CN103853158A - High-performance controlling and calculating system of multi-rotor-wing flying robot - Google Patents
High-performance controlling and calculating system of multi-rotor-wing flying robot Download PDFInfo
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- CN103853158A CN103853158A CN201410099221.9A CN201410099221A CN103853158A CN 103853158 A CN103853158 A CN 103853158A CN 201410099221 A CN201410099221 A CN 201410099221A CN 103853158 A CN103853158 A CN 103853158A
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Abstract
The invention discloses a high-performance controlling and calculating system of a multi-rotor-wing flying robot, and belongs to the technical field of unmanned aerial vehicle control and intelligent application. The high-performance controlling and calculating system comprises a calculating processing module and a flying controller module, wherein the calculating processing module is composed of a calculating processor, a multi-mode starting circuit, a power source managing module, an external storage module, a USB interface module, a graphical interface port output module, a camera module and a first power module, and the flying controller module is composed of a second power module, a microcontroller, an inertia measuring module, a navigation module and an AD digital-to-analogue conversion module. The flying controller module and the calculating processing module are directly coupled through a data bus and separated from a ground station, much intelligent control over the multi-rotor-wing flying robot can be achieved through the application of directly carrying out the video data processing and algorithm on the multi-rotor-wing flying robot, the application fields of the multi-rotor-wing flying robot are greatly enlarged, the efficiency of calculating is improved, and reliability is enhanced.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control and intelligent use technical field, particularly a kind of high performance control of many rotor flying robots and computing system.
Background technology
Unmanned vehicle is the unmanned aircraft that utilizes radio robot and the presetting apparatus of providing for oneself to handle, and it can take off under remote control manipulator's remote control.Many rotor flying robots belong to the one of unmanned vehicle.Existing unmanned vehicle great majority are by the airborne flight control system control on ground control system and unmanned vehicle, affected greatly by land station.While is along with the development of computer vision and intelligent control algorithm, and the progress of embedded technology, the increasing control algolithm based on computer vision and image is applied on unmanned vehicle, this just needs a kind of computing power powerful, volume is small and exquisite, stable performance, embedded calculation and control system low in energy consumption, depart from land station's impact, realize the Based Intelligent Control to unmanned vehicle.Therefore the flight control system that, designs a kind of high security and high stability becomes a kind of active demand.
Summary of the invention
The problem existing for above-mentioned prior art, the present invention proposes a kind of high performance control and computing system of many rotor flying robots, this high-performance calculation and control system comprise computing module 1 and flight controller module 2, and computing module 1 and flight controller module 2 are of coupled connections by data bus 3;
Described computing module 1 is made up of computation processor 4, multi-mode startup circuit 5, power management module 6, outer memory module 7, usb interface module 8, graphical interfaces interface output module 9, camera module 10 and the first power module 11;
Described flight controller module 2 is made up of microcontroller 12, inertia measuring module 13, navigation module 14, AD D/A converter module 15 and second source module 16;
Computation processor 4 is the control of computing module 1 and calculates core, the video information collecting by processing camera module 10, obtain the flight control information of many rotor flying robots, passed to microcontroller 12, realize the flight control to many rotor flying robots; The feedback information that microcontroller 12 successfully transmits flight control information returns to computing module 1;
Multi-mode startup circuit 5 is connected with computation processor 4, realizes the start-up mode of computing module 1 and selects;
Power management module 6 is connected with computation processor 4, realizes the power management to computing module 1;
Outer memory module 7 is connected with computation processor 4, and external storage medium, for storing embedded OS and user's application data of whole system;
Usb interface module 8 is connected with computation processor 4, and circumscribed USB equipment is whole system charging;
Graphical interfaces interface output module 9 is connected with computation processor 4, the graphical interfaces of output embedded OS;
Camera module 10 is connected with computation processor 4, gathers the video data in many rotor flying robots flight environment of vehicle;
The first power module 11 is connected with computation processor 4, for computing module 1 is powered;
Microcontroller 12 is cores of flight control module 2, realizes the control to many rotor flying robots flight attitude;
Inertia measuring module 13 is connected with microcontroller 12, detects the 3-axis acceleration signal of many rotor flying robots in many rotor flying robots coordinate system and the angular velocity signal that is with respect to navigation coordinate, calculates the attitude of many rotor flying robots;
Navigation module 14 is connected with microcontroller 12, and reception & disposal longitude and latitude data, realize the navigation of many rotor flying robots;
AD D/A converter module 15 is connected with microcontroller 12, and the simulating signal that inertia measuring module 13 is detected is converted to digital signal;
Second source module 16 is connected with microcontroller 12, for flight controller module 2 is powered.
