測定値

を図９（c）に示す。図９の

と

から計算されるレーザスポットのXY座標値

を、それぞれ図１０（a）、図１０（b）に示す。レーザ光に追従して移動した平面移動ロボット１１の車輪回転数から計算される自己位置推定値

の時系列データを図１１に示し、図１１のデータをXY平面にプロットした移動軌跡を図１２に、レーザスクリーン座標上でのレーザスポット位置

の時系列データを図１３に示す。以上の時系列データより、

のの各要素の最大値はそれぞれ35mm, 20mm程度であり、定常状態の約25秒以降は両者ほぼ０となっており、平面移動ロボット１１上に設置されたレシーバ装置の中心が、手動で操作されたレーザ光のスポット位置に追従したことが確認できる。 Hereinafter, in order to confirm the principle validity of the apparatus and method for guiding and positioning a flying object according to the present invention, a guidance experiment on the ground using a planar mobile robot instead of the flying object and the results thereof will be described with reference to the drawings. .
FIG. 7 is a diagram showing an outline of the experimental apparatus. The receiver device 5 is mounted on the planar mobile robot 11 and the laser beam from the laser distance measuring device 3 is projected thereon.
Based on the data output from the camera 7 of the receiver device 5, the planar mobile robot 11 has a function of moving in the XY2 axis direction so that the spot position of the laser beam comes to the center of the screen 6 of the receiver device 5. Have.
Note that the flying object three-dimensional position calculation unit 8, the flying object movement amount calculation unit 9, and the control unit 10 shown in FIG. 3 are configured in a control PC not shown in FIG.
In addition, each apparatus used for experiment is as follows.
PC for control: KOUZIRO, FRONTIERDT
Pan / tilt actuator: TRACLabs, BiclopsPT
Laser distance measuring instrument: Murakami Giken Sangyo, LDS-7A
Camera for receiver device: ELECOM, UCAM-DLA200H
Screen for receiver device: AP Japan, ATK901
Planar mobile robot: ADEPT MOBILEROBOTS, Pioneer3-DX
FIG. 8A is an imaging screen of a laser beam spot irradiated on the receiver device 5 from the laser distance measuring device 3 in the experiment, and FIG. 8B is an image obtained by binarizing the image.
The pan angle and tilt angle when the pan / tilt angle of the pan / tilt actuator 2 is made to correspond to the movement of the control PC mouse in the XY direction, and the pan / tilt actuator 2 is driven manually.

9 (a) and 9 (b), respectively, and the measured value by the user distance measuring device 3 at this time

Is shown in FIG. Of FIG.

When

XY coordinate value of laser spot calculated from

Are shown in FIG. 10 (a) and FIG. 10 (b), respectively. Self-position estimation value calculated from the number of wheel rotations of the planar mobile robot 11 that has moved following the laser beam

FIG. 11 shows the time-series data of FIG. 11, and FIG. 12 shows the movement locus obtained by plotting the data of FIG. 11 on the XY plane. The laser spot position on the laser screen coordinates

FIG. 13 shows the time series data. From the above time series data,

The maximum value of each element is about 35mm and 20mm respectively, and after about 25 seconds in the steady state, both values are almost 0, and the center of the receiver installed on the planar mobile robot 11 is manually operated. It can be confirmed that the laser beam has followed the spot position of the laser beam.

  According to the present invention, a flying object such as a drone can be guided and controlled with high accuracy even in a place where GPS radio waves do not reach, and the flying object such as a drone is used as an inspection device for a structure, a building, or the like. It becomes a useful apparatus and method when doing.

DESCRIPTION OF SYMBOLS 1 Flying object 2 Pan tilt actuator 3 Laser distance measuring device 4 Flying object imaging camera 5 Receiver apparatus 6 Screen 7 Camera 8 Flying object three-dimensional position calculating part 9 Flying object moving amount calculating part 10 Control part 11 Plane mobile robot

Claims (7)

  A pan / tilt actuator having two or more degrees of freedom, a laser distance measuring device mounted on the pan / tilt actuator for measuring a relative distance from a flying object, and the laser distance measuring device attached to a lower part of the flying object The receiver device capable of measuring the spot position of the laser beam irradiated from the above, the pan angle and tilt angle of the pan / tilt actuator, and the measured value by the laser distance measuring instrument, with the installation position of the pan / tilt actuator as a reference A flying object three-dimensional position calculation unit for obtaining a three-dimensional position coordinate value of the object; a three-dimensional coordinate value of the flying object obtained by the flying object three-dimensional position calculation unit; The amount of movement of the flying object from the current position based on the position coordinate value is the pan angle, tilt angle, and And a flying object movement amount calculation unit that calculates the amount of movement of the flying object in the vertical line direction, and a calculation result in the flying object movement amount calculation unit. A flying object guidance positioning control device comprising a control unit that controls a pan angle and a tilt angle of the pan / tilt actuator at the same time that the pan / tilt actuator is transmitted. The receiver device includes a screen for projecting a spot of the laser light emitted from the laser distance measuring device, and a camera that is installed behind the screen and images the spot position of the laser light on the screen. The flying object guidance positioning control device according to claim 1, wherein the flying object guidance positioning control device is configured.   The flying object guidance positioning control apparatus according to claim 1, wherein a zoomable flying object imaging camera is installed on the pan / tilt actuator in parallel with the laser distance measuring device. A pan / tilt actuator with two or more degrees of freedom at a predetermined position on the ground and a laser distance measuring device mounted on the pan / tilt actuator were installed, and the pan / tilt angle of the pan / tilt actuator was controlled to stop in the air. A laser beam is irradiated from the laser distance measuring device to a receiver device mounted on the lower part of the flying object, and a pan angle and a tilt angle of the pan / tilt actuator at that time are measured by the laser distance measuring device. A three-dimensional position coordinate value of the flying object is obtained on the basis of the installation position, and the three-dimensional position coordinate value of the flying object and a preset guidance target three-dimensional position coordinate value of the flying object are determined from the current position of the flying object. The amount of movement is determined by the pan angle and tilt angle of the pan / tilt actuator and the amount of movement of the flying object in the vertical direction. Calculating and operating the pan angle and tilt angle of the pan / tilt actuator, and simultaneously sending the vertical movement amount to the flying object operation unit built in the flying object so that the flying object is moved by the vertical movement amount. A flying object guidance positioning control method, characterized by: In a state where the laser beam is irradiated on the receiver device, the flying object operation unit built in the flying object causes the spot position of the laser beam irradiated on the receiver device to be located at the center of the screen. 5. The flying object guidance and positioning control according to claim 4, wherein the movement amount of the two degrees of freedom in the horizontal plane is feedback-controlled, and simultaneously, the amount of movement in the vertical direction instructed by the flying object movement amount calculation unit is feedback-controlled. Method.   The control unit receives a signal indicating whether the laser beam spot is present on the screen of the receiver device from the receiver device, and guides a flying object when the laser beam spot is present on the screen. 5. The flying object according to claim 4, wherein the positioning control is continued, and when the spot of the laser beam is not present on the screen, the flying object guiding positioning control is stopped and the flying object is controlled to remain in place. Inductive positioning control method. The pan angle of the pan / tilt actuator is such that the flying object is located at the center of the screen of the flying object imaging camera, based on the position information in the screen of the flying object captured by the flying object imaging camera mounted on the pan / tilt actuator. The method according to claim 4, wherein the tilt angle is controlled.

Images