Described flight control information comprises the elevation angle that flies of many rotor flying robots, roll angle, the angle controlled quentity controlled variable of crab angle.
Described computation processor 4 adopts dual core processor.
Described multi-mode startup circuit 5 adopts the combination of pull-up resistor composition binary logic.
Described microcontroller 12 adopts 8/16/32 single-chip microcomputer.
The beneficial effect of the invention: the present invention will fly control module and high-performance calculation module direct-coupling, depart from land station, on many rotor flying robots, directly carry out the processing of video data and the application of algorithm, can realize the more Based Intelligent Control of many rotor flying robots, greatly expand the application of many rotor flying robots, improve the efficiency of calculating, strengthened reliability.
Accompanying drawing explanation
Fig. 1 is the high performance control of many rotor flying robots and the structural drawing of computing system in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
Be illustrated in figure 1 the high performance control of many rotor flying robots and the structural drawing of computing system in the present invention.This high-performance calculation and control system comprise computing module 1 and flight controller module 2, and computing module 1 and flight controller module 2 are of coupled connections by data bus 3;
Computing module 1 is made up of computation processor 4, multi-mode startup circuit 5, power management module 6, outer memory module 7, usb interface module 8, graphical interfaces interface output module 9, camera module 10 and the first power module 11.
Flight controller module 2 is made up of microcontroller 12, inertia measuring module 13, navigation module 14, AD D/A converter module 15 and second source module 16.
Computation processor 4 is the control of computing module 1 and calculates core, the video information collecting by processing camera module 10, obtain the flight control information of many rotor flying robots, passed to microcontroller 12, realize the flight control to many rotor flying robots; The feedback information that microcontroller 12 successfully transmits flight control information returns to computing module 1; Computation processor 4 adopts dual core processor.
Flight control information comprises the elevation angle that flies of many rotor flying robots, roll angle, the angle controlled quentity controlled variable of crab angle.
Multi-mode startup circuit 5 is connected with computation processor 4, realizes the start-up mode of computing module 1 and selects; Start-up mode is determined according to concrete processor model, such as: from flash startup, from Installed System Memory startup, from SRAM(static RAM) start.Multi-mode startup circuit 5 adopts the combination of pull-up resistor composition binary logic.
Power management module 6 is connected with computation processor 4, realizes the power management to computing module 1.The form of power management is determined according to concrete processor model, such as entering battery saving mode or park mode.
Outer memory module 7 is connected with computation processor 4, and external storage medium, for storage embedded OS and user's application data of whole system.
Usb interface module 8 is connected with computation processor 4, and circumscribed USB equipment is whole system charging.
Graphical interfaces interface output module 9 is connected with computation processor 4, the graphical interfaces of output embedded OS.
Camera module 10 is connected with computation processor 4, gathers the video data in many rotor flying robots flight environment of vehicle.
The first power module 11 is connected with computation processor 4, for computing module 1 is powered.
Microcontroller 12 is cores of flight control module 2, realizes the control to many rotor flying robots flight attitude; Microcontroller 12 adopts 8/16/32 single-chip microcomputer.
Inertia measuring module 13 is connected with microcontroller 12, detects the 3-axis acceleration signal of many rotor flying robots in many rotor flying robots coordinate system and the angular velocity signal that is with respect to navigation coordinate, calculates the attitude of many rotor flying robots.
Navigation module 14 is connected with microcontroller 12, and reception & disposal longitude and latitude data, realize the navigation of many rotor flying robots.
AD D/A converter module 15 is connected with microcontroller 12, and the simulating signal that inertia measuring module 13 is detected is converted to digital signal.
Second source module 16 is connected with microcontroller 12, for flight controller module 2 is powered.
The above; only for preferably embodiment of the present invention, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (5)
1. the high performance control of rotor flying robot and computing system more than one kind, it is characterized in that, this high-performance calculation and control system comprise computing module (1) and flight controller module (2), and computing module (1) and flight controller module (2) are of coupled connections by data bus (3);
Described computing module (1) is made up of computation processor (4), multi-mode startup circuit (5), power management module (6), outer memory module (7), usb interface module (8), graphical interfaces interface output module (9), camera module (10) and the first power module (11);
Described flight controller module (2) is made up of microcontroller (12), inertia measuring module (13), navigation module (14), AD D/A converter module (15) and second source module (16);
Computation processor (4) is the control of computing module (1) and calculates core, the video information collecting by processing camera module (10), obtain the flight control information of many rotor flying robots, passed to microcontroller (12), realized the flight control to many rotor flying robots; The feedback information that microcontroller (12) successfully transmits flight control information returns to computing module (1);
Multi-mode startup circuit (5) is connected with computation processor (4), realizes the start-up mode of computing module (1) and selects;
Power management module (6) is connected with computation processor (4), realizes the power management to computing module (1);
Outer memory module (7) is connected with computation processor (4), and external storage medium, for storing embedded OS and user's application data of whole system;
Usb interface module (8) is connected with computation processor (4), and circumscribed USB equipment is whole system charging;
Graphical interfaces interface output module (9) is connected with computation processor (4), the graphical interfaces of output embedded OS;
Camera module (10) is connected with computation processor (4), gathers the video data in many rotor flying robots flight environment of vehicle;
The first power module (11) is connected with computation processor (4), is computing module (1) power supply;
Microcontroller (12) is the core of flight control module (2), realizes the control to many rotor flying robots flight attitude;
Inertia measuring module (13) is connected with microcontroller (12), detect the 3-axis acceleration signal of many rotor flying robots in many rotor flying robots coordinate system and the angular velocity signal that is with respect to navigation coordinate, calculate the attitude of many rotor flying robots;
Navigation module (14) is connected with microcontroller (12), and reception & disposal longitude and latitude data, realize the navigation of many rotor flying robots;
AD D/A converter module (15) is connected with microcontroller (12), and the simulating signal that inertia measuring module (13) is detected is converted to digital signal;
Second source module (16) is connected with microcontroller (12), is flight controller module (2) power supply.
2. the high performance control of a kind of many rotor flying robots according to claim 1 and computing system, is characterized in that, described flight control information comprises the elevation angle that flies of many rotor flying robots, roll angle, the angle controlled quentity controlled variable of crab angle.
3. the high performance control of a kind of many rotor flying robots according to claim 1 and computing system, is characterized in that, described computation processor (4) adopts dual core processor.
4. the high performance control of a kind of many rotor flying robots according to claim 1 and computing system, is characterized in that, described multi-mode startup circuit (5) adopts the combination of pull-up resistor composition binary logic.
5. the high performance control of a kind of many rotor flying robots according to claim 1 and computing system, is characterized in that, described microcontroller (12) adopts 8/16/32 single-chip microcomputer.
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| CN201410099221.9A CN103853158A (en) | 2014-03-17 | 2014-03-17 | High-performance controlling and calculating system of multi-rotor-wing flying robot |
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| CN104154997A (en) * | 2014-07-16 | 2014-11-19 | 北京空间机电研究所 | Unmanned aerial vehicle mounted light and small-sized self-stabilized flight multispectral imaging system |
| CN104199460A (en) * | 2014-08-29 | 2014-12-10 | 河南科技大学 | Intelligent four-rotor aircraft reconnoitering system based on image recognition and tracking |
| CN107463126A (en) * | 2017-07-25 | 2017-12-12 | 四川航天系统工程研究所 | Unmanned plane double-core control system and digital independent and wiring method |
| CN109074090A (en) * | 2016-02-29 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Unmanned plane hardware structure |
| CN111506004A (en) * | 2020-05-28 | 2020-08-07 | 北京理工大学 | Unmanned aerial vehicle aircraft control system |
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Application publication date: 20140611 |
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